version: 66.04
glider: 515
mission: 5
dive: 239
start: 7 11 110 4 23 35
data:
$ID,515
$MISSION,5
$DIVE,239
$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,-17820.398
$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,28
$R_STBD_OVSHOOT,37
$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,850
$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
$GPS1,041631,2843.053,-8834.316,39,1.4,39,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-72.7
$GPS2,042256,2843.007,-8834.303,10,1.5,10,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.203,0.170
$KALMAN_X,-54141.8,345.5,121.8,79368.4,-1412.5
$KALMAN_Y,-271455.1,1215.5,894.5,296447.7,-11405.0
$MHEAD_RNG_PITCHd_Wd,69.1,13528,-10.8,-7.500
$D_GRID,1105
$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,13,-0.63,-194.6,0.0,0.0,0,77,0.00,0.00,-62.85,0.000,2,0.000,0.000,202,2398,2343
$GC,79,-0.63,-194.6,3.5,-2.7,6,133,10.15,1.38,-40.42,0.000,4,0.243,0.054,2546,1469,3634
$GC,220,-0.63,-194.6,21.9,-23.2,18,223,0.00,1.27,0.00,0.000,6,0.000,0.036,2542,2357,3636
$GC,417,-0.63,-194.6,58.3,-14.4,37,420,0.00,1.52,0.00,0.000,4,0.000,0.045,2534,3267,3636
$GC,453,-0.63,-194.6,63.8,-15.3,40,461,0.00,1.50,0.00,0.000,6,0.000,0.026,2534,2348,3637
$GC,646,-0.63,-194.6,89.9,-13.1,59,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2346,3638
$GC,832,-0.63,-194.6,113.9,-12.6,77,835,0.00,1.58,0.00,0.000,4,0.000,0.045,2527,3272,3639
$GC,857,-0.63,-194.6,117.2,-12.4,79,865,0.00,1.48,0.00,0.000,6,0.000,0.026,2528,2356,3638
$GC,1175,-0.63,-194.6,157.4,-12.6,110,1178,0.00,1.20,0.00,0.000,4,0.000,0.036,2527,1490,3639
$GC,1221,-0.63,-194.6,163.5,-12.4,114,1230,0.00,1.33,0.00,0.000,6,0.000,0.036,2521,2394,3639
$GC,1539,-0.63,-194.6,202.3,-12.2,145,1542,0.00,1.30,0.00,0.000,4,0.000,0.035,2521,1489,3639
$GC,1582,-0.63,-194.6,207.6,-12.2,149,1585,0.00,1.25,0.00,0.000,6,0.000,0.038,2515,2362,3638
$GC,1904,-0.63,-194.6,247.0,-12.4,180,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2363,3637
$GC,2213,-0.63,-194.6,285.4,-12.0,210,2216,0.00,1.25,0.00,0.000,4,0.000,0.036,2516,1486,3635
$GC,2270,-0.63,-194.6,292.1,-11.3,215,2279,0.12,1.33,0.00,0.000,6,0.140,0.038,2542,2388,3635
$GC,2588,-0.63,-194.6,322.3,-9.6,246,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2388,3634
$GC,2897,-0.63,-194.6,353.3,-9.9,276,2900,0.00,1.30,0.00,0.000,4,0.000,0.038,2543,1484,3632
$GC,2965,-0.63,-194.6,360.2,-10.0,282,2973,0.00,1.30,0.00,0.000,6,0.000,0.039,2540,2367,3631
$GC,3284,-0.63,-194.6,391.2,-10.0,313,3287,0.00,1.50,0.00,0.000,4,0.000,0.051,2533,3254,3629
$GC,3316,-0.63,-194.6,394.6,-10.5,316,3319,0.00,1.42,0.00,0.000,6,0.000,0.031,2533,2364,3629
$GC,3638,-0.63,-194.6,427.1,-9.9,347,3641,0.00,1.25,0.00,0.000,4,0.000,0.040,2533,1489,3627
$GC,3681,-0.63,-194.6,431.6,-9.6,351,3683,0.00,1.30,0.00,0.000,6,0.000,0.041,2527,2374,3626
$GC,4002,-0.63,-194.6,464.4,-10.0,382,4006,0.00,1.27,0.00,0.000,4,0.000,0.040,2527,1497,3624
$GC,4049,-0.63,-194.6,469.6,-10.1,386,4056,0.00,1.30,0.00,0.000,6,0.000,0.041,2521,2380,3624
$GC,4367,-0.63,-194.6,503.6,-10.6,417,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2380,3621
$GC,4677,-0.63,-194.6,536.6,-10.8,447,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2381,3619
$GC,4986,-0.63,-194.6,569.3,-10.4,477,4989,0.00,1.30,0.00,0.000,4,0.000,0.041,2521,1493,3618
$GC,5050,-0.63,-194.6,576.3,-9.9,483,5053,0.00,1.30,0.00,0.000,6,0.000,0.043,2516,2370,3617
$GC,5373,-0.63,-194.6,612.0,-11.0,514,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2371,3615
$GC,5681,-0.63,-194.6,644.7,-10.2,544,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2371,3613
$GC,5992,-0.63,-194.6,676.8,-10.7,574,5995,0.00,1.30,0.00,0.000,4,0.000,0.042,2515,1491,3611
$GC,6039,-0.63,-194.6,681.9,-10.7,578,6046,0.12,1.35,0.00,0.000,6,0.146,0.044,2541,2384,3611
$GC,6355,-0.63,-194.6,710.6,-8.9,609,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2384,3609
$GC,6666,-0.63,-194.6,736.6,-8.3,639,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2384,3607
$GC,6976,-0.63,-194.6,762.2,-8.5,669,6979,0.00,1.33,0.00,0.000,4,0.000,0.044,2541,1489,3605
$GC,7019,-0.63,-194.6,765.6,-8.9,673,7022,0.00,1.30,0.00,0.000,6,0.000,0.048,2538,2361,3605
$GC,7341,-0.63,-194.6,793.3,-8.4,704,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2361,3603
$GC,7650,-0.63,-194.6,820.4,-8.6,734,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2361,3602
$GC,7960,-0.63,-194.6,847.4,-8.4,764,7963,0.00,1.27,0.00,0.000,4,0.000,0.045,2537,1495,3600
$GC,8029,-0.63,-194.6,853.7,-9.0,770,8036,0.00,1.35,0.00,0.000,6,0.000,0.048,2532,2389,3600
$GC,8345,-0.63,-194.6,882.7,-9.0,801,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2390,3599
$GC,8657,-0.63,-194.6,909.9,-8.6,831,8661,0.00,1.33,0.00,0.000,4,0.000,0.046,2532,1502,3597
$GC,8714,-0.63,-194.6,915.0,-8.7,836,8722,0.00,1.30,0.00,0.000,6,0.000,0.048,2527,2364,3597
$GC,9031,-0.63,-194.6,942.1,-8.3,867,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3596
$GC,9342,-0.63,-194.6,969.4,-8.9,897,9347,0.00,1.27,0.00,0.000,4,0.000,0.045,2527,1506,3595
$GC,9378,-0.63,-194.6,972.8,-8.5,900,9386,0.00,1.35,0.00,0.000,6,0.000,0.048,2521,2392,3594
$STATE,9580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9580,begin apogee
$GC,9584,-0.25,0.0,990.7,9.4,920,9743,0.47,0.00,152.68,1.246,6,0.136,0.000,2662,2291,2841
$STATE,9743,end apogee,CONTROL_FINISHED_OK
$STATE,9743,begin climb
$GC,9746,0.63,194.6,995.9,0.0,936,9922,0.90,1.38,169.95,1.213,4,0.103,0.048,2949,1365,2045
$GC,9954,0.63,194.6,980.2,11.1,954,9957,0.00,1.30,0.00,0.000,6,0.000,0.043,2949,2265,2041
$GC,10277,0.63,194.6,942.8,11.8,985,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2265,2034
$GC,10585,0.63,194.6,906.6,11.3,1015,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2265,2032
$GC,10896,0.63,194.6,871.3,11.0,1045,10897,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2264,2031
$GC,11206,0.63,194.6,837.1,11.5,1075,11207,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2264,2030
$GC,11517,0.63,194.6,802.2,11.2,1105,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2265,2030
$GC,11827,0.63,194.6,768.3,11.0,1135,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2265,2029
$GC,12138,0.63,194.6,735.2,10.7,1165,12141,0.00,1.20,0.00,0.000,4,0.000,0.045,2954,1362,2029
$GC,12169,0.63,194.6,732.0,9.7,1168,12172,0.00,1.23,0.00,0.000,6,0.000,0.044,2954,2272,2029
$GC,12492,0.63,194.6,696.7,10.8,1199,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2272,2029
$GC,12801,0.63,194.6,661.0,11.1,1229,12804,0.00,1.65,0.00,0.000,4,0.000,0.054,2954,3168,2028
$GC,12833,0.63,194.6,657.3,11.8,1232,12836,0.00,1.58,0.00,0.000,6,0.000,0.038,2962,2277,2027
$GC,13153,0.63,194.6,619.8,11.6,1263,13154,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2277,2027
$GC,13464,0.63,194.6,583.7,11.5,1293,13467,0.00,1.20,0.00,0.000,4,0.000,0.044,2967,1368,2027
$GC,13500,0.63,194.6,579.5,11.0,1296,13508,0.00,1.23,0.00,0.000,6,0.000,0.043,2967,2273,2027
$GC,13818,0.63,194.6,541.7,11.9,1327,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2274,2027
$GC,14127,0.63,194.6,505.4,11.3,1357,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2273,2027
$GC,14438,0.63,194.6,469.6,11.3,1387,14438,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2273,2027
$GC,14748,0.63,194.6,433.6,12.1,1417,14749,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2273,2027
$GC,15058,0.63,194.6,396.7,11.6,1447,15061,0.00,1.23,0.00,0.000,4,0.000,0.044,2972,1360,2027
$GC,15083,0.63,194.6,393.6,11.8,1449,15091,0.00,1.27,0.00,0.000,6,0.000,0.041,2973,2285,2027
$GC,15402,0.63,194.6,355.6,12.0,1480,15402,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2285,2027
$GC,15711,0.63,194.6,319.0,11.9,1510,15711,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2285,2027
$GC,16021,0.63,194.6,281.0,12.4,1540,16022,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2285,2027
$GC,16331,0.63,194.6,244.4,11.4,1570,16334,0.00,1.23,0.00,0.000,4,0.000,0.042,2978,1373,2028
$GC,16374,0.63,194.6,239.6,11.4,1574,16378,0.08,1.20,0.00,0.000,6,0.141,0.040,2954,2272,2027
$GC,16695,0.63,194.6,207.6,10.2,1605,16695,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2272,2028
$GC,17006,0.63,194.6,176.6,10.1,1635,17007,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2272,2028
$GC,17315,0.63,194.6,146.1,10.2,1665,17318,0.00,1.62,0.00,0.000,4,0.000,0.048,2954,3171,2030
$GC,17358,0.63,194.6,141.7,8.7,1669,17361,0.00,1.58,0.00,0.000,6,0.000,0.032,2960,2267,2030
$GC,17679,0.63,194.6,109.3,9.3,1700,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2268,2031
$GC,17990,0.63,194.6,80.2,9.2,1730,17991,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2268,2031
$GC,18176,0.63,194.6,64.2,8.6,1748,18179,0.00,1.15,0.00,0.000,4,0.000,0.037,2966,1361,2033
$GC,18229,0.63,194.6,60.0,7.7,1753,18232,0.00,1.23,0.00,0.000,6,0.000,0.037,2966,2284,2033
$GC,18426,0.65,214.8,45.3,7.0,1772,18449,0.00,1.23,15.15,0.510,4,0.000,0.035,2971,1367,1963
$GC,18534,0.70,257.4,37.9,6.4,1782,18572,0.00,1.20,33.22,0.525,6,0.000,0.036,2971,2279,1789
$GC,18758,0.90,418.5,27.2,3.3,1803,18882,0.17,1.60,119.57,0.515,4,0.060,0.042,3067,3167,1132
$GC,18911,0.90,418.5,12.7,12.2,1816,18914,0.10,1.58,0.00,0.000,6,0.125,0.028,3042,2277,1128
$STATE,19023,end climb,SURFACE_DEPTH_REACHED
$STATE,19023,begin surface coast
$FINISH,2.6,1.018743
$STATE,19064,end surface coast,CONTROL_FINISHED_OK
$STATE,19064,begin surface
$SM_CCo,19079,93.65,0.488,0,0,494,575.22
$SM_GC,1.75,0.00,0.00,93.65,0.000,0.000,0.488,206,2394,494,-7.94,0.54,575.22
$IRIDIUM_FIX,2831.00,-8836.47,041099,232326
$TT8_MAMPS,0.050622
$HUMID,1344
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,22.8,41.826
$10V_AH,10.6,58.038
$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,19.925,70.100,490.575,93.650,0.000,30.671,31.618,199.767,3.750,0.000,0.000,12.909,0.000,12940.307,631.479,5360.016,595.633,33.339,2137.416,0.000,4800.003,0.000,28.366,0.000
$DEVICE_MAMPS,243.139,55.224,1246.375,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.352,1339.856,4115.316,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94405,1831
$CAP_FILE_SIZE,166579,0
$CFSIZE,260165632,233816064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,145.9,1
$GPS,110710,094407,2843.201,-8830.626,37,1.0,37,-0.4