version: 66.11
glider: 615
mission: 5
dive: 199
start: 10 13 115 9 51 12
data:
$ID,615
$MISSION,5
$DIVE,199
$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,-19088.643
$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,35
$R_STBD_OVSHOOT,45
$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
$GPS1,131015,094327,1800.567,8932.857,38,0.7,38,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.5
$GPS2,131015,095046,1800.573,8932.896,4,0.7,5,-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,22.5,11330,-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,-126.5,187,2216,563,478,0.0,0.0,0,61,0.00,0.00,-44.38,0.000,16386,0.000,0.000,187,2216,1787,1790,1785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.82,-126.5,186,2216,1791,1785,3.0,-5.2,7,117,10.85,2.40,-35.22,0.000,18948,0.354,0.077,2674,793,3390,3403,3377,0,0,0,0,0,0,14.19,14.50,14.73
$GC,175,-0.82,-126.5,2674,793,3403,3377,37.5,-33.6,26,182,0.00,2.33,0.00,0.000,1030,0.000,0.046,2665,2191,3390,3403,3377,0,0,0,0,0,0,28.83,14.46,28.83
$GC,367,-0.82,-126.5,2665,2193,3403,3378,91.0,-21.1,63,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2192,3391,3404,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,556,-0.82,-126.5,2665,2193,3404,3380,125.6,-14.4,100,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2193,3391,3403,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,747,-0.82,-126.5,2665,2192,3403,3381,156.1,-15.7,137,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2192,3392,3403,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,936,-0.82,-126.5,1664,2190,3389,3381,183.4,-16.0,174,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2192,3393,3404,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1126,-0.82,-126.5,2665,2192,3403,3383,210.6,-14.4,204,1135,0.00,2.25,0.00,0.000,516,0.000,0.054,2665,793,3393,3403,3383,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1196,-0.82,-126.5,2665,793,3403,3383,221.3,-15.1,218,1202,0.10,2.25,0.00,0.000,3078,0.284,0.041,2676,2215,3393,3403,3383,0,0,0,0,0,0,14.44,14.69,28.83
$GC,1502,-0.82,-126.5,2676,2215,3403,3381,265.7,-14.9,249,1513,0.00,2.30,0.00,0.000,516,0.000,0.054,2675,790,3391,3403,3380,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1525,-0.82,-126.5,2675,790,3403,3380,269.2,-15.4,253,1535,0.00,2.22,0.00,0.000,1030,0.000,0.041,2667,2199,3391,3403,3380,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1836,-0.82,-126.5,2667,2199,3403,3377,316.1,-15.2,285,1846,0.00,2.28,0.00,0.000,516,0.000,0.056,2667,795,3390,3404,3377,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1860,-0.82,-126.5,2668,794,3403,3377,320.4,-15.6,290,1869,0.08,2.30,0.00,0.000,3078,0.229,0.044,2679,2192,3389,3403,3376,0,0,0,0,0,0,14.33,14.52,28.83
$GC,2169,-0.82,-126.5,2679,2192,3403,3372,364.8,-14.7,316,2174,0.00,2.28,0.00,0.000,516,0.000,0.059,2679,795,3387,3403,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2196,-0.82,-126.5,2679,795,3403,3372,369.3,-15.2,322,2200,0.00,2.25,0.00,0.000,1030,0.000,0.047,2672,2202,3387,3403,3372,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2508,-0.82,-126.5,2671,2202,3403,3369,415.1,-14.6,339,2514,0.00,2.30,0.00,0.000,516,0.000,0.060,2671,792,3386,3403,3369,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2536,-0.82,-126.5,2671,792,3403,3369,419.6,-15.2,345,2540,0.08,2.28,0.00,0.000,3078,0.301,0.049,2675,2207,3386,3403,3369,0,0,0,0,0,0,14.50,14.71,28.83
$GC,2848,-0.82,-126.5,2675,2207,3403,3364,463.6,-14.2,362,2854,0.00,2.30,0.00,0.000,516,0.000,0.060,2675,797,3383,3403,3364,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2909,-0.82,-126.5,2675,796,3403,3363,472.2,-13.9,374,2915,0.00,2.25,0.00,0.000,1030,0.000,0.049,2667,2199,3382,3402,3363,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3229,-0.82,-126.5,2667,2200,3402,3358,518.2,-14.5,391,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2200,3380,3402,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3529,-0.82,-126.5,2667,2200,3402,3353,560.7,-14.1,401,3535,0.00,2.30,0.00,0.000,516,0.000,0.061,2667,793,3378,3402,3354,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3597,-0.82,-126.5,2667,793,3402,3354,570.5,-13.4,415,3601,0.10,2.28,0.00,0.000,3078,0.269,0.050,2678,2199,3378,3402,3354,0,0,0,0,0,0,14.50,14.72,28.83
$GC,3919,-0.82,-126.5,2678,2199,3402,3352,612.7,-13.1,429,3925,0.00,2.30,0.00,0.000,516,0.000,0.061,2678,795,3377,3402,3352,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3981,-0.82,-126.5,2678,794,3401,3351,620.7,-12.7,441,3987,0.00,2.25,0.00,0.000,1030,0.000,0.050,2670,2195,3376,3401,3351,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4310,-0.82,-126.5,2670,2196,3401,3347,664.9,-13.5,457,4316,0.00,2.30,0.00,0.000,516,0.000,0.063,2670,795,3374,3401,3347,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4328,-0.82,-126.5,2670,795,3400,3348,667.7,-14.1,461,4332,0.10,2.28,0.00,0.000,3078,0.278,0.052,2681,2201,3374,3401,3348,0,0,0,0,0,0,14.50,14.72,28.83
$GC,4634,-0.82,-126.5,2681,2202,3400,3345,707.6,-13.1,472,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2202,3373,3400,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4934,-0.82,-126.5,2681,2202,3398,3344,745.9,-12.7,482,4938,0.00,2.33,0.00,0.000,516,0.000,0.067,2681,799,3371,3398,3344,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5009,-0.82,-126.5,2681,799,3397,3344,755.7,-12.2,497,5013,0.00,2.30,0.00,0.000,1030,0.000,0.057,2673,2203,3370,3397,3344,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5322,-0.82,-126.5,2673,2203,3397,3343,795.5,-12.9,509,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3369,3397,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.82,-126.5,2673,2203,3396,3341,834.2,-13.0,519,5628,0.00,2.35,0.00,0.000,516,0.000,0.068,2673,792,3368,3396,3341,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5674,-0.82,-126.5,2673,792,3395,3341,841.7,-13.0,530,5684,0.05,2.35,0.00,0.000,3078,0.253,0.052,2676,2197,3368,3395,3341,0,0,0,0,0,0,14.31,14.54,28.83
$GC,5982,-0.82,-126.5,2676,2197,3395,3339,880.8,-12.7,541,5986,0.00,2.35,0.00,0.000,516,0.000,0.067,2676,792,3366,3394,3339,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6036,-0.82,-126.5,2676,792,3393,3339,888.2,-13.0,552,6045,0.00,2.35,0.00,0.000,1030,0.000,0.052,2668,2195,3366,3394,3339,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6343,-0.82,-126.5,2668,2195,3393,3338,929.1,-13.6,563,6345,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2195,3365,3393,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,-0.82,-126.5,2668,2195,3392,3337,969.3,-13.2,573,6650,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,797,3364,3392,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6675,-0.82,-126.5,2668,797,3392,3337,973.9,-13.1,580,6681,0.05,2.33,0.00,0.000,3078,0.245,0.053,2673,2193,3364,3392,3337,0,0,0,0,0,0,14.38,14.62,28.83
$STATE,6822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6822,begin apogee
$GC,6826,-0.16,0.0,2673,2132,3392,3336,992.4,-12.7,589,6951,0.77,0.00,119.57,2.001,10246,0.247,0.000,2886,2132,2872,2921,2824,0,0,0,0,0,0,14.35,28.83,13.26
$STATE,6952,end apogee,CONTROL_FINISHED_OK
$STATE,6952,begin climb
$GC,6954,0.82,126.5,2886,2132,2914,2815,997.8,0.0,615,7067,1.08,0.00,108.72,2.152,10502,0.168,0.000,3207,2131,2356,2413,2299,0,0,0,0,0,0,14.02,28.83,13.14
$GC,7365,0.82,126.5,3207,2132,2402,2286,964.7,10.4,637,7371,0.00,2.38,0.00,0.000,516,0.000,0.080,3217,744,2344,2402,2286,0,0,0,0,0,0,28.83,14.33,28.83
$GC,7431,0.82,126.5,3217,743,2402,2286,957.2,10.5,651,7435,0.00,2.33,0.00,0.000,1030,0.000,0.051,3217,2146,2344,2402,2286,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7754,0.82,126.5,3217,2146,2400,2285,923.7,10.3,665,7760,0.00,2.40,0.00,0.000,516,0.000,0.078,3227,739,2343,2401,2285,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7791,0.82,126.5,3227,739,2400,2285,919.4,11.1,673,7795,0.00,2.30,0.00,0.000,1030,0.000,0.051,3227,2140,2342,2400,2285,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8114,0.82,126.5,3227,2140,2398,2284,886.0,10.3,687,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2140,2341,2398,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8414,0.82,126.5,3227,2140,2397,2283,854.3,10.6,697,8420,0.00,2.38,0.00,0.000,516,0.000,0.076,3237,739,2340,2397,2283,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8512,0.82,126.5,3237,739,2397,2283,843.7,10.3,717,8516,0.00,2.30,0.00,0.000,1030,0.000,0.050,3237,2143,2339,2396,2283,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8834,0.82,126.5,3237,2143,2396,2283,810.2,10.4,731,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2143,2339,2396,2283,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9135,0.82,126.5,3237,2142,2395,2283,779.3,10.3,741,9141,0.00,2.35,0.00,0.000,516,0.000,0.076,3247,748,2339,2395,2283,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9157,0.82,126.5,3247,747,2395,2282,776.9,10.2,746,9165,0.00,2.33,0.00,0.000,1030,0.000,0.050,3247,2134,2339,2395,2283,0,0,0,0,0,0,28.83,14.51,28.83
$GC,9465,0.82,126.5,3247,2134,2394,2282,745.3,10.4,757,9471,0.00,2.33,0.00,0.000,516,0.000,0.075,3257,745,2338,2394,2282,0,0,0,0,0,0,28.83,14.56,28.83
$GC,9544,0.82,126.5,3257,745,2394,2283,736.7,10.3,773,9549,0.08,2.28,0.00,0.000,5126,0.293,0.050,3244,2144,2338,2395,2282,0,0,0,0,0,0,14.46,14.67,28.83
$GC,9849,0.82,126.5,3244,2144,2394,2282,705.9,10.0,784,9853,0.00,2.35,0.00,0.000,516,0.000,0.072,3252,745,2338,2394,2282,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9876,0.82,126.5,3253,745,2394,2282,703.2,10.4,789,9882,0.00,2.28,0.00,0.000,1030,0.000,0.050,3252,2141,2338,2394,2282,0,0,0,0,0,0,28.83,14.68,28.83
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$STATE,17572,end climb,SURFACE_DEPTH_REACHED
$STATE,17572,begin surface coast
$FINISH,0.3,1.019446
$STATE,17604,end surface coast,CONTROL_FINISHED_OK
$STATE,17604,begin surface
$SM_CCo,17619,38.60,0.138,0,0,509,579.63
$SM_CCo,17661,-0.03,0.000,0,0,511,579.63
$SM_CCo,17664,0.40,0.327,0,0,508,579.63
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$IRIDIUM_FIX,1751.90,8930.54,080808,181842
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.92
$INTERNAL_PRESSURE,6.66041
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,13.1,76.964
$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,322260
$DATA_FILE_SIZE,137285,1660
$CAP_FILE_SIZE,176566,0
$CFSIZE,2097086464,2061631488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,318.7,1
$GPS,131015,144651,1802.477,8933.272,37,1.0,37,-0.9