version: 66.04
glider: 515
mission: 5
dive: 112
start: 6 12 110 22 26 18
data:
$ID,515
$MISSION,5
$DIVE,112
$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,-7127.606
$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,46
$R_STBD_OVSHOOT,16
$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
$GPS1,221937,2842.380,-8845.498,33,1.1,33,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-72.5
$GPS2,222538,2842.313,-8845.536,14,1.3,14,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.198,0.157
$KALMAN_X,-249408.8,-268.7,332.4,263535.6,-11071.3
$KALMAN_Y,36172.6,897.6,755.4,-50880.2,-19250.1
$MHEAD_RNG_PITCHd_Wd,168.8,9879,-9.2,-6.667
$D_GRID,1128
$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,-0.58,-194.6,0.0,0.0,0,57,0.00,0.00,-43.70,0.000,2,0.000,0.000,200,2355,1805
$GC,59,-0.58,-194.6,3.0,-3.9,4,123,10.32,1.23,-51.00,0.000,4,0.254,0.071,2546,1485,3635
$GC,362,-0.58,-194.6,51.3,-12.3,31,370,0.00,1.30,0.00,0.000,6,0.000,0.035,2542,2385,3637
$GC,555,-0.58,-194.6,73.6,-11.5,50,558,0.00,1.25,0.00,0.000,4,0.000,0.035,2546,1487,3638
$GC,608,-0.58,-194.6,79.8,-11.3,55,611,0.00,1.25,0.00,0.000,6,0.000,0.036,2542,2371,3638
$GC,805,-0.58,-194.6,103.0,-12.3,74,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2371,3638
$GC,1115,-0.58,-194.6,141.0,-11.8,104,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2371,3638
$GC,1425,-0.58,-194.6,175.7,-10.9,134,1429,0.00,1.23,0.00,0.000,4,0.000,0.037,2544,1480,3637
$GC,1483,-0.58,-194.6,181.7,-10.2,139,1490,0.00,1.30,0.00,0.000,6,0.000,0.038,2539,2380,3637
$GC,1800,-0.58,-194.6,213.6,-10.2,170,1803,0.00,1.25,0.00,0.000,4,0.000,0.038,2539,1481,3634
$GC,1895,-0.58,-194.6,223.4,-9.7,179,1899,0.00,1.27,0.00,0.000,6,0.000,0.039,2533,2376,3634
$GC,2217,-0.58,-194.6,256.2,-10.2,210,2220,0.00,1.25,0.00,0.000,4,0.000,0.038,2533,1489,3632
$GC,2242,-0.58,-194.6,259.0,-10.7,212,2249,0.00,1.27,0.00,0.000,6,0.000,0.040,2528,2375,3632
$GC,2558,-0.58,-194.6,293.4,-10.7,243,2562,0.00,1.23,0.00,0.000,4,0.000,0.039,2528,1494,3629
$GC,2594,-0.58,-194.6,297.4,-10.7,246,2601,0.00,1.27,0.00,0.000,6,0.000,0.041,2521,2374,3629
$GC,2911,-0.58,-194.6,331.5,-10.8,277,2914,0.00,1.23,0.00,0.000,4,0.000,0.041,2522,1494,3627
$GC,2942,-0.58,-194.6,334.9,-10.5,280,2945,0.00,1.25,0.00,0.000,6,0.000,0.041,2516,2371,3627
$GC,3264,-0.58,-194.6,370.9,-11.0,311,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2371,3624
$GC,3573,-0.58,-194.6,406.4,-11.5,341,3577,0.00,1.23,0.00,0.000,4,0.000,0.042,2516,1494,3621
$GC,3599,-0.58,-194.6,409.5,-11.6,343,3607,0.12,1.27,0.00,0.000,6,0.146,0.042,2542,2373,3621
$GC,3915,-0.58,-194.6,439.5,-9.2,374,3918,0.00,1.23,0.00,0.000,4,0.000,0.043,2543,1495,3618
$GC,3957,-0.58,-194.6,443.5,-9.4,378,3961,0.00,1.27,0.00,0.000,6,0.000,0.044,2540,2375,3618
$GC,4279,-0.58,-194.6,474.7,-9.8,409,4282,0.00,1.27,0.00,0.000,4,0.000,0.043,2539,1486,3616
$GC,4332,-0.58,-194.6,480.1,-10.6,414,4335,0.00,1.27,0.00,0.000,6,0.000,0.045,2533,2370,3616
$GC,4654,-0.58,-194.6,512.3,-10.0,445,4655,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2371,3614
$GC,4963,-0.58,-194.6,544.6,-10.7,475,4967,0.00,1.23,0.00,0.000,4,0.000,0.045,2534,1500,3611
$GC,4999,-0.58,-194.6,548.5,-10.8,478,5007,0.00,1.30,0.00,0.000,6,0.000,0.045,2528,2379,3611
$GC,5316,-0.58,-194.6,580.8,-10.5,509,5320,0.00,1.27,0.00,0.000,4,0.000,0.045,2527,1499,3608
$GC,5358,-0.58,-194.6,585.1,-10.6,513,5362,0.00,1.27,0.00,0.000,6,0.000,0.046,2523,2375,3608
$GC,5680,-0.58,-194.6,617.4,-10.0,544,5683,0.00,1.27,0.00,0.000,4,0.000,0.045,2523,1489,3606
$GC,5721,-0.58,-194.6,621.7,-9.9,548,5725,0.00,1.27,0.00,0.000,6,0.000,0.048,2517,2370,3605
$GC,6043,-0.58,-194.6,654.4,-10.4,579,6046,0.00,1.25,0.00,0.000,4,0.000,0.046,2517,1500,3603
$GC,6078,-0.58,-194.6,658.4,-10.4,582,6086,0.12,1.30,0.00,0.000,6,0.153,0.047,2542,2377,3602
$GC,6395,-0.58,-194.6,685.4,-8.4,613,6398,0.00,1.27,0.00,0.000,4,0.000,0.047,2543,1487,3601
$GC,6427,-0.58,-194.6,688.2,-9.0,616,6430,0.00,1.30,0.00,0.000,6,0.000,0.048,2539,2375,3601
$GC,6748,-0.58,-194.6,716.0,-8.7,647,6751,0.00,1.25,0.00,0.000,4,0.000,0.048,2538,1500,3598
$GC,6876,-0.58,-194.6,727.3,-8.4,659,6879,0.00,1.27,0.00,0.000,6,0.000,0.048,2533,2373,3598
$GC,7197,-0.58,-194.6,755.8,-8.8,690,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2374,3596
$GC,7507,-0.58,-194.6,783.6,-8.7,720,7510,0.00,1.25,0.00,0.000,4,0.000,0.048,2533,1500,3594
$GC,7571,-0.58,-194.6,789.7,-9.3,726,7574,0.00,1.30,0.00,0.000,6,0.000,0.048,2527,2379,3594
$GC,7892,-0.58,-194.6,819.8,-9.8,757,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2379,3593
$GC,8202,-0.58,-194.6,849.2,-9.4,787,8205,0.00,1.27,0.00,0.000,4,0.000,0.048,2527,1495,3591
$GC,8255,-0.58,-194.6,854.2,-9.5,792,8259,0.00,1.30,0.00,0.000,6,0.000,0.050,2521,2376,3591
$GC,8577,-0.58,-194.6,884.0,-8.9,823,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2376,3589
$GC,8887,-0.58,-194.6,912.7,-9.4,853,8890,0.00,1.25,0.00,0.000,4,0.000,0.049,2521,1504,3588
$GC,8933,-0.58,-194.6,917.1,-8.8,857,8941,0.00,1.30,0.00,0.000,6,0.000,0.050,2516,2375,3588
$GC,9250,-0.58,-194.6,946.9,-9.3,888,9253,0.12,1.30,0.00,0.000,4,0.151,0.048,2549,1489,3587
$GC,9286,-0.58,-194.6,950.1,-8.7,891,9293,0.00,1.30,0.00,0.000,6,0.000,0.051,2545,2371,3587
$GC,9603,-0.58,-194.6,974.9,-8.0,922,9607,0.00,1.27,0.00,0.000,4,0.000,0.048,2545,1494,3586
$GC,9634,-0.58,-194.6,977.3,-8.3,925,9637,0.00,1.30,0.00,0.000,6,0.000,0.051,2540,2372,3586
$STATE,9798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9798,begin apogee
$GC,9802,-0.26,0.0,990.1,8.1,941,9953,0.35,0.00,148.48,1.261,6,0.134,0.000,2646,2287,2840
$STATE,9954,end apogee,CONTROL_FINISHED_OK
$STATE,9954,begin climb
$GC,9955,0.58,194.6,994.6,0.0,956,10123,0.85,0.00,164.85,1.230,6,0.108,0.000,2911,2287,2046
$GC,10431,0.58,194.6,951.4,10.5,1002,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2287,2035
$GC,10741,0.58,194.6,919.7,10.6,1032,10745,0.00,1.23,0.00,0.000,4,0.000,0.058,2916,1381,2033
$GC,10774,0.58,194.6,916.6,9.8,1035,10777,0.00,1.23,0.00,0.000,6,0.000,0.048,2916,2285,2033
$GC,11094,0.58,194.6,882.5,10.3,1066,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2286,2032
$GC,11405,0.58,194.6,850.8,10.2,1096,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2287,2031
$GC,11715,0.58,194.6,819.6,9.8,1126,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2287,2030
$GC,12025,0.58,194.6,787.4,10.1,1156,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2287,2030
$GC,12336,0.58,194.6,755.7,10.1,1186,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2287,2029
$GC,12646,0.58,194.6,723.5,10.3,1216,12647,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2287,2028
$GC,12956,0.58,194.6,691.9,10.0,1246,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2287,2028
$GC,13267,0.58,194.6,660.3,10.3,1276,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2286,2028
$GC,13577,0.58,194.6,627.9,10.3,1306,13581,0.00,1.65,0.00,0.000,4,0.000,0.058,2916,3178,2028
$GC,13598,0.58,194.6,625.7,10.0,1308,13602,0.00,1.60,0.00,0.000,6,0.000,0.040,2924,2279,2027
$GC,13920,0.58,194.6,591.5,11.2,1339,13923,0.00,1.17,0.00,0.000,4,0.000,0.047,2929,1363,2027
$GC,13945,0.58,194.6,588.7,11.9,1341,13954,0.00,1.25,0.00,0.000,6,0.000,0.045,2929,2286,2027
$GC,14262,0.58,194.6,554.9,10.8,1372,14263,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2286,2027
$GC,14572,0.58,194.6,521.1,10.6,1402,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2286,2027
$GC,14882,0.58,194.6,487.4,11.0,1432,14885,0.00,1.20,0.00,0.000,4,0.000,0.045,2934,1378,2027
$GC,14903,0.58,194.6,485.1,10.3,1434,14906,0.00,1.20,0.00,0.000,6,0.000,0.045,2934,2281,2027
$GC,15225,0.58,194.6,448.6,11.5,1465,15226,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2281,2027
$GC,15534,0.58,194.6,413.7,10.9,1495,15538,0.00,1.65,0.00,0.000,4,0.000,0.056,2934,3181,2027
$GC,15555,0.58,194.6,411.4,11.7,1497,15559,0.00,1.60,0.00,0.000,6,0.000,0.038,2942,2278,2027
$GC,15876,0.58,194.6,375.7,11.7,1528,15880,0.00,1.62,0.00,0.000,4,0.000,0.055,2942,3169,2027
$GC,15901,0.58,194.6,372.5,12.9,1530,15909,0.00,1.60,0.00,0.000,6,0.000,0.038,2950,2279,2027
$GC,16219,0.58,194.6,334.2,11.9,1561,16220,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2279,2027
$GC,16529,0.58,194.6,295.6,13.4,1591,16532,0.00,1.62,0.00,0.000,4,0.000,0.054,2949,3168,2027
$GC,16553,0.58,194.6,292.2,13.6,1593,16563,0.12,1.60,0.00,0.000,6,0.159,0.037,2925,2276,2027
$GC,16870,0.58,194.6,259.6,10.0,1624,16871,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2277,2027
$GC,17181,0.58,194.6,227.6,10.0,1654,17182,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2277,2027
$GC,17491,0.58,194.6,195.8,9.9,1684,17494,0.00,1.15,0.00,0.000,4,0.000,0.043,2929,1363,2027
$GC,17527,0.58,194.6,192.1,10.0,1687,17535,0.00,1.23,0.00,0.000,6,0.000,0.041,2929,2287,2028
$GC,17844,0.58,194.6,159.6,9.5,1718,17848,0.00,1.60,0.00,0.000,4,0.000,0.051,2929,3175,2028
$GC,17897,0.58,194.6,154.1,10.1,1723,17900,0.00,1.55,0.00,0.000,6,0.000,0.034,2936,2282,2028
$GC,18218,0.58,194.6,123.1,9.5,1754,18221,0.00,1.60,0.00,0.000,4,0.000,0.050,2936,3173,2029
$GC,18265,0.58,194.6,118.4,9.2,1758,18272,0.00,1.55,0.00,0.000,6,0.000,0.033,2943,2284,2029
$GC,18581,0.58,194.6,86.0,9.7,1789,18582,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2284,2029
$GC,18768,0.58,194.6,67.1,9.7,1807,18771,0.00,1.60,0.00,0.000,4,0.000,0.048,2943,3178,2031
$GC,18803,0.58,194.6,63.2,10.3,1810,18811,0.12,1.58,0.00,0.000,6,0.145,0.031,2918,2277,2031
$GC,18996,0.58,194.6,48.2,7.1,1829,18999,0.00,1.60,0.00,0.000,4,0.000,0.048,2918,3169,2031
$GC,19027,0.58,194.6,45.8,8.3,1832,19031,0.00,1.52,0.00,0.000,6,0.000,0.031,2923,2282,2031
$GC,19224,0.64,242.3,33.5,5.5,1851,19265,0.00,0.00,34.78,0.539,6,0.000,0.000,2924,2282,1851
$GC,19450,0.73,318.1,22.4,4.9,1873,19512,0.12,1.20,56.70,0.527,4,0.068,0.036,2992,1369,1542
$GC,19570,0.81,380.0,14.5,5.2,1883,19625,0.00,1.23,46.55,0.513,6,0.000,0.035,2991,2291,1289
$GC,19811,0.97,513.0,4.9,3.5,1906,19861,0.17,0.00,48.08,0.501,2,0.109,0.000,3054,2291,1023
$STATE,19861,end climb,SURFACE_DEPTH_REACHED
$STATE,19861,begin surface coast
$FINISH,0.7,1.007759
$STATE,19928,end surface coast,CONTROL_FINISHED_OK
$STATE,19928,begin surface
$SM_CCo,19941,75.07,0.494,0,0,494,575.22
$SM_GC,1.59,0.00,0.00,75.07,0.000,0.000,0.494,195,2376,494,-7.93,0.06,575.22
$IRIDIUM_FIX,2831.00,-8841.38,060999,171759
$TT8_MAMPS,0.050622
$HUMID,1298
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,23.4,21.747
$10V_AH,10.7,28.880
$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,20.100,91.225,499.425,75.075,0.000,30.318,28.557,196.223,1.000,0.000,0.000,16.376,0.000,13468.734,669.310,5665.680,545.598,33.351,2266.990,0.000,5093.238,0.000,8.543,0.000
$DEVICE_MAMPS,253.877,71.331,1260.948,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1312.649,1398.594,4308.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100870,1917
$CAP_FILE_SIZE,180732,0
$CFSIZE,260165632,245272576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$CURRENT,0.026,228.1,1
$GPS,130610,040054,2839.385,-8844.982,39,1.9,39,-0.2