version: 66.04
glider: 515
mission: 5
dive: 170
start: 6 26 110 13 4 46
data:
$ID,515
$MISSION,5
$DIVE,170
$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,-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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15435.271
$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,45
$R_STBD_OVSHOOT,26
$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
$GPS1,125530,2838.012,-8826.016,37,1.2,42,-0.4
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-68.6
$GPS2,130307,2838.089,-8826.049,12,2.0,18,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.251,0.085
$KALMAN_X,-9383.6,-460.5,-309.7,49291.7,2813.6
$KALMAN_Y,-37268.6,1045.9,78.6,54162.6,-13377.2
$MHEAD_RNG_PITCHd_Wd,262.8,30876,-10.8,-7.500
$D_GRID,1433
$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,13,-0.63,-194.6,0.0,0.0,0,88,0.00,0.00,-73.38,0.000,2,0.000,0.000,197,2366,2511
$GC,90,-0.63,-194.6,3.0,-3.3,7,138,10.43,1.25,-31.67,0.000,4,0.254,0.057,2543,1482,3633
$GC,313,-0.63,-194.6,44.0,-15.9,27,321,0.00,1.30,0.00,0.000,6,0.000,0.036,2538,2374,3635
$GC,505,-0.63,-194.6,71.2,-13.5,46,509,0.00,1.50,0.00,0.000,4,0.000,0.045,2531,3268,3636
$GC,591,-0.63,-194.6,82.3,-11.9,54,594,0.00,1.45,0.00,0.000,6,0.000,0.028,2536,2374,3637
$GC,788,-0.63,-194.6,105.9,-12.1,73,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2373,3638
$GC,1098,-0.63,-194.6,145.9,-12.4,103,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2373,3638
$GC,1408,-0.63,-194.6,181.1,-10.0,133,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2373,3637
$GC,1719,-0.63,-194.6,214.5,-10.8,163,1722,0.00,1.25,0.00,0.000,4,0.000,0.039,2536,1485,3635
$GC,1766,-0.63,-194.6,219.9,-10.8,167,1773,0.00,1.30,0.00,0.000,6,0.000,0.038,2532,2377,3634
$GC,2083,-0.63,-194.6,255.1,-10.8,198,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2377,3633
$GC,2393,-0.63,-194.6,290.5,-11.0,228,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2377,3631
$GC,2703,-0.63,-194.6,324.2,-10.6,258,2706,0.00,1.27,0.00,0.000,4,0.000,0.041,2532,1486,3629
$GC,2756,-0.63,-194.6,330.0,-10.4,263,2760,0.00,1.27,0.00,0.000,6,0.000,0.041,2526,2372,3628
$GC,3078,-0.63,-194.6,364.6,-10.7,294,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2373,3626
$GC,3387,-0.63,-194.6,398.3,-10.6,324,3390,0.00,1.52,0.00,0.000,4,0.000,0.053,2519,3264,3623
$GC,3419,-0.63,-194.6,401.7,-10.8,327,3422,0.00,1.45,0.00,0.000,6,0.000,0.033,2519,2373,3623
$GC,3741,-0.63,-194.6,437.3,-11.1,358,3744,0.00,1.52,0.00,0.000,4,0.000,0.053,2511,3258,3621
$GC,3783,-0.63,-194.6,442.2,-11.8,362,3786,0.08,1.42,0.00,0.000,6,0.144,0.034,2536,2375,3620
$GC,4103,-0.63,-194.6,474.2,-9.8,393,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2375,3618
$GC,4414,-0.63,-194.6,505.7,-10.3,423,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2375,3616
$GC,4724,-0.63,-194.6,537.2,-10.0,453,4725,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2376,3613
$GC,5035,-0.63,-194.6,568.1,-9.8,483,5038,0.00,1.52,0.00,0.000,4,0.000,0.056,2531,3256,3611
$GC,5045,-0.63,-194.6,569.2,-9.8,484,5048,0.00,1.45,0.00,0.000,6,0.000,0.035,2531,2375,3611
$GC,5368,-0.63,-194.6,601.2,-10.2,515,5370,0.00,1.55,0.00,0.000,4,0.000,0.056,2524,3262,3609
$GC,5410,-0.63,-194.6,605.7,-10.3,519,5413,0.00,1.48,0.00,0.000,6,0.000,0.035,2524,2373,3609
$GC,5731,-0.63,-194.6,638.7,-10.3,550,5734,0.00,1.30,0.00,0.000,4,0.000,0.047,2524,1472,3607
$GC,5827,-0.63,-194.6,649.0,-10.8,559,5830,0.00,1.33,0.00,0.000,6,0.000,0.047,2518,2373,3606
$GC,6149,-0.63,-194.6,682.7,-10.2,590,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2373,3603
$GC,6459,-0.63,-194.6,715.1,-9.9,620,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2373,3602
$GC,6769,-0.63,-194.6,745.3,-9.9,650,6772,0.00,1.55,0.00,0.000,4,0.000,0.058,2511,3259,3600
$GC,6805,-0.63,-194.6,749.1,-10.6,653,6812,0.08,1.48,0.00,0.000,6,0.144,0.037,2535,2369,3600
$GC,7121,-0.63,-194.6,777.4,-9.4,684,7125,0.00,1.27,0.00,0.000,4,0.000,0.048,2536,1490,3599
$GC,7185,-0.63,-194.6,783.4,-9.5,690,7188,0.00,1.30,0.00,0.000,6,0.000,0.048,2532,2370,3598
$GC,7507,-0.63,-194.6,814.9,-9.9,721,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2370,3596
$GC,7816,-0.63,-194.6,843.5,-9.0,751,7819,0.00,1.30,0.00,0.000,4,0.000,0.047,2532,1489,3594
$GC,7849,-0.63,-194.6,846.5,-8.8,754,7852,0.00,1.33,0.00,0.000,6,0.000,0.048,2528,2374,3595
$GC,8170,-0.63,-194.6,876.4,-9.1,785,8173,0.00,1.33,0.00,0.000,4,0.000,0.047,2527,1479,3593
$GC,8201,-0.63,-194.6,879.5,-10.1,788,8204,0.00,1.35,0.00,0.000,6,0.000,0.049,2521,2377,3593
$GC,8524,-0.63,-194.6,910.6,-9.6,819,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2378,3592
$GC,8832,-0.63,-194.6,939.2,-9.1,849,8836,0.00,1.33,0.00,0.000,4,0.000,0.047,2522,1488,3591
$GC,8869,-0.63,-194.6,942.9,-9.1,852,8877,0.00,1.33,0.00,0.000,6,0.000,0.049,2516,2373,3591
$GC,9186,-0.63,-194.6,972.9,-9.8,883,9189,0.00,1.55,0.00,0.000,4,0.000,0.061,2509,3256,3590
$GC,9217,-0.63,-194.6,976.0,-9.9,886,9221,0.08,1.48,0.00,0.000,6,0.146,0.039,2533,2374,3589
$STATE,9382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9382,begin apogee
$GC,9386,-0.25,0.0,990.5,8.7,902,9539,0.43,0.00,150.18,1.255,6,0.135,0.000,2662,2260,2840
$STATE,9539,end apogee,CONTROL_FINISHED_OK
$STATE,9539,begin climb
$GC,9541,0.63,194.6,995.3,0.0,917,9720,0.90,1.85,167.05,1.222,4,0.106,0.054,2941,3136,2044
$GC,9734,0.63,194.6,979.8,12.4,933,9742,0.00,1.77,0.00,0.000,6,0.000,0.036,2949,2251,2041
$GC,10052,0.63,194.6,941.6,11.9,964,10055,0.00,1.17,0.00,0.000,4,0.000,0.046,2955,1348,2035
$GC,10180,0.63,194.6,926.1,12.8,976,10183,0.00,1.23,0.00,0.000,6,0.000,0.045,2955,2263,2034
$GC,10500,0.63,194.6,885.0,12.8,1007,10503,0.00,1.20,0.00,0.000,4,0.000,0.045,2960,1353,2032
$GC,10633,0.63,194.6,868.1,13.0,1019,10640,0.00,1.23,0.00,0.000,6,0.000,0.044,2960,2265,2032
$GC,10950,0.63,194.6,827.7,12.9,1050,10953,0.00,1.20,0.00,0.000,4,0.000,0.045,2965,1343,2031
$GC,11068,0.63,194.6,812.3,12.7,1061,11071,0.00,1.20,0.00,0.000,6,0.000,0.044,2965,2259,2031
$GC,11388,0.63,194.6,770.0,12.3,1092,11392,0.00,1.17,0.00,0.000,4,0.000,0.044,2970,1350,2030
$GC,11506,0.63,194.6,755.5,12.6,1103,11509,0.00,1.17,0.00,0.000,6,0.000,0.044,2971,2251,2030
$GC,11826,0.63,194.6,714.1,13.0,1134,11830,0.00,1.17,0.00,0.000,4,0.000,0.044,2977,1341,2029
$GC,11890,0.63,194.6,706.0,12.1,1140,11893,0.00,1.20,0.00,0.000,6,0.000,0.044,2976,2256,2029
$GC,12211,0.63,194.6,664.2,13.2,1171,12214,0.00,1.17,0.00,0.000,4,0.000,0.044,2981,1350,2028
$GC,12377,0.63,194.6,642.6,12.6,1186,12383,0.10,1.17,0.00,0.000,6,0.145,0.044,2951,2253,2028
$GC,12692,0.63,194.6,607.6,10.6,1217,12695,0.00,1.17,0.00,0.000,4,0.000,0.044,2954,1339,2028
$GC,12799,0.63,194.6,596.0,10.4,1227,12802,0.00,1.17,0.00,0.000,6,0.000,0.044,2954,2249,2027
$GC,13120,0.63,194.6,559.4,11.5,1258,13124,0.00,1.15,0.00,0.000,4,0.000,0.044,2959,1349,2027
$GC,13237,0.63,194.6,545.8,10.5,1269,13241,0.00,1.17,0.00,0.000,6,0.000,0.044,2959,2253,2027
$GC,13559,0.63,194.6,508.2,11.6,1300,13562,0.00,1.17,0.00,0.000,4,0.000,0.044,2964,1337,2027
$GC,13623,0.63,194.6,500.4,12.6,1306,13626,0.00,1.20,0.00,0.000,6,0.000,0.043,2964,2257,2027
$GC,13943,0.63,194.6,461.3,12.1,1337,13946,0.00,1.17,0.00,0.000,4,0.000,0.043,2970,1347,2027
$GC,14012,0.63,194.6,453.0,11.1,1343,14019,0.00,1.20,0.00,0.000,6,0.000,0.042,2970,2259,2027
$GC,14329,0.63,194.6,412.5,13.0,1374,14332,0.00,1.17,0.00,0.000,4,0.000,0.042,2975,1344,2027
$GC,14375,0.63,194.6,406.4,12.3,1378,14382,0.00,1.20,0.00,0.000,6,0.000,0.041,2975,2257,2027
$GC,14692,0.63,194.6,366.0,12.6,1409,14696,0.00,1.17,0.00,0.000,4,0.000,0.042,2980,1341,2027
$GC,14734,0.63,194.6,360.7,12.2,1413,14738,0.00,1.17,0.00,0.000,6,0.000,0.041,2981,2251,2027
$GC,15057,0.63,194.6,319.5,13.1,1444,15060,0.12,1.17,0.00,0.000,4,0.154,0.040,2951,1332,2027
$GC,15131,0.63,194.6,310.7,11.9,1451,15134,0.00,1.20,0.00,0.000,6,0.000,0.041,2952,2256,2027
$GC,15451,0.63,194.6,274.7,11.8,1482,15455,0.00,1.17,0.00,0.000,4,0.000,0.041,2957,1333,2027
$GC,15537,0.63,194.6,265.3,11.6,1490,15540,0.00,1.20,0.00,0.000,6,0.000,0.040,2957,2261,2028
$GC,15859,0.63,194.6,229.3,11.3,1521,15862,0.00,1.17,0.00,0.000,4,0.000,0.040,2963,1336,2027
$GC,15922,0.63,194.6,222.0,11.9,1527,15926,0.00,1.17,0.00,0.000,6,0.000,0.039,2962,2251,2028
$GC,16244,0.63,194.6,183.7,12.4,1558,16247,0.00,1.15,0.00,0.000,4,0.000,0.040,2968,1339,2028
$GC,16322,0.63,194.6,174.5,11.9,1565,16330,0.00,1.20,0.00,0.000,6,0.000,0.038,2968,2261,2028
$GC,16639,0.63,194.6,137.4,11.1,1596,16643,0.00,1.17,0.00,0.000,4,0.000,0.039,2973,1332,2028
$GC,16729,0.63,194.6,127.8,9.9,1604,16738,0.00,1.20,0.00,0.000,6,0.000,0.037,2973,2259,2029
$GC,17046,0.63,194.6,92.2,11.1,1635,17049,0.00,1.15,0.00,0.000,4,0.000,0.038,2979,1341,2030
$GC,17120,0.63,194.6,84.1,10.3,1642,17123,0.00,1.17,0.00,0.000,6,0.000,0.038,2978,2260,2030
$GC,17317,0.63,194.6,63.1,10.1,1661,17320,0.00,1.15,0.00,0.000,4,0.000,0.037,2984,1341,2031
$GC,17349,0.63,194.6,59.9,9.0,1664,17352,0.10,1.17,0.00,0.000,6,0.127,0.038,2951,2261,2031
$GC,17545,0.64,206.8,45.1,7.2,1683,17557,0.00,0.00,8.43,0.491,6,0.000,0.000,2951,2261,1996
$GC,17742,0.78,319.2,33.4,4.5,1702,17830,0.15,1.62,84.57,0.543,4,0.062,0.054,3019,3134,1538
$GC,17852,0.78,319.2,24.3,9.6,1711,17855,0.00,1.62,0.00,0.000,6,0.000,0.030,3027,2242,1534
$GC,18048,0.80,335.0,8.8,7.1,1730,18063,0.00,1.08,12.05,0.474,4,0.000,0.035,3032,1335,1474
$STATE,18132,end climb,SURFACE_DEPTH_REACHED
$STATE,18132,begin surface coast
$FINISH,1.4,1.022717
$STATE,18155,end surface coast,CONTROL_FINISHED_OK
$STATE,18155,begin surface
$SM_CCo,18170,119.30,0.500,0,0,494,575.22
$SM_GC,1.51,0.00,0.00,119.30,0.000,0.000,0.500,196,2368,494,-7.97,-0.20,575.22
$IRIDIUM_FIX,2823.64,-8812.07,200999,080813
$TT8_MAMPS,0.051389
$HUMID,1323
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,22.90
$XPDR_PINGS,36
$24V_AH,23.0,31.020
$10V_AH,10.6,42.975
$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,20.325,96.350,422.275,119.300,0.000,28.092,31.532,278.271,9.000,0.000,0.000,20.257,0.000,12099.823,628.988,5341.992,707.529,33.331,2166.548,0.000,4781.282,0.000,0.850,0.000
$DEVICE_MAMPS,253.877,61.360,1254.812,500.084,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1191.936,1279.403,3910.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91500,1740
$CAP_FILE_SIZE,174897,0
$CFSIZE,260165632,239783936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,230.6,1
$GPS,260610,181037,2837.631,-8829.520,40,1.0,40,-0.4