version: 66.04
glider: 515
mission: 5
dive: 152
start: 6 22 110 13 6 9
data:
$ID,515
$MISSION,5
$DIVE,152
$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,440
$T_MISSION,500
$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,597.54108
$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,-9744.166
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$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,4
$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,0
$ALTIM_PING_DELTA,10
$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
$GPS1,071840,2839.267,-8838.656,16,2.9,35,-0.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-80.2
$GPS2,071840,2839.267,-8838.656,16,2.9,35,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.105,0.178
$KALMAN_X,-232373.2,1059.9,-460.7,250845.8,-1067.1
$KALMAN_Y,-127402.0,625.2,502.5,108134.7,-4400.0
$MHEAD_RNG_PITCHd_Wd,229.8,10178,-26.8,-7.500
$D_GRID,1210
$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,-1.01,-41.0,0.0,0.0,0,37,0.00,0.00,-23.60,0.000,2,0.000,0.000,204,2368,1188
$GC,39,-1.01,-46.3,3.7,-6.9,2,105,9.50,1.23,-51.95,0.000,4,0.249,0.071,2413,1460,3029
$GC,344,-1.01,-46.3,25.4,-8.3,30,353,0.00,1.30,0.00,0.000,6,0.000,0.031,2408,2380,3030
$GC,536,-1.04,-65.9,38.9,-5.1,49,540,0.00,1.27,-0.85,0.000,4,0.000,0.057,2413,1457,3111
$GC,782,-1.04,-65.9,60.1,-8.5,72,785,0.00,1.27,0.00,0.000,6,0.000,0.033,2409,2371,3112
$GC,978,-1.04,-65.9,75.7,-7.9,91,981,0.00,1.25,0.00,0.000,4,0.000,0.035,2413,1469,3112
$GC,1224,-1.04,-65.9,97.5,-9.8,114,1227,0.00,1.25,0.00,0.000,6,0.000,0.034,2409,2371,3111
$GC,1421,-1.04,-65.9,118.2,-10.6,133,1424,0.00,1.25,0.00,0.000,4,0.000,0.036,2413,1469,3110
$GC,1542,-1.04,-65.9,131.1,-10.5,144,1549,0.00,1.27,0.00,0.000,6,0.000,0.034,2408,2374,3109
$GC,1860,-1.04,-65.9,161.4,-8.0,175,1863,0.00,1.27,0.00,0.000,4,0.000,0.037,2413,1462,3107
$GC,2009,-1.04,-65.9,173.5,-8.1,189,2012,0.00,1.27,0.00,0.000,6,0.000,0.035,2408,2374,3106
$GC,2331,-1.04,-65.9,201.8,-8.3,220,2334,0.00,1.48,0.00,0.000,4,0.000,0.045,2401,3263,3104
$GC,2503,-1.04,-65.9,217.2,-8.7,236,2506,0.00,1.45,0.00,0.000,6,0.000,0.029,2404,2362,3102
$GC,2824,-1.04,-65.9,244.9,-7.9,267,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2362,3099
$GC,3134,-1.04,-65.9,273.1,-9.7,297,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2362,3098
$GC,3444,-1.04,-65.9,301.8,-9.1,327,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2362,3095
$GC,3755,-1.04,-65.9,329.4,-9.0,357,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2362,3092
$GC,4066,-1.04,-65.9,356.8,-8.9,387,4066,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2362,3090
$GC,4375,-1.04,-65.9,384.3,-9.1,417,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2361,3088
$GC,4686,-1.04,-65.9,412.2,-8.6,447,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2362,3086
$GC,4997,-1.04,-65.9,439.7,-8.8,477,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2361,3084
$GC,5306,-1.04,-65.9,467.7,-8.6,507,5310,0.00,1.23,0.00,0.000,4,0.000,0.044,2404,1486,3083
$GC,5552,-1.04,-65.9,490.4,-9.8,530,5555,0.00,1.27,0.00,0.000,6,0.000,0.041,2400,2371,3081
$GC,5874,-1.04,-65.9,520.9,-9.2,561,5877,0.00,1.27,0.00,0.000,4,0.000,0.044,2401,1481,3078
$GC,5996,-1.04,-65.9,532.9,-9.7,572,6003,0.00,1.33,0.00,0.000,6,0.000,0.041,2396,2381,3077
$GC,6313,-1.04,-65.9,563.7,-10.4,603,6316,0.00,1.50,0.00,0.000,4,0.000,0.051,2389,3271,3075
$GC,6359,-1.04,-65.9,568.6,-10.0,607,6367,0.00,1.50,0.00,0.000,6,0.000,0.034,2391,2368,3075
$GC,6676,-1.04,-65.9,598.7,-9.8,638,6679,0.00,1.27,0.00,0.000,4,0.000,0.045,2397,1472,3074
$GC,6815,-1.04,-65.9,612.0,-10.1,651,6818,0.00,1.30,0.00,0.000,6,0.000,0.043,2393,2372,3074
$GC,7136,-1.04,-65.9,642.0,-9.3,682,7139,0.00,1.30,0.00,0.000,4,0.000,0.045,2397,1475,3072
$GC,7172,-1.04,-65.9,645.5,-9.4,685,7179,0.00,1.30,0.00,0.000,6,0.000,0.042,2392,2372,3072
$GC,7489,-1.04,-65.9,674.3,-9.5,716,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2372,3071
$GC,7799,-1.04,-65.9,702.6,-8.7,746,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2373,3068
$GC,8109,-1.04,-65.9,730.5,-9.0,776,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2372,3066
$GC,8420,-1.04,-65.9,758.3,-8.9,806,8423,0.00,1.30,0.00,0.000,4,0.000,0.047,2397,1477,3065
$GC,8665,-1.04,-65.9,780.0,-9.1,829,8668,0.00,1.33,0.00,0.000,6,0.000,0.046,2391,2376,3064
$GC,8987,-1.04,-65.9,806.9,-8.5,860,8990,0.00,1.30,0.00,0.000,4,0.000,0.046,2392,1485,3063
$GC,9189,-1.04,-65.9,824.2,-8.1,879,9192,0.00,1.30,0.00,0.000,6,0.000,0.046,2388,2374,3062
$GC,9512,-1.04,-65.9,850.7,-8.4,910,9514,0.00,1.30,0.00,0.000,4,0.000,0.047,2390,1481,3061
$GC,9629,-1.04,-65.9,860.5,-8.0,921,9632,0.00,1.30,0.00,0.000,6,0.000,0.047,2385,2371,3061
$GC,9950,-1.04,-65.9,887.0,-7.9,952,9954,0.00,1.55,0.00,0.000,4,0.000,0.057,2377,3265,3060
$GC,9986,-1.04,-65.9,890.4,-9.3,955,9994,0.15,1.50,0.00,0.000,6,0.211,0.038,2410,2374,3060
$GC,10303,-1.04,-65.9,914.7,-7.8,986,10306,0.00,1.30,0.00,0.000,4,0.000,0.048,2416,1476,3058
$GC,10399,-1.04,-65.9,921.8,-7.5,995,10402,0.00,1.33,0.00,0.000,6,0.000,0.047,2412,2373,3059
$GC,10719,-1.04,-65.9,946.1,-7.5,1026,10723,0.00,1.30,0.00,0.000,4,0.000,0.047,2411,1486,3058
$GC,10755,-1.04,-66.8,948.9,-7.4,1029,10763,0.00,1.35,0.00,0.000,6,0.000,0.047,2407,2381,3058
$GC,11073,-1.04,-70.0,971.7,-7.1,1060,11076,0.00,1.52,0.00,0.000,4,0.000,0.058,2399,3266,3057
$GC,11104,-1.04,-70.0,974.1,-7.9,1063,11107,0.00,1.50,0.00,0.000,6,0.000,0.039,2401,2370,3056
$STATE,11320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11320,begin apogee
$GC,11324,-0.25,0.0,990.4,7.3,1084,11373,0.98,0.00,43.97,1.239,6,0.189,0.000,2662,2252,2840
$STATE,11374,end apogee,CONTROL_FINISHED_OK
$STATE,11374,begin climb
$GC,11376,1.04,70.0,991.7,0.0,1089,11448,1.27,1.83,60.42,1.226,4,0.110,0.054,3073,3150,2552
$GC,11502,1.04,70.0,977.9,15.7,1100,11505,0.00,1.65,0.00,0.000,6,0.000,0.038,3080,2253,2550
$GC,11822,1.04,70.0,928.9,14.6,1131,11826,0.00,1.73,0.00,0.000,4,0.000,0.054,3076,3148,2545
$GC,11886,1.04,70.0,918.8,14.9,1137,11890,0.00,1.65,0.00,0.000,6,0.000,0.038,3084,2245,2545
$GC,12207,1.04,70.0,872.2,14.4,1168,12210,0.00,1.73,0.00,0.000,4,0.000,0.055,3081,3145,2544
$GC,12303,1.04,70.0,857.5,13.6,1177,12306,0.00,1.62,0.00,0.000,6,0.000,0.038,3088,2252,2543
$GC,12624,1.04,70.0,810.1,14.4,1208,12627,0.00,1.67,0.00,0.000,4,0.000,0.054,3085,3150,2542
$GC,12688,1.04,70.0,800.5,14.6,1214,12691,0.00,1.62,0.00,0.000,6,0.000,0.038,3092,2251,2542
$GC,13008,1.04,70.0,754.2,14.2,1245,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2252,2541
$GC,13320,1.04,70.0,710.0,14.4,1275,13323,0.00,1.67,0.00,0.000,4,0.000,0.054,3089,3152,2540
$GC,13394,1.04,70.0,698.7,13.8,1282,13397,0.00,1.62,0.00,0.000,6,0.000,0.038,3095,2252,2540
$GC,13715,1.04,70.0,653.6,13.9,1313,13718,0.00,1.70,0.00,0.000,4,0.000,0.054,3096,3148,2540
$GC,13842,1.04,70.0,634.7,15.3,1325,13846,0.00,1.62,0.00,0.000,6,0.000,0.037,3104,2247,2540
$GC,14163,1.04,70.0,590.8,13.7,1356,14164,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2247,2539
$GC,14474,1.04,70.0,549.2,12.9,1386,14477,0.00,1.70,0.00,0.000,4,0.000,0.053,3101,3148,2539
$GC,14591,1.04,70.0,532.8,12.6,1397,14594,0.00,1.62,0.00,0.000,6,0.000,0.037,3108,2247,2538
$GC,14913,1.04,70.0,488.2,13.8,1428,14916,0.00,1.67,0.00,0.000,4,0.000,0.053,3105,3153,2538
$GC,14955,1.04,70.0,482.2,14.4,1432,14958,0.00,1.60,0.00,0.000,6,0.000,0.038,3113,2244,2538
$GC,15276,1.04,70.0,437.3,14.2,1463,15277,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2244,2538
$GC,15587,1.04,70.0,394.6,14.2,1493,15590,0.00,1.67,0.00,0.000,4,0.000,0.053,3113,3149,2538
$GC,15661,1.04,70.0,383.8,14.2,1500,15664,0.10,1.62,0.00,0.000,6,0.201,0.036,3092,2246,2538
$GC,15982,1.04,70.0,341.7,13.4,1531,15985,0.00,1.67,0.00,0.000,4,0.000,0.052,3084,3152,2538
$GC,16195,1.04,70.0,312.9,13.1,1551,16199,0.00,1.62,0.00,0.000,6,0.000,0.036,3091,2245,2538
$GC,16516,1.04,70.0,272.2,12.4,1582,16520,0.00,1.70,0.00,0.000,4,0.000,0.051,3086,3145,2539
$GC,16622,1.04,70.0,257.7,13.4,1592,16626,0.00,1.60,0.00,0.000,6,0.000,0.035,3093,2252,2539
$GC,16944,1.04,70.0,215.7,12.3,1623,16944,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2252,2539
$GC,17254,1.04,70.0,176.3,12.6,1653,17257,0.00,1.67,0.00,0.000,4,0.000,0.051,3090,3142,2540
$GC,17446,1.04,70.0,150.7,13.8,1671,17449,0.00,1.60,0.00,0.000,6,0.000,0.034,3096,2240,2541
$GC,17767,1.04,70.0,114.6,11.1,1702,17768,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2240,2542
$GC,18077,1.04,70.0,81.0,10.6,1732,18080,0.00,1.70,0.00,0.000,4,0.000,0.048,3096,3154,2543
$GC,18220,1.04,70.0,64.3,10.8,1745,18228,0.00,1.60,0.00,0.000,6,0.000,0.031,3103,2254,2544
$GC,18413,1.04,70.0,46.5,7.6,1764,18416,0.00,1.10,0.00,0.000,4,0.000,0.037,3109,1349,2544
$GC,18626,1.09,104.2,34.5,3.3,1784,18654,0.00,1.17,25.40,0.547,6,0.000,0.038,3109,2275,2414
$GC,18842,1.12,128.4,25.3,4.5,1804,18865,0.00,1.23,19.33,0.524,4,0.000,0.035,3114,1331,2315
$GC,19100,1.17,173.9,18.3,1.9,1828,19138,0.00,1.17,34.88,0.525,6,0.000,0.035,3114,2264,2131
$GC,19320,1.24,232.5,11.8,0.3,1849,19368,0.00,1.20,43.92,0.514,4,0.000,0.035,3118,1348,1891
$GC,19383,1.29,268.4,10.9,3.1,1854,19416,0.12,1.20,27.77,0.499,6,0.071,0.034,3171,2264,1745
$GC,19601,1.37,332.8,7.4,-0.4,1875,19652,0.00,1.60,47.30,0.499,4,0.000,0.041,3171,3137,1482
$GC,19894,1.44,391.5,5.2,0.3,1902,19944,0.00,1.58,43.47,0.488,6,0.000,0.027,3179,2242,1242
$STATE,20128,end climb,NO_VERTICAL_VELOCITY
$STATE,20128,begin surface
$SM_CCo,20130,150.18,0.484,0,0,403,597.54
$SM_GC,2.62,8.32,0.00,0.00,0.056,0.000,0.000,205,2373,400,-7.90,-0.06,598.28
$IRIDIUM_FIX,2828.55,-8836.53,160999,070727
$TT8_MAMPS,0.051389
$HUMID,1266
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,26.00
$XPDR_PINGS,2
$24V_AH,21.6,28.026
$10V_AH,10.7,38.823
$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,20.450,102.050,346.475,150.175,0.000,162.394,208.604,0.000,0.500,0.000,0.000,903.480,0.000,13703.545,579.107,6994.752,694.790,33.379,2310.398,0.000,5494.887,0.000,0.545,0.000
$DEVICE_MAMPS,248.508,70.564,1239.472,483.977,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1317.471,1422.748,4324.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101035,1924
$CAP_FILE_SIZE,186784,0
$CFSIZE,260165632,241319936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,218.5,1
$GPS,220610,071840,2839.267,-8838.656,16,2.9,35,-0.3