version: 66.11
glider: 615
mission: 5
dive: 498
start: 12 20 115 18 35 32
data:
$ID,615
$MISSION,5
$DIVE,498
$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,-26406.211
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,201215,170603,1730.640,8859.876,39,1.3,39,-0.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.4
$GPS2,201215,183500,1730.708,8858.523,8,0.9,8,-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,117.2,2920,-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,-87.0,116,2200,559,496,0.0,0.0,0,68,0.00,0.00,-48.85,0.000,16386,0.000,0.000,116,2200,1888,1881,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.94,-101.6,115,2200,1882,1895,3.7,-8.1,8,118,11.25,0.00,-27.88,0.000,18950,0.354,0.000,2634,2200,3288,3303,3274,0,0,0,0,0,0,14.07,28.83,14.92
$GC,309,-0.94,-101.6,2634,2200,3302,3273,82.9,-29.0,51,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2200,3287,3301,3273,0,0,0,0,0,0,28.83,28.83,28.83
$GC,507,-0.94,-101.6,2634,2200,3302,3273,119.5,-18.4,88,514,0.00,2.35,0.00,0.000,260,0.000,0.058,2624,3626,3287,3302,3273,0,0,0,0,0,0,28.83,14.61,28.83
$GC,612,-0.94,-101.6,2624,3626,3303,3273,136.4,-16.1,107,620,0.08,2.25,0.00,0.000,3078,0.312,0.034,2636,2178,3288,3303,3273,0,0,0,0,0,0,14.50,14.76,28.83
$GC,809,-0.94,-101.6,2636,2178,3303,3274,163.0,-12.8,144,817,0.00,2.25,0.00,0.000,516,0.000,0.056,2636,818,3288,3303,3274,0,0,0,0,0,0,28.83,14.52,28.83
$GC,856,-0.94,-101.6,2635,819,3303,3273,169.4,-14.0,152,863,0.00,2.22,0.00,0.000,1030,0.000,0.041,2626,2198,3288,3303,3273,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1056,-0.94,-101.6,2626,2198,3302,3273,196.0,-12.3,189,1063,0.05,2.25,0.00,0.000,2564,0.378,0.054,2636,808,3288,3303,3273,0,0,0,0,0,0,14.66,14.66,28.83
$GC,1086,-0.94,-101.6,2636,808,3303,3273,199.7,-11.8,194,1094,0.00,2.25,0.00,0.000,1030,0.000,0.041,2627,2199,3288,3303,3273,0,0,0,0,0,0,28.83,14.56,28.83
$GC,1274,-0.94,-101.6,2627,2199,3303,3271,223.3,-12.9,213,1283,0.00,2.25,0.00,0.000,260,0.000,0.061,2616,3595,3286,3302,3271,0,0,0,0,0,0,28.83,14.53,28.83
$GC,1425,-0.94,-101.6,2617,3594,3302,3270,245.1,-14.3,242,1433,0.08,2.25,0.00,0.000,3078,0.220,0.035,2638,2199,3286,3302,3270,0,0,0,0,0,0,14.36,14.59,28.83
$GC,1733,-0.94,-101.6,2638,2199,3302,3265,285.8,-13.5,273,1744,0.00,2.22,0.00,0.000,516,0.000,0.060,2638,810,3283,3302,3265,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1841,-0.94,-101.6,2638,810,3302,3263,300.0,-12.9,293,1851,0.00,2.20,0.00,0.000,1030,0.000,0.044,2629,2203,3283,3303,3263,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2150,-0.94,-101.6,2629,2203,3302,3258,342.5,-13.7,325,2160,0.00,2.25,0.00,0.000,516,0.000,0.060,2629,810,3280,3302,3258,0,0,0,0,0,0,28.83,14.50,28.83
$GC,2184,-0.94,-101.6,2629,810,3302,3257,347.6,-14.7,331,2195,0.00,2.20,0.00,0.000,1030,0.000,0.044,2620,2198,3279,3302,3256,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2505,-0.94,-101.6,2620,2198,3302,3252,392.6,-14.1,349,2511,0.10,2.25,0.00,0.000,2564,0.297,0.060,2640,819,3277,3302,3252,0,0,0,0,0,0,14.54,14.59,28.83
$GC,2594,-0.94,-101.6,2640,819,3301,3251,405.6,-14.6,367,2598,0.00,2.20,0.00,0.000,1030,0.000,0.047,2631,2200,3276,3301,3251,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2901,-0.94,-101.6,2631,2200,3300,3246,447.9,-14.0,383,2905,0.00,2.28,0.00,0.000,516,0.000,0.062,2631,811,3273,3300,3246,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2947,-0.94,-101.6,2631,812,3299,3246,455.1,-14.7,392,2952,0.08,2.22,0.00,0.000,3078,0.326,0.047,2637,2204,3272,3299,3246,0,0,0,0,0,0,14.45,14.69,28.83
$GC,3261,-0.94,-101.6,2637,2204,3297,3242,497.8,-13.5,409,3267,0.00,2.25,0.00,0.000,516,0.000,0.064,2637,820,3269,3297,3242,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3299,-0.94,-101.6,2637,820,3296,3242,503.5,-14.0,417,3303,0.00,2.22,0.00,0.000,1030,0.000,0.049,2630,2201,3269,3296,3242,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3623,-0.94,-101.6,2630,2202,3294,3240,547.1,-13.3,431,3627,0.00,2.28,0.00,0.000,516,0.000,0.063,2630,817,3266,3294,3239,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3665,-0.94,-101.6,2630,818,3292,3239,553.2,-14.1,439,3671,0.00,2.22,0.00,0.000,1030,0.000,0.050,2629,2207,3266,3293,3239,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3986,-0.94,-101.6,2629,2208,3291,3237,595.4,-13.1,453,3992,0.00,2.28,0.00,0.000,516,0.000,0.065,2628,814,3263,3291,3236,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4039,-0.94,-101.6,2629,814,3291,3237,602.8,-13.7,464,4047,0.00,2.33,0.00,0.000,1030,0.000,0.050,2629,2201,3263,3291,3236,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4346,-0.94,-101.6,2629,2202,3290,3234,642.2,-12.8,475,4352,0.00,2.28,0.00,0.000,516,0.000,0.064,2629,819,3262,3290,3234,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4407,-0.94,-101.6,2629,819,3289,3234,650.2,-13.0,487,4413,0.00,2.22,0.00,0.000,1030,0.000,0.051,2629,2204,3261,3289,3234,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4738,-0.94,-101.6,2629,2205,3288,3230,692.9,-13.1,503,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2204,3259,3288,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5038,-0.94,-101.6,2629,2205,3286,3229,732.5,-13.3,513,5042,0.00,2.33,0.00,0.000,516,0.000,0.067,2629,809,3257,3286,3229,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5093,-0.94,-101.6,2629,809,3285,3229,740.6,-13.5,524,5101,0.00,2.35,0.00,0.000,1030,0.000,0.053,2629,2199,3257,3285,3229,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5401,-0.94,-101.6,2630,2199,3284,3226,782.0,-13.7,535,5407,0.00,2.28,0.00,0.000,516,0.000,0.067,2629,820,3255,3284,3226,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5469,-0.94,-101.6,2629,820,3283,3226,791.8,-13.5,549,5473,0.00,2.25,0.00,0.000,1030,0.000,0.054,2629,2204,3254,3283,3226,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5786,-0.94,-101.6,2629,2204,3282,3224,834.0,-13.3,562,5792,0.00,2.30,0.00,0.000,516,0.000,0.068,2629,817,3253,3282,3224,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5820,-0.94,-101.6,2629,817,3281,3224,838.7,-13.6,569,5826,0.00,2.28,0.00,0.000,1030,0.000,0.054,2629,2209,3253,3282,3224,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6147,-0.94,-101.6,2629,2209,3281,3222,880.4,-12.8,584,6152,0.00,2.30,0.00,0.000,516,0.000,0.070,2628,822,3251,3281,3222,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6199,-0.94,-101.6,2629,822,3280,3222,887.6,-12.9,595,6207,0.00,2.28,0.00,0.000,1030,0.000,0.054,2629,2206,3250,3279,3222,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6506,-0.94,-101.6,2629,2206,3278,3221,926.0,-12.6,606,6512,0.00,2.33,0.00,0.000,516,0.000,0.070,2629,814,3249,3278,3221,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6567,-0.94,-101.6,2629,814,3277,3221,933.9,-12.8,618,6573,0.00,2.25,0.00,0.000,1030,0.000,0.055,2629,2195,3248,3277,3219,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6896,-0.94,-101.6,2629,2195,3277,3220,975.8,-13.0,634,6902,0.00,2.30,0.00,0.000,516,0.000,0.069,2629,821,3247,3276,3219,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6959,-0.94,-101.6,2629,821,3276,3219,984.4,-13.1,647,6964,0.00,2.28,0.00,0.000,1030,0.000,0.056,2629,2201,3247,3276,3219,0,0,0,0,0,0,28.83,14.54,28.83
$STATE,7015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7015,begin apogee
$GC,7022,-0.16,0.0,2629,2201,3276,3220,991.5,-12.8,653,7113,1.02,0.00,85.47,2.407,10246,0.280,0.000,2886,2202,2867,2914,2821,0,0,0,0,0,0,14.01,28.83,12.83
$STATE,7114,end apogee,CONTROL_FINISHED_OK
$STATE,7114,begin climb
$GC,7117,0.94,101.6,2887,2202,2910,2816,995.6,0.0,673,7219,1.10,2.38,93.80,2.458,10500,0.108,0.069,3253,3543,2449,2501,2397,0,0,0,0,0,0,14.17,14.13,12.98
$GC,7248,0.98,131.8,3252,3543,2496,2389,991.6,7.0,689,7288,0.00,2.28,27.35,2.212,9222,0.000,0.043,3263,2154,2324,2386,2263,0,0,0,0,0,0,28.83,14.24,13.07
$GC,7588,0.98,131.8,3263,2154,2379,2259,954.6,11.5,707,7594,0.00,2.33,0.00,0.000,516,0.000,0.067,3274,746,2319,2379,2259,0,0,0,0,0,0,28.83,14.50,28.83
$GC,7687,0.98,131.8,3274,746,2379,2259,942.5,11.5,727,7691,0.00,2.28,0.00,0.000,1030,0.000,0.048,3274,2146,2318,2378,2259,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8011,0.98,131.8,3274,2146,2377,2257,904.8,11.7,741,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,2146,2317,2377,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8310,0.98,131.8,3274,2146,2377,2256,870.5,11.4,751,8316,0.00,2.33,0.00,0.000,516,0.000,0.067,3284,740,2316,2377,2256,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8358,0.98,131.8,3284,740,2377,2256,864.9,11.1,761,8362,0.00,2.28,0.00,0.000,1030,0.000,0.048,3284,2143,2316,2377,2256,0,0,0,0,0,0,28.83,14.64,28.83
$GC,8665,0.98,131.8,3284,2143,2375,2255,830.6,11.3,772,8671,0.00,2.33,0.00,0.000,260,0.000,0.070,3284,3539,2315,2375,2255,0,0,0,0,0,0,28.83,14.52,28.83
$GC,8698,0.98,131.8,3284,3539,2374,2255,826.5,11.8,779,8702,0.00,2.28,0.00,0.000,1030,0.000,0.044,3293,2140,2314,2374,2255,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9022,0.98,131.8,3294,2139,2374,2254,790.0,11.3,793,9027,0.00,2.33,0.00,0.000,516,0.000,0.067,3304,735,2313,2373,2254,0,0,0,0,0,0,28.83,14.48,28.83
$GC,9113,0.98,131.8,3305,735,2373,2254,779.5,11.8,811,9119,0.05,2.25,0.00,0.000,5126,0.232,0.047,3290,2134,2313,2373,2254,0,0,0,0,0,0,14.32,14.59,28.83
$GC,9444,0.98,131.8,3290,2134,2373,2253,741.6,11.3,827,9450,0.00,2.30,0.00,0.000,516,0.000,0.066,3299,746,2313,2373,2253,0,0,0,0,0,0,28.83,14.46,28.83
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$STATE,17358,end climb,SURFACE_DEPTH_REACHED
$STATE,17358,begin surface coast
$FINISH,0.3,1.019102
$STATE,17389,end surface coast,CONTROL_FINISHED_OK
$STATE,17389,begin surface
$SM_CCo,17411,14.93,0.130,0,0,509,579.63
$SM_GC,3.71,9.20,0.05,14.93,0.070,0.241,0.130,174,2208,509,-8.59,-1.47,579.63,0,0,0,0,0,0,14.61,14.65,14.34
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$TT8_MAMPS,0.018725,0.018725
$HUMID,50.82
$INTERNAL_PRESSURE,6.71901
$TCM_TEMP,24.80
$XPDR_PINGS,0
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$10V_AH,10.4,0.000
$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,322944
$DATA_FILE_SIZE,144137,1768
$CAP_FILE_SIZE,185150,0
$CFSIZE,2097086464,1956675584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.042, 97.4,1
$GPS,201215,232727,1730.049,8900.459,45,1.1,45,-0.9