version: 66.11
glider: 615
mission: 5
dive: 246
start: 10 22 115 22 51 18
data:
$ID,615
$MISSION,5
$DIVE,246
$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,-19289.1
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,221015,224333,1804.393,8922.544,35,1.0,35,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.9
$GPS2,221015,225051,1804.408,8922.487,6,0.9,6,-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,138.6,25741,-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,-126.5,191,2228,542,492,0.0,0.0,0,63,0.00,0.00,-46.33,0.000,16386,0.000,0.000,191,2228,1835,1838,1833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,192,2228,1838,1833,3.5,-8.3,7,118,11.07,2.40,-30.62,0.000,18948,0.362,0.078,2675,802,3390,3407,3374,0,0,0,0,0,0,14.14,14.31,14.75
$GC,185,-0.82,-126.5,2675,801,3406,3374,43.5,-29.3,28,192,0.00,2.30,0.00,0.000,1030,0.000,0.047,2667,2183,3390,3406,3374,0,0,0,0,0,0,28.83,14.45,28.83
$GC,376,-0.82,-126.5,2667,2183,3406,3374,92.0,-22.4,65,383,0.00,2.25,0.00,0.000,516,0.000,0.054,2666,796,3390,3406,3374,0,0,0,0,0,0,28.83,14.54,28.83
$GC,425,-0.82,-126.5,2667,796,3406,3375,101.7,-17.7,74,433,0.05,2.33,0.00,0.000,3078,0.213,0.044,2680,2208,3391,3407,3375,0,0,0,0,0,0,14.31,14.52,28.83
$GC,617,-0.82,-126.5,1696,2207,3393,3374,130.6,-15.0,111,623,0.00,2.28,0.00,0.000,260,0.000,0.060,2671,3605,3392,3407,3377,0,0,0,0,0,0,28.83,14.59,28.83
$GC,786,-0.82,-126.5,2671,3605,3406,3378,154.6,-13.9,144,793,0.00,2.30,0.00,0.000,1030,0.000,0.037,2671,2186,3392,3406,3378,0,0,0,0,0,0,28.83,14.57,28.83
$GC,978,-0.82,-126.5,2671,2186,3407,3378,181.6,-15.0,181,986,0.00,2.22,0.00,0.000,516,0.000,0.057,2671,810,3392,3407,3378,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1028,-0.82,-126.5,2671,809,3406,3378,188.9,-14.5,190,1036,0.05,2.28,0.00,0.000,3078,0.249,0.043,2675,2196,3392,3407,3378,0,0,0,0,0,0,14.33,14.54,28.83
$GC,1224,-0.82,-126.5,2675,2197,3407,3378,216.1,-13.9,217,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2197,3392,3407,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-0.82,-126.5,2675,2197,3407,3376,260.0,-14.8,247,1529,0.00,2.25,0.00,0.000,516,0.000,0.057,2675,813,3391,3407,3376,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1557,-0.82,-126.5,2675,813,3407,3376,265.0,-15.2,253,1567,0.00,2.22,0.00,0.000,1030,0.000,0.045,2667,2205,3391,3407,3376,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1867,-0.82,-126.5,2667,2205,3406,3372,312.6,-15.3,285,1871,0.00,2.28,0.00,0.000,516,0.000,0.059,2667,813,3389,3406,3372,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1890,-0.82,-126.5,2667,813,3407,3372,316.6,-15.5,290,1899,0.05,2.28,0.00,0.000,3078,0.239,0.046,2672,2194,3389,3407,3372,0,0,0,0,0,0,14.28,14.48,28.83
$GC,2199,-0.82,-126.5,2672,2194,3406,3369,362.1,-15.0,317,2203,0.00,2.22,0.00,0.000,516,0.000,0.060,2672,817,3388,3407,3369,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2241,-0.82,-126.5,2672,818,3406,3369,368.5,-14.8,325,2247,0.08,2.22,0.00,0.000,3078,0.299,0.047,2677,2204,3387,3406,3368,0,0,0,0,0,0,14.47,14.69,28.83
$GC,2561,-0.82,-126.5,2677,2204,3406,3364,414.7,-14.2,344,2567,0.00,2.28,0.00,0.000,516,0.000,0.060,2677,809,3385,3407,3363,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2588,-0.82,-126.5,2678,809,3406,3363,419.0,-15.0,350,2593,0.00,2.25,0.00,0.000,1030,0.000,0.048,2670,2204,3384,3406,3363,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2901,-0.82,-126.5,2669,2204,3406,3358,462.9,-14.1,367,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2205,3382,3406,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-0.82,-126.5,2669,2204,3406,3354,506.6,-14.1,382,3214,0.00,2.28,0.00,0.000,516,0.000,0.063,2669,816,3380,3406,3354,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3255,-0.82,-126.5,2669,815,3406,3354,513.1,-13.3,391,3260,0.10,2.25,0.00,0.000,3078,0.275,0.053,2681,2198,3380,3406,3354,0,0,0,0,0,0,14.45,14.68,28.83
$GC,3568,-0.82,-126.5,2681,2198,3406,3351,555.0,-13.8,403,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2198,3378,3406,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3868,-0.82,-126.5,2681,2198,3405,3349,596.1,-13.7,413,3872,0.00,2.30,0.00,0.000,516,0.000,0.065,2681,815,3376,3404,3348,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3900,-0.82,-126.5,2681,815,3403,3349,600.6,-13.8,419,3906,0.00,2.25,0.00,0.000,1030,0.000,0.054,2673,2200,3375,3403,3348,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4230,-0.82,-126.5,2673,2200,3402,3345,646.6,-13.9,435,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,3373,3402,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4530,-0.82,-126.5,2673,2200,3401,3344,688.9,-14.0,445,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3372,3401,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4830,-0.82,-126.5,2673,2200,3399,3343,729.9,-13.5,455,4836,0.00,2.28,0.00,0.000,516,0.000,0.071,2673,822,3371,3400,3343,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4872,-0.82,-126.5,2673,822,3401,3343,736.2,-13.7,464,4877,0.08,2.25,0.00,0.000,3078,0.308,0.057,2676,2198,3371,3401,3342,0,0,0,0,0,0,14.47,14.67,28.83
$GC,5190,-0.82,-126.5,2676,2199,3400,3341,778.5,-13.2,477,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2198,3370,3399,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5490,-0.82,-126.5,2676,2199,3398,3340,817.4,-12.9,487,5496,0.00,2.30,0.00,0.000,516,0.000,0.070,2676,815,3368,3398,3339,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5537,-0.82,-126.5,2676,814,3398,3339,824.0,-13.0,497,5541,0.00,2.28,0.00,0.000,1030,0.000,0.056,2668,2204,3368,3397,3339,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5850,-0.82,-126.5,2668,2204,3396,3338,863.9,-12.8,509,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2204,3367,3396,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6150,-0.82,-126.5,2669,2204,3395,3337,901.7,-12.6,519,6154,0.00,2.33,0.00,0.000,516,0.000,0.070,2668,818,3366,3395,3337,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6184,-0.82,-126.5,2668,817,3395,3337,906.3,-12.1,526,6190,0.05,2.33,0.00,0.000,3078,0.249,0.057,2673,2202,3366,3395,3337,0,0,0,0,0,0,14.33,14.56,28.83
$GC,6513,-0.82,-126.5,2673,2202,3395,3337,946.7,-12.4,541,6519,0.00,2.30,0.00,0.000,516,0.000,0.071,2673,811,3365,3394,3336,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6544,-0.82,-126.5,2673,812,3394,3336,951.0,-12.5,548,6549,0.00,2.33,0.00,0.000,1030,0.000,0.057,2665,2197,3365,3394,3336,0,0,0,0,0,0,28.83,14.56,28.83
$STATE,6871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6872,begin apogee
$GC,6876,-0.16,0.0,2666,2198,3394,3336,993.3,-13.2,563,7027,0.82,0.00,145.43,1.808,10246,0.252,0.000,2885,2199,2873,2922,2824,0,0,0,0,0,0,14.21,28.83,13.35
$STATE,7028,end apogee,CONTROL_FINISHED_OK
$STATE,7028,begin climb
$GC,7029,0.82,126.5,2885,2199,2915,2817,999.1,0.0,594,7147,1.08,2.45,108.47,2.173,10500,0.175,0.073,3202,3541,2350,2409,2291,0,0,0,0,0,0,14.00,13.85,13.07
$GC,7177,0.82,126.5,3201,3541,2403,2285,992.6,9.8,624,7182,0.00,2.40,0.00,0.000,1030,0.000,0.047,3211,2163,2344,2403,2285,0,0,0,0,0,0,28.83,14.02,28.83
$GC,7506,0.82,126.5,3212,2162,2402,2283,958.8,10.5,639,7512,0.00,2.47,0.00,0.000,516,0.000,0.083,3221,729,2342,2402,2283,0,0,0,0,0,0,28.83,14.40,28.83
$GC,7629,0.82,126.5,3222,729,2402,2283,945.0,10.6,664,7633,0.00,2.35,0.00,0.000,1030,0.000,0.054,3220,2147,2342,2402,2283,0,0,0,0,0,0,28.83,14.51,28.83
$GC,7951,0.82,126.5,3221,2147,2401,2281,909.7,11.1,678,7957,0.00,2.42,0.00,0.000,516,0.000,0.081,3229,733,2341,2401,2282,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8013,0.82,126.5,2368,733,2352,2276,902.6,11.1,691,8017,0.00,2.35,0.00,0.000,1030,0.000,0.054,3230,2133,2340,2400,2281,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8340,0.82,126.5,3229,2133,2399,2280,865.6,11.3,706,8347,0.00,2.40,0.00,0.000,516,0.000,0.080,3239,729,2339,2398,2280,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8379,0.82,126.5,3239,729,2398,2280,861.0,11.6,714,8383,0.00,2.33,0.00,0.000,1030,0.000,0.054,3238,2143,2339,2398,2281,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8700,0.82,126.5,3239,2143,2397,2280,824.9,11.0,728,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2143,2338,2397,2280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9000,0.82,126.5,3239,2143,2397,2279,791.9,10.9,738,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2143,2338,2397,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9300,0.82,126.5,3239,2143,2396,2278,760.2,10.3,748,9306,0.00,2.40,0.00,0.000,516,0.000,0.080,3249,734,2337,2396,2279,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9420,0.82,126.5,3249,734,2395,2279,747.5,10.2,772,9425,0.00,2.30,0.00,0.000,1030,0.000,0.054,3249,2139,2337,2396,2279,0,0,0,0,0,0,28.83,14.64,28.83
$GC,9752,0.82,126.5,3249,2139,2395,2279,714.1,10.1,788,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,2139,2336,2395,2278,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10051,0.82,126.5,3249,2139,2395,2278,683.8,10.1,798,10058,0.00,2.40,0.00,0.000,516,0.000,0.079,3259,729,2336,2395,2278,0,0,0,0,0,0,28.83,14.54,28.83
$GC,10150,0.82,126.5,3259,729,2395,2278,673.6,9.7,818,10154,0.10,2.33,0.00,0.000,5126,0.272,0.053,3239,2142,2336,2395,2278,0,0,0,0,0,0,14.38,14.63,28.83
$GC,10472,0.82,126.5,3239,2142,2395,2278,643.3,9.4,832,10478,0.00,2.38,0.00,0.000,260,0.000,0.074,3239,3551,2335,2394,2277,0,0,0,0,0,0,28.83,14.57,28.83
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$GC,15410,0.87,166.5,3264,3547,2239,2124,165.2,10.3,1311,15418,0.08,2.33,0.00,0.000,5126,0.324,0.046,3260,2130,2181,2239,2124,0,0,0,0,0,0,14.28,14.56,28.83
$GC,15602,0.93,211.7,3260,2130,2239,2124,149.3,6.9,1348,15640,0.00,0.00,35.83,1.160,8710,0.000,0.000,3260,2129,2008,2071,1945,0,0,0,0,0,0,28.83,28.83,13.90
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$STATE,17277,end climb,SURFACE_DEPTH_REACHED
$STATE,17277,begin surface coast
$FINISH,0.3,1.019438
$STATE,17310,end surface coast,CONTROL_FINISHED_OK
$STATE,17310,begin surface
$SM_CCo,17329,35.60,0.139,0,0,508,579.63
$SM_CCo,17367,-0.08,0.000,0,0,511,579.39
$SM_CCo,17370,0.45,0.308,0,0,507,579.63
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$IRIDIUM_FIX,1756.43,8919.18,180808,070726
$TT8_MAMPS,0.018725,0.018725
$HUMID,46.57
$INTERNAL_PRESSURE,6.63111
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,13.1,91.818
$10V_AH,12.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.175,182.125,512.875,36.050,0.000,24.588,43.859,250.424,0.000,0.000,6.739,3393.835,10244.489,653.845,3298.719,207.422,0.000,2062.998,0.000,2454.715,0.000,0.552,0.000
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$SENSOR_SECS,909.357,605.150,1602.016,978.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,9.740,51.680,21.720,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322244
$DATA_FILE_SIZE,137152,1667
$CAP_FILE_SIZE,182451,0
$CFSIZE,2097086464,2054062080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,306.0,1
$GPS,231015,034203,1803.411,8923.149,36,1.0,36,-0.9