version: 66.04
glider: 515
mission: 5
dive: 126
start: 6 16 110 0 47 24
data:
$ID,515
$MISSION,5
$DIVE,126
$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,-14
$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,-7421.7305
$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,2400
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$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,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,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,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
$GPS1,003930,2843.270,-8827.662,36,2.0,36,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-73.6
$GPS2,004626,2843.214,-8827.713,11,1.9,11,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602A
$TGT_LATLONG,2840.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.178,0.179
$KALMAN_X,-249987.8,121.4,2607.9,290387.5,-4288.0
$KALMAN_Y,-25438.7,417.2,814.0,12875.5,-11935.3
$MHEAD_RNG_PITCHd_Wd,134.2,5584,-16.9,-6.667
$D_GRID,1383
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.72,-78.0,0.0,0.0,0,77,0.00,0.00,-63.15,0.000,2,0.000,0.000,203,2410,2399
$GC,79,-0.79,-132.4,3.7,-3.5,6,115,10.40,1.50,-20.70,0.000,4,0.267,0.064,2463,3310,3380
$GC,354,-0.79,-132.4,52.2,-12.7,31,363,0.00,1.50,0.00,0.000,6,0.000,0.027,2469,2397,3382
$GC,547,-0.79,-132.4,75.9,-13.0,50,550,0.00,1.52,0.00,0.000,4,0.000,0.044,2464,3290,3383
$GC,792,-0.79,-132.4,111.4,-15.9,73,795,0.00,1.45,0.00,0.000,6,0.000,0.028,2468,2395,3384
$GC,1114,-0.79,-132.4,156.3,-14.0,104,1117,0.00,1.52,0.00,0.000,4,0.000,0.045,2463,3289,3384
$GC,1273,-0.79,-132.4,178.8,-13.5,119,1277,0.00,1.45,0.00,0.000,6,0.000,0.028,2468,2396,3383
$GC,1595,-0.79,-132.4,218.1,-12.6,150,1598,0.00,1.23,0.00,0.000,4,0.000,0.036,2469,1503,3382
$GC,1680,-0.79,-132.4,228.8,-12.0,158,1683,0.00,1.25,0.00,0.000,6,0.000,0.037,2464,2394,3382
$GC,2002,-0.79,-132.4,270.5,-12.6,189,2005,0.00,1.23,0.00,0.000,4,0.000,0.037,2468,1516,3380
$GC,2108,-0.79,-132.4,284.3,-12.8,199,2111,0.00,1.25,0.00,0.000,6,0.000,0.037,2464,2402,3380
$GC,2430,-0.79,-132.4,324.6,-12.6,230,2433,0.00,1.25,0.00,0.000,4,0.000,0.038,2468,1513,3377
$GC,2476,-0.79,-132.4,330.8,-12.7,234,2484,0.00,1.27,0.00,0.000,6,0.000,0.037,2464,2401,3376
$GC,2793,-0.79,-132.4,370.6,-12.5,265,2797,0.00,1.25,0.00,0.000,4,0.000,0.038,2466,1513,3374
$GC,2829,-0.79,-132.4,375.5,-13.5,268,2836,0.00,1.27,0.00,0.000,6,0.000,0.038,2462,2400,3375
$GC,3146,-0.79,-132.4,415.8,-13.0,299,3149,0.00,1.25,0.00,0.000,4,0.000,0.039,2464,1514,3372
$GC,3246,-0.79,-132.4,429.2,-13.2,308,3253,0.00,1.27,0.00,0.000,6,0.000,0.038,2460,2397,3371
$GC,3563,-0.79,-132.4,470.8,-12.9,339,3566,0.00,1.25,0.00,0.000,4,0.000,0.040,2460,1514,3369
$GC,3637,-0.79,-132.4,480.6,-13.1,346,3640,0.00,1.27,0.00,0.000,6,0.000,0.041,2454,2402,3368
$GC,3959,-0.79,-132.4,521.2,-12.6,377,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2403,3365
$GC,4268,-0.79,-132.4,560.9,-13.0,407,4271,0.00,1.25,0.00,0.000,4,0.000,0.043,2455,1511,3363
$GC,4326,-0.79,-132.4,568.5,-13.0,412,4333,0.00,1.30,0.00,0.000,6,0.000,0.041,2451,2402,3362
$GC,4643,-0.79,-132.4,609.4,-13.1,443,4646,0.00,1.27,0.00,0.000,4,0.000,0.044,2452,1514,3360
$GC,4825,-0.79,-132.4,632.3,-12.7,460,4828,0.08,1.27,0.00,0.000,6,0.176,0.044,2469,2398,3359
$GC,5145,-0.79,-132.4,670.1,-11.7,491,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2398,3356
$GC,5456,-0.79,-132.4,706.8,-11.8,521,5459,0.00,1.25,0.00,0.000,4,0.000,0.046,2471,1516,3355
$GC,5583,-0.79,-132.4,721.6,-11.6,533,5587,0.00,1.27,0.00,0.000,6,0.000,0.044,2467,2397,3353
$GC,5905,-0.79,-132.4,757.9,-11.3,564,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2397,3351
$GC,6215,-0.79,-132.4,792.6,-11.2,594,6218,0.00,1.25,0.00,0.000,4,0.000,0.047,2467,1514,3349
$GC,6358,-0.79,-132.4,808.8,-11.0,607,6367,0.00,1.33,0.00,0.000,6,0.000,0.046,2461,2405,3348
$GC,6675,-0.79,-132.4,843.6,-10.7,638,6678,0.00,1.27,0.00,0.000,4,0.000,0.048,2461,1518,3347
$GC,6716,-0.79,-132.4,848.3,-11.3,642,6720,0.00,1.27,0.00,0.000,6,0.000,0.048,2456,2394,3346
$GC,7038,-0.79,-132.4,885.5,-11.8,673,7042,0.00,1.25,0.00,0.000,4,0.000,0.048,2456,1525,3345
$GC,7123,-0.79,-132.4,895.4,-12.0,681,7126,0.00,1.27,0.00,0.000,6,0.000,0.048,2451,2400,3345
$GC,7445,-0.79,-132.4,931.7,-11.0,712,7448,0.00,1.25,0.00,0.000,4,0.000,0.048,2451,1522,3342
$GC,7508,-0.79,-132.4,939.1,-11.2,718,7513,0.10,1.27,0.00,0.000,6,0.178,0.048,2473,2396,3342
$GC,7829,-0.79,-132.4,971.7,-10.4,749,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2396,3341
$STATE,8014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8014,begin apogee
$GC,8018,-0.26,0.0,990.9,10.4,767,8120,0.60,0.00,99.18,1.259,6,0.164,0.000,2647,2221,2840
$STATE,8120,end apogee,CONTROL_FINISHED_OK
$STATE,8120,begin climb
$GC,8122,0.79,132.4,994.2,0.0,777,8240,1.05,0.00,111.88,1.227,6,0.111,0.000,2975,2221,2299
$GC,8547,0.79,132.4,944.7,13.7,818,8550,0.00,1.75,0.00,0.000,4,0.000,0.055,2975,3115,2288
$GC,8643,0.79,132.4,930.7,16.1,827,8646,0.00,1.65,0.00,0.000,6,0.000,0.038,2982,2239,2286
$GC,8964,0.79,132.4,885.2,14.3,858,8967,0.00,1.73,0.00,0.000,4,0.000,0.056,2983,3125,2285
$GC,9053,0.79,132.4,872.0,15.4,866,9061,0.00,1.67,0.00,0.000,6,0.000,0.038,2991,2227,2284
$GC,9371,0.79,132.4,827.6,14.0,897,9374,0.00,1.70,0.00,0.000,4,0.000,0.055,2991,3121,2284
$GC,9445,0.79,132.4,816.1,16.5,904,9448,0.00,1.65,0.00,0.000,6,0.000,0.038,2999,2223,2283
$GC,9766,0.79,132.4,769.3,14.6,935,9769,0.00,1.70,0.00,0.000,4,0.000,0.056,2999,3122,2283
$GC,9862,0.79,132.4,754.3,16.4,944,9865,0.00,1.62,0.00,0.000,6,0.000,0.038,3007,2242,2281
$GC,10184,0.79,132.4,706.8,14.5,975,10187,0.00,1.67,0.00,0.000,4,0.000,0.055,3007,3124,2281
$GC,10258,0.79,132.4,695.2,16.1,982,10261,0.00,1.65,0.00,0.000,6,0.000,0.038,3015,2225,2280
$GC,10579,0.79,132.4,647.3,14.6,1013,10582,0.00,1.73,0.00,0.000,4,0.000,0.054,3015,3125,2280
$GC,10647,0.79,132.4,636.5,16.0,1019,10656,0.15,1.67,0.00,0.000,6,0.182,0.037,2986,2218,2279
$GC,10963,0.79,132.4,595.2,12.7,1050,10967,0.00,1.73,0.00,0.000,4,0.000,0.054,2986,3122,2279
$GC,10999,0.79,132.4,590.2,14.2,1053,11007,0.00,1.65,0.00,0.000,6,0.000,0.037,2993,2229,2279
$GC,11317,0.79,132.4,547.5,13.5,1084,11320,0.00,1.73,0.00,0.000,4,0.000,0.054,2993,3127,2278
$GC,11412,0.79,132.4,533.8,13.8,1093,11415,0.00,1.62,0.00,0.000,6,0.000,0.038,3001,2237,2277
$GC,11733,0.79,132.4,490.3,12.9,1124,11736,0.00,1.70,0.00,0.000,4,0.000,0.054,3001,3123,2277
$GC,11797,0.79,132.4,481.2,13.7,1130,11800,0.00,1.62,0.00,0.000,6,0.000,0.037,3009,2231,2277
$GC,12117,0.79,132.4,436.5,14.2,1161,12121,0.00,1.70,0.00,0.000,4,0.000,0.053,3009,3119,2277
$GC,12192,0.79,132.4,425.4,15.8,1168,12196,0.08,1.62,0.00,0.000,6,0.173,0.037,2994,2228,2277
$GC,12513,0.79,132.4,382.8,13.0,1199,12516,0.00,1.70,0.00,0.000,4,0.000,0.053,2994,3119,2277
$GC,12620,0.79,132.4,367.7,14.9,1209,12623,0.00,1.62,0.00,0.000,6,0.000,0.036,3001,2228,2277
$GC,12941,0.79,132.4,324.9,13.4,1240,12944,0.00,1.67,0.00,0.000,4,0.000,0.052,3001,3122,2277
$GC,13090,0.79,132.4,303.2,14.1,1254,13093,0.00,1.62,0.00,0.000,6,0.000,0.035,3008,2226,2277
$GC,13411,0.79,132.4,258.2,14.0,1285,13414,0.00,1.70,0.00,0.000,4,0.000,0.051,3008,3121,2277
$GC,13490,0.79,132.4,246.6,15.4,1292,13498,0.00,1.60,0.00,0.000,6,0.000,0.035,3016,2236,2278
$GC,13807,0.79,132.4,201.4,14.0,1323,13810,0.00,1.65,0.00,0.000,4,0.000,0.051,3016,3126,2278
$GC,13881,0.79,132.4,190.3,14.0,1330,13885,0.10,1.62,0.00,0.000,6,0.167,0.035,2994,2223,2278
$GC,14202,0.79,132.4,151.1,11.5,1361,14205,0.00,1.70,0.00,0.000,4,0.000,0.049,2994,3122,2279
$GC,14259,0.79,132.4,143.9,11.7,1366,14267,0.00,1.62,0.00,0.000,6,0.000,0.033,3001,2227,2279
$GC,14577,0.79,132.4,105.7,12.4,1397,14580,0.00,1.67,0.00,0.000,4,0.000,0.048,3000,3137,2280
$GC,14720,0.79,132.4,87.2,13.2,1410,14727,0.00,1.62,0.00,0.000,6,0.000,0.031,3008,2225,2280
$GC,14912,0.79,132.4,65.1,10.9,1429,14915,0.00,1.67,0.00,0.000,4,0.000,0.048,3008,3119,2281
$GC,14926,0.79,132.4,63.3,11.5,1430,14934,0.00,1.62,0.00,0.000,6,0.000,0.031,3016,2216,2281
$GC,15119,0.79,132.4,42.0,11.3,1449,15122,0.00,1.67,0.00,0.000,4,0.000,0.047,3016,3134,2282
$GC,15161,0.79,132.4,37.8,8.7,1453,15165,0.10,1.60,0.00,0.000,6,0.150,0.031,2993,2240,2282
$GC,15358,0.82,157.7,25.8,5.2,1472,15381,0.00,1.65,17.58,0.528,4,0.000,0.045,2993,3140,2196
$GC,15456,0.85,177.7,20.3,5.5,1481,15479,0.00,1.60,15.93,0.517,6,0.000,0.031,2999,2222,2115
$GC,15663,0.93,242.6,11.4,2.9,1501,15715,0.00,1.05,48.67,0.527,4,0.000,0.035,3003,1346,1851
$GC,15956,1.07,359.6,5.9,-0.1,1528,16053,0.17,1.15,85.75,0.512,6,0.039,0.034,3101,2270,1372
$STATE,16068,end climb,SURFACE_DEPTH_REACHED
$STATE,16068,begin surface coast
$FINISH,2.4,1.018258
$STATE,16151,end surface coast,CONTROL_FINISHED_OK
$STATE,16151,begin surface
$SM_CCo,16165,137.25,0.497,0,0,495,575.22
$SM_GC,1.64,0.00,0.00,137.25,0.000,0.000,0.497,204,2379,495,-7.90,-0.57,575.22
$IRIDIUM_FIX,2833.46,-8829.10,090999,191910
$TT8_MAMPS,0.052156
$HUMID,1275
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.70
$XPDR_PINGS,1
$24V_AH,23.7,23.668
$10V_AH,10.7,32.062
$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,20.900,107.800,378.975,137.250,0.000,28.611,26.779,249.150,0.250,0.000,0.000,13.346,0.000,10582.620,616.485,4923.763,579.519,33.346,2064.011,0.000,4415.034,0.000,0.848,0.000
$DEVICE_MAMPS,266.916,64.428,1258.647,497.016,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.441,1136.901,3474.974,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82099,1546
$CAP_FILE_SIZE,162568,0
$CFSIZE,260165632,244006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.037,223.3,1
$GPS,160610,052007,2841.976,-8826.315,41,0.9,41,-0.4