version: 66.11
glider: 615
mission: 5
dive: 497
start: 12 20 115 12 14 4
data:
$ID,615
$MISSION,5
$DIVE,497
$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,-26404.953
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,201215,104403,1729.917,8900.614,82,1.2,82,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.6
$GPS2,201215,121335,1729.328,8859.959,11,0.8,11,-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,342.4,1248,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.92,-87.0,116,2194,554,508,0.0,0.0,0,62,0.00,0.00,-43.47,0.000,16386,0.000,0.000,116,2194,1730,1722,1738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.96,-119.6,116,2194,1722,1739,3.1,-6.8,7,119,11.18,2.38,-34.42,0.000,18692,0.353,0.081,2621,3603,3361,3370,3352,0,0,0,0,0,0,14.07,14.64,14.94
$GC,209,-0.96,-119.6,2621,3603,3370,3352,48.3,-36.6,32,217,0.00,2.30,0.00,0.000,1030,0.000,0.040,2621,2196,3361,3371,3352,0,0,0,0,0,0,28.83,14.57,28.83
$GC,404,-0.96,-119.6,2621,2193,3370,3352,103.9,-21.0,69,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2193,3361,3370,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,597,-0.96,-119.6,2621,2193,3370,3352,138.6,-16.1,106,604,0.00,2.35,0.00,0.000,260,0.000,0.058,2610,3600,3361,3370,3352,0,0,0,0,0,0,28.83,14.57,28.83
$GC,811,-0.96,-119.6,2611,3601,3370,3352,171.7,-15.4,147,818,0.10,2.20,0.00,0.000,3078,0.285,0.035,2630,2183,3361,3370,3352,0,0,0,0,0,0,14.47,14.76,28.83
$GC,1003,-0.96,-119.6,2630,2183,3370,3349,199.7,-14.5,184,1010,0.00,2.28,0.00,0.000,516,0.000,0.059,2630,814,3361,3370,3352,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1039,-0.96,-119.6,2629,814,3370,3352,204.9,-14.4,190,1048,0.03,2.17,0.00,0.000,3078,0.322,0.041,2627,2208,3361,3370,3352,0,0,0,0,0,0,14.47,14.73,28.83
$GC,1349,-0.96,-119.6,2627,2206,3370,3349,251.4,-15.4,222,1353,0.00,2.28,0.00,0.000,260,0.000,0.062,2617,3596,3359,3370,3349,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1392,-0.96,-119.6,2617,3596,3370,3348,257.8,-15.0,230,1397,0.08,2.17,0.00,0.000,3078,0.298,0.036,2630,2206,3358,3370,3347,0,0,0,0,0,0,14.52,14.77,28.83
$GC,1706,-0.96,-119.6,2630,2205,3370,3343,304.0,-15.4,262,1714,0.00,2.25,0.00,0.000,516,0.000,0.061,2631,807,3356,3370,3343,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1791,-0.96,-119.6,1680,807,3355,3340,316.9,-14.7,279,1797,0.00,2.20,0.00,0.000,1030,0.000,0.044,2621,2194,3356,3370,3342,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2101,-0.96,-119.6,2621,2194,3370,3336,363.5,-15.4,306,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2194,3353,3370,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2399,-0.96,-119.6,2621,2193,3370,3332,409.0,-15.4,321,2405,0.00,2.22,0.00,0.000,516,0.000,0.061,2621,814,3351,3370,3332,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2502,-0.96,-119.6,2621,814,3368,3331,425.0,-15.6,341,2508,0.05,2.22,0.00,0.000,3078,0.257,0.048,2628,2215,3349,3369,3330,0,0,0,0,0,0,14.40,14.69,28.83
$GC,2823,-0.96,-119.6,2628,2215,3367,3325,473.9,-15.3,360,2829,0.00,2.28,0.00,0.000,516,0.000,0.064,2628,819,3346,3367,3325,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2885,-0.96,-119.6,2628,819,3367,3325,484.0,-14.9,373,2889,0.00,2.22,0.00,0.000,1030,0.000,0.050,2624,2203,3345,3366,3325,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3209,-0.96,-119.6,2625,2203,3365,3320,531.6,-14.7,387,3215,0.00,2.28,0.00,0.000,516,0.000,0.065,2624,816,3343,3365,3321,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3262,-0.96,-119.6,2625,816,3365,3320,540.0,-15.0,398,3269,0.00,2.30,0.00,0.000,1030,0.000,0.050,2625,2193,3342,3365,3320,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3569,-0.96,-119.6,2623,2193,3364,3316,583.6,-14.1,409,3576,0.00,2.28,0.00,0.000,516,0.000,0.065,2624,810,3340,3364,3317,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3608,-0.96,-119.6,2624,810,3363,3317,589.4,-13.7,417,3612,0.00,2.25,0.00,0.000,1030,0.000,0.051,2625,2200,3339,3363,3316,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3931,-0.96,-119.6,2624,2201,3362,3313,633.8,-13.8,431,3935,0.00,2.30,0.00,0.000,516,0.000,0.066,2624,810,3337,3362,3313,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3974,-0.96,-119.6,2625,810,3361,3313,640.1,-14.4,439,3980,0.00,2.22,0.00,0.000,1030,0.000,0.052,2624,2193,3337,3361,3313,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4295,-0.96,-119.6,2624,2193,3359,3310,684.5,-13.9,453,4296,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2193,3335,3360,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4595,-0.96,-119.6,2624,2193,3357,3307,725.6,-13.8,463,4601,0.00,2.28,0.00,0.000,516,0.000,0.067,2624,813,3332,3357,3307,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4663,-0.96,-119.6,2624,813,3357,3307,735.6,-14.1,477,4668,0.00,2.28,0.00,0.000,1030,0.000,0.054,2625,2208,3332,3357,3307,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4981,-0.96,-119.6,2624,2208,3355,3305,778.7,-13.8,490,4987,0.00,2.33,0.00,0.000,516,0.000,0.069,2624,810,3330,3355,3305,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5042,-0.96,-119.6,2624,810,3354,3305,787.1,-13.7,502,5046,0.00,2.28,0.00,0.000,1030,0.000,0.054,2624,2202,3329,3354,3305,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5374,-0.96,-119.6,2625,2202,3353,3302,831.6,-13.1,518,5380,0.00,2.28,0.00,0.000,516,0.000,0.068,2624,822,3327,3353,3302,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5422,-0.96,-119.6,2624,822,3352,3302,838.2,-12.9,528,5427,0.00,2.28,0.00,0.000,1030,0.000,0.056,2624,2210,3327,3352,3302,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5732,-0.96,-119.6,2625,2210,3351,3300,878.3,-13.1,539,5738,0.00,2.30,0.00,0.000,516,0.000,0.069,2624,817,3326,3351,3301,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5762,-0.96,-119.6,2624,817,3350,3301,882.6,-13.9,545,5768,0.00,2.25,0.00,0.000,1030,0.000,0.056,2624,2202,3325,3350,3301,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6092,-0.96,-119.6,2624,2202,3350,3300,926.8,-13.5,561,6098,0.00,2.33,0.00,0.000,516,0.000,0.070,2624,811,3324,3349,3300,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6135,-0.96,-119.6,2624,811,3349,3300,933.1,-14.0,570,6141,0.00,2.30,0.00,0.000,1030,0.000,0.056,2624,2210,3324,3349,3300,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6453,-0.96,-119.6,2624,2210,3348,3298,975.2,-13.2,583,6459,0.00,2.30,0.00,0.000,516,0.000,0.070,2624,824,3323,3348,3298,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6485,-0.96,-119.6,2624,823,3348,3298,980.0,-13.3,590,6489,0.00,2.28,0.00,0.000,1030,0.000,0.057,2624,2200,3323,3348,3298,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,6570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6570,begin apogee
$GC,6577,-0.16,0.0,2624,2200,3347,3298,991.3,-13.2,597,6709,1.05,0.00,125.78,2.173,10246,0.287,0.000,2887,2201,2872,2918,2827,0,0,0,0,0,0,14.01,28.83,12.93
$STATE,6712,end apogee,CONTROL_FINISHED_OK
$STATE,6712,begin climb
$GC,6715,0.96,119.6,2887,2201,2912,2820,995.6,0.0,625,6833,1.10,2.33,106.90,2.330,10500,0.109,0.069,3253,3546,2377,2436,2318,0,0,0,0,0,0,14.17,14.17,13.04
$GC,6879,0.96,119.6,3253,3546,2428,2312,987.5,10.5,658,6884,0.00,2.30,0.00,0.000,1030,0.000,0.044,3264,2150,2369,2428,2311,0,0,0,0,0,0,28.83,14.45,28.83
$GC,7198,0.96,119.6,3264,2149,2426,2308,952.6,11.2,671,7205,0.00,2.33,0.00,0.000,516,0.000,0.067,3274,742,2367,2426,2309,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7357,0.96,119.6,3274,742,2424,2308,934.7,10.8,703,7361,0.00,2.28,0.00,0.000,1030,0.000,0.048,3274,2145,2366,2425,2308,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7675,0.96,119.6,3274,2146,2425,2307,900.5,10.8,716,7681,0.00,2.33,0.00,0.000,516,0.000,0.067,3285,740,2365,2424,2307,0,0,0,0,0,0,28.83,14.52,28.83
$GC,7735,0.96,119.6,3284,740,2425,2306,893.7,11.2,728,7739,0.00,2.28,0.00,0.000,1030,0.000,0.048,3284,2141,2366,2425,2307,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8068,0.96,119.6,3285,2141,2423,2305,857.8,10.4,744,8074,0.00,2.33,0.00,0.000,260,0.000,0.070,3284,3542,2364,2423,2305,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8116,0.96,119.6,3284,3542,2423,2306,852.3,11.2,754,8120,0.00,2.28,0.00,0.000,1030,0.000,0.044,3295,2138,2363,2422,2305,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8424,0.96,119.6,3295,2137,2422,2305,819.7,10.8,765,8428,0.00,2.35,0.00,0.000,516,0.000,0.067,3305,732,2363,2422,2305,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8510,0.96,119.6,3305,732,2422,2305,810.2,10.2,782,8518,0.10,2.38,0.00,0.000,5126,0.264,0.049,3286,2160,2363,2422,2305,0,0,0,0,0,0,14.33,14.54,28.83
$GC,8818,0.96,119.6,3286,2160,2422,2304,780.2,9.7,793,8822,0.00,2.38,0.00,0.000,516,0.000,0.067,3294,741,2363,2422,2304,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8912,0.96,119.6,3294,741,2422,2304,771.0,9.9,811,8917,0.00,2.25,0.00,0.000,1030,0.000,0.047,3294,2140,2362,2421,2304,0,0,0,0,0,0,28.83,14.59,28.83
$GC,9242,0.96,119.6,3295,2140,2421,2303,737.8,10.1,827,9248,0.00,2.33,0.00,0.000,516,0.000,0.067,3305,742,2362,2421,2303,0,0,0,0,0,0,28.83,14.46,28.83
$GC,9374,0.96,119.6,3305,742,2421,2303,724.1,10.2,853,9378,0.10,2.30,0.00,0.000,5126,0.265,0.048,3284,2148,2362,2421,2303,0,0,0,0,0,0,14.33,14.59,28.83
$GC,9698,0.96,119.6,3285,2148,2420,2302,692.2,10.0,867,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2148,2361,2420,2302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9998,0.96,119.6,3285,2148,2420,2301,662.2,10.0,877,10004,0.00,2.33,0.00,0.000,516,0.000,0.067,3294,746,2360,2420,2301,0,0,0,0,0,0,28.83,14.42,28.83
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$STATE,17382,end climb,SURFACE_DEPTH_REACHED
$STATE,17383,begin surface coast
$FINISH,0.2,0.999713
$STATE,17412,end surface coast,CONTROL_FINISHED_OK
$STATE,17412,begin surface
$SM_CCo,17435,1.17,0.198,0,0,509,579.63
$SM_GC,2.41,9.27,2.20,1.17,0.070,0.035,0.198,182,2209,509,-8.58,1.41,579.63,0,0,0,0,0,0,14.60,14.61,14.42
$IRIDIUM_FIX,1722.48,8901.20,161008,010130
$TT8_MAMPS,0.018725,0.018725
$HUMID,50.63
$INTERNAL_PRESSURE,6.72877
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,12.3,181.972
$10V_AH,10.5,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.575,183.850,584.675,1.175,0.000,150.145,127.884,24.189,0.000,0.000,11.950,3970.129,10092.965,646.096,3523.409,4556.584,0.000,2147.273,0.000,2639.993,0.000,0.555,0.000
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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,322944
$DATA_FILE_SIZE,144221,1807
$CAP_FILE_SIZE,187194,0
$CFSIZE,2097086464,1957265408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051,118.1,1
$GPS,201215,170603,1730.640,8859.876,39,1.3,39,-0.9