version: 66.11
glider: 615
mission: 5
dive: 333
start: 11 10 115 6 46 12
data:
$ID,615
$MISSION,5
$DIVE,333
$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,579.63446
$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,-19732.352
$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,38
$R_STBD_OVSHOOT,69
$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,48
$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
$GPS1,101115,062127,1804.861,8932.312,147,1.4,147,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.5
$GPS2,101115,064544,1804.889,8932.290,5,1.5,5,-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,245.2,25864,-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,-126.5,144,2244,547,499,0.0,0.0,0,55,0.00,0.00,-38.00,0.000,16386,0.000,0.000,144,2243,1580,1579,1582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,58,-0.82,-126.5,144,2244,1578,1582,3.1,-6.9,6,116,10.82,2.45,-38.47,0.000,18948,0.338,0.077,2674,794,3390,3401,3379,0,0,0,0,0,0,14.16,14.41,14.83
$GC,230,-0.82,-126.5,1680,794,3387,3377,55.8,-30.9,37,236,0.00,2.20,0.00,0.000,1030,0.000,0.043,2665,2176,3390,3401,3379,0,0,0,0,0,0,28.83,14.62,28.83
$GC,419,-0.82,-126.5,1668,2174,3387,3377,98.1,-18.6,74,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2176,3390,3401,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,610,-0.82,-126.5,2665,2176,3401,3379,128.7,-14.7,111,617,0.00,2.33,0.00,0.000,260,0.000,0.061,2654,3604,3390,3401,3380,0,0,0,0,0,0,28.83,14.63,28.83
$GC,720,-0.82,-126.5,2654,3604,3401,3380,146.1,-15.6,132,728,0.05,2.30,0.00,0.000,3078,0.239,0.036,2678,2181,3390,3401,3379,0,0,0,0,0,0,14.40,14.62,28.83
$GC,913,-0.82,-126.5,1680,2179,3387,3376,172.8,-14.9,169,919,0.00,2.33,0.00,0.000,260,0.000,0.061,2670,3604,3390,3401,3379,0,0,0,0,0,0,28.83,14.65,28.83
$GC,972,-0.82,-126.5,2670,3604,3401,3380,182.4,-15.6,180,979,0.00,2.28,0.00,0.000,1030,0.000,0.037,2670,2200,3390,3402,3379,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1162,-0.82,-126.5,2670,2200,3401,3379,210.7,-15.0,210,1171,0.00,2.30,0.00,0.000,260,0.000,0.062,2660,3607,3390,3402,3379,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1206,-0.82,-126.5,2660,3607,3401,3378,217.8,-15.8,219,1214,0.10,2.22,0.00,0.000,3078,0.259,0.037,2681,2196,3389,3401,3377,0,0,0,0,0,0,14.50,14.73,28.83
$GC,1513,-0.82,-126.5,2681,2195,3401,3375,259.5,-13.5,250,1517,0.00,2.25,0.00,0.000,516,0.000,0.061,2681,809,3387,3401,3374,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1587,-0.82,-126.5,1792,809,3389,3372,269.7,-12.7,265,1594,0.00,2.22,0.00,0.000,1030,0.000,0.046,2674,2204,3387,3401,3373,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1894,-0.82,-126.5,2674,2204,3401,3370,312.1,-14.3,296,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,3385,3401,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2207,-0.82,-126.5,2674,2204,3401,3365,355.7,-14.2,325,2213,0.00,2.25,0.00,0.000,516,0.000,0.061,2674,813,3383,3401,3365,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2253,-0.82,-126.5,2674,813,3401,3364,363.0,-14.0,335,2257,0.00,2.22,0.00,0.000,1030,0.000,0.048,2667,2203,3382,3401,3364,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2561,-0.82,-126.5,2667,2203,3400,3358,406.4,-14.2,351,2567,0.00,2.28,0.00,0.000,516,0.000,0.063,2667,812,3379,3401,3357,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2609,-0.82,-126.5,2667,811,3400,3357,413.5,-14.2,361,2614,0.10,2.22,0.00,0.000,3078,0.288,0.049,2679,2202,3379,3401,3357,0,0,0,0,0,0,14.46,14.71,28.83
$GC,2916,-0.82,-126.5,2678,2201,3400,3352,454.4,-13.5,377,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2202,3376,3400,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3216,-0.82,-126.5,2679,2202,3397,3350,493.8,-13.0,392,3222,0.00,2.28,0.00,0.000,516,0.000,0.066,2679,813,3373,3397,3350,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3269,-0.82,-126.5,2679,813,3396,3350,501.2,-13.2,403,3277,0.00,2.30,0.00,0.000,1030,0.000,0.050,2672,2190,3373,3397,3350,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3575,-0.82,-126.5,2672,2191,3395,3346,542.4,-13.6,414,3581,0.00,2.28,0.00,0.000,516,0.000,0.065,2672,813,3370,3395,3346,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3618,-0.82,-126.5,2672,813,3394,3346,548.8,-14.4,423,3623,0.00,2.25,0.00,0.000,1030,0.000,0.051,2670,2208,3370,3395,3346,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3931,-0.82,-126.5,2669,2208,3394,3344,592.0,-14.0,435,3937,0.00,2.28,0.00,0.000,516,0.000,0.065,2670,811,3368,3393,3344,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3984,-0.82,-126.5,2669,812,3393,3344,600.0,-13.9,446,3992,0.00,2.33,0.00,0.000,1030,0.000,0.052,2669,2199,3368,3393,3343,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4291,-0.82,-126.5,2669,2199,3391,3341,642.1,-13.9,457,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2199,3366,3391,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,-0.82,-126.5,2669,2199,3389,3341,684.2,-13.9,467,4595,0.00,2.30,0.00,0.000,516,0.000,0.066,2669,812,3365,3389,3341,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4641,-0.82,-126.5,2669,811,3389,3341,691.7,-14.0,477,4645,0.00,2.25,0.00,0.000,1030,0.000,0.052,2669,2199,3364,3389,3340,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4948,-0.82,-126.5,2669,2199,3387,3337,734.5,-13.9,488,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2199,3362,3388,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5248,-0.82,-126.5,2669,2199,3386,3336,775.9,-13.7,498,5254,0.00,2.30,0.00,0.000,516,0.000,0.068,2670,811,3361,3386,3336,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5286,-0.82,-126.5,2670,811,3385,3336,781.6,-14.4,506,5290,0.00,2.28,0.00,0.000,1030,0.000,0.054,2669,2208,3360,3385,3336,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5603,-0.82,-126.5,2670,2209,3385,3335,823.5,-13.2,519,5609,0.00,2.33,0.00,0.000,516,0.000,0.069,2669,807,3359,3384,3335,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5646,-0.82,-126.5,2669,808,3384,3335,829.5,-13.1,528,5650,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2201,3359,3384,3335,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5958,-0.82,-126.5,2668,2201,3383,3334,868.7,-12.7,540,5964,0.00,2.33,0.00,0.000,516,0.000,0.070,2670,812,3357,3382,3333,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5990,-0.82,-126.5,1792,811,3370,3331,873.1,-12.9,547,5995,0.00,2.28,0.00,0.000,1030,0.000,0.054,2670,2201,3358,3382,3334,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6318,-0.82,-126.5,2669,2201,3381,3333,913.0,-12.2,562,6324,0.00,2.33,0.00,0.000,516,0.000,0.070,2669,806,3357,3381,3333,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6356,-0.82,-126.5,2670,806,3380,3333,918.0,-12.4,570,6360,0.00,2.28,0.00,0.000,1030,0.000,0.055,2670,2199,3356,3380,3333,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6674,-0.82,-126.5,2670,2199,3379,3331,955.6,-11.8,583,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2200,3355,3379,3331,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6972,begin apogee
$GC,6976,-0.16,0.0,2670,2199,3378,3329,990.7,-11.8,593,7095,0.90,0.05,106.45,2.371,10246,0.314,0.225,2882,2159,2865,2912,2819,0,0,0,0,0,0,13.91,13.98,13.02
$STATE,7096,end apogee,CONTROL_FINISHED_OK
$STATE,7096,begin climb
$GC,7098,0.82,126.5,2882,2159,2911,2817,994.8,0.0,617,7222,1.10,2.50,114.75,2.547,10500,0.195,0.071,3203,3549,2351,2412,2290,0,0,0,0,0,0,14.06,13.83,12.82
$GC,7288,0.82,126.5,3203,3549,2404,2283,983.4,10.6,656,7293,0.00,2.38,0.00,0.000,1030,0.000,0.043,3213,2136,2343,2404,2283,0,0,0,0,0,0,28.83,14.20,28.83
$GC,7601,0.82,126.5,3213,2136,2403,2281,950.5,10.5,668,7607,0.00,2.35,0.00,0.000,516,0.000,0.070,3224,740,2342,2403,2281,0,0,0,0,0,0,28.83,14.49,28.83
$GC,7678,0.82,126.5,3224,740,2403,2281,942.1,10.2,684,7683,0.00,2.30,0.00,0.000,1030,0.000,0.049,3224,2145,2342,2403,2281,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7986,0.82,126.5,3224,2146,2403,2279,910.6,10.5,695,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2146,2341,2403,2279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,0.82,126.5,3224,2146,2402,2278,879.5,10.2,705,8292,0.00,2.35,0.00,0.000,516,0.000,0.069,3234,739,2340,2402,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8389,0.82,126.5,3235,739,2402,2278,868.6,9.8,726,8393,0.00,2.30,0.00,0.000,1030,0.000,0.049,3234,2146,2340,2402,2279,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8707,0.82,126.5,3234,2146,2400,2278,837.1,9.9,739,8711,0.00,2.38,0.00,0.000,516,0.000,0.068,3245,732,2339,2400,2278,0,0,0,0,0,0,28.83,14.59,28.83
$GC,8752,0.82,126.5,3245,732,2399,2279,832.2,10.2,748,8756,0.00,2.30,0.00,0.000,1030,0.000,0.049,3245,2145,2339,2400,2278,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9065,0.82,126.5,3245,2145,2398,2278,801.7,9.9,760,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2145,2337,2398,2277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9364,0.82,126.5,3245,2145,2397,2277,772.7,9.5,770,9370,0.00,2.35,0.00,0.000,516,0.000,0.068,3255,738,2337,2397,2277,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9447,0.82,126.5,3255,738,2397,2277,764.4,9.9,787,9454,0.00,2.28,0.00,0.000,1030,0.000,0.049,3255,2139,2337,2397,2277,0,0,0,0,0,0,28.83,14.67,28.83
$GC,9753,0.82,126.5,3255,2139,2396,2277,734.5,10.0,798,9760,0.00,2.35,0.00,0.000,260,0.000,0.071,3255,3544,2337,2397,2277,0,0,0,0,0,0,28.83,14.61,28.83
$GC,9807,0.82,126.5,3255,3544,2396,2277,728.7,10.8,809,9814,0.12,2.28,0.00,0.000,5126,0.300,0.044,3240,2140,2336,2396,2277,0,0,0,0,0,0,14.33,14.70,28.83
$GC,10113,0.82,126.5,3240,2140,2396,2276,700.2,9.3,820,10119,0.00,2.35,0.00,0.000,516,0.000,0.069,3250,732,2336,2396,2276,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,17864,end climb,SURFACE_DEPTH_REACHED
$STATE,17864,begin surface coast
$FINISH,0.2,1.009542
$STATE,17887,end surface coast,CONTROL_FINISHED_OK
$STATE,17887,begin surface
$SM_CCo,17904,1.08,0.210,0,0,509,579.63
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$TT8_MAMPS,0.018725,0.018725
$HUMID,47.00
$INTERNAL_PRESSURE,6.71901
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,12.8,121.693
$10V_AH,10.7,0.000
$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,322160
$DATA_FILE_SIZE,144359,1755
$CAP_FILE_SIZE,194186,0
$CFSIZE,2097086464,2039349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,113.2,1
$GPS,101115,114626,1803.965,8930.970,68,1.0,72,-0.9