version: 66.04
glider: 515
mission: 5
dive: 198
start: 7 2 110 13 22 10
data:
$ID,515
$MISSION,5
$DIVE,198
$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,-17068.559
$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,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,31
$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
$GPS1,131407,2838.198,-8831.307,34,1.2,34,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.8
$GPS2,132131,2838.260,-8831.333,9,1.2,14,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.133,0.229
$KALMAN_X,-38349.9,979.6,767.3,67098.1,-6560.0
$KALMAN_Y,-133653.2,-48.5,-268.7,152325.6,-5807.5
$MHEAD_RNG_PITCHd_Wd,82.5,8694,-10.8,-7.500
$D_GRID,1585
$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,-194.6,0.0,0.0,0,90,0.00,0.00,-75.75,0.000,2,0.000,0.000,202,2389,2566
$GC,92,-0.63,-194.6,3.0,-3.3,7,140,10.65,1.45,-30.02,0.000,4,0.260,0.062,2529,3269,3635
$GC,342,-0.63,-194.6,55.4,-20.2,30,346,0.00,1.48,0.00,0.000,6,0.000,0.027,2534,2358,3635
$GC,539,-0.63,-194.6,84.6,-13.5,49,542,0.00,1.23,0.00,0.000,4,0.000,0.035,2536,1478,3637
$GC,565,-0.63,-194.6,88.3,-13.6,51,572,0.00,1.30,0.00,0.000,6,0.000,0.035,2532,2366,3638
$GC,757,-0.63,-194.6,114.8,-13.8,70,760,0.00,1.25,0.00,0.000,4,0.000,0.035,2532,1487,3638
$GC,789,-0.63,-194.6,119.3,-14.7,73,792,0.00,1.30,0.00,0.000,6,0.000,0.036,2526,2383,3638
$GC,1111,-0.63,-194.6,164.3,-13.5,104,1114,0.00,1.45,0.00,0.000,4,0.000,0.047,2519,3252,3638
$GC,1174,-0.63,-194.6,172.7,-13.0,110,1178,0.00,1.40,0.00,0.000,6,0.000,0.028,2519,2365,3638
$GC,1497,-0.63,-194.6,213.4,-12.6,141,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2365,3638
$GC,1806,-0.63,-194.6,251.0,-11.9,171,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3637
$GC,2116,-0.63,-194.6,288.5,-11.7,201,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2364,3635
$GC,2427,-0.63,-194.6,325.6,-11.4,231,2430,0.00,1.25,0.00,0.000,4,0.000,0.038,2519,1487,3633
$GC,2470,-0.63,-194.6,330.7,-12.4,235,2473,0.08,1.27,0.00,0.000,6,0.146,0.039,2537,2366,3632
$GC,2790,-0.63,-194.6,364.3,-10.3,266,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2366,3631
$GC,3101,-0.63,-194.6,396.2,-9.8,296,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2365,3628
$GC,3411,-0.63,-194.6,428.0,-10.8,326,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2366,3626
$GC,3721,-0.63,-194.6,459.7,-10.1,356,3724,0.00,1.52,0.00,0.000,4,0.000,0.053,2532,3259,3624
$GC,3753,-0.63,-194.6,463.2,-10.0,359,3756,0.00,1.42,0.00,0.000,6,0.000,0.033,2532,2379,3623
$GC,4075,-0.63,-194.6,496.7,-9.8,390,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2378,3621
$GC,4384,-0.63,-194.6,527.9,-10.1,420,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2379,3618
$GC,4695,-0.63,-194.6,559.8,-10.2,450,4698,0.00,1.27,0.00,0.000,4,0.000,0.042,2532,1496,3616
$GC,4737,-0.63,-194.6,564.2,-10.1,454,4741,0.00,1.33,0.00,0.000,6,0.000,0.044,2527,2387,3616
$GC,5059,-0.63,-194.6,597.3,-10.1,485,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2388,3615
$GC,5369,-0.63,-194.6,629.5,-10.6,515,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2388,3613
$GC,5679,-0.63,-194.6,661.1,-10.4,545,5682,0.00,1.33,0.00,0.000,4,0.000,0.044,2526,1491,3611
$GC,5715,-0.63,-194.6,664.9,-10.7,548,5722,0.00,1.33,0.00,0.000,6,0.000,0.045,2521,2366,3610
$GC,6032,-0.63,-194.6,697.1,-9.8,579,6036,0.00,1.30,0.00,0.000,4,0.000,0.044,2520,1490,3608
$GC,6075,-0.63,-194.6,701.8,-11.0,583,6078,0.00,1.33,0.00,0.000,6,0.000,0.047,2515,2376,3608
$GC,6396,-0.63,-194.6,735.5,-10.6,614,6399,0.00,1.52,0.00,0.000,4,0.000,0.058,2508,3256,3606
$GC,6428,-0.63,-194.6,739.0,-11.2,617,6431,0.10,1.45,0.00,0.000,6,0.140,0.036,2539,2371,3606
$GC,6748,-0.63,-194.6,769.2,-9.7,648,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2373,3604
$GC,7059,-0.63,-194.6,798.6,-9.7,678,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2373,3603
$GC,7369,-0.63,-194.6,828.0,-9.2,708,7372,0.00,1.30,0.00,0.000,4,0.000,0.044,2539,1488,3601
$GC,7412,-0.63,-194.6,831.9,-9.0,712,7415,0.00,1.33,0.00,0.000,6,0.000,0.048,2536,2367,3601
$GC,7734,-0.63,-194.6,861.3,-9.2,743,7735,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2367,3600
$GC,8043,-0.63,-194.6,888.0,-8.0,773,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2367,3599
$GC,8354,-0.63,-194.6,914.4,-8.3,803,8357,0.00,1.30,0.00,0.000,4,0.000,0.046,2536,1492,3597
$GC,8407,-0.63,-194.6,918.8,-8.5,808,8410,0.00,1.35,0.00,0.000,6,0.000,0.049,2530,2384,3597
$GC,8729,-0.63,-194.6,945.6,-8.3,839,8732,0.00,1.33,0.00,0.000,4,0.000,0.045,2530,1496,3595
$GC,8782,-0.63,-194.6,950.2,-8.1,844,8785,0.00,1.30,0.00,0.000,6,0.000,0.049,2525,2362,3595
$GC,9104,-0.63,-194.6,978.8,-8.6,875,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2363,3594
$STATE,9236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9236,begin apogee
$GC,9241,-0.25,0.0,990.2,8.7,888,9400,0.47,0.00,152.38,1.249,6,0.137,0.000,2666,2291,2840
$STATE,9400,end apogee,CONTROL_FINISHED_OK
$STATE,9400,begin climb
$GC,9402,0.63,194.6,994.1,0.0,904,9574,0.90,0.00,168.93,1.217,6,0.102,0.000,2943,2290,2046
$GC,9879,0.63,194.6,940.5,12.7,951,9882,0.00,1.25,0.00,0.000,4,0.000,0.044,2949,1382,2035
$GC,9958,0.63,194.6,930.6,11.3,958,9966,0.00,1.25,0.00,0.000,6,0.000,0.044,2949,2276,2035
$GC,10276,0.63,194.6,890.8,12.6,989,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2275,2033
$GC,10585,0.63,194.6,852.3,12.6,1019,10585,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2275,2032
$GC,10895,0.63,194.6,814.0,12.3,1049,10898,0.00,1.20,0.00,0.000,4,0.000,0.044,2954,1376,2031
$GC,10937,0.63,194.6,808.7,13.3,1053,10941,0.00,1.23,0.00,0.000,6,0.000,0.045,2954,2277,2031
$GC,11258,0.63,194.6,768.5,12.2,1084,11259,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2277,2030
$GC,11569,0.63,194.6,730.0,12.4,1114,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2277,2030
$GC,11879,0.63,194.6,691.4,12.1,1144,11882,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1366,2030
$GC,11932,0.63,194.6,684.9,11.5,1149,11936,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2274,2030
$GC,12253,0.63,194.6,643.9,12.5,1180,12254,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2029
$GC,12564,0.63,194.6,605.2,12.3,1210,12565,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2029
$GC,12874,0.63,194.6,566.4,12.5,1240,12877,0.00,1.20,0.00,0.000,4,0.000,0.043,2964,1375,2028
$GC,12906,0.63,194.6,562.4,11.7,1243,12909,0.00,1.20,0.00,0.000,6,0.000,0.044,2965,2272,2028
$GC,13228,0.63,194.6,522.5,12.4,1274,13229,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2273,2028
$GC,13538,0.63,194.6,483.8,12.5,1304,13539,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2273,2028
$GC,13848,0.63,194.6,444.9,12.4,1334,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2273,2028
$GC,14158,0.63,194.6,407.2,11.9,1364,14162,0.00,1.20,0.00,0.000,4,0.000,0.042,2970,1366,2028
$GC,14184,0.63,194.6,404.1,12.7,1366,14192,0.00,1.25,0.00,0.000,6,0.000,0.043,2970,2282,2028
$GC,14501,0.63,194.6,364.5,12.4,1397,14502,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2282,2028
$GC,14811,0.63,194.6,326.6,12.2,1427,14812,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2282,2028
$GC,15121,0.63,194.6,288.0,12.4,1457,15122,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2283,2028
$GC,15432,0.63,194.6,247.7,12.7,1487,15434,0.00,1.20,0.00,0.000,4,0.000,0.041,2974,1375,2028
$GC,15467,0.63,194.6,243.2,11.4,1490,15476,0.00,1.23,0.00,0.000,6,0.000,0.041,2974,2281,2028
$GC,15785,0.63,194.6,202.5,13.1,1521,15788,0.00,1.60,0.00,0.000,4,0.000,0.051,2974,3161,2028
$GC,15821,0.63,194.6,197.3,14.1,1524,15828,0.12,1.58,0.00,0.000,6,0.153,0.034,2947,2274,2028
$GC,16137,0.63,194.6,162.0,10.2,1555,16140,0.00,1.17,0.00,0.000,4,0.000,0.041,2951,1364,2028
$GC,16212,0.63,194.6,154.4,10.2,1562,16215,0.00,1.20,0.00,0.000,6,0.000,0.040,2951,2271,2028
$GC,16533,0.63,194.6,120.9,10.1,1593,16534,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2271,2029
$GC,16843,0.63,194.6,91.3,9.4,1623,16844,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2271,2029
$GC,17029,0.63,194.6,74.8,7.7,1641,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2271,2030
$GC,17216,0.63,194.6,59.9,8.2,1659,17219,0.00,1.60,0.00,0.000,4,0.000,0.048,2951,3179,2031
$GC,17269,0.63,194.6,55.4,8.1,1664,17272,0.00,1.58,0.00,0.000,6,0.000,0.031,2959,2268,2031
$GC,17466,0.73,280.8,42.5,5.2,1683,17537,0.00,1.17,63.72,0.546,4,0.000,0.037,2964,1364,1694
$GC,17580,0.85,377.8,36.2,5.0,1693,17656,0.12,1.23,73.03,0.531,6,0.051,0.035,3033,2281,1298
$GC,17844,0.86,384.4,13.7,7.3,1717,17855,0.00,1.60,5.50,0.396,4,0.000,0.043,3034,3169,1271
$GC,17880,0.86,384.4,10.4,9.6,1720,17888,0.00,1.58,0.00,0.000,6,0.000,0.028,3041,2275,1271
$STATE,17968,end climb,SURFACE_DEPTH_REACHED
$STATE,17968,begin surface coast
$FINISH,0.7,1.022900
$STATE,17999,end surface coast,CONTROL_FINISHED_OK
$STATE,17999,begin surface
$SM_CCo,18013,91.50,0.492,0,0,494,575.22
$SM_GC,1.58,0.00,0.00,91.50,0.000,0.000,0.492,196,2389,494,-7.97,0.40,575.22
$IRIDIUM_FIX,2835.91,-8752.19,260999,080816
$TT8_MAMPS,0.052156
$HUMID,1331
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.10
$XPDR_PINGS,1
$24V_AH,22.9,35.310
$10V_AH,10.6,49.176
$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,20.125,64.475,463.550,91.500,0.000,25.888,31.109,268.871,0.250,0.000,0.000,16.659,0.000,12234.216,620.812,5047.643,618.182,33.339,2023.582,0.000,4531.994,0.000,0.847,0.000
$DEVICE_MAMPS,260.013,62.127,1249.443,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.793,1266.975,3892.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91489,1732
$CAP_FILE_SIZE,156367,0
$CFSIZE,260165632,237318144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,213.4,1
$GPS,020710,182500,2837.941,-8828.775,39,0.9,44,-0.4