version: 66.11
glider: 615
mission: 5
dive: 490
start: 12 18 115 14 26 14
data:
$ID,615
$MISSION,5
$DIVE,490
$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,-26396.158
$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,45
$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,315
$AH0_10V,0
$MINV_24V,11.5
$MINV_10V,10
$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
$GPS1,181215,130302,1729.938,8859.419,91,1.6,94,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.6
$GPS2,181215,142544,1729.760,8859.296,8,1.7,8,-0.9
$SPEED_LIMITS,0.159,0.189
$TGT_NAME,ES
$TGT_LATLONG,1730.000,8900.000
$TGT_RADIUS,500.000
$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,64.0,1321,-26.1,-9.167,-30.00,1414
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.92,-87.0,116,2221,552,508,0.0,0.0,0,62,0.00,0.00,-43.35,0.000,16386,0.000,0.000,115,2221,1737,1734,1740,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.94,-99.2,116,2221,1734,1740,3.4,-8.3,7,118,11.07,2.38,-31.35,0.000,19204,0.347,0.076,2637,802,3279,3298,3261,0,0,0,0,0,0,14.06,14.42,14.95
$GC,214,-0.94,-99.2,2637,802,3298,3261,50.4,-33.7,33,221,0.00,2.20,0.00,0.000,1030,0.000,0.047,2628,2187,3279,3298,3261,0,0,0,0,0,0,28.83,14.66,28.83
$GC,407,-0.94,-99.2,2628,2187,3298,3260,101.7,-22.5,70,414,0.00,2.35,0.00,0.000,260,0.000,0.057,2616,3616,3278,3298,3259,0,0,0,0,0,0,28.83,14.59,28.83
$GC,469,-0.94,-99.2,2617,3616,3298,3259,112.4,-15.0,81,477,0.10,2.22,0.00,0.000,3078,0.287,0.034,2637,2177,3278,3298,3259,0,0,0,0,0,0,14.45,14.75,28.83
$GC,664,-0.94,-99.2,2637,2177,3298,3259,141.3,-15.0,118,672,0.00,2.35,0.00,0.000,260,0.000,0.057,2627,3606,3278,3298,3259,0,0,0,0,0,0,28.83,14.61,28.83
$GC,758,-0.94,-99.2,2627,3606,3298,3259,154.8,-12.8,135,765,0.05,2.17,0.00,0.000,3078,0.341,0.034,2637,2194,3278,3298,3259,0,0,0,0,0,0,14.55,14.76,28.83
$GC,950,-0.94,-99.2,2637,2194,3298,3259,177.9,-11.7,172,958,0.00,2.25,0.00,0.000,516,0.000,0.053,2637,826,3278,3298,3258,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1016,-0.94,-99.2,1632,825,3278,3256,186.6,-13.1,184,1023,0.00,2.22,0.00,0.000,1030,0.000,0.041,2627,2206,3278,3298,3258,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1211,-0.94,-99.2,2628,2206,3298,3257,211.2,-12.1,212,1220,0.00,2.20,0.00,0.000,516,0.000,0.053,2628,817,3277,3298,3257,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1226,-0.94,-99.2,2627,817,3298,3257,213.8,-13.0,215,1234,0.10,2.17,0.00,0.000,3078,0.280,0.040,2639,2208,3277,3298,3256,0,0,0,0,0,0,14.47,14.73,28.83
$GC,1533,-0.94,-99.2,2639,2208,3298,3254,253.8,-12.9,246,1542,0.00,2.25,0.00,0.000,260,0.000,0.061,2630,3600,3275,3297,3253,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1598,-0.94,-99.2,1680,3600,3278,3250,263.2,-14.4,259,1605,0.00,2.20,0.00,0.000,1030,0.000,0.036,2629,2199,3275,3298,3252,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1905,-0.94,-99.2,2630,2199,3298,3247,304.1,-12.9,290,1915,0.00,2.20,0.00,0.000,516,0.000,0.057,2630,816,3272,3297,3247,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1991,-0.94,-99.2,2630,816,3297,3247,315.9,-13.2,307,2000,0.10,2.17,0.00,0.000,3078,0.269,0.042,2641,2197,3271,3297,3246,0,0,0,0,0,0,14.49,14.71,28.83
$GC,2300,-0.94,-99.2,2641,2197,3297,3241,355.9,-13.5,336,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2197,3269,3297,3241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,-0.94,-99.2,2641,2197,3294,3238,395.6,-13.6,351,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2197,3266,3294,3238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-0.94,-99.2,2641,2197,3291,3234,435.5,-13.3,366,2905,0.00,2.22,0.00,0.000,516,0.000,0.058,2642,816,3262,3291,3234,0,0,0,0,0,0,28.83,14.61,28.83
$GC,2947,-0.94,-99.2,2642,816,3291,3234,442.3,-13.3,376,2951,0.00,2.20,0.00,0.000,1030,0.000,0.046,2632,2195,3262,3291,3234,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3255,-0.94,-99.2,2632,2195,3289,3230,481.4,-12.6,392,3261,0.00,2.22,0.00,0.000,516,0.000,0.059,2632,817,3259,3288,3230,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3303,-0.94,-99.2,2632,817,3287,3230,487.8,-12.2,402,3308,0.10,2.22,0.00,0.000,3078,0.268,0.046,2643,2211,3259,3288,3230,0,0,0,0,0,0,14.45,14.68,28.83
$GC,3621,-0.94,-99.2,2643,2211,3286,3227,525.1,-11.7,415,3626,0.00,2.25,0.00,0.000,516,0.000,0.060,2643,821,3256,3285,3227,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3651,-0.94,-99.2,2644,821,3285,3227,528.9,-13.0,421,3656,0.00,2.20,0.00,0.000,1030,0.000,0.047,2634,2196,3255,3285,3226,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3981,-0.94,-99.2,2635,2197,3282,3223,570.4,-12.7,437,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2197,3253,3283,3223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4281,-0.94,-99.2,2634,2197,3280,3221,609.5,-12.9,447,4287,0.00,2.25,0.00,0.000,516,0.000,0.060,2634,820,3250,3280,3221,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4359,-0.94,-99.2,2635,820,3279,3221,620.2,-13.2,463,4364,0.08,2.22,0.00,0.000,3078,0.293,0.047,2639,2204,3250,3279,3221,0,0,0,0,0,0,14.45,14.65,28.83
$GC,4666,-0.94,-99.2,2639,2204,3277,3218,659.5,-12.8,474,4671,0.00,2.30,0.00,0.000,260,0.000,0.070,2630,3593,3247,3277,3218,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4696,-0.94,-99.2,2630,3593,3277,3218,663.2,-12.9,480,4700,0.00,2.22,0.00,0.000,1030,0.000,0.040,2630,2197,3247,3277,3218,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5029,-0.94,-99.2,2630,2197,3274,3215,706.3,-12.9,496,5035,0.00,2.28,0.00,0.000,516,0.000,0.060,2629,808,3246,3276,3216,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5121,-0.94,-99.2,1696,808,3255,3212,718.3,-12.1,515,5126,0.10,2.25,0.00,0.000,3078,0.265,0.047,2641,2205,3245,3275,3215,0,0,0,0,0,0,14.39,14.62,28.83
$GC,5445,-0.94,-99.2,2641,2205,3274,3213,756.1,-11.7,529,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2205,3244,3275,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5745,-0.94,-99.2,2641,2205,3273,3212,791.1,-11.7,539,5749,0.00,2.30,0.00,0.000,516,0.000,0.062,2641,813,3242,3273,3212,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5771,-0.94,-99.2,2641,813,3273,3212,794.5,-12.7,544,5779,0.00,2.33,0.00,0.000,1030,0.000,0.049,2632,2194,3242,3272,3212,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6079,-0.94,-99.2,2632,2193,3271,3210,830.4,-11.7,555,6085,0.00,2.25,0.00,0.000,516,0.000,0.062,2632,817,3240,3271,3209,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6127,-0.94,-99.2,2632,817,3270,3210,836.6,-12.0,565,6138,0.10,2.25,0.00,0.000,3078,0.265,0.048,2642,2206,3239,3270,3209,0,0,0,0,0,0,14.35,14.59,28.83
$GC,6439,-0.94,-99.2,2643,2206,3269,3207,871.4,-11.2,577,6443,0.00,2.33,0.00,0.000,516,0.000,0.063,2643,810,3238,3269,3207,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6485,-0.94,-99.2,2643,809,3268,3207,876.9,-11.4,586,6489,0.00,2.25,0.00,0.000,1030,0.000,0.050,2634,2197,3238,3269,3207,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6798,-0.94,-99.2,2634,2198,3267,3206,911.9,-11.2,598,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2198,3236,3267,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7098,-0.94,-99.2,2634,2198,3266,3205,945.9,-11.3,608,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2197,3235,3266,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7398,-0.94,-99.2,2634,2198,3265,3203,979.6,-11.2,618,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2198,3233,3264,3203,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7515,begin apogee
$GC,7522,-0.16,0.0,2634,2197,3264,3203,992.9,-11.0,622,7624,0.90,0.00,96.95,2.235,10246,0.200,0.000,2891,2198,2871,2916,2827,0,0,0,0,0,0,14.07,28.83,12.95
$STATE,7625,end apogee,CONTROL_FINISHED_OK
$STATE,7625,begin climb
$GC,7630,0.94,99.2,2891,2198,2912,2821,996.1,0.0,644,7730,1.08,2.35,92.07,2.495,10500,0.103,0.071,3252,3542,2460,2511,2410,0,0,0,0,0,0,14.17,14.12,12.95
$GC,7775,0.97,124.8,3252,3542,2505,2404,991.0,7.3,673,7804,0.00,2.30,23.52,2.235,9222,0.000,0.044,3262,2153,2363,2424,2303,0,0,0,0,0,0,28.83,14.40,13.08
$GC,8120,0.97,124.8,3262,2153,2412,2287,955.3,10.9,691,8127,0.00,2.35,0.00,0.000,516,0.000,0.067,3272,735,2349,2412,2287,0,0,0,0,0,0,28.83,14.48,28.83
$GC,8289,0.97,124.8,3273,734,2411,2287,937.0,10.1,725,8294,0.00,2.30,0.00,0.000,1030,0.000,0.049,3272,2147,2349,2412,2287,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8596,0.97,124.8,3273,2147,2410,2285,906.3,10.0,736,8602,0.00,2.33,0.00,0.000,516,0.000,0.067,3283,742,2348,2410,2286,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8664,0.97,124.8,3282,742,2410,2286,899.4,9.8,750,8668,0.00,2.28,0.00,0.000,1030,0.000,0.050,3283,2140,2347,2410,2285,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8987,0.97,124.8,3283,2140,2408,2285,868.8,9.4,764,8991,0.00,2.35,0.00,0.000,516,0.000,0.069,3293,740,2346,2408,2285,0,0,0,0,0,0,28.83,14.54,28.83
$GC,9103,0.97,124.8,3293,740,2408,2285,857.8,9.4,787,9109,0.00,2.28,0.00,0.000,1030,0.000,0.049,3292,2139,2346,2407,2285,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9410,0.97,124.8,3293,2141,2406,2284,828.9,9.5,798,9416,0.00,2.33,0.00,0.000,516,0.000,0.068,3303,740,2345,2407,2283,0,0,0,0,0,0,28.83,14.47,28.83
$GC,9513,0.97,124.8,3303,740,2406,2284,818.5,9.9,819,9518,0.08,2.28,0.00,0.000,5126,0.289,0.049,3290,2142,2345,2406,2284,0,0,0,0,0,0,14.40,14.61,28.83
$GC,9827,0.97,124.8,3290,2143,2406,2283,788.6,9.6,831,9833,0.00,2.33,0.00,0.000,516,0.000,0.067,3299,740,2344,2406,2283,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9918,0.97,124.8,3299,740,2405,2283,779.5,10.0,849,9924,0.00,2.25,0.00,0.000,1030,0.000,0.047,3299,2138,2344,2405,2283,0,0,0,0,0,0,28.83,14.56,28.83
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$STATE,18544,end climb,SURFACE_DEPTH_REACHED
$STATE,18544,begin surface coast
$FINISH,0.3,1.009229
$STATE,18577,end surface coast,CONTROL_FINISHED_OK
$STATE,18577,begin surface
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$TT8_MAMPS,0.018725,0.018725
$HUMID,50.59
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$10V_AH,10.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,322840
$DATA_FILE_SIZE,147373,1843
$CAP_FILE_SIZE,191308,0
$CFSIZE,2097086464,1961295872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069,106.2,1
$GPS,181215,193819,1730.276,8901.453,73,0.8,79,-0.9