version: 66.04
glider: 515
mission: 5
dive: 61
start: 6 1 110 11 23 16
data:
$ID,515
$MISSION,5
$DIVE,61
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,490
$T_MISSION,510
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51931
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2841
$TGT_DEFAULT_LON,-8830
$TGT_AUTO_DEFAULT,0
$SM_CC,575
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4905.167
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2800
$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,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-42.932224
$PRESSURE_SLOPE,0.00011628702
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$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,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043524536
$SEABIRD_T_H,0.00062548812
$SEABIRD_T_I,2.3784551e-05
$SEABIRD_T_J,2.5490917e-06
$SEABIRD_C_G,-10.141768
$SEABIRD_C_H,1.1640214
$SEABIRD_C_I,-0.00094225706
$SEABIRD_C_J,0.0001682234
$GPS1,111506,2842.531,-8830.294,34,1.1,40,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-66.7
$GPS2,112155,2842.536,-8830.151,10,1.1,15,-0.4
$SPEED_LIMITS,0.117,0.253
$TGT_NAME,NEW0528D
$TGT_LATLONG,2842.500,-8837.900
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.080,-0.241
$KALMAN_X,-161913.2,-72.1,163.8,200985.2,-6691.8
$KALMAN_Y,2481.5,-435.1,-743.3,-13836.4,17650.4
$MHEAD_RNG_PITCHd_Wd,279.9,12587,-9.4,-6.735
$D_GRID,1340
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.59,-194.6,0.0,0.0,0,107,0.00,0.00,-93.40,0.000,2,0.000,0.000,201,2207,3110
$GC,109,-0.59,-194.6,3.9,-4.0,9,133,10.48,1.58,-9.85,0.000,4,0.270,0.063,2494,3096,3596
$GC,161,-0.59,-194.6,17.1,-20.9,14,165,0.00,1.55,0.00,0.000,6,0.000,0.033,2497,2203,3598
$GC,233,-0.59,-194.6,31.5,-20.5,21,237,0.00,1.17,0.00,0.000,4,0.000,0.037,2501,1287,3598
$GC,265,-0.59,-194.6,38.4,-22.2,24,269,0.00,1.23,0.00,0.000,6,0.000,0.036,2498,2210,3598
$GC,338,-0.59,-194.6,49.0,-14.0,31,341,0.00,1.55,0.00,0.000,4,0.000,0.046,2490,3094,3598
$GC,391,-0.59,-194.6,56.9,-14.8,36,394,0.00,1.55,0.00,0.000,6,0.000,0.033,2493,2195,3599
$GC,463,-0.59,-194.6,66.6,-13.2,43,467,0.00,1.12,0.00,0.000,4,0.000,0.036,2492,1295,3599
$GC,506,-0.59,-194.6,72.2,-12.6,47,509,0.00,1.23,0.00,0.000,6,0.000,0.035,2488,2220,3599
$GC,579,-0.59,-194.6,82.5,-14.6,54,582,0.00,1.50,0.00,0.000,4,0.000,0.044,2481,3088,3599
$GC,610,-0.59,-194.6,87.1,-14.4,57,614,0.00,1.52,0.00,0.000,6,0.000,0.032,2485,2201,3599
$GC,683,-0.59,-194.6,97.6,-14.4,64,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2200,3600
$GC,744,-0.59,-194.6,106.5,-14.6,70,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2200,3600
$GC,869,-0.59,-194.6,124.6,-14.4,82,872,0.00,1.58,0.00,0.000,4,0.000,0.044,2479,3091,3600
$GC,901,-0.59,-194.6,129.4,-14.5,85,904,0.00,1.52,0.00,0.000,6,0.000,0.032,2482,2198,3600
$GC,1035,-0.59,-194.6,149.2,-14.7,98,1039,0.00,1.58,0.00,0.000,4,0.000,0.044,2476,3088,3600
$GC,1114,-0.59,-194.6,160.7,-15.1,105,1123,0.12,1.55,0.00,0.000,6,0.171,0.033,2509,2189,3600
$GC,1244,-0.59,-194.6,176.7,-12.1,118,1247,0.00,1.12,0.00,0.000,4,0.000,0.038,2511,1288,3600
$GC,1269,-0.59,-194.6,179.9,-12.3,120,1276,0.00,1.23,0.00,0.000,6,0.000,0.035,2507,2211,3599
$GC,1399,-0.59,-194.6,195.2,-11.9,133,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2212,3599
$GC,1523,-0.59,-194.6,210.3,-12.3,145,1526,0.00,1.50,0.00,0.000,4,0.000,0.045,2500,3080,3599
$GC,1587,-0.59,-194.6,217.9,-11.6,151,1590,0.00,1.50,0.00,0.000,6,0.000,0.034,2500,2198,3599
$GC,1721,-0.59,-194.6,233.8,-12.5,164,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2198,3599
$GC,1845,-0.59,-194.6,248.6,-11.8,176,1849,0.00,1.58,0.00,0.000,4,0.000,0.045,2492,3091,3598
$GC,1924,-0.59,-194.6,258.1,-11.9,183,1932,0.00,1.52,0.00,0.000,6,0.000,0.033,2492,2199,3598
$GC,2054,-0.59,-194.6,273.5,-12.3,196,2058,0.00,1.12,0.00,0.000,4,0.000,0.040,2492,1299,3597
$GC,2097,-0.59,-194.6,278.8,-11.8,200,2100,0.00,1.17,0.00,0.000,6,0.000,0.037,2486,2202,3598
$GC,2232,-0.59,-194.6,295.5,-12.2,213,2235,0.00,1.52,0.00,0.000,4,0.000,0.047,2479,3080,3596
$GC,2267,-0.59,-194.6,300.2,-12.8,216,2276,0.12,1.52,0.00,0.000,6,0.170,0.035,2509,2194,3596
$GC,2397,-0.59,-194.6,314.5,-10.8,229,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2194,3596
$GC,2522,-0.59,-194.6,327.7,-10.6,241,2525,0.00,1.58,0.00,0.000,4,0.000,0.048,2504,3083,3595
$GC,2564,-0.59,-194.6,332.2,-10.8,245,2568,0.00,1.50,0.00,0.000,6,0.000,0.035,2504,2201,3595
$GC,2699,-0.59,-194.6,346.8,-11.2,258,2702,0.00,1.55,0.00,0.000,4,0.000,0.048,2496,3079,3594
$GC,2741,-0.59,-194.6,351.6,-11.3,262,2745,0.00,1.50,0.00,0.000,6,0.000,0.036,2497,2202,3594
$GC,2876,-0.59,-194.6,367.3,-11.7,275,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2203,3593
$GC,3000,-0.59,-194.6,381.9,-11.7,287,3003,0.00,1.55,0.00,0.000,4,0.000,0.049,2491,3075,3592
$GC,3047,-0.59,-194.6,387.7,-12.1,291,3054,0.00,1.52,0.00,0.000,6,0.000,0.036,2490,2196,3592
$GC,3177,-0.59,-194.6,403.5,-12.2,304,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2196,3591
$GC,3301,-0.59,-194.6,418.7,-12.5,316,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2196,3591
$GC,3425,-0.59,-194.6,433.7,-11.8,328,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2196,3590
$GC,3549,-0.59,-194.6,448.6,-12.0,340,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2196,3589
$GC,3673,-0.59,-194.6,463.2,-11.8,352,3677,0.00,1.58,0.00,0.000,4,0.000,0.051,2484,3081,3588
$GC,3716,-0.59,-194.6,468.3,-11.9,356,3719,0.00,1.52,0.00,0.000,6,0.000,0.038,2483,2197,3588
$GC,3850,-0.59,-194.6,484.7,-12.3,369,3851,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2197,3587
$GC,3975,-0.59,-194.6,499.6,-11.9,381,3978,0.00,1.58,0.00,0.000,4,0.000,0.051,2478,3080,3586
$GC,4038,-0.59,-194.6,507.4,-12.2,387,4043,0.08,1.52,0.00,0.000,6,0.175,0.039,2501,2194,3586
$GC,4173,-0.59,-194.6,522.2,-10.8,400,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2194,3585
$GC,4297,-0.59,-194.6,535.4,-10.8,412,4301,0.00,1.58,0.00,0.000,4,0.000,0.052,2494,3078,3584
$GC,4329,-0.59,-194.6,538.9,-11.0,415,4332,0.00,1.52,0.00,0.000,6,0.000,0.039,2495,2195,3584
$GC,4464,-0.59,-194.6,554.1,-11.4,428,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2195,3584
$GC,4587,-0.59,-194.6,568.2,-11.2,440,4591,0.00,1.58,0.00,0.000,4,0.000,0.051,2488,3080,3582
$GC,4645,-0.59,-194.6,575.1,-11.9,445,4654,0.00,1.55,0.00,0.000,6,0.000,0.039,2490,2192,3582
$GC,4775,-0.59,-194.6,589.5,-11.5,458,4779,0.00,1.60,0.00,0.000,4,0.000,0.053,2484,3086,3581
$GC,4811,-0.59,-194.6,593.8,-11.3,461,4820,0.00,1.55,0.00,0.000,6,0.000,0.039,2484,2195,3580
$GC,4941,-0.59,-194.6,608.4,-11.6,474,4945,0.00,1.58,0.00,0.000,4,0.000,0.053,2478,3078,3580
$GC,4983,-0.59,-194.6,613.5,-11.2,478,4987,0.08,1.52,0.00,0.000,6,0.176,0.040,2501,2193,3579
$GC,5118,-0.59,-194.6,628.5,-11.2,491,5119,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2194,3578
$GC,5242,-0.59,-194.6,642.4,-11.5,503,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2194,3577
$GC,5366,-0.59,-194.6,655.8,-10.8,515,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2194,3575
$GC,5491,-0.59,-194.6,668.9,-10.6,527,5494,0.00,1.58,0.00,0.000,4,0.000,0.054,2495,3077,3575
$GC,5522,-0.59,-194.6,672.2,-10.7,530,5526,0.00,1.52,0.00,0.000,6,0.000,0.040,2495,2195,3575
$GC,5657,-0.59,-194.6,687.2,-11.2,543,5660,0.00,1.58,0.00,0.000,4,0.000,0.054,2488,3074,3574
$GC,5688,-0.59,-194.6,690.6,-10.8,546,5692,0.00,1.50,0.00,0.000,6,0.000,0.041,2488,2203,3574
$GC,5823,-0.59,-194.6,705.5,-11.2,559,5827,0.00,1.58,0.00,0.000,4,0.000,0.055,2480,3083,3574
$GC,5855,-0.59,-194.6,709.1,-11.2,562,5858,0.00,1.52,0.00,0.000,6,0.000,0.041,2480,2199,3573
$GC,5990,-0.59,-194.6,724.4,-11.5,575,5991,0.12,0.00,0.00,0.000,6,0.180,0.000,2510,2197,3573
$GC,6113,-0.59,-194.6,736.4,-9.2,587,6117,0.00,1.58,0.00,0.000,4,0.000,0.054,2505,3075,3572
$GC,6177,-0.59,-194.6,742.6,-9.8,593,6181,0.00,1.50,0.00,0.000,6,0.000,0.040,2505,2201,3571
$GC,6312,-0.59,-194.6,756.0,-10.3,606,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2200,3571
$GC,6436,-0.59,-194.6,768.4,-9.7,618,6440,0.00,1.58,0.00,0.000,4,0.000,0.056,2498,3078,3570
$GC,6483,-0.59,-194.6,773.3,-10.4,622,6491,0.00,1.55,0.00,0.000,6,0.000,0.041,2498,2191,3570
$GC,6613,-0.59,-194.6,786.4,-10.2,635,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2192,3569
$GC,6737,-0.59,-194.6,799.1,-10.3,647,6741,0.00,1.60,0.00,0.000,4,0.000,0.056,2490,3081,3568
$GC,6816,-0.59,-194.6,807.6,-10.7,654,6823,0.00,1.55,0.00,0.000,6,0.000,0.041,2490,2194,3567
$GC,6946,-0.59,-194.6,821.0,-10.6,667,6949,0.00,1.17,0.00,0.000,4,0.000,0.050,2490,1300,3567
$GC,6971,-0.59,-194.6,824.0,-11.3,669,6979,0.00,1.23,0.00,0.000,6,0.000,0.046,2485,2198,3567
$GC,7100,-0.59,-194.6,837.4,-10.6,682,7104,0.00,1.55,0.00,0.000,4,0.000,0.055,2478,3078,3566
$GC,7164,-0.59,-194.6,844.3,-11.3,688,7168,0.08,1.52,0.00,0.000,6,0.179,0.042,2500,2196,3566
$GC,7299,-0.59,-194.6,857.5,-9.4,701,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2196,3565
$GC,7423,-0.59,-194.6,869.7,-10.1,713,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2196,3564
$GC,7547,-0.59,-194.6,881.8,-9.9,725,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2196,3564
$GC,7672,-0.59,-194.6,893.9,-9.7,737,7675,0.00,1.60,0.00,0.000,4,0.000,0.057,2495,3092,3564
$GC,7739,-0.59,-194.6,901.0,-9.9,743,7747,0.00,1.58,0.00,0.000,6,0.000,0.041,2495,2190,3563
$GC,7869,-0.59,-194.6,914.1,-10.3,756,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2190,3563
$GC,7994,-0.59,-194.6,927.1,-10.4,768,7997,0.00,1.60,0.00,0.000,4,0.000,0.058,2487,3082,3562
$GC,8036,-0.59,-194.6,931.7,-10.9,772,8040,0.00,1.52,0.00,0.000,6,0.000,0.042,2487,2199,3562
$GC,8171,-0.59,-194.6,946.1,-11.0,785,8174,0.00,1.60,0.00,0.000,4,0.000,0.058,2480,3089,3562
$GC,8213,-0.59,-194.6,950.6,-11.6,789,8217,0.08,1.55,0.00,0.000,6,0.182,0.041,2501,2193,3561
$GC,8348,-0.59,-194.6,963.3,-9.1,802,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2193,3561
$GC,8472,-0.59,-194.6,974.8,-8.9,814,8475,0.00,1.60,0.00,0.000,4,0.000,0.057,2496,3086,3560
$GC,8525,-0.59,-194.6,979.9,-9.6,819,8529,0.00,1.52,0.00,0.000,6,0.000,0.042,2495,2201,3559
$STATE,8627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8627,begin apogee
$GC,8630,-0.26,0.0,990.3,9.5,829,8782,0.40,0.00,149.43,1.262,6,0.153,0.000,2612,2200,2800
$STATE,8783,end apogee,CONTROL_FINISHED_OK
$STATE,8783,begin climb
$GC,8784,0.59,194.6,996.0,0.0,844,8953,0.93,1.80,163.05,1.230,4,0.126,0.065,2883,3078,2005
$GC,9021,0.59,194.6,978.9,9.1,865,9030,0.00,1.65,0.00,0.000,6,0.000,0.040,2890,2194,1997
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$STATE,19967,end climb,SURFACE_DEPTH_REACHED
$STATE,19967,begin surface coast
$FINISH,1.5,1.019764
$STATE,20020,end surface coast,CONTROL_FINISHED_OK
$STATE,20020,begin surface
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$IRIDIUM_FIX,2838.37,-8752.10,260899,060648
$TT8_MAMPS,0.050622
$HUMID,1254
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,23.7,13.891
$10V_AH,10.6,16.838
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.400,282.475,425.875,124.800,0.000,25.132,26.781,253.217,0.250,0.000,0.000,17.223,0.000,12693.116,917.075,6294.583,672.561,33.342,2906.674,0.000,5511.396,0.000,0.847,0.000
$DEVICE_MAMPS,269.984,65.195,1262.482,502.385,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1313.620,1419.493,4315.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100925,1920
$CAP_FILE_SIZE,283940,0
$CFSIZE,260165632,250351616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,200.0,1
$GPS,010610,170006,2842.280,-8833.775,32,0.8,32,-0.3