version: 66.04
glider: 515
mission: 5
dive: 176
start: 6 27 110 19 14 53
data:
$ID,515
$MISSION,5
$DIVE,176
$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,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,-15529.375
$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,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,23
$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
$GPS1,190707,2837.103,-8845.304,30,0.9,30,-0.2
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.2
$GPS2,191414,2837.142,-8845.246,13,1.4,13,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.237,0.118
$KALMAN_X,-7717.6,-25.8,-438.2,16074.3,1685.0
$KALMAN_Y,-57103.9,729.0,284.9,72368.2,-13410.1
$MHEAD_RNG_PITCHd_Wd,80.2,31317,-10.8,-7.500
$D_GRID,1133
$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,-194.6,0.0,0.0,0,78,0.00,0.00,-63.62,0.000,2,0.000,0.000,191,2352,2315
$GC,80,-0.63,-194.6,3.5,-2.8,6,131,10.93,1.23,-36.40,0.000,4,0.265,0.060,2539,1481,3636
$GC,229,-0.63,-194.6,29.5,-20.7,19,237,0.00,1.27,0.00,0.000,6,0.000,0.037,2535,2370,3637
$GC,420,-0.63,-194.6,60.6,-14.2,38,423,0.00,1.50,0.00,0.000,4,0.000,0.044,2528,3261,3638
$GC,495,-0.63,-194.6,70.7,-13.6,45,499,0.00,1.42,0.00,0.000,6,0.000,0.028,2528,2374,3639
$GC,691,-0.63,-194.6,98.1,-13.7,64,695,0.00,1.50,0.00,0.000,4,0.000,0.044,2521,3261,3639
$GC,749,-0.63,-194.6,106.5,-14.2,69,756,0.00,1.45,0.00,0.000,6,0.000,0.027,2521,2370,3639
$GC,1066,-0.63,-194.6,149.1,-12.9,100,1069,0.00,1.52,0.00,0.000,4,0.000,0.045,2514,3268,3639
$GC,1155,-0.63,-194.6,160.9,-13.0,108,1163,0.12,1.48,0.00,0.000,6,0.144,0.028,2544,2365,3639
$GC,1471,-0.63,-194.6,194.0,-10.5,139,1475,0.00,1.52,0.00,0.000,4,0.000,0.045,2539,3258,3638
$GC,1550,-0.63,-194.6,202.3,-10.2,146,1558,0.00,1.45,0.00,0.000,6,0.000,0.028,2540,2371,3637
$GC,1868,-0.63,-194.6,234.8,-10.3,177,1870,0.00,1.52,0.00,0.000,4,0.000,0.048,2533,3260,3635
$GC,1942,-0.63,-194.6,242.6,-10.3,184,1945,0.00,1.45,0.00,0.000,6,0.000,0.030,2532,2370,3635
$GC,2263,-0.63,-194.6,278.3,-11.4,215,2266,0.00,1.52,0.00,0.000,4,0.000,0.048,2525,3257,3632
$GC,2310,-0.63,-194.6,283.8,-11.6,219,2318,0.00,1.45,0.00,0.000,6,0.000,0.029,2525,2366,3631
$GC,2627,-0.63,-194.6,321.1,-11.7,250,2630,0.00,1.55,0.00,0.000,4,0.000,0.049,2518,3266,3628
$GC,2712,-0.63,-194.6,331.4,-12.1,258,2715,0.00,1.45,0.00,0.000,6,0.000,0.031,2518,2375,3627
$GC,3034,-0.63,-194.6,369.8,-12.2,289,3037,0.00,1.52,0.00,0.000,4,0.000,0.050,2511,3260,3625
$GC,3070,-0.63,-194.6,374.4,-12.1,292,3078,0.10,1.48,0.00,0.000,6,0.134,0.031,2542,2369,3625
$GC,3388,-0.63,-194.6,405.7,-10.0,323,3391,0.00,1.55,0.00,0.000,4,0.000,0.051,2537,3266,3621
$GC,3440,-0.63,-194.6,411.3,-10.3,328,3444,0.00,1.48,0.00,0.000,6,0.000,0.033,2537,2369,3621
$GC,3763,-0.63,-194.6,443.0,-10.0,359,3765,0.00,1.55,0.00,0.000,4,0.000,0.052,2530,3257,3619
$GC,3805,-0.63,-194.6,447.3,-10.5,363,3808,0.00,1.45,0.00,0.000,6,0.000,0.033,2530,2375,3618
$GC,4126,-0.63,-194.6,479.6,-10.2,394,4129,0.00,1.52,0.00,0.000,4,0.000,0.053,2523,3258,3616
$GC,4168,-0.63,-194.6,484.1,-10.9,398,4172,0.00,1.45,0.00,0.000,6,0.000,0.034,2523,2375,3616
$GC,4490,-0.63,-194.6,518.9,-11.2,429,4493,0.00,1.52,0.00,0.000,4,0.000,0.054,2516,3256,3613
$GC,4526,-0.63,-194.6,523.3,-11.6,432,4533,0.00,1.48,0.00,0.000,6,0.000,0.034,2516,2373,3613
$GC,4843,-0.63,-194.6,559.3,-11.3,463,4846,0.00,1.55,0.00,0.000,4,0.000,0.054,2509,3261,3610
$GC,4885,-0.63,-194.6,564.5,-11.6,467,4889,0.10,1.48,0.00,0.000,6,0.138,0.035,2540,2371,3610
$GC,5206,-0.63,-194.6,595.9,-9.5,498,5210,0.00,1.55,0.00,0.000,4,0.000,0.054,2535,3259,3607
$GC,5248,-0.63,-194.6,600.3,-10.1,502,5252,0.00,1.48,0.00,0.000,6,0.000,0.035,2535,2371,3607
$GC,5570,-0.63,-194.6,633.1,-10.2,533,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2372,3605
$GC,5880,-0.63,-194.6,664.8,-10.1,563,5883,0.00,1.55,0.00,0.000,4,0.000,0.056,2527,3254,3603
$GC,5948,-0.63,-194.6,671.9,-10.2,569,5955,0.00,1.50,0.00,0.000,6,0.000,0.036,2529,2364,3602
$GC,6266,-0.63,-194.6,705.0,-10.5,600,6269,0.00,1.58,0.00,0.000,4,0.000,0.056,2521,3255,3600
$GC,6308,-0.63,-194.6,709.7,-10.5,604,6311,0.00,1.48,0.00,0.000,6,0.000,0.037,2521,2373,3600
$GC,6630,-0.63,-194.6,742.8,-10.2,635,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2373,3599
$GC,6939,-0.63,-194.6,774.7,-10.4,665,6942,0.00,1.55,0.00,0.000,4,0.000,0.057,2514,3254,3596
$GC,6992,-0.63,-194.6,780.3,-10.7,670,6996,0.08,1.48,0.00,0.000,6,0.140,0.038,2538,2372,3595
$GC,7313,-0.63,-194.6,809.6,-9.4,701,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2372,3594
$GC,7624,-0.63,-194.6,836.4,-8.6,731,7627,0.00,1.58,0.00,0.000,4,0.000,0.058,2533,3258,3593
$GC,7692,-0.63,-194.6,842.6,-9.8,737,7699,0.00,1.50,0.00,0.000,6,0.000,0.038,2533,2369,3592
$GC,8009,-0.63,-194.6,870.0,-8.6,768,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2369,3592
$GC,8319,-0.63,-194.6,896.4,-8.6,798,8322,0.00,1.58,0.00,0.000,4,0.000,0.059,2526,3255,3589
$GC,8408,-0.63,-194.6,904.4,-8.5,806,8416,0.00,1.50,0.00,0.000,6,0.000,0.038,2526,2370,3589
$GC,8726,-0.63,-194.6,932.6,-9.2,837,8729,0.00,1.58,0.00,0.000,4,0.000,0.059,2519,3258,3588
$GC,8757,-0.63,-194.6,935.7,-9.5,840,8761,0.00,1.50,0.00,0.000,6,0.000,0.038,2519,2370,3588
$GC,9079,-0.63,-194.6,967.0,-10.2,871,9082,0.00,1.58,0.00,0.000,4,0.000,0.059,2512,3254,3587
$GC,9132,-0.63,-194.6,972.5,-9.6,876,9136,0.05,1.50,0.00,0.000,6,0.149,0.038,2529,2367,3587
$STATE,9327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9327,begin apogee
$GC,9332,-0.25,0.0,990.6,9.0,895,9484,0.45,0.00,149.40,1.251,6,0.135,0.000,2664,2203,2840
$STATE,9484,end apogee,CONTROL_FINISHED_OK
$STATE,9484,begin climb
$GC,9486,0.63,194.6,995.5,0.0,910,9659,0.90,1.17,166.62,1.217,4,0.103,0.043,2953,1349,2045
$GC,9690,0.63,194.6,978.2,12.1,927,9694,0.00,1.25,0.00,0.000,6,0.000,0.043,2953,2242,2041
$GC,10013,0.63,194.6,937.6,12.4,958,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2243,2035
$GC,10322,0.63,194.6,898.9,12.5,988,10325,0.00,1.17,0.00,0.000,4,0.000,0.045,2958,1336,2033
$GC,10358,0.63,194.6,894.3,13.0,991,10366,0.00,1.20,0.00,0.000,6,0.000,0.044,2958,2240,2033
$GC,10675,0.63,194.6,852.6,13.4,1022,10679,0.00,1.65,0.00,0.000,4,0.000,0.054,2958,3102,2031
$GC,10696,0.63,194.6,849.5,14.7,1024,10699,0.00,1.60,0.00,0.000,6,0.000,0.038,2966,2243,2030
$GC,11017,0.63,194.6,805.7,13.9,1055,11020,0.00,1.17,0.00,0.000,4,0.000,0.044,2971,1316,2029
$GC,11070,0.63,194.6,798.2,14.2,1060,11073,0.00,1.17,0.00,0.000,6,0.000,0.044,2971,2223,2030
$GC,11392,0.63,194.6,753.2,14.5,1091,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2224,2029
$GC,11701,0.63,194.6,709.5,14.0,1121,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2224,2028
$GC,12012,0.63,194.6,667.6,13.4,1151,12015,0.00,1.15,0.00,0.000,4,0.000,0.045,2976,1329,2028
$GC,12047,0.63,194.6,662.8,13.5,1154,12055,0.00,1.20,0.00,0.000,6,0.000,0.043,2976,2242,2028
$GC,12365,0.63,194.6,619.8,13.4,1185,12366,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2242,2028
$GC,12675,0.63,194.6,578.1,13.2,1215,12678,0.00,1.17,0.00,0.000,4,0.000,0.044,2982,1326,2027
$GC,12710,0.63,194.6,573.1,13.5,1218,12718,0.12,1.20,0.00,0.000,6,0.155,0.043,2951,2242,2028
$GC,13027,0.63,194.6,535.8,11.8,1249,13030,0.00,1.62,0.00,0.000,4,0.000,0.054,2950,3092,2027
$GC,13052,0.63,194.6,532.4,12.1,1251,13061,0.00,1.62,0.00,0.000,6,0.000,0.038,2957,2210,2026
$GC,13370,0.63,194.6,493.7,12.1,1282,13373,0.00,1.10,0.00,0.000,4,0.000,0.044,2962,1332,2026
$GC,13427,0.63,194.6,486.7,11.4,1287,13435,0.00,1.17,0.00,0.000,6,0.000,0.042,2962,2232,2026
$GC,13744,0.63,194.6,447.0,12.7,1318,13745,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2232,2026
$GC,14054,0.63,194.6,408.4,12.6,1348,14055,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2232,2026
$GC,14364,0.63,194.6,370.2,11.9,1378,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2232,2026
$GC,14675,0.63,194.6,332.1,12.0,1408,14678,0.00,1.15,0.00,0.000,4,0.000,0.043,2967,1329,2026
$GC,14728,0.63,194.6,325.9,11.5,1413,14731,0.00,1.15,0.00,0.000,6,0.000,0.042,2967,2225,2026
$GC,15050,0.63,194.6,286.4,11.9,1444,15050,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2226,2026
$GC,15359,0.63,194.6,249.8,11.8,1474,15360,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2227,2026
$GC,15669,0.63,194.6,213.2,12.0,1504,15672,0.00,1.62,0.00,0.000,4,0.000,0.051,2967,3093,2027
$GC,15744,0.63,194.6,203.8,12.9,1511,15747,0.00,1.55,0.00,0.000,6,0.000,0.035,2974,2236,2026
$GC,16064,0.63,194.6,162.4,13.1,1542,16065,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2236,2026
$GC,16375,0.63,194.6,123.4,11.5,1572,16376,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2236,2026
$GC,16686,0.63,194.6,87.0,11.7,1602,16689,0.00,1.12,0.00,0.000,4,0.000,0.039,2980,1321,2027
$GC,16749,0.63,194.6,80.0,10.6,1608,16753,0.08,1.15,0.00,0.000,6,0.139,0.038,2954,2230,2028
$GC,16946,0.63,194.6,62.4,8.3,1627,16947,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2230,2028
$GC,17133,0.66,218.4,47.6,6.9,1645,17155,0.00,1.58,17.15,0.538,4,0.000,0.046,2955,3101,1948
$GC,17181,0.72,270.7,44.3,6.1,1649,17225,0.00,1.62,40.55,0.548,6,0.000,0.031,2961,2197,1735
$GC,17410,0.85,379.5,30.1,4.6,1671,17498,0.17,1.08,81.50,0.532,4,0.055,0.035,3057,1346,1291
$GC,17529,0.85,379.5,18.2,9.3,1682,17533,0.10,1.15,0.00,0.000,6,0.114,0.035,3023,2240,1288
$GC,17727,0.94,447.1,6.2,5.7,1701,17785,0.00,1.62,49.85,0.502,4,0.000,0.044,3023,3088,1016
$STATE,17900,end climb,SURFACE_DEPTH_REACHED
$STATE,17900,begin surface coast
$FINISH,3.2,1.016480
$STATE,18054,end surface coast,NO_VERTICAL_VELOCITY
$STATE,18054,begin surface
$SM_CCo,18056,98.80,0.486,0,0,403,597.54
$SM_GC,1.67,7.68,0.00,0.00,0.040,0.000,0.000,200,2374,400,-7.91,-0.03,598.52
$IRIDIUM_FIX,2828.55,-8843.89,210999,141404
$TT8_MAMPS,0.049855
$HUMID,1337
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,21.1,31.939
$10V_AH,10.7,44.282
$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,20.875,102.825,505.075,98.800,0.000,26.149,30.827,255.832,0.000,0.000,0.000,15.631,0.000,12142.979,679.651,5235.882,598.271,33.332,2205.933,0.000,4676.377,0.000,0.851,0.000
$DEVICE_MAMPS,265.382,59.826,1250.977,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1184.140,1270.939,3891.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91483,1731
$CAP_FILE_SIZE,170121,0
$CFSIZE,260165632,239251456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,213.3,1
$GPS,280610,002031,2836.435,-8842.931,59,1.6,59,-0.2