version: 66.04
glider: 515
mission: 5
dive: 250
start: 7 13 110 14 30 3
data:
$ID,515
$MISSION,5
$DIVE,250
$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,-18060.748
$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,49
$R_STBD_OVSHOOT,22
$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
$GPS1,141224,2842.523,-8845.037,167,0.9,167,-0.2
$_CALLS,2
$_XMS_NAKs,74
$_XMS_TOUTs,6
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-74.8
$GPS2,142922,2842.633,-8844.823,17,2.4,36,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.233,0.126
$KALMAN_X,-35536.7,-548.8,-208.2,44883.4,5621.3
$KALMAN_Y,-309441.3,373.3,181.9,335319.0,-11728.2
$MHEAD_RNG_PITCHd_Wd,83.5,30623,-10.8,-7.500
$D_GRID,1123
$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,-194.6,0.0,0.0,0,47,0.00,0.00,-32.92,0.000,2,0.000,0.000,202,2346,1521
$GC,49,-0.63,-194.6,3.1,-2.3,3,134,9.80,1.25,-66.53,0.000,4,0.234,0.056,2544,1470,3635
$GC,373,-0.63,-194.6,49.4,-13.5,32,381,0.00,1.33,0.00,0.000,6,0.000,0.034,2539,2391,3635
$GC,566,-0.63,-194.6,75.5,-12.1,51,569,0.00,1.30,0.00,0.000,4,0.000,0.033,2540,1472,3636
$GC,651,-0.63,-194.6,85.3,-11.5,59,654,0.00,1.27,0.00,0.000,6,0.000,0.035,2535,2366,3636
$GC,848,-0.63,-194.6,110.6,-12.1,78,851,0.00,1.25,0.00,0.000,4,0.000,0.033,2535,1474,3636
$GC,912,-0.63,-194.6,118.5,-12.2,84,915,0.00,1.30,0.00,0.000,6,0.000,0.035,2530,2385,3636
$GC,1235,-0.63,-194.6,158.4,-11.4,115,1237,0.00,1.27,0.00,0.000,4,0.000,0.032,2530,1479,3636
$GC,1320,-0.63,-194.6,168.5,-11.5,123,1323,0.00,1.25,0.00,0.000,6,0.000,0.035,2524,2360,3635
$GC,1642,-0.63,-194.6,207.0,-11.5,154,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2360,3634
$GC,1951,-0.63,-194.6,242.9,-10.7,184,1954,0.00,1.23,0.00,0.000,4,0.000,0.034,2524,1489,3632
$GC,2008,-0.63,-194.6,249.3,-10.5,189,2016,0.00,1.30,0.00,0.000,6,0.000,0.035,2518,2392,3632
$GC,2327,-0.63,-194.6,286.5,-12.3,220,2330,0.00,1.30,0.00,0.000,4,0.000,0.035,2518,1483,3629
$GC,2373,-0.63,-194.6,292.4,-11.9,224,2381,0.12,1.30,0.00,0.000,6,0.142,0.036,2549,2374,3628
$GC,2689,-0.63,-194.6,321.2,-9.2,255,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2373,3626
$GC,3000,-0.63,-194.6,349.7,-8.9,285,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2374,3624
$GC,3311,-0.63,-194.6,377.1,-8.9,315,3314,0.00,1.27,0.00,0.000,4,0.000,0.038,2549,1487,3622
$GC,3368,-0.63,-194.6,382.6,-9.4,320,3375,0.00,1.33,0.00,0.000,6,0.000,0.041,2545,2382,3621
$GC,3686,-0.63,-194.6,412.7,-9.5,351,3689,0.00,1.27,0.00,0.000,4,0.000,0.039,2545,1495,3619
$GC,3728,-0.63,-194.6,416.8,-9.2,355,3732,0.00,1.27,0.00,0.000,6,0.000,0.042,2540,2364,3618
$GC,4050,-0.63,-194.6,447.0,-9.7,386,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2365,3616
$GC,4360,-0.63,-194.6,477.3,-9.6,416,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2365,3612
$GC,4670,-0.63,-194.6,507.1,-9.1,446,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2365,3611
$GC,4981,-0.63,-194.6,536.3,-9.2,476,4984,0.00,1.27,0.00,0.000,4,0.000,0.042,2540,1494,3608
$GC,5023,-0.63,-194.6,540.4,-9.8,480,5026,0.00,1.33,0.00,0.000,6,0.000,0.044,2535,2387,3607
$GC,5345,-0.63,-194.6,570.6,-10.2,511,5348,0.00,1.30,0.00,0.000,4,0.000,0.041,2535,1497,3606
$GC,5389,-0.63,-194.6,574.8,-9.2,515,5391,0.00,1.27,0.00,0.000,6,0.000,0.045,2529,2360,3605
$GC,5710,-0.63,-194.6,605.5,-9.2,546,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3604
$GC,6020,-0.63,-194.6,635.4,-9.5,576,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3601
$GC,6330,-0.63,-194.6,665.3,-9.8,606,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2360,3599
$GC,6641,-0.63,-194.6,694.7,-9.2,636,6644,0.00,1.27,0.00,0.000,4,0.000,0.043,2529,1490,3597
$GC,6683,-0.63,-194.6,698.8,-10.2,640,6686,0.00,1.35,0.00,0.000,6,0.000,0.046,2524,2390,3597
$GC,7005,-0.63,-194.6,730.3,-10.2,671,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2391,3596
$GC,7315,-0.63,-194.6,759.5,-9.5,701,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2391,3593
$GC,7625,-0.63,-194.6,788.1,-9.1,731,7626,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2390,3591
$GC,7936,-0.63,-194.6,815.9,-9.1,761,7939,0.00,1.33,0.00,0.000,4,0.000,0.045,2524,1501,3590
$GC,7999,-0.63,-194.6,821.8,-8.8,767,8002,0.00,1.27,0.00,0.000,6,0.000,0.048,2519,2355,3590
$GC,8320,-0.63,-194.6,851.0,-9.1,798,8323,0.00,1.60,0.00,0.000,4,0.000,0.061,2512,3267,3589
$GC,8352,-0.63,-194.6,854.0,-9.1,801,8355,0.08,1.45,0.00,0.000,6,0.140,0.038,2536,2384,3589
$GC,8673,-0.63,-194.6,880.9,-8.4,832,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2385,3588
$GC,8984,-0.63,-194.6,906.4,-8.4,862,8987,0.00,1.30,0.00,0.000,4,0.000,0.046,2536,1496,3587
$GC,9038,-0.63,-194.6,911.1,-8.9,867,9041,0.00,1.35,0.00,0.000,6,0.000,0.050,2533,2385,3586
$GC,9358,-0.63,-194.6,938.0,-8.0,898,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2386,3585
$GC,9669,-0.63,-194.6,963.9,-8.5,928,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2386,3584
$STATE,9980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9980,begin apogee
$GC,9985,-0.25,0.0,990.4,9.0,958,10142,0.40,0.00,150.73,1.245,6,0.132,0.000,2658,2283,2839
$STATE,10142,end apogee,CONTROL_FINISHED_OK
$STATE,10142,begin climb
$GC,10145,0.63,194.6,996.0,0.0,974,10325,0.88,1.40,169.12,1.213,4,0.101,0.048,2941,1378,2044
$GC,10347,0.63,194.6,981.1,10.7,994,10351,0.00,1.30,0.00,0.000,6,0.000,0.044,2941,2266,2042
$GC,10668,0.63,194.6,944.4,11.6,1025,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2266,2034
$GC,10979,0.63,194.6,909.5,11.3,1055,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2266,2032
$GC,11289,0.63,194.6,874.9,11.1,1085,11292,0.00,1.20,0.00,0.000,4,0.000,0.045,2946,1376,2031
$GC,11346,0.63,194.6,868.5,10.3,1090,11354,0.00,1.27,0.00,0.000,6,0.000,0.044,2946,2287,2031
$GC,11665,0.63,194.6,833.5,11.5,1121,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2287,2031
$GC,11974,0.63,194.6,797.5,11.3,1151,11977,0.00,1.25,0.00,0.000,4,0.000,0.044,2952,1371,2030
$GC,12031,0.63,194.6,791.1,10.4,1156,12038,0.00,1.25,0.00,0.000,6,0.000,0.044,2952,2274,2030
$GC,12350,0.63,194.6,755.5,11.5,1187,12350,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2274,2029
$GC,12658,0.63,194.6,720.1,10.9,1217,12661,0.00,1.23,0.00,0.000,4,0.000,0.044,2957,1366,2029
$GC,12695,0.63,194.6,715.9,11.2,1220,12701,0.00,1.23,0.00,0.000,6,0.000,0.045,2957,2266,2029
$GC,13012,0.63,194.6,679.3,12.0,1251,13015,0.00,1.20,0.00,0.000,4,0.000,0.044,2962,1364,2029
$GC,13044,0.63,194.6,675.6,12.1,1254,13047,0.00,1.25,0.00,0.000,6,0.000,0.045,2962,2279,2029
$GC,13365,0.63,194.6,636.7,12.0,1285,13365,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2279,2029
$GC,13675,0.63,194.6,598.5,12.4,1315,13676,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2279,2029
$GC,13985,0.63,194.6,560.8,12.1,1345,13988,0.00,1.23,0.00,0.000,4,0.000,0.044,2967,1373,2028
$GC,14028,0.63,194.6,555.8,12.4,1349,14031,0.00,1.23,0.00,0.000,6,0.000,0.044,2967,2272,2028
$GC,14348,0.63,194.6,516.6,12.1,1380,14351,0.00,1.23,0.00,0.000,4,0.000,0.044,2973,1362,2028
$GC,14374,0.63,194.6,513.4,12.5,1382,14381,0.00,1.27,0.00,0.000,6,0.000,0.044,2973,2282,2028
$GC,14692,0.63,194.6,472.6,12.6,1413,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2283,2027
$GC,15001,0.63,194.6,432.8,12.7,1443,15002,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2283,2027
$GC,15312,0.63,194.6,393.8,12.9,1473,15313,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2283,2027
$GC,15622,0.63,194.6,354.1,12.6,1503,15625,0.00,1.25,0.00,0.000,4,0.000,0.043,2979,1361,2028
$GC,15658,0.63,194.6,349.6,12.6,1506,15665,0.00,1.25,0.00,0.000,6,0.000,0.042,2979,2279,2028
$GC,15976,0.63,194.6,309.1,13.0,1537,15979,0.00,1.60,0.00,0.000,4,0.000,0.052,2979,3166,2028
$GC,16001,0.63,194.6,305.4,13.3,1539,16010,0.10,1.55,0.00,0.000,6,0.147,0.035,2955,2279,2027
$GC,16317,0.63,194.6,269.8,11.4,1570,16318,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2279,2027
$GC,16628,0.63,194.6,235.7,11.0,1600,16629,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2280,2027
$GC,16939,0.63,194.6,201.2,10.8,1630,16940,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2280,2028
$GC,17249,0.63,194.6,168.1,10.6,1660,17250,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2280,2029
$GC,17560,0.63,194.6,136.1,10.1,1690,17563,0.00,1.20,0.00,0.000,4,0.000,0.039,2959,1356,2029
$GC,17592,0.63,194.6,133.1,9.9,1693,17595,0.00,1.23,0.00,0.000,6,0.000,0.039,2959,2274,2030
$GC,17912,0.63,194.6,100.7,9.5,1724,17913,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2274,2030
$GC,18223,0.63,194.6,71.9,8.7,1754,18226,0.00,1.60,0.00,0.000,4,0.000,0.048,2959,3171,2032
$GC,18297,0.63,194.6,64.8,9.3,1761,18300,0.00,1.55,0.00,0.000,6,0.000,0.031,2967,2268,2032
$GC,18495,0.63,194.6,48.2,7.7,1780,18495,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2268,2033
$GC,18680,0.68,242.6,35.3,6.2,1798,18723,0.00,1.17,36.20,0.525,4,0.000,0.036,2972,1369,1849
$GC,18781,0.77,313.5,29.8,5.6,1807,18839,0.00,1.23,53.88,0.519,6,0.000,0.035,2972,2281,1560
$GC,19021,0.87,389.5,16.8,5.5,1830,19085,0.15,1.60,56.97,0.503,4,0.076,0.044,3032,3166,1250
$GC,19118,0.87,396.1,10.0,7.3,1839,19131,0.00,1.55,5.75,0.387,6,0.000,0.029,3038,2274,1226
$STATE,19219,end climb,SURFACE_DEPTH_REACHED
$STATE,19219,begin surface coast
$FINISH,3.1,1.015915
$STATE,19260,end surface coast,CONTROL_FINISHED_OK
$STATE,19260,begin surface
$SM_CCo,19263,148.52,0.489,0,0,403,597.54
$SM_GC,2.92,8.05,0.00,0.00,0.062,0.000,0.000,198,2397,400,-7.92,0.62,598.28
$IRIDIUM_FIX,2831.00,-8843.89,071099,141412
$TT8_MAMPS,0.051389
$HUMID,1376
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.20
$XPDR_PINGS,2
$24V_AH,22.8,43.623
$10V_AH,10.6,60.537
$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,19.575,71.400,472.650,148.525,0.000,59.639,63.992,685.201,4.250,0.000,0.000,39.008,0.000,13189.112,692.052,5464.542,1164.775,33.366,2204.172,0.000,4871.724,0.000,32.301,0.000
$DEVICE_MAMPS,233.935,61.360,1244.841,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1268.122,1353.846,4164.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97798,1853
$CAP_FILE_SIZE,180854,0
$CFSIZE,260165632,232828928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,104.4,1
$GPS,130710,200907,2842.779,-8840.485,807,1.3,807,-0.3