version: 66.11
glider: 615
mission: 5
dive: 189
start: 10 11 115 8 7 50
data:
$ID,615
$MISSION,5
$DIVE,189
$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,-19074.297
$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,41
$R_STBD_OVSHOOT,34
$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
$GPS1,111015,080003,1802.807,8924.546,37,0.8,37,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.0
$GPS2,111015,080724,1802.869,8924.503,4,0.8,4,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SE
$TGT_LATLONG,1755.320,8933.540
$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,116.9,21191,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.82,-126.5,175,2196,561,478,0.0,0.0,0,62,0.00,0.00,-44.72,0.000,16386,0.000,0.000,174,2195,1786,1794,1779,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,174,2195,1794,1780,3.2,-6.9,7,118,10.73,2.40,-35.20,0.000,18692,0.347,0.078,2663,3613,3390,3403,3378,0,0,0,0,0,0,14.20,14.51,14.73
$GC,160,-0.82,-126.5,2663,3613,3403,3379,34.6,-47.0,23,168,0.08,2.28,0.00,0.000,3078,0.312,0.037,2674,2188,3391,3403,3379,0,0,0,0,0,0,14.33,14.56,28.83
$GC,351,-0.82,-126.5,2674,2185,3404,3379,88.9,-23.8,60,358,0.00,2.30,0.00,0.000,516,0.000,0.056,2674,807,3391,3403,3379,0,0,0,0,0,0,28.83,14.50,28.83
$GC,507,-0.82,-126.5,2674,806,3404,3380,116.0,-16.7,90,514,0.00,2.30,0.00,0.000,1030,0.000,0.041,2666,2212,3392,3404,3380,0,0,0,0,0,0,28.83,14.55,28.83
$GC,697,-0.82,-126.5,2666,2212,3404,3383,145.1,-15.0,127,704,0.00,2.28,0.00,0.000,516,0.000,0.055,2666,806,3393,3404,3383,0,0,0,0,0,0,28.83,14.60,28.83
$GC,731,-0.82,-126.5,2666,806,3404,3383,150.1,-14.6,133,740,0.10,2.22,0.00,0.000,3078,0.289,0.041,2676,2211,3394,3405,3383,0,0,0,0,0,0,14.42,14.66,28.83
$GC,923,-0.82,-126.5,2676,2211,3405,3384,177.1,-14.0,170,930,0.00,2.33,0.00,0.000,260,0.000,0.063,2667,3597,3393,3404,3383,0,0,0,0,0,0,28.83,14.60,28.83
$GC,983,-0.82,-126.5,2667,3597,3405,3384,186.0,-14.7,181,991,0.00,2.20,0.00,0.000,1030,0.000,0.034,2667,2190,3394,3404,3384,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1180,-0.82,-126.5,2667,2190,3405,3383,214.6,-14.4,209,1190,0.00,2.20,0.00,0.000,516,0.000,0.056,2667,814,3394,3405,3384,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1256,-0.82,-126.5,2667,815,3405,3384,226.0,-13.5,224,1264,0.05,2.25,0.00,0.000,3078,0.247,0.042,2673,2196,3394,3405,3383,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1563,-0.82,-126.5,2672,2197,3405,3381,270.1,-14.2,255,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,3393,3405,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1864,-0.82,-126.5,2672,2197,3404,3377,311.5,-14.0,285,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3391,3405,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-0.82,-126.5,2672,2197,3405,3373,354.0,-14.3,314,2170,0.00,2.22,0.00,0.000,516,0.000,0.059,2672,819,3388,3405,3372,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2215,-0.82,-126.5,2672,819,3405,3373,361.9,-14.2,324,2220,0.08,2.22,0.00,0.000,3078,0.301,0.047,2677,2203,3389,3405,3373,0,0,0,0,0,0,14.51,14.71,28.83
$GC,2528,-0.82,-126.5,2678,2204,3405,3370,405.4,-14.2,341,2534,0.00,2.28,0.00,0.000,516,0.000,0.060,2678,807,3387,3405,3370,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2560,-0.82,-126.5,2678,807,3405,3369,410.5,-14.3,348,2569,0.00,2.30,0.00,0.000,1030,0.000,0.047,2670,2197,3386,3404,3369,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2868,-0.82,-126.5,2670,2197,3404,3365,455.5,-14.8,364,2874,0.00,2.25,0.00,0.000,516,0.000,0.061,2670,817,3384,3404,3364,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2909,-0.82,-126.5,2669,817,3404,3364,461.6,-15.6,372,2916,0.10,2.22,0.00,0.000,3078,0.270,0.049,2681,2201,3383,3403,3363,0,0,0,0,0,0,14.51,14.72,28.83
$GC,3218,-0.82,-126.5,2681,2202,3404,3360,505.4,-13.9,390,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2202,3382,3404,3360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3518,-0.82,-126.5,2681,2202,3404,3356,546.5,-13.6,400,3522,0.00,2.28,0.00,0.000,516,0.000,0.063,2681,812,3380,3404,3356,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3567,-0.82,-126.5,2681,812,3404,3356,553.5,-14.0,410,3576,0.00,2.30,0.00,0.000,1030,0.000,0.050,2674,2193,3379,3404,3355,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3875,-0.82,-126.5,2674,2193,3403,3352,595.8,-13.9,421,3881,0.00,2.28,0.00,0.000,516,0.000,0.063,2674,809,3377,3403,3352,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3917,-0.82,-126.5,2674,809,3403,3352,602.1,-13.8,430,3922,0.08,2.25,0.00,0.000,3078,0.302,0.050,2678,2205,3377,3403,3352,0,0,0,0,0,0,14.53,14.73,28.83
$GC,4235,-0.82,-126.5,2678,2205,3403,3349,644.0,-13.3,443,4241,0.00,2.33,0.00,0.000,260,0.000,0.073,2669,3605,3375,3402,3349,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4265,-0.82,-126.5,2669,3605,3402,3349,648.0,-13.8,449,4271,0.00,2.22,0.00,0.000,1030,0.000,0.042,2669,2209,3375,3402,3349,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4595,-0.82,-126.5,2669,2208,3401,3346,693.5,-13.9,465,4601,0.00,2.30,0.00,0.000,516,0.000,0.063,2669,801,3373,3401,3346,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4686,-0.82,-126.5,2669,800,3401,3346,706.0,-13.4,483,4693,0.10,2.25,0.00,0.000,3078,0.272,0.050,2680,2200,3373,3401,3346,0,0,0,0,0,0,14.50,14.73,28.83
$GC,5016,-0.82,-126.5,2680,2201,3399,3344,748.9,-12.9,499,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2200,3372,3400,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5315,-0.82,-126.5,2680,2201,3398,3343,786.3,-12.4,509,5319,0.00,2.33,0.00,0.000,516,0.000,0.067,2680,803,3371,3399,3343,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5364,-0.82,-126.5,2680,802,3398,3343,792.6,-11.7,519,5369,0.00,2.30,0.00,0.000,1030,0.000,0.057,2672,2206,3370,3398,3343,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5677,-0.82,-126.5,2672,2207,3397,3342,831.6,-12.7,531,5683,0.00,2.33,0.00,0.000,516,0.000,0.067,2672,800,3369,3397,3342,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5729,-0.82,-126.5,2672,800,3397,3342,838.7,-12.4,542,5739,0.05,2.33,0.00,0.000,3078,0.242,0.051,2676,2194,3369,3397,3341,0,0,0,0,0,0,14.34,14.55,28.83
$GC,6037,-0.82,-126.5,2676,2194,3396,3340,875.8,-12.1,553,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2194,3368,3396,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6338,-0.82,-126.5,2676,2195,3395,3339,912.2,-12.2,563,6342,0.00,2.30,0.00,0.000,516,0.000,0.067,2676,807,3367,3395,3339,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6382,-0.82,-126.5,2676,807,3394,3340,918.2,-12.5,572,6387,0.00,2.28,0.00,0.000,1030,0.000,0.052,2668,2209,3367,3394,3340,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6694,-0.82,-126.5,2668,2210,3393,3338,957.4,-12.7,584,6698,0.00,2.33,0.00,0.000,516,0.000,0.066,2668,806,3365,3393,3338,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6728,-0.82,-126.5,2668,806,3393,3338,962.1,-12.7,591,6733,0.10,2.28,0.00,0.000,3078,0.278,0.051,2678,2205,3365,3393,3337,0,0,0,0,0,0,14.47,14.71,28.83
$STATE,6994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6994,begin apogee
$GC,6998,-0.16,0.0,2678,2144,3393,3337,993.3,-11.8,604,7118,0.73,0.00,114.00,2.069,10246,0.236,0.000,2885,2144,2867,2915,2819,0,0,0,0,0,0,14.37,28.83,13.26
$STATE,7120,end apogee,CONTROL_FINISHED_OK
$STATE,7120,begin climb
$GC,7122,0.82,126.5,2885,2144,2913,2815,997.6,0.0,629,7237,1.05,0.00,109.05,2.170,10246,0.158,0.000,3203,2144,2350,2409,2292,0,0,0,0,0,0,14.04,28.83,13.14
$GC,7536,0.82,126.5,3203,2144,2402,2286,962.2,10.7,647,7542,0.00,2.38,0.00,0.000,516,0.000,0.077,3213,746,2344,2402,2286,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7596,0.82,126.5,3212,746,2402,2286,955.6,11.2,659,7602,0.00,2.30,0.00,0.000,1030,0.000,0.050,3213,2140,2344,2402,2286,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7926,0.82,126.5,3213,2139,2402,2284,920.4,10.4,675,7932,0.00,2.38,0.00,0.000,516,0.000,0.076,3222,743,2343,2402,2284,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7978,0.82,126.5,3222,743,2401,2285,914.6,10.6,686,7987,0.00,2.35,0.00,0.000,1030,0.000,0.048,3222,2138,2342,2401,2284,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8286,0.82,126.5,3222,2138,2400,2283,883.0,10.3,697,8290,0.00,2.33,0.00,0.000,516,0.000,0.073,3232,750,2341,2400,2283,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8380,0.82,126.5,3232,751,2399,2284,873.0,10.3,716,8385,0.00,2.33,0.00,0.000,1030,0.000,0.048,3232,2145,2341,2399,2284,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8708,0.82,126.5,3232,2145,2398,2283,839.6,10.1,731,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2145,2340,2398,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9008,0.82,126.5,3232,2145,2397,2282,808.8,10.1,741,9012,0.00,2.38,0.00,0.000,516,0.000,0.074,3242,744,2339,2397,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9088,0.82,126.5,3242,745,2397,2283,800.4,10.5,757,9092,0.00,2.30,0.00,0.000,1030,0.000,0.049,3242,2146,2339,2397,2282,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9400,0.82,126.5,3242,2145,2396,2282,768.0,10.3,769,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2145,2339,2396,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9701,0.82,126.5,3241,2145,2396,2282,737.0,10.4,779,9707,0.00,2.35,0.00,0.000,516,0.000,0.073,3252,741,2339,2396,2282,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9743,0.82,126.5,3252,741,2395,2282,732.2,10.9,788,9747,0.00,2.28,0.00,0.000,1030,0.000,0.048,3252,2143,2338,2395,2282,0,0,0,0,0,0,28.83,14.69,28.83
$GC,10061,0.82,126.5,3252,2144,2394,2280,697.6,11.1,801,10067,0.00,2.33,0.00,0.000,516,0.000,0.072,3262,745,2338,2394,2282,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,17451,end climb,SURFACE_DEPTH_REACHED
$STATE,17451,begin surface coast
$FINISH,0.3,1.019594
$STATE,17467,end surface coast,CONTROL_FINISHED_OK
$STATE,17467,begin surface
$SM_CCo,17482,9.57,0.141,0,0,509,579.63
$SM_CCo,17494,0.00,0.000,0,0,511,579.63
$SM_CCo,17496,0.38,0.341,0,0,508,579.63
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$IRIDIUM_FIX,1756.43,8928.25,060808,161612
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.45
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,13.1,73.855
$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,322244
$DATA_FILE_SIZE,137579,1670
$CAP_FILE_SIZE,180149,0
$CFSIZE,2097086464,2063269888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.018,309.5,1
$GPS,111015,130033,1802.229,8925.983,28,0.8,28,-0.9