version: 66.04
glider: 515
mission: 5
dive: 204
start: 7 3 110 19 38 35
data:
$ID,515
$MISSION,5
$DIVE,204
$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,-17173.867
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,193137,2837.358,-8836.395,38,1.1,38,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.3
$GPS2,193756,2837.406,-8836.421,15,1.2,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.179,0.194
$KALMAN_X,-36627.4,98.6,253.3,58522.5,-1533.5
$KALMAN_Y,-163030.4,1471.3,1250.0,177029.5,-14161.7
$MHEAD_RNG_PITCHd_Wd,280.7,13968,-10.8,-7.500
$D_GRID,1379
$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,-0.63,-194.6,0.0,0.0,0,89,0.00,0.00,-75.53,0.000,2,0.000,0.000,197,2383,2550
$GC,91,-0.63,-194.6,3.1,-3.6,7,139,10.57,1.50,-29.02,0.000,4,0.257,0.062,2534,3265,3634
$GC,377,-0.63,-194.6,60.0,-16.3,33,385,0.00,1.50,0.00,0.000,6,0.000,0.028,2537,2355,3636
$GC,570,-0.63,-194.6,87.0,-14.3,52,573,0.00,1.23,0.00,0.000,4,0.000,0.037,2537,1480,3637
$GC,623,-0.63,-194.6,94.3,-13.0,57,627,0.00,1.30,0.00,0.000,6,0.000,0.037,2533,2376,3637
$GC,820,-0.63,-194.6,121.6,-14.5,76,823,0.00,1.48,0.00,0.000,4,0.000,0.046,2525,3260,3638
$GC,845,-0.63,-194.6,125.2,-13.5,78,854,0.00,1.48,0.00,0.000,6,0.000,0.028,2526,2354,3638
$GC,1163,-0.63,-194.6,168.3,-12.4,109,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2354,3638
$GC,1472,-0.63,-194.6,204.8,-12.1,139,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2354,3638
$GC,1783,-0.63,-194.6,242.3,-11.8,169,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2354,3638
$GC,2093,-0.63,-194.6,278.4,-11.4,199,2096,0.00,1.20,0.00,0.000,4,0.000,0.038,2525,1491,3635
$GC,2125,-0.63,-194.6,282.1,-11.9,202,2128,0.00,1.27,0.00,0.000,6,0.000,0.039,2520,2369,3635
$GC,2447,-0.63,-194.6,321.1,-12.3,233,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2370,3633
$GC,2756,-0.63,-194.6,357.7,-11.9,263,2759,0.00,1.50,0.00,0.000,4,0.000,0.050,2514,3257,3632
$GC,2804,-0.63,-194.6,363.7,-12.5,267,2811,0.08,1.45,0.00,0.000,6,0.140,0.031,2537,2359,3631
$GC,3119,-0.63,-194.6,397.2,-10.1,298,3123,0.00,1.23,0.00,0.000,4,0.000,0.041,2537,1496,3629
$GC,3155,-0.63,-194.6,401.0,-10.1,301,3163,0.00,1.33,0.00,0.000,6,0.000,0.041,2533,2389,3628
$GC,3474,-0.63,-194.6,433.4,-10.2,332,3477,0.00,1.45,0.00,0.000,4,0.000,0.053,2526,3247,3626
$GC,3509,-0.63,-194.6,437.6,-11.2,335,3517,0.00,1.42,0.00,0.000,6,0.000,0.032,2526,2368,3626
$GC,3827,-0.63,-194.6,471.9,-10.7,366,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2367,3624
$GC,4136,-0.63,-194.6,505.0,-10.1,396,4140,0.00,1.52,0.00,0.000,4,0.000,0.054,2519,3251,3621
$GC,4183,-0.63,-194.6,510.2,-11.3,400,4191,0.00,1.45,0.00,0.000,6,0.000,0.032,2519,2367,3621
$GC,4501,-0.63,-194.6,545.8,-11.2,431,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2368,3620
$GC,4810,-0.63,-194.6,581.4,-11.3,461,4813,0.00,1.27,0.00,0.000,4,0.000,0.044,2519,1491,3617
$GC,4874,-0.63,-194.6,588.2,-10.2,467,4878,0.08,1.27,0.00,0.000,6,0.147,0.044,2537,2360,3617
$GC,5195,-0.63,-194.6,617.2,-9.3,498,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3615
$GC,5506,-0.63,-194.6,645.9,-9.3,528,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3613
$GC,5816,-0.63,-194.6,675.3,-9.3,558,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3611
$GC,6127,-0.63,-194.6,704.2,-9.2,588,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2360,3609
$GC,6437,-0.63,-194.6,733.5,-9.5,618,6440,0.00,1.58,0.00,0.000,4,0.000,0.058,2532,3266,3607
$GC,6473,-0.63,-194.6,737.2,-10.3,621,6481,0.00,1.50,0.00,0.000,6,0.000,0.036,2532,2364,3607
$GC,6791,-0.63,-194.6,766.7,-9.2,652,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2365,3606
$GC,7100,-0.63,-194.6,795.9,-8.9,682,7103,0.00,1.27,0.00,0.000,4,0.000,0.047,2532,1499,3604
$GC,7136,-0.63,-194.6,799.5,-9.8,685,7143,0.00,1.33,0.00,0.000,6,0.000,0.048,2527,2379,3604
$GC,7453,-0.63,-194.6,829.0,-9.6,716,7457,0.00,1.33,0.00,0.000,4,0.000,0.046,2527,1492,3603
$GC,7489,-0.63,-194.6,832.9,-9.3,719,7497,0.00,1.33,0.00,0.000,6,0.000,0.048,2521,2368,3603
$GC,7807,-0.63,-194.6,865.1,-10.2,750,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2369,3601
$GC,8116,-0.63,-194.6,896.4,-10.2,780,8119,0.00,1.30,0.00,0.000,4,0.000,0.046,2521,1498,3599
$GC,8158,-0.63,-194.6,900.7,-9.7,784,8162,0.00,1.33,0.00,0.000,6,0.000,0.049,2515,2374,3599
$GC,8481,-0.63,-194.6,932.9,-9.6,815,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2375,3597
$GC,8790,-0.63,-194.6,963.6,-9.8,845,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2374,3597
$STATE,9067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9067,begin apogee
$GC,9072,-0.25,0.0,990.2,9.3,872,9231,0.50,0.00,152.30,1.249,6,0.138,0.000,2663,2292,2841
$STATE,9232,end apogee,CONTROL_FINISHED_OK
$STATE,9232,begin climb
$GC,9234,0.63,194.6,994.4,0.0,888,9411,0.90,0.00,169.25,1.218,6,0.101,0.000,2942,2292,2045
$GC,9721,0.63,194.6,943.8,11.6,936,9724,0.00,1.27,0.00,0.000,4,0.000,0.051,2947,1379,2036
$GC,9778,0.63,194.6,937.0,12.2,941,9785,0.00,1.25,0.00,0.000,6,0.000,0.044,2947,2276,2035
$GC,10096,0.63,194.6,899.0,11.9,972,10098,0.00,1.23,0.00,0.000,4,0.000,0.044,2953,1364,2033
$GC,10138,0.63,194.6,893.7,11.9,976,10141,0.00,1.23,0.00,0.000,6,0.000,0.044,2953,2272,2033
$GC,10460,0.63,194.6,854.5,12.5,1007,10463,0.00,1.20,0.00,0.000,4,0.000,0.044,2958,1373,2032
$GC,10502,0.63,194.6,849.2,12.6,1011,10505,0.00,1.23,0.00,0.000,6,0.000,0.044,2958,2274,2032
$GC,10824,0.63,194.6,808.8,12.6,1042,10827,0.00,1.20,0.00,0.000,4,0.000,0.044,2963,1373,2031
$GC,10877,0.63,194.6,802.3,12.3,1047,10880,0.00,1.23,0.00,0.000,6,0.000,0.044,2963,2275,2031
$GC,11199,0.63,194.6,761.7,12.9,1078,11202,0.00,1.20,0.00,0.000,4,0.000,0.044,2968,1373,2030
$GC,11256,0.63,194.6,754.4,11.6,1083,11264,0.00,1.25,0.00,0.000,6,0.000,0.044,2968,2280,2030
$GC,11574,0.63,194.6,714.1,13.3,1114,11577,0.00,1.23,0.00,0.000,4,0.000,0.044,2973,1369,2029
$GC,11631,0.63,194.6,706.5,13.1,1119,11639,0.00,1.25,0.00,0.000,6,0.000,0.044,2973,2278,2029
$GC,11949,0.63,194.6,663.8,12.8,1150,11952,0.00,1.23,0.00,0.000,4,0.000,0.044,2978,1360,2028
$GC,12024,0.63,194.6,653.8,13.5,1157,12027,0.00,1.23,0.00,0.000,6,0.000,0.044,2978,2271,2029
$GC,12346,0.63,194.6,611.6,13.4,1188,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2271,2029
$GC,12655,0.63,194.6,570.5,13.0,1218,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2271,2028
$GC,12965,0.63,194.6,530.0,13.4,1248,12968,0.00,1.20,0.00,0.000,4,0.000,0.043,2984,1364,2028
$GC,13051,0.63,194.6,519.1,13.1,1256,13054,0.10,1.23,0.00,0.000,6,0.143,0.044,2953,2276,2028
$GC,13372,0.63,194.6,482.8,11.2,1287,13375,0.00,1.20,0.00,0.000,4,0.000,0.044,2956,1373,2028
$GC,13408,0.63,194.6,478.9,11.1,1290,13417,0.00,1.23,0.00,0.000,6,0.000,0.043,2956,2281,2028
$GC,13725,0.63,194.6,441.0,12.1,1321,13728,0.00,1.60,0.00,0.000,4,0.000,0.054,2956,3175,2028
$GC,13750,0.63,194.6,437.6,12.5,1323,13758,0.00,1.62,0.00,0.000,6,0.000,0.036,2963,2268,2027
$GC,14068,0.63,194.6,398.3,12.0,1354,14071,0.00,1.15,0.00,0.000,4,0.000,0.042,2968,1374,2027
$GC,14104,0.63,194.6,393.8,11.5,1357,14112,0.00,1.23,0.00,0.000,6,0.000,0.042,2968,2278,2027
$GC,14422,0.63,194.6,355.1,12.0,1388,14425,0.00,1.20,0.00,0.000,4,0.000,0.041,2974,1373,2027
$GC,14464,0.63,194.6,350.0,11.6,1392,14468,0.00,1.20,0.00,0.000,6,0.000,0.042,2974,2273,2028
$GC,14785,0.63,194.6,310.8,11.6,1423,14788,0.00,1.20,0.00,0.000,4,0.000,0.041,2979,1362,2027
$GC,14810,0.63,194.6,307.7,12.3,1425,14818,0.00,1.25,0.00,0.000,6,0.000,0.041,2979,2284,2028
$GC,15128,0.63,194.6,267.5,12.8,1456,15130,0.00,1.23,0.00,0.000,4,0.000,0.040,2985,1360,2027
$GC,15153,0.63,194.6,264.2,12.9,1458,15162,0.08,1.25,0.00,0.000,6,0.144,0.041,2960,2289,2028
$GC,15469,0.63,194.6,228.8,11.3,1489,15470,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2289,2027
$GC,15780,0.63,194.6,194.2,11.3,1519,15783,0.00,1.23,0.00,0.000,4,0.000,0.040,2964,1369,2028
$GC,15858,0.63,194.6,185.5,11.1,1526,15867,0.00,1.23,0.00,0.000,6,0.000,0.039,2964,2281,2029
$GC,16176,0.63,194.6,149.3,11.0,1557,16180,0.00,1.20,0.00,0.000,4,0.000,0.038,2970,1368,2030
$GC,16218,0.63,194.6,144.8,10.7,1561,16222,0.00,1.20,0.00,0.000,6,0.000,0.039,2969,2279,2029
$GC,16540,0.63,194.6,110.5,10.7,1592,16543,0.00,1.20,0.00,0.000,4,0.000,0.038,2974,1360,2030
$GC,16587,0.63,194.6,105.4,9.9,1596,16594,0.00,1.23,0.00,0.000,6,0.000,0.038,2974,2286,2030
$GC,16905,0.63,194.6,72.4,9.3,1627,16905,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2287,2031
$GC,17090,0.63,194.6,53.9,10.4,1645,17091,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2286,2031
$GC,17276,0.69,250.3,41.1,6.0,1663,17324,0.00,1.20,41.15,0.545,4,0.000,0.035,2980,1358,1819
$GC,17381,0.80,336.4,36.0,5.2,1672,17451,0.00,1.23,65.35,0.537,6,0.000,0.035,2979,2275,1467
$GC,17644,0.93,445.8,22.8,4.6,1697,17733,0.20,0.00,81.07,0.516,6,0.055,0.000,3080,2275,1020
$STATE,17812,end climb,SURFACE_DEPTH_REACHED
$STATE,17812,begin surface coast
$FINISH,0.6,1.008435
$STATE,17834,end surface coast,CONTROL_FINISHED_OK
$STATE,17834,begin surface
$SM_CCo,17849,63.78,0.489,0,0,494,575.22
$SM_GC,1.40,0.00,0.00,63.78,0.000,0.000,0.489,195,2387,494,-7.97,0.34,575.22
$IRIDIUM_FIX,2828.55,-8831.62,270999,141449
$TT8_MAMPS,0.051389
$HUMID,1358
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,21.4,36.234
$10V_AH,10.6,50.468
$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,20.350,80.925,509.125,63.775,0.000,22.500,30.475,203.861,0.000,0.000,0.000,16.987,0.000,11927.500,679.069,5078.281,576.271,33.333,2141.280,0.000,4556.672,0.000,0.846,0.000
$DEVICE_MAMPS,256.945,62.127,1249.443,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1172.041,1253.421,3854.535,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88380,1715
$CAP_FILE_SIZE,161951,0
$CFSIZE,260165632,236810240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,218.0,1
$GPS,040710,003807,2837.252,-8840.052,38,1.3,38,-0.2