version: 66.11
glider: 615
mission: 5
dive: 175
start: 10 8 115 10 38 7
data:
$ID,615
$MISSION,5
$DIVE,175
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54445
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0035031899
$HD_B,0.0146577
$HD_C,4.3681601e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743.2002
$TGT_DEFAULT_LON,-12224.4
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19054.963
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,191
$PITCH_MAX,3898
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$PITCH_GAIN,32
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3824
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2140
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,510
$VBD_MAX,3960
$C_VBD,2873
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,11.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-156.51088
$PRESSURE_SLOPE,0.00013730999
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,166
$DEVICE3,147
$DEVICE4,133
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044134618
$SEABIRD_T_H,0.00064964173
$SEABIRD_T_I,2.6219326e-05
$SEABIRD_T_J,3.1475095e-06
$SEABIRD_C_G,-9.8766012
$SEABIRD_C_H,1.1351171
$SEABIRD_C_I,-0.0017266128
$SEABIRD_C_J,0.00019839592
$GPS1,081015,103033,1800.892,8928.308,46,1.0,46,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.4
$GPS2,081015,103740,1800.850,8928.378,5,1.0,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,232.2,15734,-21.4,-9.167,-25.88,2022
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.82,-126.5,157,2208,561,481,0.0,0.0,0,62,0.00,0.00,-45.10,0.000,16386,0.000,0.000,156,2208,1784,1786,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,156,2207,1787,1783,3.1,-6.9,7,117,10.82,2.33,-34.40,0.000,18692,0.349,0.083,2662,3595,3389,3401,3377,0,0,0,0,0,0,14.21,14.51,14.73
$GC,160,-0.82,-126.5,2662,3595,3401,3377,32.9,-38.4,23,167,0.08,2.25,0.00,0.000,3078,0.293,0.039,2675,2187,3389,3401,3377,0,0,0,0,0,0,14.35,14.57,28.83
$GC,350,-0.82,-126.5,2675,2184,3401,3377,88.0,-24.2,60,358,0.00,2.30,0.00,0.000,516,0.000,0.056,2675,803,3389,3401,3377,0,0,0,0,0,0,28.83,14.51,28.83
$GC,491,-0.82,-126.5,1680,803,3387,3376,115.2,-16.5,87,498,0.00,2.22,0.00,0.000,1030,0.000,0.042,2666,2204,3389,3401,3378,0,0,0,0,0,0,28.83,14.63,28.83
$GC,680,-0.82,-126.5,2665,2204,3401,3380,145.6,-15.8,124,688,0.00,2.33,0.00,0.000,516,0.000,0.055,2666,805,3390,3401,3380,0,0,0,0,0,0,28.83,14.55,28.83
$GC,731,-0.82,-126.5,2666,804,3401,3380,152.8,-13.8,133,739,0.10,2.22,0.00,0.000,3078,0.293,0.041,2675,2209,3390,3401,3380,0,0,0,0,0,0,14.42,14.66,28.83
$GC,922,-0.82,-126.5,2675,2209,3401,3382,180.3,-14.5,170,929,0.00,2.33,0.00,0.000,260,0.000,0.062,2667,3595,3391,3401,3382,0,0,0,0,0,0,28.83,14.57,28.83
$GC,947,-0.82,-126.5,2667,3595,3401,3382,184.2,-15.4,174,955,0.00,2.25,0.00,0.000,1030,0.000,0.036,2667,2199,3391,3401,3382,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1142,-0.82,-126.5,2667,2197,3401,3382,214.4,-15.4,203,1152,0.00,2.22,0.00,0.000,516,0.000,0.054,2667,811,3391,3401,3381,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1157,-0.82,-126.5,2667,810,3401,3381,217.0,-15.6,206,1165,0.05,2.25,0.00,0.000,3078,0.256,0.043,2671,2194,3391,3401,3381,0,0,0,0,0,0,14.35,14.56,28.83
$GC,1464,-0.82,-126.5,2671,2193,3401,3380,264.6,-15.5,237,1474,0.00,2.22,0.00,0.000,516,0.000,0.056,2672,811,3390,3401,3380,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1517,-0.82,-126.5,2672,811,3401,3379,272.7,-14.9,247,1528,0.08,2.22,0.00,0.000,3078,0.304,0.044,2677,2212,3390,3401,3379,0,0,0,0,0,0,14.51,14.71,28.83
$GC,1827,-0.82,-126.5,2678,2212,3401,3376,317.3,-14.9,279,1837,0.00,2.28,0.00,0.000,516,0.000,0.058,2677,808,3388,3401,3376,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1862,-0.82,-126.5,2677,807,3401,3376,322.1,-14.9,285,1872,0.00,2.22,0.00,0.000,1030,0.000,0.046,2669,2212,3388,3401,3376,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2181,-0.82,-126.5,2669,2212,3401,3372,368.4,-14.8,312,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2212,3386,3401,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2480,-0.82,-126.5,2669,2211,3401,3369,412.3,-14.7,327,2486,0.00,2.28,0.00,0.000,516,0.000,0.060,2669,811,3385,3401,3369,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2543,-0.82,-126.5,2669,812,3402,3368,422.0,-14.2,340,2548,0.05,2.28,0.00,0.000,3078,0.243,0.047,2675,2201,3384,3401,3368,0,0,0,0,0,0,14.46,14.67,28.83
$GC,2862,-0.82,-126.5,2675,2201,3401,3363,467.0,-14.3,358,2866,0.00,2.25,0.00,0.000,516,0.000,0.061,2675,810,3382,3401,3363,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2905,-0.82,-126.5,2675,810,3401,3363,473.9,-14.4,367,2910,0.00,2.28,0.00,0.000,1030,0.000,0.048,2666,2199,3382,3401,3363,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3224,-0.82,-126.5,2666,2200,3401,3358,520.0,-14.5,383,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2200,3379,3401,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3523,-0.82,-126.5,2666,2200,3401,3354,562.2,-13.8,393,3529,0.00,2.28,0.00,0.000,516,0.000,0.063,2666,806,3376,3400,3353,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3584,-0.82,-126.5,2666,806,3400,3354,570.7,-13.7,405,3591,0.05,2.25,0.00,0.000,3078,0.246,0.050,2672,2213,3377,3401,3353,0,0,0,0,0,0,14.49,14.72,28.83
$GC,3913,-0.82,-126.5,2672,2214,3400,3351,613.9,-12.8,421,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3375,3400,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4213,-0.82,-126.5,2672,2215,3399,3348,652.3,-12.7,431,4217,0.00,2.30,0.00,0.000,516,0.000,0.063,2672,806,3373,3399,3348,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4292,-0.82,-126.5,2672,806,3398,3348,662.9,-12.9,447,4297,0.08,2.25,0.00,0.000,3078,0.301,0.051,2678,2204,3372,3396,3348,0,0,0,0,0,0,14.54,14.74,28.83
$GC,4605,-0.82,-126.5,2678,2204,3397,3345,701.8,-12.5,459,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2204,3371,3397,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,-0.82,-126.5,2678,2204,3396,3344,739.9,-12.7,469,4912,0.00,2.28,0.00,0.000,516,0.000,0.064,2678,815,3370,3396,3344,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4973,-0.82,-126.5,2678,814,3395,3344,748.8,-12.6,483,4977,0.00,2.25,0.00,0.000,1030,0.000,0.051,2669,2207,3369,3395,3344,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5291,-0.82,-126.5,2669,2208,3394,3342,789.8,-13.2,496,5297,0.00,2.25,0.00,0.000,516,0.000,0.063,2669,819,3368,3394,3342,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5322,-0.82,-126.5,1792,818,3382,3340,794.5,-13.6,503,5328,0.05,2.28,0.00,0.000,3078,0.244,0.050,2675,2199,3367,3393,3342,0,0,0,0,0,0,14.47,14.68,28.83
$GC,5649,-0.82,-126.5,2675,2200,3393,3340,835.2,-12.5,518,5651,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2200,3367,3393,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5949,-0.82,-126.5,2675,2200,3392,3338,872.5,-12.4,528,5954,0.00,2.28,0.00,0.000,516,0.000,0.067,2675,812,3365,3392,3338,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5999,-0.82,-126.5,2675,811,3390,3338,879.0,-12.4,538,6003,0.00,2.25,0.00,0.000,1030,0.000,0.054,2667,2198,3364,3391,3338,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6311,-0.82,-126.5,2667,2199,3390,3337,919.2,-13.2,550,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2198,3364,3390,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6610,-0.82,-126.5,2667,2199,3389,3337,957.6,-12.7,560,6614,0.00,2.28,0.00,0.000,516,0.000,0.067,2667,817,3363,3389,3337,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6660,-0.82,-126.5,2667,817,3389,3337,964.1,-12.2,570,6668,0.05,2.33,0.00,0.000,3078,0.246,0.054,2671,2201,3362,3389,3336,0,0,0,0,0,0,14.36,14.57,28.83
$STATE,6875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6875,begin apogee
$GC,6879,-0.16,0.0,2671,2201,3389,3336,990.6,-12.4,578,7031,0.75,0.03,145.00,1.809,10246,0.211,0.122,2890,2162,2872,2920,2825,0,0,0,0,0,0,14.45,13.95,13.42
$STATE,7032,end apogee,CONTROL_FINISHED_OK
$STATE,7032,begin climb
$GC,7034,0.82,126.5,2890,2162,2915,2820,995.7,0.0,609,7150,1.00,2.47,108.65,2.160,10500,0.127,0.075,3208,3542,2349,2408,2291,0,0,0,0,0,0,14.06,13.90,13.15
$GC,7181,0.82,126.5,2368,3542,2354,2279,988.6,10.0,639,7185,0.00,2.42,0.00,0.000,1030,0.000,0.047,3218,2144,2343,2402,2285,0,0,0,0,0,0,28.83,14.08,28.83
$GC,7508,0.82,126.5,3219,2144,2402,2283,951.9,11.5,654,7512,0.00,2.40,0.00,0.000,516,0.000,0.076,3230,736,2342,2402,2283,0,0,0,0,0,0,28.83,14.43,28.83
$GC,7618,0.82,126.5,3231,736,2401,2283,938.9,11.2,676,7626,0.00,2.35,0.00,0.000,1030,0.000,0.050,3230,2130,2341,2401,2282,0,0,0,0,0,0,28.83,14.42,28.83
$GC,7926,0.82,126.5,3230,2130,2399,2282,903.3,11.7,687,7932,0.00,2.35,0.00,0.000,516,0.000,0.074,3240,736,2340,2398,2282,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7957,0.82,126.5,3240,736,2399,2282,899.4,12.1,694,7962,0.00,2.33,0.00,0.000,1030,0.000,0.050,3240,2133,2340,2398,2282,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8286,0.82,126.5,3240,2134,2397,2281,861.8,11.2,709,8292,0.00,2.38,0.00,0.000,516,0.000,0.075,3250,728,2339,2397,2281,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8363,0.82,126.5,3250,728,2397,2281,852.6,11.9,725,8367,0.00,2.30,0.00,0.000,1030,0.000,0.050,3250,2141,2339,2397,2281,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8676,0.82,126.5,3250,2141,2396,2280,817.0,11.4,737,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2141,2338,2396,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8977,0.82,126.5,3250,2141,2395,2279,783.0,11.3,747,8981,0.00,2.38,0.00,0.000,516,0.000,0.073,3260,731,2337,2395,2279,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9031,0.82,126.5,3260,730,2395,2279,776.4,11.4,758,9039,0.05,2.35,0.00,0.000,5126,0.235,0.050,3246,2137,2337,2395,2279,0,0,0,0,0,0,14.36,14.53,28.83
$GC,9339,0.82,126.5,3246,2137,2395,2279,743.5,10.6,769,9345,0.00,2.33,0.00,0.000,516,0.000,0.073,3255,739,2337,2395,2279,0,0,0,0,0,0,28.83,14.58,28.83
$GC,9376,0.82,126.5,3255,739,2395,2279,739.3,10.9,777,9380,0.00,2.30,0.00,0.000,1030,0.000,0.050,3254,2147,2336,2394,2279,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9699,0.82,126.5,3255,2147,2394,2279,705.3,10.3,791,9705,0.00,2.35,0.00,0.000,516,0.000,0.073,3264,738,2336,2394,2279,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9751,0.82,126.5,3264,737,2394,2279,699.6,10.3,802,9759,0.08,2.35,0.00,0.000,5126,0.232,0.050,3243,2140,2336,2394,2279,0,0,0,0,0,0,14.32,14.54,28.83
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$GC,16807,1.42,611.3,3344,2141,1273,1166,32.4,-1.1,1587,16914,0.15,2.33,97.85,0.234,11012,0.131,0.057,3421,737,514,578,450,0,0,0,0,0,0,14.51,14.47,14.27
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$STATE,17063,end climb,SURFACE_DEPTH_REACHED
$STATE,17063,begin surface coast
$FINISH,0.2,1.019614
$STATE,17081,end surface coast,CONTROL_FINISHED_OK
$STATE,17081,begin surface
$SM_CCo,17098,1.23,0.204,0,0,508,579.63
$SM_CCo,17102,0.00,0.000,0,0,511,579.63
$SM_CCo,17104,0.10,0.941,0,0,509,579.63
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$IRIDIUM_FIX,1754.17,8932.79,030808,191939
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.92
$INTERNAL_PRESSURE,6.64088
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.2,69.576
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.025,161.400,544.800,1.325,0.000,24.951,44.461,241.115,0.000,0.000,5.906,3283.455,10182.733,655.782,3226.569,173.027,0.000,2023.889,0.000,2398.366,0.000,0.552,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322260
$DATA_FILE_SIZE,133811,1635
$CAP_FILE_SIZE,175664,0
$CFSIZE,2097086464,2065563648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,237.9,1
$GPS,081015,152432,1759.493,8926.562,40,0.9,44,-0.9