version: 66.11
glider: 615
mission: 5
dive: 196
start: 10 12 115 18 48 34
data:
$ID,615
$MISSION,5
$DIVE,196
$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,-19084.287
$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,48
$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
$GPS1,121015,184103,1755.504,8932.955,29,0.9,29,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.9
$GPS2,121015,184808,1755.534,8932.919,5,0.8,5,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,NE
$TGT_LATLONG,1806.660,8933.540
$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,12.4,20634,-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,-126.5,185,2158,560,477,0.0,0.0,0,63,0.00,0.00,-46.20,0.000,16386,0.000,0.000,185,2159,1837,1841,1834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,185,2160,1842,1834,3.5,-8.3,7,118,10.88,2.28,-31.12,0.000,18948,0.355,0.076,2674,804,3389,3402,3377,0,0,0,0,0,0,14.18,14.33,14.74
$GC,181,-0.82,-126.5,1680,803,3389,3375,44.1,-32.4,27,188,0.00,2.25,0.00,0.000,1030,0.000,0.046,2665,2195,3390,3403,3377,0,0,0,0,0,0,28.83,14.54,28.83
$GC,370,-0.82,-126.5,2665,2195,3403,3377,92.8,-20.2,64,377,0.00,2.35,0.00,0.000,260,0.000,0.059,2654,3615,3390,3403,3378,0,0,0,0,0,0,28.83,14.54,28.83
$GC,444,-0.82,-126.5,2654,3615,3403,3379,106.7,-17.2,78,452,0.05,2.30,0.00,0.000,3078,0.246,0.036,2678,2185,3391,3403,3379,0,0,0,0,0,0,14.35,14.55,28.83
$GC,636,-0.82,-126.5,2678,2183,3403,3380,136.6,-14.8,115,643,0.00,2.20,0.00,0.000,516,0.000,0.052,2678,814,3391,3403,3380,0,0,0,0,0,0,28.83,14.59,28.83
$GC,675,-0.82,-126.5,2678,814,3403,3380,142.4,-15.0,122,682,0.00,2.28,0.00,0.000,1030,0.000,0.041,2669,2210,3391,3403,3380,0,0,0,0,0,0,28.83,14.56,28.83
$GC,867,-0.82,-126.5,2670,2210,3403,3383,170.1,-14.4,159,873,0.00,2.25,0.00,0.000,516,0.000,0.052,2669,812,3392,3403,3382,0,0,0,0,0,0,28.83,14.62,28.83
$GC,915,-0.82,-126.5,1696,811,3390,3380,177.3,-15.0,168,923,0.05,2.25,0.00,0.000,3078,0.258,0.040,2674,2194,3392,3403,3382,0,0,0,0,0,0,14.36,14.56,28.83
$GC,1106,-0.82,-126.5,2674,2194,3403,3382,205.1,-14.9,202,1115,0.00,2.30,0.00,0.000,260,0.000,0.060,2665,3608,3392,3403,3382,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1129,-0.82,-126.5,1760,3607,3392,3380,209.0,-14.8,207,1136,0.00,2.25,0.00,0.000,1030,0.000,0.035,2664,2201,3392,3403,3382,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1436,-0.82,-126.5,2665,2199,3403,3380,254.6,-15.0,238,1441,0.08,2.22,0.00,0.000,2564,0.301,0.053,2678,793,3391,3403,3380,0,0,0,0,0,0,14.59,14.63,28.83
$GC,1527,-0.82,-126.5,2678,793,3403,3380,268.5,-14.8,256,1536,0.00,2.30,0.00,0.000,1030,0.000,0.045,2670,2198,3391,3403,3380,0,0,0,0,0,0,28.83,14.49,28.83
$GC,1836,-0.82,-126.5,2670,2199,3403,3377,315.2,-14.9,287,1845,0.00,2.22,0.00,0.000,516,0.000,0.057,2670,813,3390,3403,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1899,-0.82,-126.5,2670,813,3403,3376,324.6,-14.1,299,1909,0.10,2.22,0.00,0.000,3078,0.272,0.047,2681,2204,3389,3403,3376,0,0,0,0,0,0,14.48,14.69,28.83
$GC,2209,-0.82,-126.5,2681,2205,3403,3372,367.4,-14.1,325,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2204,3387,3403,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,-0.82,-126.5,2681,2204,3403,3369,408.9,-14.0,340,2515,0.00,2.25,0.00,0.000,516,0.000,0.060,2681,821,3386,3403,3369,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2569,-0.82,-126.5,2682,822,3403,3369,417.3,-13.1,352,2576,0.00,2.22,0.00,0.000,1030,0.000,0.050,2674,2203,3385,3403,3368,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2889,-0.82,-126.5,2674,2204,3403,3364,461.2,-13.6,371,2895,0.00,2.25,0.00,0.000,516,0.000,0.060,2674,821,3383,3403,3364,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2937,-0.82,-126.5,2674,821,3403,3364,468.0,-13.4,381,2942,0.08,2.22,0.00,0.000,3078,0.303,0.050,2678,2202,3383,3403,3364,0,0,0,0,0,0,14.50,14.71,28.83
$GC,3265,-0.82,-126.5,2677,2202,3403,3359,510.1,-12.8,397,3271,0.00,2.28,0.00,0.000,516,0.000,0.061,2678,816,3380,3402,3358,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3296,-0.82,-126.5,2678,816,3403,3359,514.7,-13.3,404,3301,0.00,2.28,0.00,0.000,1030,0.000,0.050,2669,2195,3380,3403,3358,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3625,-0.82,-126.5,2669,2196,3403,3354,558.4,-13.5,419,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2196,3378,3402,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3925,-0.82,-126.5,2670,2196,3402,3352,599.1,-13.4,429,3931,0.00,2.25,0.00,0.000,516,0.000,0.062,2669,816,3377,3402,3352,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3962,-0.82,-126.5,2669,816,3402,3352,604.7,-13.8,437,3967,0.10,2.25,0.00,0.000,3078,0.277,0.051,2681,2204,3377,3402,3352,0,0,0,0,0,0,14.50,14.72,28.83
$GC,4285,-0.82,-126.5,2681,2204,3401,3349,645.5,-12.7,451,4291,0.00,2.25,0.00,0.000,516,0.000,0.062,2681,826,3375,3401,3350,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4314,-0.82,-126.5,2681,826,3401,3349,649.5,-13.6,457,4320,0.00,2.22,0.00,0.000,1030,0.000,0.051,2673,2204,3375,3401,3350,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4645,-0.82,-126.5,2674,2204,3400,3346,692.6,-13.0,473,4651,0.00,2.25,0.00,0.000,516,0.000,0.063,2673,824,3373,3400,3346,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4675,-0.82,-126.5,2673,824,3400,3346,696.5,-12.7,479,4681,0.08,2.22,0.00,0.000,3078,0.306,0.050,2677,2204,3373,3400,3346,0,0,0,0,0,0,14.52,14.73,28.83
$GC,5005,-0.82,-126.5,2677,2204,3398,3345,737.5,-12.3,495,5011,0.00,2.28,0.00,0.000,516,0.000,0.063,2678,823,3371,3398,3345,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5042,-0.82,-126.5,2677,822,3397,3345,742.4,-12.3,503,5046,0.00,2.25,0.00,0.000,1030,0.000,0.052,2669,2206,3371,3398,3345,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5365,-0.82,-126.5,2669,2207,3398,3343,783.0,-13.0,517,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3370,3397,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,-0.82,-126.5,2669,2207,3396,3342,823.4,-13.5,527,5671,0.00,2.30,0.00,0.000,516,0.000,0.067,2669,822,3369,3396,3342,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5726,-0.82,-126.5,2669,821,3396,3342,831.6,-13.0,539,5732,0.05,2.22,0.00,0.000,3078,0.245,0.056,2674,2193,3369,3396,3342,0,0,0,0,0,0,14.42,14.68,28.83
$GC,6055,-0.82,-126.5,2674,2193,3395,3340,874.8,-13.0,555,6061,0.00,2.28,0.00,0.000,516,0.000,0.070,2674,822,3367,3395,3340,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6085,-0.82,-126.5,2674,822,3394,3340,878.8,-13.6,561,6091,0.00,2.25,0.00,0.000,1030,0.000,0.054,2666,2204,3367,3395,3340,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6415,-0.82,-126.5,2666,2205,3392,3340,922.2,-13.0,577,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2205,3366,3393,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6715,-0.82,-126.5,2666,2205,3392,3338,961.1,-12.9,587,6721,0.00,2.30,0.00,0.000,516,0.000,0.067,2666,822,3364,3392,3337,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6787,-0.82,-126.5,2666,822,3392,3337,970.8,-12.8,602,6792,0.10,2.25,0.00,0.000,3078,0.282,0.055,2677,2200,3365,3392,3338,0,0,0,0,0,0,14.45,14.69,28.83
$STATE,6953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6953,begin apogee
$GC,6956,-0.16,0.0,2677,2200,3392,3337,990.6,-12.0,610,7067,0.75,0.00,103.95,2.182,10246,0.230,0.000,2892,2201,2866,2916,2817,0,0,0,0,0,0,14.38,28.83,13.28
$STATE,7068,end apogee,CONTROL_FINISHED_OK
$STATE,7068,begin climb
$GC,7070,0.82,126.5,2892,2201,2914,2814,994.5,0.0,633,7188,1.00,2.42,108.28,2.165,10500,0.141,0.074,3204,3535,2349,2407,2291,0,0,0,0,0,0,14.05,13.89,13.15
$GC,7233,0.82,126.5,3204,3536,2403,2286,985.5,10.8,666,7238,0.00,2.33,0.00,0.000,1030,0.000,0.047,3214,2161,2344,2403,2286,0,0,0,0,0,0,28.83,14.13,28.83
$GC,7555,0.82,126.5,3214,2161,2402,2284,950.8,11.0,680,7559,0.00,2.42,0.00,0.000,516,0.000,0.076,3226,740,2343,2402,2284,0,0,0,0,0,0,28.83,14.41,28.83
$GC,7716,0.82,126.5,3226,741,2402,2284,933.0,11.1,712,7720,0.00,2.30,0.00,0.000,1030,0.000,0.050,3226,2141,2343,2402,2284,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8028,0.82,126.5,3225,2141,2401,2283,898.7,11.1,724,8032,0.00,2.38,0.00,0.000,516,0.000,0.074,3236,740,2342,2401,2283,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8092,0.82,126.5,3236,740,2400,2283,891.2,11.4,737,8097,0.00,2.30,0.00,0.000,1030,0.000,0.050,3235,2144,2341,2400,2283,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8415,0.82,126.5,3236,2144,2398,2283,854.9,11.4,751,8422,0.00,2.35,0.00,0.000,516,0.000,0.074,3245,745,2340,2398,2283,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8507,0.82,126.5,3245,745,2398,2282,844.2,11.2,770,8511,0.00,2.33,0.00,0.000,1030,0.000,0.050,3245,2142,2340,2398,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8835,0.82,126.5,3245,2142,2397,2282,808.5,11.0,785,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2142,2339,2397,2282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9136,0.82,126.5,3246,2142,2396,2280,777.4,10.4,795,9142,0.00,2.33,0.00,0.000,516,0.000,0.073,3255,748,2338,2396,2281,0,0,0,0,0,0,28.83,14.53,28.83
$GC,9225,0.82,126.5,3255,747,2397,2281,767.6,11.1,813,9231,0.00,2.28,0.00,0.000,1030,0.000,0.050,3256,2144,2338,2396,2281,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9555,0.82,126.5,3256,2144,2396,2281,731.9,11.1,829,9562,0.08,2.38,0.00,0.000,4356,0.307,0.071,3243,3550,2337,2394,2281,0,0,0,0,0,0,14.59,14.62,28.83
$GC,9585,0.82,126.5,3242,3549,2394,2281,728.6,11.3,835,9590,0.00,2.28,0.00,0.000,1030,0.000,0.046,3252,2137,2337,2394,2281,0,0,0,0,0,0,28.83,14.67,28.83
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$GC,15780,0.93,208.3,3281,746,2138,2017,129.6,8.3,1427,15800,0.00,2.28,13.85,1.151,9222,0.000,0.043,3281,2150,2018,2080,1957,0,0,0,0,0,0,28.83,14.57,13.99
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$STATE,17454,end climb,SURFACE_DEPTH_REACHED
$STATE,17454,begin surface coast
$FINISH,0.2,1.008355
$STATE,17478,end surface coast,CONTROL_FINISHED_OK
$STATE,17478,begin surface
$SM_CCo,17494,18.73,0.138,0,0,509,579.63
$SM_CCo,17515,-0.10,0.000,0,0,511,579.63
$SM_CCo,17518,0.22,0.491,0,0,509,579.63
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$IRIDIUM_FIX,1749.63,8935.07,080808,030300
$TT8_MAMPS,0.018725,0.018725
$HUMID,45.66
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.2,76.033
$10V_AH,12.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.775,188.875,485.450,18.950,0.000,25.130,40.527,244.311,0.000,0.000,5.944,3470.721,10236.587,636.237,3405.554,183.758,0.000,2075.664,0.000,2544.585,0.000,0.552,0.000
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$SENSOR_SECS,927.486,621.959,1644.952,1005.403,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322240
$DATA_FILE_SIZE,140890,1739
$CAP_FILE_SIZE,186763,0
$CFSIZE,2097086464,2062123008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039,257.2,1
$GPS,121015,234133,1757.112,8932.932,24,0.9,24,-0.9