version: 66.11
glider: 615
mission: 5
dive: 182
start: 10 9 115 21 1 2
data:
$ID,615
$MISSION,5
$DIVE,182
$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,-19064.844
$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,43
$R_STBD_OVSHOOT,55
$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
$GPS1,091015,205327,1800.108,8921.792,37,0.8,37,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.1
$GPS2,091015,210035,1800.101,8921.747,5,0.7,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NW
$TGT_LATLONG,1806.660,8921.600
$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,6.9,12150,-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,12,begin dive
$GC,14,-0.82,-126.5,148,2227,559,476,0.0,0.0,0,61,0.00,0.00,-44.65,0.000,16386,0.000,0.000,148,2225,1780,1780,1781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,148,2224,1781,1780,3.1,-6.8,7,117,10.90,2.35,-34.83,0.000,18948,0.350,0.073,2674,798,3390,3401,3379,0,0,0,0,0,0,14.20,14.50,14.73
$GC,194,-0.82,-126.5,2674,797,3402,3378,48.5,-31.4,30,202,0.00,2.30,0.00,0.000,1030,0.000,0.050,2666,2172,3390,3402,3378,0,0,0,0,0,0,28.83,14.47,28.83
$GC,386,-0.82,-126.5,2666,2173,3402,3379,95.4,-20.1,67,392,0.00,2.35,0.00,0.000,260,0.000,0.061,2655,3609,3390,3402,3379,0,0,0,0,0,0,28.83,14.57,28.83
$GC,440,-0.82,-126.5,2655,3610,3401,3380,105.3,-17.4,77,449,0.10,2.25,0.00,0.000,3078,0.278,0.036,2675,2184,3391,3402,3380,0,0,0,0,0,0,14.39,14.64,28.83
$GC,632,-0.82,-126.5,2675,2182,3402,3382,134.5,-14.3,114,639,0.00,2.28,0.00,0.000,516,0.000,0.054,2675,812,3391,3401,3382,0,0,0,0,0,0,28.83,14.53,28.83
$GC,682,-0.82,-126.5,2675,811,3402,3382,142.3,-16.2,123,689,0.00,2.22,0.00,0.000,1030,0.000,0.041,2666,2215,3392,3402,3382,0,0,0,0,0,0,28.83,14.65,28.83
$GC,872,-0.82,-126.5,2666,2215,3402,3384,171.4,-15.4,160,880,0.00,2.33,0.00,0.000,260,0.000,0.062,2656,3600,3393,3402,3384,0,0,0,0,0,0,28.83,14.56,28.83
$GC,907,-0.82,-126.5,2656,3600,3402,3384,176.6,-15.1,166,915,0.08,2.28,0.00,0.000,3078,0.222,0.036,2686,2190,3392,3402,3383,0,0,0,0,0,0,14.42,14.61,28.83
$GC,1099,-0.82,-126.5,2686,2189,3402,3383,204.5,-13.9,200,1103,0.00,2.22,0.00,0.000,516,0.000,0.056,2686,809,3392,3402,3383,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1169,-0.82,-126.5,2686,809,3402,3384,214.7,-13.8,214,1177,0.00,2.25,0.00,0.000,1030,0.000,0.042,2678,2190,3392,3402,3382,0,0,0,0,0,0,28.83,14.48,28.83
$GC,1477,-0.82,-126.5,2678,2192,3402,3382,258.6,-14.4,245,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2191,3392,3402,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,-0.82,-126.5,2678,2191,3402,3378,301.8,-14.3,275,1787,0.00,2.22,0.00,0.000,516,0.000,0.060,2678,809,3390,3402,3379,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1800,-0.82,-126.5,2678,809,3402,3378,305.1,-14.7,279,1810,0.00,2.22,0.00,0.000,1030,0.000,0.045,2668,2204,3390,3402,3378,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2110,-0.82,-126.5,2668,2204,3402,3374,351.4,-15.4,311,2116,0.00,2.28,0.00,0.000,516,0.000,0.060,2668,811,3388,3402,3374,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2152,-0.82,-126.5,2669,812,3402,3374,358.3,-14.5,320,2157,0.05,2.25,0.00,0.000,3078,0.249,0.045,2674,2188,3388,3402,3374,0,0,0,0,0,0,14.44,14.64,28.83
$GC,2470,-0.82,-126.5,2674,2189,3402,3371,403.7,-14.3,338,2476,0.00,2.33,0.00,0.000,260,0.000,0.068,2665,3602,3386,3402,3370,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2490,-0.82,-126.5,2665,3602,3402,3370,406.7,-14.7,342,2496,0.00,2.20,0.00,0.000,1030,0.000,0.040,2664,2207,3385,3401,3370,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2810,-0.82,-126.5,2664,2206,3402,3366,453.6,-14.6,361,2817,0.08,2.25,0.00,0.000,2564,0.304,0.055,2679,790,3383,3401,3365,0,0,0,0,0,0,14.64,14.67,28.83
$GC,2891,-0.82,-126.5,2679,789,3402,3365,464.7,-13.5,377,2895,0.00,2.28,0.00,0.000,1030,0.000,0.047,2670,2209,3382,3401,3364,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3213,-0.82,-126.5,2670,2210,3402,3360,510.3,-14.5,395,3219,0.00,2.30,0.00,0.000,516,0.000,0.061,2670,807,3381,3402,3360,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3250,-0.82,-126.5,2670,807,3401,3360,516.2,-14.4,403,3255,0.10,2.25,0.00,0.000,3078,0.276,0.049,2681,2203,3380,3401,3360,0,0,0,0,0,0,14.51,14.73,28.83
$GC,3573,-0.82,-126.5,2681,2203,3401,3356,561.0,-14.0,417,3577,0.00,2.30,0.00,0.000,516,0.000,0.062,2681,809,3378,3401,3355,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3605,-0.82,-126.5,2681,809,3401,3355,565.7,-15.0,423,3611,0.00,2.25,0.00,0.000,1030,0.000,0.050,2674,2206,3378,3402,3355,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3936,-0.82,-126.5,2674,2206,3401,3352,612.8,-14.2,439,3941,0.00,2.28,0.00,0.000,516,0.000,0.062,2674,807,3376,3401,3352,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3966,-0.82,-126.5,2673,808,3401,3353,617.2,-14.5,445,3973,0.05,2.22,0.00,0.000,3078,0.251,0.050,2679,2197,3377,3401,3353,0,0,0,0,0,0,14.47,14.71,28.83
$GC,4296,-0.82,-126.5,2679,2197,3401,3349,660.9,-13.0,461,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2197,3375,3401,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4595,-0.82,-126.5,2679,2197,3399,3346,698.3,-12.3,471,4599,0.00,2.30,0.00,0.000,516,0.000,0.064,2679,808,3373,3400,3347,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4627,-0.82,-126.5,2679,807,3399,3347,702.3,-12.9,477,4633,0.00,2.25,0.00,0.000,1030,0.000,0.052,2670,2200,3373,3399,3347,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4957,-0.82,-126.5,2670,2200,3397,3345,743.9,-12.6,493,4963,0.00,2.35,0.00,0.000,260,0.000,0.076,2660,3608,3371,3398,3345,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4988,-0.82,-126.5,2660,3608,3397,3345,747.7,-13.1,499,4995,0.05,2.22,0.00,0.000,3078,0.222,0.044,2675,2203,3371,3397,3345,0,0,0,0,0,0,14.51,14.76,28.83
$GC,5318,-0.82,-126.5,2675,2202,3396,3343,787.7,-12.2,515,5324,0.00,2.33,0.00,0.000,516,0.000,0.069,2675,801,3370,3396,3344,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5411,-0.82,-126.5,2675,800,3396,3343,799.1,-11.5,534,5415,0.00,2.33,0.00,0.000,1030,0.000,0.056,2667,2194,3369,3396,3343,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5739,-0.82,-126.5,2667,2195,3395,3342,839.7,-12.6,549,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2195,3368,3395,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6039,-0.82,-126.5,2667,2196,3394,3340,878.2,-12.8,559,6045,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,807,3367,3394,3340,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6076,-0.82,-126.5,2667,807,3394,3340,883.4,-12.6,567,6081,0.10,2.28,0.00,0.000,3078,0.283,0.052,2678,2211,3366,3394,3339,0,0,0,0,0,0,14.48,14.73,28.83
$GC,6399,-0.82,-126.5,2678,2211,3393,3338,923.1,-12.4,581,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2211,3365,3393,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6699,-0.82,-126.5,2678,2211,3392,3337,960.6,-12.7,591,6705,0.00,2.33,0.00,0.000,516,0.000,0.067,2678,806,3364,3392,3337,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6751,-0.82,-126.5,2677,806,3392,3337,967.7,-13.1,602,6759,0.00,2.33,0.00,0.000,1030,0.000,0.053,2670,2193,3364,3391,3337,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,6938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6938,begin apogee
$GC,6943,-0.16,0.0,2670,2137,3391,3337,992.0,-13.3,609,7051,0.77,0.00,102.97,2.212,10246,0.236,0.000,2888,2137,2871,2920,2822,0,0,0,0,0,0,14.40,28.83,13.28
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7053,begin climb
$GC,7054,0.82,126.5,2887,2137,2916,2818,997.4,0.0,632,7168,1.02,0.00,109.00,2.176,10758,0.155,0.000,3200,2137,2356,2413,2299,0,0,0,0,0,0,14.00,28.83,13.15
$GC,7450,0.82,126.5,3201,2137,2402,2285,968.6,9.5,661,7456,0.00,2.38,0.00,0.000,516,0.000,0.078,3211,748,2343,2402,2285,0,0,0,0,0,0,28.83,14.34,28.83
$GC,7509,0.82,126.5,3211,748,2402,2285,962.6,10.3,673,7515,0.00,2.30,0.00,0.000,1030,0.000,0.050,3211,2141,2343,2402,2285,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7839,0.82,126.5,3211,2141,2400,2284,927.5,10.9,689,7845,0.00,2.38,0.00,0.000,516,0.000,0.075,3221,743,2342,2400,2284,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7886,0.82,126.5,3221,743,2399,2284,922.1,10.6,699,7891,0.00,2.30,0.00,0.000,1030,0.000,0.049,3220,2145,2341,2399,2284,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8199,0.82,126.5,3221,2145,2398,2283,887.7,11.1,711,8205,0.00,2.35,0.00,0.000,516,0.000,0.074,3231,752,2340,2397,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8251,0.82,126.5,3231,752,2397,2283,881.3,11.6,722,8259,0.00,2.33,0.00,0.000,1030,0.000,0.050,3231,2135,2340,2397,2283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8559,0.82,126.5,3231,2135,2396,2283,846.6,11.2,733,8563,0.00,2.35,0.00,0.000,516,0.000,0.075,3240,749,2340,2397,2283,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8603,0.82,126.5,3240,749,2396,2283,841.3,11.4,742,8607,0.00,2.28,0.00,0.000,1030,0.000,0.050,3240,2141,2339,2396,2283,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8921,0.82,126.5,3240,2142,2395,2282,805.4,11.3,755,8927,0.00,2.35,0.00,0.000,516,0.000,0.073,3251,745,2338,2395,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8993,0.82,126.5,3250,745,2395,2282,796.8,11.3,770,8997,0.00,2.28,0.00,0.000,1030,0.000,0.049,3251,2142,2338,2394,2282,0,0,0,0,0,0,28.83,14.68,28.83
$GC,9311,0.82,126.5,3251,2142,2394,2282,761.4,11.1,783,9317,0.00,2.35,0.00,0.000,516,0.000,0.072,3261,743,2338,2395,2282,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9389,0.82,126.5,3261,742,2394,2282,752.4,11.0,799,9394,0.10,2.28,0.00,0.000,5126,0.275,0.049,3241,2143,2338,2394,2282,0,0,0,0,0,0,14.44,14.68,28.83
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$GC,15668,0.91,199.3,3272,2166,2134,2012,144.0,8.8,1378,15677,0.00,2.40,2.12,0.307,8708,0.000,0.062,3282,738,2062,2123,2001,0,0,0,0,0,0,28.83,14.54,13.64
$GC,15703,0.92,203.0,2368,737,2080,2007,140.8,9.0,1384,15712,0.00,2.35,3.83,0.869,9222,0.000,0.045,3282,2144,2044,2106,1983,0,0,0,0,0,0,28.83,14.51,13.78
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$STATE,17362,end climb,SURFACE_DEPTH_REACHED
$STATE,17362,begin surface coast
$FINISH,0.3,1.019721
$STATE,17379,end surface coast,CONTROL_FINISHED_OK
$STATE,17379,begin surface
$SM_CCo,17397,1.02,0.221,0,0,508,579.63
$SM_CCo,17401,-0.08,0.000,0,0,511,579.63
$SM_CCo,17404,0.43,0.389,0,0,508,579.63
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$IRIDIUM_FIX,1749.63,8921.48,050808,050508
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.53
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,13.2,71.709
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322288
$DATA_FILE_SIZE,137270,1699
$CAP_FILE_SIZE,184598,0
$CFSIZE,2097086464,2064416768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.008,210.2,1
$GPS,101015,015221,1801.723,8921.953,37,1.1,37,-0.9