version: 66.11
glider: 615
mission: 5
dive: 298
start: 11 2 115 22 50 2
data:
$ID,615
$MISSION,5
$DIVE,298
$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,-19358.674
$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,39
$R_STBD_OVSHOOT,61
$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,10.5
$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
$GPS1,021115,224127,1804.134,8933.042,36,1.4,36,-0.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.3
$GPS2,021115,224934,1804.054,8933.062,6,1.3,6,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,SW
$TGT_LATLONG,1755.320,8921.600
$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,255.9,25877,-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,-126.5,166,2229,549,489,0.0,0.0,0,63,0.00,0.00,-46.35,0.000,16386,0.000,0.000,165,2228,1841,1839,1844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.82,-126.5,165,2229,1840,1845,3.6,-8.3,7,118,10.95,2.28,-30.58,0.000,19204,0.350,0.080,2664,3578,3390,3404,3377,0,0,0,0,0,0,14.11,14.33,14.76
$GC,245,-0.82,-126.5,2663,3579,3404,3377,59.1,-25.4,40,253,0.05,2.28,0.00,0.000,3078,0.239,0.038,2677,2189,3391,3405,3377,0,0,0,0,0,0,14.28,14.49,28.83
$GC,437,-0.82,-126.5,2677,2187,3405,3378,100.0,-19.6,77,445,0.00,2.25,0.00,0.000,516,0.000,0.056,2677,801,3391,3405,3378,0,0,0,0,0,0,28.83,14.55,28.83
$GC,496,-0.82,-126.5,2677,801,3405,3379,110.5,-15.7,88,504,0.00,2.28,0.00,0.000,1030,0.000,0.046,2669,2177,3391,3405,3378,0,0,0,0,0,0,28.83,14.50,28.83
$GC,689,-0.82,-126.5,2669,2177,3405,3380,140.9,-15.1,125,696,0.00,2.35,0.00,0.000,260,0.000,0.063,2658,3605,3392,3405,3380,0,0,0,0,0,0,28.83,14.60,28.83
$GC,744,-0.82,-126.5,1672,3605,3392,3378,149.3,-15.1,135,751,0.10,2.25,0.00,0.000,3078,0.265,0.036,2678,2192,3392,3405,3380,0,0,0,0,0,0,14.42,14.68,28.83
$GC,934,-0.82,-126.5,2678,2191,3405,3379,175.3,-13.4,172,941,0.00,2.30,0.00,0.000,516,0.000,0.056,2679,812,3393,3405,3381,0,0,0,0,0,0,28.83,14.51,28.83
$GC,984,-0.82,-126.5,2678,812,3406,3381,182.6,-14.9,181,992,0.00,2.22,0.00,0.000,1030,0.000,0.045,2670,2206,3392,3405,3380,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1175,-0.82,-126.5,2670,2206,3406,3381,210.3,-14.6,211,1185,0.00,2.30,0.00,0.000,260,0.000,0.063,2660,3607,3392,3405,3380,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1228,-0.82,-126.5,2660,3606,3406,3380,217.7,-13.7,221,1239,0.10,2.22,0.00,0.000,3078,0.255,0.037,2681,2190,3392,3405,3379,0,0,0,0,0,0,14.45,14.71,28.83
$GC,1538,-0.82,-126.5,2681,2189,3405,3378,261.8,-14.8,253,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2189,3391,3405,3378,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1839,-0.82,-126.5,2681,2189,3405,3375,304.2,-13.9,283,1850,0.00,2.22,0.00,0.000,516,0.000,0.060,2681,813,3389,3405,3374,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1874,-0.82,-126.5,2681,813,3406,3374,309.6,-14.0,290,1883,0.00,2.28,0.00,0.000,1030,0.000,0.048,2672,2193,3389,3405,3374,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2193,-0.82,-126.5,2673,2193,3405,3371,353.6,-14.0,321,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2193,3388,3405,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,-0.82,-126.5,2673,2193,3405,3367,395.9,-14.3,336,2499,0.00,2.25,0.00,0.000,516,0.000,0.070,2673,819,3386,3405,3367,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2525,-0.82,-126.5,2673,819,3405,3367,401.1,-14.2,343,2534,0.03,2.33,0.00,0.000,3078,0.292,0.057,2671,2199,3385,3405,3366,0,0,0,0,0,0,14.31,14.49,28.83
$GC,2833,-0.82,-126.5,2671,2199,3405,3362,445.9,-14.6,359,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,3383,3405,3362,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3133,-0.82,-126.5,2670,2200,3405,3357,488.9,-14.4,374,3139,0.00,2.28,0.00,0.000,516,0.000,0.067,2670,811,3381,3405,3357,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3174,-0.82,-126.5,2671,812,3404,3357,495.4,-14.3,383,3180,0.05,2.30,0.00,0.000,3078,0.252,0.054,2676,2202,3381,3405,3357,0,0,0,0,0,0,14.37,14.60,28.83
$GC,3483,-0.82,-126.5,2677,2202,3404,3353,536.4,-13.3,396,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2202,3378,3404,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3782,-0.82,-126.5,2677,2203,3404,3351,576.1,-13.2,406,3788,0.00,2.30,0.00,0.000,516,0.000,0.069,2677,813,3377,3404,3351,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3815,-0.82,-126.5,1792,813,3392,3348,580.8,-13.4,413,3819,0.00,2.30,0.00,0.000,1030,0.000,0.054,2669,2197,3377,3404,3351,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4142,-0.82,-126.5,2669,2197,3402,3348,625.7,-13.9,428,4148,0.00,2.30,0.00,0.000,516,0.000,0.067,2668,811,3375,3402,3348,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4195,-0.82,-126.5,2669,812,3402,3348,633.5,-13.5,439,4203,0.10,2.28,0.00,0.000,3078,0.287,0.054,2679,2207,3375,3402,3348,0,0,0,0,0,0,14.42,14.68,28.83
$GC,4502,-0.82,-126.5,2679,2207,3401,3345,672.8,-12.8,450,4508,0.00,2.33,0.00,0.000,516,0.000,0.069,2679,811,3373,3401,3345,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4550,-0.82,-126.5,2679,810,3401,3345,679.5,-13.1,460,4554,0.00,2.28,0.00,0.000,1030,0.000,0.054,2671,2207,3373,3401,3345,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4862,-0.82,-126.5,2671,2207,3400,3344,720.6,-13.2,472,4868,0.00,2.33,0.00,0.000,516,0.000,0.068,2671,810,3372,3400,3344,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4900,-0.82,-126.5,2671,810,3399,3344,725.9,-13.1,480,4905,0.08,2.28,0.00,0.000,3078,0.322,0.054,2674,2203,3371,3399,3344,0,0,0,0,0,0,14.43,14.66,28.83
$GC,5218,-0.82,-126.5,2674,2203,3398,3343,766.0,-12.9,493,5224,0.00,2.35,0.00,0.000,260,0.000,0.076,2666,3600,3370,3398,3342,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5250,-0.82,-126.5,2666,3600,3397,3342,770.7,-13.2,500,5255,0.00,2.28,0.00,0.000,1030,0.000,0.041,2666,2214,3370,3398,3342,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5578,-0.82,-126.5,2666,2213,3397,3341,812.8,-12.9,515,5584,0.00,2.35,0.00,0.000,516,0.000,0.070,2666,804,3368,3396,3341,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5661,-0.82,-126.5,2666,804,3396,3341,823.8,-12.3,532,5670,0.08,2.35,0.00,0.000,3078,0.236,0.055,2677,2193,3368,3396,3341,0,0,0,0,0,0,14.23,14.43,28.83
$GC,5969,-0.82,-126.5,2677,2194,3395,3340,861.2,-12.2,543,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2194,3367,3395,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6269,-0.82,-126.5,2677,2193,3394,3338,897.6,-12.1,553,6273,0.00,2.35,0.00,0.000,516,0.000,0.070,2676,799,3366,3394,3338,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6303,-0.82,-126.5,2677,799,3394,3338,902.1,-12.4,560,6307,0.00,2.35,0.00,0.000,1030,0.000,0.057,2669,2199,3366,3394,3338,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6631,-0.82,-126.5,2669,2199,3393,3337,941.6,-12.1,575,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2198,3365,3393,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,-0.82,-126.5,2670,2199,3392,3336,977.8,-12.1,585,6937,0.00,2.30,0.00,0.000,516,0.000,0.070,2670,809,3364,3392,3336,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6968,-0.82,-126.5,2669,809,3392,3337,982.9,-12.5,593,6972,0.00,2.30,0.00,0.000,1030,0.000,0.057,2669,2204,3364,3392,3336,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,7050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7050,begin apogee
$GC,7055,-0.16,0.0,2669,2125,3392,3336,992.7,-12.3,599,7172,0.88,0.00,106.43,2.266,10246,0.308,0.000,2884,2123,2864,2913,2816,0,0,0,0,0,0,14.00,28.83,13.10
$STATE,7174,end apogee,CONTROL_FINISHED_OK
$STATE,7174,begin climb
$GC,7176,0.82,126.5,2884,2124,2913,2815,997.4,0.0,623,7298,1.17,2.58,112.60,2.393,10500,0.239,0.073,3197,3547,2351,2412,2291,0,0,0,0,0,0,13.97,13.83,12.87
$GC,7308,0.88,167.8,3197,3547,2405,2287,992.6,7.1,650,7357,0.10,2.40,38.50,2.423,11270,0.262,0.048,3223,2155,2183,2248,2118,0,0,0,0,0,0,13.82,13.95,12.83
$GC,7657,0.88,167.8,3223,2155,2241,2111,948.5,13.3,669,7663,0.00,2.42,0.00,0.000,772,0.000,0.083,3232,740,2176,2241,2111,0,0,0,0,0,0,28.83,14.36,28.83
$GC,7668,0.88,167.8,3231,740,2241,2110,946.6,13.7,672,7672,0.00,2.33,0.00,0.000,1030,0.000,0.053,3228,2137,2176,2241,2111,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7986,0.88,167.8,3228,2137,2240,2110,904.3,13.2,685,7992,0.00,2.35,0.00,0.000,260,0.000,0.074,3228,3540,2174,2239,2110,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8089,0.88,167.8,3228,3540,2236,2110,889.7,13.9,706,8093,0.00,2.33,0.00,0.000,1030,0.000,0.053,3236,2134,2174,2238,2111,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8401,0.88,167.8,3236,2134,2237,2109,847.2,13.6,718,8407,0.00,2.38,0.00,0.000,516,0.000,0.083,3246,739,2173,2237,2109,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8551,0.88,167.8,3246,739,2236,2109,826.2,14.1,748,8555,0.00,2.30,0.00,0.000,1030,0.000,0.053,3238,2143,2173,2237,2109,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8878,0.88,167.8,3239,2144,2236,2107,782.4,13.4,763,8884,0.00,2.38,0.00,0.000,516,0.000,0.074,3246,735,2172,2237,2107,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8920,0.88,167.8,3247,734,2236,2108,776.4,13.6,772,8924,0.00,2.30,0.00,0.000,1030,0.000,0.052,3238,2141,2171,2236,2107,0,0,0,0,0,0,28.83,14.65,28.83
$GC,9238,0.88,167.8,3238,2141,2236,2107,736.4,12.4,785,9244,0.00,2.38,0.00,0.000,516,0.000,0.072,3247,729,2171,2236,2106,0,0,0,0,0,0,28.83,14.57,28.83
$GC,9290,0.88,167.8,3247,729,2236,2107,729.5,12.2,796,9297,0.00,2.38,0.00,0.000,1030,0.000,0.053,3239,2137,2171,2235,2107,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9598,0.88,167.8,3239,2138,2235,2106,691.9,12.4,807,9602,0.00,2.38,0.00,0.000,516,0.000,0.073,3246,734,2170,2235,2106,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,15918,end climb,SURFACE_DEPTH_REACHED
$STATE,15918,begin surface coast
$FINISH,0.4,1.019910
$STATE,15934,end surface coast,CONTROL_FINISHED_OK
$STATE,15934,begin surface
$SM_CCo,15951,5.93,0.137,0,0,508,579.63
$SM_CCo,15960,0.00,0.000,0,0,510,579.63
$SM_CCo,15962,0.35,0.352,0,0,508,579.63
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$IRIDIUM_FIX,1758.70,8935.04,290808,070703
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.83
$INTERNAL_PRESSURE,6.67994
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,12.8,109.412
$10V_AH,11.4,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.175,177.650,522.050,6.275,0.000,27.092,23.249,313.757,0.000,0.000,7.737,3180.326,9224.239,650.927,3164.936,219.299,0.000,2002.069,0.000,2324.670,0.000,0.553,0.000
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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,322236
$DATA_FILE_SIZE,127296,1576
$CAP_FILE_SIZE,173347,0
$CFSIZE,2097086464,2045542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087,110.3,1
$GPS,031115,031721,1803.420,8932.092,38,1.0,38,-0.9