version: 66.11
glider: 615
mission: 5
dive: 192
start: 10 11 115 22 45 39
data:
$ID,615
$MISSION,5
$DIVE,192
$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,-19078.686
$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,46
$R_STBD_OVSHOOT,70
$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
$GPS1,111015,223833,1759.964,8928.096,26,0.9,27,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.5
$GPS2,111015,224512,1759.917,8928.044,4,0.8,4,-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,126.2,12895,-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,-126.5,172,2236,563,478,0.0,0.0,0,63,0.00,0.00,-45.83,0.000,16386,0.000,0.000,171,2234,1816,1821,1812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.82,-126.5,171,2236,1821,1812,3.4,-8.4,7,117,10.88,2.28,-32.25,0.000,18692,0.353,0.078,2665,3598,3390,3403,3377,0,0,0,0,0,0,14.20,14.50,14.76
$GC,211,-0.82,-126.5,2666,3598,3403,3377,52.1,-29.7,33,218,0.00,2.22,0.00,0.000,1030,0.000,0.037,2665,2197,3390,3403,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,402,-0.82,-126.5,2665,2194,3403,3377,95.9,-19.6,70,409,0.00,2.30,0.00,0.000,516,0.000,0.055,2665,811,3391,3404,3378,0,0,0,0,0,0,28.83,14.51,28.83
$GC,638,-0.82,-126.5,1680,810,3390,3378,141.5,-16.0,116,646,0.08,2.22,0.00,0.000,3078,0.243,0.041,2676,2171,3391,3404,3379,0,0,0,0,0,0,14.34,14.53,28.83
$GC,830,-0.82,-126.5,2676,2171,3403,3381,169.6,-14.1,153,837,0.00,2.22,0.00,0.000,516,0.000,0.056,2677,799,3392,3404,3381,0,0,0,0,0,0,28.83,14.62,28.83
$GC,879,-0.82,-126.5,2677,798,3404,3381,176.8,-14.1,162,887,0.00,2.30,0.00,0.000,1030,0.000,0.043,2668,2205,3392,3404,3381,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1075,-0.82,-126.5,2668,2205,3405,3381,205.9,-14.7,196,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2205,3393,3405,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1377,-0.82,-126.5,2668,2205,3404,3380,251.6,-15.1,226,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2205,3392,3405,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1676,-0.82,-126.5,2668,2206,3405,3377,297.3,-14.8,256,1685,0.00,2.28,0.00,0.000,516,0.000,0.060,2668,805,3390,3404,3377,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1757,-0.82,-126.5,2668,806,3404,3377,309.4,-14.8,272,1762,0.10,2.22,0.00,0.000,3078,0.273,0.045,2679,2202,3390,3404,3377,0,0,0,0,0,0,14.49,14.71,28.83
$GC,2073,-0.82,-126.5,2679,2203,3405,3372,353.9,-14.5,303,2077,0.00,2.30,0.00,0.000,516,0.000,0.062,2679,801,3388,3404,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2115,-0.82,-126.5,2679,801,3404,3372,360.0,-14.1,311,2121,0.00,2.25,0.00,0.000,1030,0.000,0.049,2671,2203,3388,3404,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2435,-0.82,-126.5,2671,2204,3404,3369,407.5,-14.8,330,2441,0.00,2.28,0.00,0.000,516,0.000,0.062,2671,809,3386,3404,3369,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2477,-0.82,-126.5,2671,809,3404,3369,414.1,-14.2,339,2483,0.05,2.28,0.00,0.000,3078,0.242,0.049,2676,2197,3386,3404,3368,0,0,0,0,0,0,14.44,14.66,28.83
$GC,2796,-0.82,-126.5,2676,2198,3404,3363,458.4,-14.0,357,2802,0.00,2.25,0.00,0.000,516,0.000,0.061,2676,812,3383,3404,3363,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2828,-0.82,-126.5,2676,812,3404,3363,463.4,-14.1,364,2835,0.00,2.30,0.00,0.000,1030,0.000,0.049,2668,2199,3383,3404,3363,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3156,-0.82,-126.5,2668,2200,3404,3358,510.0,-14.5,380,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2200,3380,3403,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3455,-0.82,-126.5,2668,2200,3403,3353,551.8,-13.9,390,3459,0.00,2.28,0.00,0.000,516,0.000,0.063,2668,809,3379,3404,3354,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3520,-0.82,-126.5,2668,809,3403,3353,561.0,-13.4,403,3525,0.10,2.25,0.00,0.000,3078,0.271,0.050,2679,2204,3378,3403,3353,0,0,0,0,0,0,14.50,14.73,28.83
$GC,3843,-0.82,-126.5,2679,2204,3403,3351,601.7,-12.5,417,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2203,3377,3403,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4142,-0.82,-126.5,2679,2204,3402,3346,639.3,-12.4,427,4146,0.00,2.33,0.00,0.000,516,0.000,0.065,2679,804,3374,3402,3346,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4222,-0.82,-126.5,2679,805,3401,3347,649.7,-11.9,443,4226,0.00,2.28,0.00,0.000,1030,0.000,0.052,2671,2207,3374,3401,3347,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4535,-0.82,-126.5,2671,2207,3400,3345,689.0,-13.0,455,4541,0.00,2.30,0.00,0.000,516,0.000,0.066,2671,811,3372,3400,3345,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4573,-0.82,-126.5,2671,810,3400,3346,694.3,-13.3,463,4577,0.08,2.25,0.00,0.000,3078,0.302,0.051,2676,2203,3372,3400,3345,0,0,0,0,0,0,14.52,14.73,28.83
$GC,4895,-0.82,-126.5,2676,2203,3398,3344,735.1,-12.8,477,4901,0.00,2.30,0.00,0.000,516,0.000,0.067,2676,806,3371,3399,3343,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4938,-0.82,-126.5,2676,806,3398,3343,741.1,-13.0,486,4942,0.00,2.25,0.00,0.000,1030,0.000,0.053,2668,2199,3370,3398,3343,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5256,-0.82,-126.5,2668,2199,3397,3342,783.4,-13.5,499,5262,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,805,3369,3397,3342,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5286,-0.82,-126.5,2667,805,3397,3342,787.5,-13.7,505,5293,0.10,2.28,0.00,0.000,3078,0.288,0.056,2682,2203,3369,3397,3342,0,0,0,0,0,0,14.45,14.72,28.83
$GC,5616,-0.82,-126.5,2682,2203,3396,3340,828.4,-12.2,521,5620,0.00,2.33,0.00,0.000,516,0.000,0.069,2682,808,3368,3396,3340,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5671,-0.82,-126.5,2682,808,3396,3340,835.7,-12.2,532,5678,0.00,2.33,0.00,0.000,1030,0.000,0.052,2675,2196,3368,3396,3340,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5978,-0.82,-126.5,2674,2196,3394,3338,875.1,-13.0,543,5984,0.00,2.30,0.00,0.000,516,0.000,0.067,2675,803,3366,3395,3338,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6021,-0.82,-126.5,2675,803,3395,3338,881.2,-12.9,552,6026,0.08,2.30,0.00,0.000,3078,0.324,0.059,2677,2207,3366,3394,3338,0,0,0,0,0,0,14.48,14.71,28.83
$GC,6339,-0.82,-126.5,2676,2208,3394,3337,921.4,-12.8,565,6345,0.00,2.33,0.00,0.000,516,0.000,0.067,2676,808,3365,3394,3337,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6369,-0.82,-126.5,2677,808,3394,3337,925.3,-13.1,571,6375,0.00,2.28,0.00,0.000,1030,0.000,0.052,2669,2210,3365,3393,3337,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6699,-0.82,-126.5,2668,2211,3393,3336,968.6,-13.1,587,6705,0.00,2.33,0.00,0.000,516,0.000,0.067,2668,804,3364,3393,3336,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6736,-0.82,-126.5,2669,804,3393,3336,974.0,-13.6,595,6741,0.10,2.28,0.00,0.000,3078,0.275,0.053,2679,2204,3364,3392,3336,0,0,0,0,0,0,14.47,14.71,28.83
$STATE,6878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6878,begin apogee
$GC,6882,-0.16,0.0,2679,2145,3391,3336,991.8,-12.7,603,7034,0.73,0.00,144.32,1.804,10246,0.228,0.000,2887,2144,2869,2917,2821,0,0,0,0,0,0,14.40,28.83,13.41
$STATE,7035,end apogee,CONTROL_FINISHED_OK
$STATE,7035,begin climb
$GC,7036,0.82,126.5,2887,2144,2914,2817,997.9,0.0,634,7154,1.02,2.55,108.53,2.163,10500,0.147,0.073,3204,3544,2348,2405,2291,0,0,0,0,0,0,14.04,13.88,13.13
$GC,7182,0.82,126.5,3204,3544,2402,2285,992.1,9.5,663,7188,0.00,2.38,0.00,0.000,1030,0.000,0.044,3212,2146,2343,2402,2285,0,0,0,0,0,0,28.83,14.09,28.83
$GC,7512,0.82,126.5,3212,2146,2402,2283,957.9,10.6,679,7516,0.00,2.42,0.00,0.000,516,0.000,0.076,3223,735,2342,2401,2283,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7682,0.82,126.5,3222,735,2400,2283,939.6,10.5,713,7686,0.00,2.30,0.00,0.000,1030,0.000,0.049,3222,2138,2342,2401,2283,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7989,0.82,126.5,3223,2138,2398,2282,906.9,10.6,724,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2138,2340,2398,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8289,0.82,126.5,3222,2138,2396,2280,874.6,10.9,734,8293,0.00,2.38,0.00,0.000,516,0.000,0.076,3233,736,2339,2398,2281,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8346,0.82,126.5,3232,736,2397,2281,868.2,11.3,745,8352,0.00,2.30,0.00,0.000,1030,0.000,0.049,3233,2147,2339,2397,2281,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8677,0.82,126.5,3233,2147,2395,2280,831.7,11.0,761,8681,0.00,2.40,0.00,0.000,516,0.000,0.073,3242,730,2338,2396,2280,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8751,0.82,126.5,3242,730,2396,2280,822.9,11.8,776,8755,0.00,2.30,0.00,0.000,1030,0.000,0.049,3242,2142,2338,2396,2280,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9069,0.82,126.5,3243,2143,2395,2279,786.6,11.3,789,9075,0.00,2.38,0.00,0.000,516,0.000,0.073,3253,733,2337,2395,2279,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9106,0.82,126.5,3253,733,2395,2279,781.9,12.0,797,9110,0.00,2.30,0.00,0.000,1030,0.000,0.048,3253,2144,2337,2395,2279,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9429,0.82,126.5,3253,2144,2395,2278,745.6,11.3,811,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2144,2336,2395,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9729,0.82,126.5,3252,2144,2394,2278,712.1,10.9,821,9735,0.00,2.38,0.00,0.000,516,0.000,0.073,3262,732,2336,2394,2278,0,0,0,0,0,0,28.83,14.60,28.83
$GC,9797,0.82,126.5,3262,732,2394,2278,704.1,11.5,835,9801,0.10,2.30,0.00,0.000,5126,0.268,0.049,3242,2145,2336,2394,2278,0,0,0,0,0,0,14.44,14.68,28.83
$GC,10120,0.82,126.5,3242,2145,2394,2278,670.6,10.1,849,10126,0.00,2.35,0.00,0.000,516,0.000,0.072,3251,736,2336,2394,2278,0,0,0,0,0,0,28.83,14.57,28.83
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$GC,13075,0.82,126.5,3243,2142,2392,2278,376.0,9.2,1059,13082,0.00,2.33,0.00,0.000,516,0.000,0.072,3252,749,2335,2392,2279,0,0,0,0,0,0,28.83,14.52,28.83
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$GC,16996,1.30,514.1,3353,2156,1120,1011,26.2,5.7,1664,17048,0.00,2.40,41.53,0.214,8708,0.000,0.060,3363,741,783,844,722,0,0,0,0,0,0,28.83,14.42,14.31
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$STATE,17301,end climb,SURFACE_DEPTH_REACHED
$STATE,17301,begin surface coast
$FINISH,0.2,1.009409
$STATE,17333,end surface coast,CONTROL_FINISHED_OK
$STATE,17333,begin surface
$SM_CCo,17349,38.85,0.135,0,0,508,579.63
$SM_CCo,17391,-0.08,0.000,0,0,511,579.63
$SM_CCo,17394,0.28,0.422,0,0,508,579.63
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$IRIDIUM_FIX,1754.17,8930.52,070808,070741
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.88
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.1,74.794
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.750,180.475,511.625,39.125,0.000,25.048,18.812,240.628,0.000,0.000,6.558,3443.202,10131.194,649.233,3379.038,182.892,0.000,2090.108,0.000,2532.554,0.000,0.552,0.000
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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,322264
$DATA_FILE_SIZE,140688,1727
$CAP_FILE_SIZE,183969,0
$CFSIZE,2097086464,2062778368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,224.8,1
$GPS,121015,033633,1758.731,8929.404,22,1.2,23,-0.9