version: 66.11
glider: 615
mission: 5
dive: 208
start: 10 15 115 6 43 18
data:
$ID,615
$MISSION,5
$DIVE,208
$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,-19101.826
$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,50
$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
$GPS1,151015,063603,1756.302,8922.924,54,0.9,54,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.1
$GPS2,151015,064251,1756.303,8922.911,5,0.9,5,-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,1.2,19319,-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,-126.5,181,2145,564,477,0.0,0.0,0,57,0.00,0.00,-39.78,0.000,16386,0.000,0.000,181,2146,1654,1658,1650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-0.82,-126.5,181,2146,1658,1650,3.0,-6.5,6,118,10.85,2.25,-38.17,0.000,18948,0.352,0.073,2676,799,3390,3404,3377,0,0,0,0,0,0,14.18,14.40,14.75
$GC,232,-0.82,-126.5,2677,799,3404,3378,56.1,-24.7,37,239,0.00,2.25,0.00,0.000,1030,0.000,0.044,2668,2199,3390,3404,3377,0,0,0,0,0,0,28.83,14.55,28.83
$GC,422,-0.82,-126.5,2667,2200,3404,3379,98.6,-19.6,74,429,0.00,2.35,0.00,0.000,260,0.000,0.056,2657,3625,3391,3404,3379,0,0,0,0,0,0,28.83,14.55,28.83
$GC,435,-0.82,-126.5,2657,3625,3404,3379,101.3,-19.4,76,443,0.05,2.33,0.00,0.000,3078,0.223,0.036,2680,2183,3391,3404,3379,0,0,0,0,0,0,14.34,14.55,28.83
$GC,626,-0.82,-126.5,2680,2180,3403,3380,133.4,-14.7,113,634,0.00,2.20,0.00,0.000,516,0.000,0.052,2680,812,3392,3404,3380,0,0,0,0,0,0,28.83,14.59,28.83
$GC,712,-0.82,-126.5,2680,812,3405,3381,146.0,-14.5,129,719,0.00,2.20,0.00,0.000,1030,0.000,0.037,2671,2210,3393,3405,3381,0,0,0,0,0,0,28.83,14.65,28.83
$GC,903,-0.82,-126.5,2671,2210,3405,3382,174.1,-15.3,166,910,0.00,2.30,0.00,0.000,260,0.000,0.058,2661,3589,3393,3405,3381,0,0,0,0,0,0,28.83,14.54,28.83
$GC,937,-0.82,-126.5,2661,3588,3405,3382,179.4,-15.5,172,945,0.05,2.22,0.00,0.000,3078,0.236,0.035,2675,2201,3393,3405,3382,0,0,0,0,0,0,14.38,14.59,28.83
$GC,1133,-0.82,-126.5,2675,2200,3405,3381,207.6,-14.7,205,1144,0.00,2.22,0.00,0.000,516,0.000,0.052,2675,812,3393,3404,3382,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1178,-0.82,-126.5,2675,813,3405,3382,214.0,-14.9,213,1188,0.00,2.20,0.00,0.000,1030,0.000,0.039,2666,2215,3393,3405,3382,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1486,-0.82,-126.5,2666,2215,3405,3380,261.0,-14.8,245,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2215,3392,3405,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,-0.82,-126.5,2666,2215,3405,3376,305.9,-14.9,275,1792,0.00,2.25,0.00,0.000,516,0.000,0.054,2666,817,3390,3404,3376,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1862,-0.82,-126.5,2666,817,3405,3376,317.6,-14.4,290,1873,0.08,2.25,0.00,0.000,3078,0.219,0.042,2678,2193,3390,3405,3375,0,0,0,0,0,0,14.30,14.47,28.83
$GC,2181,-0.82,-126.5,2679,2193,3404,3372,362.2,-14.5,318,2185,0.00,2.25,0.00,0.000,516,0.000,0.055,2678,814,3388,3405,3372,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2205,-0.82,-126.5,2679,813,3404,3372,366.3,-15.9,323,2209,0.00,2.25,0.00,0.000,1030,0.000,0.044,2671,2197,3388,3404,3372,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2523,-0.82,-126.5,2671,2197,3404,3368,413.8,-15.4,341,2530,0.00,2.22,0.00,0.000,516,0.000,0.058,2670,819,3386,3404,3368,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2565,-0.82,-126.5,2671,819,3404,3367,420.8,-15.0,350,2570,0.05,2.25,0.00,0.000,3078,0.243,0.047,2676,2191,3386,3404,3368,0,0,0,0,0,0,14.40,14.63,28.83
$GC,2883,-0.82,-126.5,2676,2191,3404,3362,467.8,-14.9,368,2889,0.00,2.25,0.00,0.000,516,0.000,0.062,2676,814,3383,3404,3362,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2905,-0.82,-126.5,2676,814,3404,3362,471.6,-14.9,373,2910,0.00,2.28,0.00,0.000,1030,0.000,0.050,2668,2199,3383,3404,3362,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3224,-0.82,-126.5,2668,2199,3404,3357,518.5,-14.8,389,3230,0.00,2.28,0.00,0.000,516,0.000,0.062,2668,813,3380,3404,3357,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3261,-0.82,-126.5,2668,813,3403,3357,524.5,-14.9,397,3266,0.10,2.25,0.00,0.000,3078,0.269,0.050,2679,2202,3380,3403,3357,0,0,0,0,0,0,14.48,14.71,28.83
$GC,3584,-0.82,-126.5,2680,2203,3403,3353,567.8,-13.4,411,3590,0.00,2.28,0.00,0.000,516,0.000,0.062,2679,820,3377,3403,3352,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3621,-0.82,-126.5,2679,820,3403,3353,573.2,-13.5,419,3625,0.00,2.25,0.00,0.000,1030,0.000,0.050,2671,2209,3377,3402,3352,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3944,-0.82,-126.5,2671,2210,3402,3351,616.4,-13.6,433,3950,0.00,2.30,0.00,0.000,516,0.000,0.064,2671,816,3376,3402,3351,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3975,-0.82,-126.5,2671,816,3402,3351,621.2,-13.7,440,3981,0.05,2.28,0.00,0.000,3078,0.239,0.050,2677,2191,3376,3402,3351,0,0,0,0,0,0,14.42,14.64,28.83
$GC,4304,-0.82,-126.5,2676,2191,3401,3348,662.3,-12.8,455,4308,0.00,2.28,0.00,0.000,516,0.000,0.064,2677,816,3374,3401,3347,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4344,-0.82,-126.5,2677,815,3401,3348,667.8,-12.2,463,4349,0.00,2.25,0.00,0.000,1030,0.000,0.050,2668,2206,3374,3401,3347,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4662,-0.82,-126.5,2668,2207,3399,3346,709.6,-13.4,476,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2207,3372,3399,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4961,-0.82,-126.5,2668,2207,3398,3344,749.8,-13.4,486,4965,0.00,2.30,0.00,0.000,516,0.000,0.064,2668,815,3371,3398,3344,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5020,-0.82,-126.5,2668,815,3398,3344,758.0,-12.9,498,5025,0.05,2.28,0.00,0.000,3078,0.244,0.052,2674,2190,3370,3397,3344,0,0,0,0,0,0,14.40,14.62,28.83
$GC,5349,-0.82,-126.5,2674,2190,3397,3342,799.8,-12.9,513,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2190,3369,3397,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5648,-0.82,-126.5,2674,2190,3395,3341,837.9,-12.5,523,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2190,3368,3396,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5949,-0.82,-126.5,2674,2190,3394,3339,875.2,-12.4,533,5955,0.00,2.25,0.00,0.000,516,0.000,0.067,2674,824,3366,3394,3339,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5986,-0.82,-126.5,2674,825,3394,3339,880.3,-12.4,541,5990,0.00,2.25,0.00,0.000,1030,0.000,0.056,2666,2197,3366,3394,3339,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6309,-0.82,-126.5,2666,2198,3394,3337,921.8,-13.0,555,6315,0.00,2.35,0.00,0.000,260,0.000,0.076,2656,3607,3365,3393,3337,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6331,-0.82,-126.5,2656,3607,3393,3337,925.2,-13.8,560,6339,0.08,2.30,0.00,0.000,3078,0.207,0.042,2678,2215,3365,3393,3337,0,0,0,0,0,0,14.34,14.57,28.83
$GC,6638,-0.82,-126.5,2678,2215,3393,3336,963.7,-12.8,571,6644,0.00,2.35,0.00,0.000,516,0.000,0.067,2678,801,3364,3393,3336,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6748,-0.82,-126.5,2678,800,3392,3336,977.6,-12.1,593,6752,0.00,2.28,0.00,0.000,1030,0.000,0.051,2670,2205,3364,3392,3336,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,6872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6872,begin apogee
$GC,6876,-0.16,0.0,2670,2132,3391,3336,993.4,-12.7,598,7001,0.77,0.00,118.12,1.991,10246,0.216,0.000,2891,2132,2867,2918,2817,0,0,0,0,0,0,14.38,28.83,13.26
$STATE,7003,end apogee,CONTROL_FINISHED_OK
$STATE,7003,begin climb
$GC,7004,0.82,126.5,2891,2132,2915,2814,998.6,0.0,624,7117,1.00,0.00,108.15,2.152,10758,0.129,0.000,3209,2132,2356,2413,2300,0,0,0,0,0,0,14.04,28.83,13.13
$GC,7414,0.82,126.5,3209,2132,2402,2287,966.1,10.2,656,7420,0.00,2.35,0.00,0.000,516,0.000,0.075,3219,756,2344,2402,2287,0,0,0,0,0,0,28.83,14.37,28.83
$GC,7451,0.82,126.5,3218,756,2402,2287,962.0,10.6,664,7456,0.00,2.28,0.00,0.000,1030,0.000,0.049,3219,2136,2344,2401,2287,0,0,0,0,0,0,28.83,14.46,28.83
$GC,7774,0.82,126.5,3219,2135,2399,2286,928.3,10.7,678,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2136,2342,2399,2286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8073,0.82,126.5,3219,2136,2398,2285,895.9,10.9,688,8077,0.00,2.35,0.00,0.000,516,0.000,0.076,3229,756,2341,2398,2284,0,0,0,0,0,0,28.83,14.53,28.83
$GC,8104,0.82,126.5,3229,756,2398,2285,892.6,10.9,694,8108,0.00,2.28,0.00,0.000,1030,0.000,0.050,3229,2146,2341,2398,2285,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8431,0.82,126.5,3229,2147,2396,2284,857.8,10.7,709,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2147,2340,2396,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8731,0.82,126.5,3229,2147,2396,2284,826.0,10.8,719,8737,0.00,2.35,0.00,0.000,516,0.000,0.074,3239,742,2339,2395,2284,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8768,0.82,126.5,3239,742,2396,2284,821.8,11.0,727,8772,0.00,2.30,0.00,0.000,1030,0.000,0.050,3239,2149,2340,2396,2284,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9091,0.82,126.5,3240,2148,2395,2283,787.7,10.8,741,9097,0.00,2.33,0.00,0.000,516,0.000,0.073,3248,758,2339,2395,2283,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9128,0.82,126.5,3248,757,2395,2283,783.3,11.2,749,9132,0.00,2.25,0.00,0.000,1030,0.000,0.050,3248,2140,2339,2395,2283,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9451,0.82,126.5,3248,2141,2394,2283,748.3,11.0,763,9457,0.00,2.33,0.00,0.000,516,0.000,0.073,3258,753,2338,2394,2283,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9488,0.82,126.5,3257,754,2394,2283,743.8,11.3,771,9493,0.10,2.28,0.00,0.000,5126,0.275,0.050,3238,2149,2338,2394,2283,0,0,0,0,0,0,14.40,14.66,28.83
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$STATE,17119,end climb,SURFACE_DEPTH_REACHED
$STATE,17119,begin surface coast
$FINISH,0.2,1.019179
$STATE,17141,end surface coast,CONTROL_FINISHED_OK
$STATE,17141,begin surface
$SM_CCo,17159,0.80,0.210,0,0,507,579.63
$SM_CCo,17163,-0.08,0.000,0,0,511,579.63
$SM_CCo,17166,0.38,0.335,0,0,509,579.63
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$IRIDIUM_FIX,1749.63,8923.74,100808,151515
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.48
$INTERNAL_PRESSURE,6.65065
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,13.1,79.757
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.825,170.175,511.375,1.175,0.000,21.433,16.741,252.784,0.000,0.000,5.910,3352.109,10235.040,621.603,3170.425,184.218,0.000,1964.634,0.000,2353.900,0.000,0.553,0.000
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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,322240
$DATA_FILE_SIZE,130640,1609
$CAP_FILE_SIZE,175173,0
$CFSIZE,2097086464,2060189696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,256.5,1
$GPS,151015,113103,1757.995,8922.409,62,0.8,62,-0.9