version: 66.04
glider: 515
mission: 5
dive: 244
start: 7 12 110 6 51 23
data:
$ID,515
$MISSION,5
$DIVE,244
$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,-17911.119
$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,19
$R_STBD_OVSHOOT,38
$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
$GPS1,064401,2843.333,-8831.777,43,1.0,43,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.7
$GPS2,065044,2843.269,-8831.738,14,1.0,14,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.248,0.091
$KALMAN_X,-46749.1,65.0,-139.4,76700.6,3362.0
$KALMAN_Y,-289504.9,1597.6,777.6,314705.5,-10682.7
$MHEAD_RNG_PITCHd_Wd,291.1,21602,-10.8,-7.500
$D_GRID,1235
$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,-194.6,0.0,0.0,0,57,0.00,0.00,-42.78,0.000,2,0.000,0.000,196,2392,1712
$GC,59,-0.63,-194.6,3.5,-5.8,4,132,9.98,1.42,-58.15,0.000,4,0.237,0.069,2534,3258,3634
$GC,282,-0.63,-194.6,37.3,-21.7,24,285,0.00,1.48,0.00,0.000,6,0.000,0.028,2537,2349,3635
$GC,478,-0.63,-194.6,67.1,-14.5,43,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3635
$GC,665,-0.63,-194.6,92.9,-13.7,61,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3637
$GC,851,-0.63,-194.6,116.9,-13.0,79,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3637
$GC,1161,-0.63,-194.6,156.0,-12.3,109,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3637
$GC,1472,-0.63,-194.6,193.1,-11.5,139,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3637
$GC,1782,-0.63,-194.6,227.5,-11.0,169,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3635
$GC,2093,-0.63,-194.6,259.7,-9.9,199,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3634
$GC,2403,-0.63,-194.6,291.6,-10.2,229,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2349,3632
$GC,2714,-0.63,-194.6,324.4,-13.0,259,2717,0.00,1.55,0.00,0.000,4,0.000,0.049,2531,3253,3630
$GC,2760,-0.63,-194.6,328.7,-9.5,263,2768,0.00,1.45,0.00,0.000,6,0.000,0.029,2532,2355,3629
$GC,3078,-0.63,-194.6,362.2,-10.6,294,3081,0.00,1.50,0.00,0.000,4,0.000,0.048,2525,3244,3627
$GC,3132,-0.63,-194.6,368.0,-10.9,299,3134,0.00,1.40,0.00,0.000,6,0.000,0.031,2525,2361,3627
$GC,3454,-0.63,-194.6,403.8,-11.4,330,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2360,3625
$GC,3763,-0.63,-194.6,438.8,-11.4,360,3766,0.00,1.50,0.00,0.000,4,0.000,0.051,2518,3244,3622
$GC,3816,-0.63,-194.6,444.9,-11.5,365,3819,0.00,1.40,0.00,0.000,6,0.000,0.032,2518,2373,3622
$GC,4138,-0.63,-194.6,481.1,-11.3,396,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2374,3620
$GC,4447,-0.63,-194.6,515.4,-10.6,426,4451,0.00,1.50,0.00,0.000,4,0.000,0.053,2511,3247,3618
$GC,4494,-0.63,-194.6,520.9,-11.3,430,4502,0.10,1.42,0.00,0.000,6,0.147,0.032,2540,2368,3617
$GC,4810,-0.63,-194.6,549.7,-8.8,461,4814,0.00,1.27,0.00,0.000,4,0.000,0.043,2544,1495,3616
$GC,4857,-0.63,-194.6,554.3,-9.6,465,4865,0.00,1.30,0.00,0.000,6,0.000,0.044,2540,2359,3615
$GC,5176,-0.63,-194.6,583.8,-9.2,496,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2360,3612
$GC,5485,-0.63,-194.6,611.5,-9.0,526,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2360,3610
$GC,5795,-0.63,-194.6,640.1,-9.0,556,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2360,3608
$GC,6105,-0.63,-194.6,668.4,-9.0,586,6108,0.00,1.27,0.00,0.000,4,0.000,0.045,2540,1497,3606
$GC,6148,-0.63,-194.6,672.3,-9.0,590,6151,0.00,1.33,0.00,0.000,6,0.000,0.047,2534,2380,3606
$GC,6470,-0.63,-194.6,702.0,-9.6,621,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2380,3604
$GC,6779,-0.63,-194.6,730.5,-9.0,651,6780,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2381,3602
$GC,7090,-0.63,-194.6,759.6,-9.4,681,7093,0.00,1.30,0.00,0.000,4,0.000,0.045,2534,1510,3600
$GC,7136,-0.63,-194.6,764.3,-10.1,685,7144,0.00,1.33,0.00,0.000,6,0.000,0.047,2529,2376,3600
$GC,7455,-0.63,-194.6,794.9,-9.2,716,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2376,3598
$GC,7763,-0.63,-194.6,823.6,-9.2,746,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2377,3597
$GC,8076,-0.63,-194.6,852.3,-8.9,776,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2377,3596
$GC,8387,-0.63,-194.6,881.0,-9.6,806,8389,0.00,1.30,0.00,0.000,4,0.000,0.046,2529,1511,3593
$GC,8429,-0.63,-194.6,885.1,-9.6,810,8432,0.00,1.30,0.00,0.000,6,0.000,0.048,2523,2368,3594
$GC,8750,-0.63,-194.6,914.3,-9.0,841,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2369,3592
$GC,9060,-0.63,-194.6,942.4,-8.8,871,9063,0.00,1.55,0.00,0.000,4,0.000,0.061,2517,3251,3591
$GC,9096,-0.63,-194.6,945.7,-8.6,874,9104,0.00,1.45,0.00,0.000,6,0.000,0.038,2516,2380,3591
$GC,9413,-0.63,-194.6,975.3,-10.0,905,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2380,3591
$STATE,9567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9567,begin apogee
$GC,9572,-0.25,0.0,990.1,9.2,920,9730,0.50,0.00,152.25,1.243,6,0.134,0.000,2665,2287,2839
$STATE,9730,end apogee,CONTROL_FINISHED_OK
$STATE,9730,begin climb
$GC,9732,0.63,194.6,994.3,0.0,936,9905,0.90,0.00,169.40,1.208,6,0.100,0.000,2944,2287,2046
$GC,10211,0.63,194.6,945.2,11.9,982,10214,0.00,1.27,0.00,0.000,4,0.000,0.047,2950,1362,2036
$GC,10264,0.63,194.6,939.3,12.2,987,10268,0.00,1.25,0.00,0.000,6,0.000,0.044,2949,2269,2036
$GC,10585,0.63,194.6,900.6,12.8,1018,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2269,2033
$GC,10896,0.63,194.6,863.2,11.5,1048,10899,0.00,1.20,0.00,0.000,4,0.000,0.044,2955,1374,2032
$GC,10996,0.63,194.6,851.4,11.4,1057,11003,0.00,1.23,0.00,0.000,6,0.000,0.044,2955,2272,2032
$GC,11314,0.63,194.6,814.4,11.3,1088,11315,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2273,2031
$GC,11623,0.63,194.6,777.5,12.5,1118,11626,0.00,1.23,0.00,0.000,4,0.000,0.044,2960,1362,2030
$GC,11686,0.63,194.6,769.8,12.6,1124,11690,0.00,1.25,0.00,0.000,6,0.000,0.044,2960,2276,2030
$GC,12009,0.63,194.6,730.7,12.0,1155,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2276,2030
$GC,12318,0.63,194.6,693.1,12.2,1185,12321,0.00,1.23,0.00,0.000,4,0.000,0.044,2966,1370,2029
$GC,12386,0.63,194.6,684.8,13.1,1191,12393,0.00,1.23,0.00,0.000,6,0.000,0.044,2965,2274,2029
$GC,12704,0.63,194.6,644.7,12.1,1222,12707,0.00,1.20,0.00,0.000,4,0.000,0.044,2971,1379,2029
$GC,12740,0.63,194.6,640.0,11.8,1225,12748,0.00,1.23,0.00,0.000,6,0.000,0.044,2971,2280,2029
$GC,13058,0.63,194.6,600.4,12.8,1256,13060,0.00,1.23,0.00,0.000,4,0.000,0.043,2976,1372,2028
$GC,13100,0.63,194.6,595.1,12.9,1260,13103,0.00,1.23,0.00,0.000,6,0.000,0.044,2976,2275,2028
$GC,13423,0.63,194.6,553.5,12.7,1291,13425,0.00,1.23,0.00,0.000,4,0.000,0.044,2981,1361,2027
$GC,13458,0.63,194.6,548.6,12.4,1294,13466,0.12,1.25,0.00,0.000,6,0.150,0.043,2950,2276,2028
$GC,13775,0.63,194.6,514.3,11.1,1325,13778,0.00,1.23,0.00,0.000,4,0.000,0.043,2954,1367,2027
$GC,13811,0.63,194.6,510.3,11.4,1328,13820,0.00,1.25,0.00,0.000,6,0.000,0.044,2954,2279,2027
$GC,14129,0.63,194.6,474.2,11.4,1359,14132,0.00,1.23,0.00,0.000,4,0.000,0.042,2959,1365,2027
$GC,14176,0.63,194.6,468.9,11.3,1363,14183,0.00,1.25,0.00,0.000,6,0.000,0.043,2959,2279,2027
$GC,14493,0.63,194.6,432.4,11.4,1394,14494,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2279,2027
$GC,14803,0.63,194.6,396.1,11.7,1424,14806,0.00,1.23,0.00,0.000,4,0.000,0.042,2964,1360,2028
$GC,14861,0.63,194.6,389.4,11.6,1429,14868,0.00,1.25,0.00,0.000,6,0.000,0.042,2964,2278,2027
$GC,15179,0.63,194.6,351.8,12.1,1460,15180,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2278,2027
$GC,15488,0.63,194.6,315.0,11.9,1490,15491,0.00,1.23,0.00,0.000,4,0.000,0.041,2970,1359,2028
$GC,15534,0.63,194.6,309.5,10.5,1494,15542,0.00,1.25,0.00,0.000,6,0.000,0.041,2970,2278,2028
$GC,15853,0.63,194.6,270.9,12.6,1525,15856,0.00,1.23,0.00,0.000,4,0.000,0.040,2974,1355,2028
$GC,15906,0.63,194.6,264.6,11.6,1530,15909,0.00,1.23,0.00,0.000,6,0.000,0.041,2974,2274,2027
$GC,16229,0.63,194.6,223.1,13.0,1561,16231,0.00,1.60,0.00,0.000,4,0.000,0.050,2974,3177,2028
$GC,16264,0.63,194.6,217.8,13.4,1564,16274,0.10,1.58,0.00,0.000,6,0.143,0.033,2951,2272,2027
$GC,16581,0.63,194.6,184.2,10.3,1595,16584,0.00,1.17,0.00,0.000,4,0.000,0.039,2955,1361,2028
$GC,16623,0.63,194.6,179.9,9.3,1599,16626,0.00,1.23,0.00,0.000,6,0.000,0.040,2955,2279,2028
$GC,16946,0.63,194.6,146.2,10.5,1630,16949,0.00,1.20,0.00,0.000,4,0.000,0.038,2960,1375,2029
$GC,16989,0.63,194.6,141.6,10.8,1634,16992,0.00,1.20,0.00,0.000,6,0.000,0.038,2960,2279,2029
$GC,17309,0.63,194.6,108.3,9.4,1665,17310,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2029
$GC,17620,0.63,194.6,78.4,9.6,1695,17621,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2031
$GC,17806,0.63,194.6,62.8,7.9,1713,17809,0.00,1.58,0.00,0.000,4,0.000,0.047,2960,3162,2031
$GC,17831,0.63,194.6,60.8,7.7,1715,17839,0.00,1.52,0.00,0.000,6,0.000,0.029,2967,2274,2032
$GC,18024,0.66,225.4,46.3,6.7,1734,18049,0.00,0.00,23.10,0.525,6,0.000,0.000,2967,2274,1921
$GC,18230,0.73,279.1,33.1,6.1,1754,18278,0.00,1.17,41.58,0.522,4,0.000,0.035,2972,1372,1702
$GC,18336,0.88,400.9,28.4,4.3,1763,18432,0.12,1.20,91.45,0.515,6,0.047,0.035,3049,2273,1204
$GC,18625,0.88,401.9,7.4,7.5,1790,18628,0.00,1.17,0.00,0.000,4,0.000,0.036,3053,1375,1197
$GC,18871,1.16,630.3,3.9,1.5,1813,18977,0.17,1.20,102.07,0.484,2,0.111,0.035,3110,2281,631
$STATE,18977,end climb,SURFACE_DEPTH_REACHED
$STATE,18977,begin surface coast
$FINISH,0.8,1.006498
$STATE,19114,end surface coast,CONTROL_FINISHED_OK
$STATE,19114,begin surface
$SM_CCo,19129,22.55,0.458,0,0,493,575.22
$SM_GC,2.99,0.00,0.00,22.55,0.000,0.000,0.458,203,2403,493,-7.95,0.79,575.22
$IRIDIUM_FIX,2831.00,-8829.10,061099,010125
$TT8_MAMPS,0.051389
$HUMID,1371
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.50
$XPDR_PINGS,4
$24V_AH,22.8,42.595
$10V_AH,10.6,59.170
$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,19.850,73.850,579.850,22.550,0.000,30.228,32.450,210.476,4.750,0.000,0.000,16.409,0.000,12796.110,635.635,5465.789,625.062,33.335,2201.673,0.000,4892.871,0.000,28.326,0.000
$DEVICE_MAMPS,237.003,69.030,1243.307,457.899,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1253.312,1337.173,4124.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94659,1835
$CAP_FILE_SIZE,171472,0
$CFSIZE,260165632,233369600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,178.2,1
$GPS,120710,121154,2843.524,-8834.542,40,0.9,57,-0.3