version: 66.04
glider: 515
mission: 5
dive: 111
start: 6 12 110 17 20 59
data:
$ID,515
$MISSION,5
$DIVE,111
$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,495
$T_MISSION,520
$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,-7110.6011
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,2375
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2840
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,900
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$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
$GPS1,171431,2842.521,-8843.732,42,1.0,42,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-70.9
$GPS2,172019,2842.516,-8843.675,13,1.0,13,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.087,0.237
$KALMAN_X,-244321.7,462.9,-224.8,261299.8,-8553.4
$KALMAN_Y,42295.0,838.8,864.2,-56691.1,-17569.4
$MHEAD_RNG_PITCHd_Wd,294.0,2163,-26.6,-6.667
$D_GRID,1130
$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,10,begin dive
$GC,12,-1.03,-34.4,0.0,0.0,0,77,0.00,0.00,-63.50,0.000,2,0.000,0.000,200,2378,2335
$GC,79,-1.05,-54.3,3.3,-4.1,6,115,9.88,1.30,-16.85,0.000,4,0.262,0.052,2393,1431,3063
$GC,236,-1.05,-54.3,35.1,-14.3,20,245,0.00,1.35,0.00,0.000,6,0.000,0.035,2388,2374,3065
$GC,429,-1.07,-72.6,49.2,-4.3,39,432,0.00,1.27,-0.68,0.000,4,0.000,0.058,2392,1450,3139
$GC,674,-1.07,-72.6,72.3,-10.5,62,678,0.00,1.30,0.00,0.000,6,0.000,0.035,2387,2373,3140
$GC,871,-1.07,-72.6,94.6,-11.3,81,874,0.00,1.48,0.00,0.000,4,0.000,0.044,2380,3265,3141
$GC,1024,-1.07,-72.6,113.7,-12.8,95,1032,0.00,1.48,0.00,0.000,6,0.000,0.029,2386,2361,3141
$GC,1341,-1.07,-72.6,153.6,-11.9,126,1345,0.00,1.20,0.00,0.000,4,0.000,0.038,2391,1479,3142
$GC,1587,-1.07,-72.6,181.7,-11.5,149,1590,0.00,1.25,0.00,0.000,6,0.000,0.037,2387,2370,3141
$GC,1908,-1.07,-72.6,216.4,-11.2,180,1911,0.00,1.48,0.00,0.000,4,0.000,0.046,2379,3265,3140
$GC,1971,-1.07,-72.6,223.7,-11.3,186,1975,0.00,1.45,0.00,0.000,6,0.000,0.030,2385,2364,3140
$GC,2293,-1.07,-72.6,258.3,-10.7,217,2296,0.00,1.52,0.00,0.000,4,0.000,0.045,2379,3270,3139
$GC,2378,-1.07,-72.6,268.3,-11.6,225,2381,0.00,1.45,0.00,0.000,6,0.000,0.030,2385,2367,3138
$GC,2699,-1.07,-72.6,302.9,-10.7,256,2703,0.00,1.23,0.00,0.000,4,0.000,0.040,2391,1477,3137
$GC,2795,-1.07,-72.6,313.1,-10.7,265,2798,0.00,1.27,0.00,0.000,6,0.000,0.038,2386,2374,3136
$GC,3116,-1.07,-72.6,346.8,-10.7,296,3119,0.00,1.48,0.00,0.000,4,0.000,0.049,2379,3263,3135
$GC,3179,-1.07,-72.6,353.7,-10.9,302,3183,0.00,1.42,0.00,0.000,6,0.000,0.032,2385,2377,3135
$GC,3501,-1.07,-72.6,388.5,-10.3,333,3504,0.00,1.25,0.00,0.000,4,0.000,0.042,2391,1485,3133
$GC,3622,-1.07,-72.6,401.9,-11.3,344,3630,0.00,1.30,0.00,0.000,6,0.000,0.041,2386,2379,3132
$GC,3939,-1.07,-72.6,436.3,-10.4,375,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2379,3130
$GC,4249,-1.07,-72.6,469.5,-10.4,405,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2380,3128
$GC,4559,-1.07,-72.6,502.9,-10.4,435,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2380,3126
$GC,4870,-1.07,-72.6,536.0,-10.9,465,4873,0.00,1.27,0.00,0.000,4,0.000,0.045,2390,1495,3124
$GC,5105,-1.07,-72.6,560.9,-10.6,487,5108,0.00,1.25,0.00,0.000,6,0.000,0.044,2386,2369,3123
$GC,5426,-1.07,-72.6,595.2,-10.8,518,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2369,3120
$GC,5736,-1.07,-72.6,627.5,-10.4,548,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2369,3119
$GC,6046,-1.07,-72.6,660.7,-10.5,578,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2369,3117
$GC,6357,-1.07,-72.6,693.7,-10.7,608,6360,0.00,1.25,0.00,0.000,4,0.000,0.048,2389,1485,3115
$GC,6446,-1.07,-72.6,702.7,-9.8,616,6455,0.00,1.30,0.00,0.000,6,0.000,0.046,2385,2372,3114
$GC,6763,-1.07,-72.6,734.1,-10.1,647,6765,0.00,1.52,0.00,0.000,4,0.000,0.057,2378,3264,3113
$GC,6848,-1.07,-72.6,743.0,-10.7,655,6851,0.00,1.45,0.00,0.000,6,0.000,0.039,2377,2380,3112
$GC,7169,-1.07,-72.6,774.8,-9.7,686,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2380,3111
$GC,7479,-1.07,-72.6,805.6,-10.2,716,7480,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2380,3110
$GC,7789,-1.07,-72.6,837.0,-10.1,746,7793,0.00,1.27,0.00,0.000,4,0.000,0.049,2377,1485,3108
$GC,7875,-1.07,-72.6,845.5,-10.5,754,7878,0.00,1.30,0.00,0.000,6,0.000,0.049,2372,2373,3107
$GC,8196,-1.07,-72.6,877.9,-10.1,785,8199,0.00,1.27,0.00,0.000,4,0.000,0.050,2374,1481,3105
$GC,8242,-1.07,-72.6,882.8,-10.3,789,8250,0.00,1.33,0.00,0.000,6,0.000,0.048,2369,2376,3106
$GC,8560,-1.07,-72.6,913.3,-9.5,820,8563,0.00,1.27,0.00,0.000,4,0.000,0.049,2372,1490,3105
$GC,8730,-1.07,-72.6,929.5,-9.8,836,8733,0.00,1.30,0.00,0.000,6,0.000,0.048,2367,2374,3104
$GC,9051,-1.07,-72.6,959.1,-9.1,867,9054,0.00,1.27,0.00,0.000,4,0.000,0.048,2371,1486,3103
$GC,9108,-1.07,-72.6,964.5,-8.8,872,9117,0.00,1.33,0.00,0.000,6,0.000,0.048,2367,2376,3103
$STATE,9381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9382,begin apogee
$GC,9386,-0.26,0.0,990.5,9.0,899,9446,1.02,0.00,52.45,1.253,6,0.196,0.000,2641,2290,2839
$STATE,9446,end apogee,CONTROL_FINISHED_OK
$STATE,9446,begin climb
$GC,9448,1.07,72.6,992.6,0.0,905,9517,1.38,0.00,62.20,1.233,6,0.109,0.000,3075,2290,2542
$GC,9825,1.07,72.6,938.3,16.0,942,9829,0.00,1.67,0.00,0.000,4,0.000,0.064,3075,3168,2533
$GC,9953,1.07,72.6,916.8,16.7,954,9957,0.00,1.60,0.00,0.000,6,0.000,0.039,3082,2282,2532
$GC,10275,1.07,72.6,865.0,15.8,985,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2282,2531
$GC,10584,1.07,72.6,816.2,16.5,1015,10588,0.00,1.65,0.00,0.000,4,0.000,0.058,3077,3173,2530
$GC,10739,1.07,72.6,790.8,15.6,1029,10746,0.00,1.60,0.00,0.000,6,0.000,0.038,3084,2279,2530
$GC,11055,1.07,72.6,742.1,15.6,1060,11059,0.00,1.65,0.00,0.000,4,0.000,0.058,3082,3170,2530
$GC,11300,1.07,72.6,702.4,16.4,1083,11304,0.00,1.60,0.00,0.000,6,0.000,0.039,3089,2276,2528
$GC,11621,1.07,72.6,653.4,15.5,1114,11625,0.00,1.65,0.00,0.000,4,0.000,0.058,3089,3171,2528
$GC,11771,1.07,72.6,629.4,17.1,1128,11774,0.00,1.60,0.00,0.000,6,0.000,0.039,3096,2274,2527
$GC,12092,1.07,72.6,581.0,15.1,1159,12096,0.00,1.67,0.00,0.000,4,0.000,0.058,3097,3180,2527
$GC,12267,1.07,72.6,553.2,15.8,1175,12275,0.00,1.62,0.00,0.000,6,0.000,0.038,3104,2273,2526
$GC,12584,1.07,72.6,506.3,14.8,1206,12587,0.00,1.67,0.00,0.000,4,0.000,0.057,3100,3180,2526
$GC,12733,1.07,72.6,482.9,14.7,1220,12736,0.00,1.60,0.00,0.000,6,0.000,0.038,3107,2277,2526
$GC,13055,1.07,72.6,436.2,14.8,1251,13058,0.00,1.65,0.00,0.000,4,0.000,0.056,3106,3173,2526
$GC,13246,1.07,72.6,406.1,15.7,1269,13250,0.10,1.58,0.00,0.000,6,0.206,0.038,3085,2283,2526
$GC,13567,1.07,72.6,362.1,13.3,1300,13570,0.00,1.62,0.00,0.000,4,0.000,0.055,3085,3173,2525
$GC,13609,1.07,72.6,356.1,13.8,1304,13613,0.00,1.58,0.00,0.000,6,0.000,0.038,3092,2280,2526
$GC,13931,1.07,72.6,311.7,13.6,1335,13934,0.00,1.62,0.00,0.000,4,0.000,0.054,3092,3178,2526
$GC,13973,1.07,72.6,305.5,13.7,1339,13976,0.00,1.60,0.00,0.000,6,0.000,0.037,3099,2274,2526
$GC,14295,1.07,72.6,260.3,13.9,1370,14298,0.00,1.65,0.00,0.000,4,0.000,0.054,3099,3173,2526
$GC,14411,1.07,72.6,242.5,16.1,1381,14415,0.00,1.58,0.00,0.000,6,0.000,0.036,3106,2278,2526
$GC,14732,1.07,72.6,196.6,13.6,1412,14736,0.00,1.62,0.00,0.000,4,0.000,0.053,3106,3172,2526
$GC,14828,1.07,72.6,182.6,14.2,1421,14832,0.10,1.55,0.00,0.000,6,0.204,0.035,3085,2284,2527
$GC,15149,1.07,72.6,142.9,11.8,1452,15152,0.00,1.62,0.00,0.000,4,0.000,0.051,3085,3185,2527
$GC,15384,1.07,72.6,113.1,12.3,1474,15387,0.00,1.58,0.00,0.000,6,0.000,0.034,3092,2279,2528
$GC,15705,1.07,72.6,75.1,10.8,1505,15706,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2280,2528
$GC,15891,1.07,72.6,54.8,9.1,1523,15892,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2280,2529
$GC,16077,1.07,72.6,37.9,6.9,1541,16081,0.00,1.62,0.00,0.000,4,0.000,0.049,3092,3187,2529
$GC,16323,1.13,114.2,33.0,1.3,1564,16360,0.00,1.55,29.75,0.548,6,0.000,0.031,3099,2281,2373
$GC,16545,1.13,118.0,21.8,6.2,1585,16557,0.00,1.62,4.05,0.366,4,0.000,0.047,3099,3182,2359
$GC,16796,1.18,161.1,18.4,1.1,1608,16832,0.00,1.58,33.22,0.522,6,0.000,0.029,3107,2279,2182
$GC,17026,1.24,203.2,9.4,1.2,1630,17062,0.00,1.67,32.00,0.506,4,0.000,0.045,3107,3184,2010
$GC,17301,1.29,247.5,9.3,0.9,1655,17339,0.00,1.58,33.08,0.495,6,0.000,0.028,3114,2279,1830
$GC,17533,1.34,291.2,6.3,1.0,1677,17570,0.15,1.65,32.92,0.485,4,0.063,0.043,3180,3184,1651
$STATE,17662,end climb,SURFACE_DEPTH_REACHED
$STATE,17662,begin surface coast
$FINISH,2.3,1.018823
$STATE,17683,end surface coast,CONTROL_FINISHED_OK
$STATE,17683,begin surface
$SM_CCo,17698,167.00,0.486,0,0,495,575.22
$SM_GC,1.78,0.00,0.00,167.00,0.000,0.000,0.486,201,2355,495,-7.91,-0.57,575.22
$IRIDIUM_FIX,2828.55,-8841.44,060999,121256
$TT8_MAMPS,0.049855
$HUMID,1234
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,24.0,21.585
$10V_AH,10.7,28.637
$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,21.200,94.550,279.675,167.000,0.000,29.645,32.522,187.197,1.250,0.000,0.000,15.271,0.000,11673.316,562.478,5435.988,517.055,33.376,2114.234,0.000,4890.119,0.000,8.516,0.000
$DEVICE_MAMPS,262.314,67.496,1252.511,485.511,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.642,1247.913,3801.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88220,1691
$CAP_FILE_SIZE,169125,0
$CFSIZE,260165632,245391360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$CURRENT,0.050,209.5,1
$GPS,120610,221937,2842.380,-8845.498,33,1.1,33,-0.2