version: 66.04
glider: 515
mission: 5
dive: 262
start: 7 16 110 12 22 10
data:
$ID,515
$MISSION,5
$DIVE,262
$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,-21907.807
$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,27
$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,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$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
$GPS1,112825,2839.394,-8838.938,255,1.4,255,-0.3
$_CALLS,7
$_XMS_NAKs,53
$_XMS_TOUTs,1
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-75.2
$GPS2,122131,2839.252,-8839.087,10,1.4,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.141,0.224
$KALMAN_X,-9553.6,1202.8,-1553.8,27839.8,4675.4
$KALMAN_Y,-364995.3,2387.7,3526.7,379245.9,-16969.9
$MHEAD_RNG_PITCHd_Wd,312.6,11236,-10.8,-7.500
$D_GRID,1209
$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,-0.64,-194.6,0.0,0.0,0,37,0.00,0.00,-22.35,0.000,2,0.000,0.000,199,2327,1122
$GC,39,-0.64,-194.6,3.1,-3.4,2,113,10.27,1.27,-59.10,0.000,4,0.247,0.054,2540,1398,3635
$GC,123,-0.64,-194.6,16.4,-26.3,9,126,0.00,1.27,0.00,0.000,6,0.000,0.036,2536,2322,3636
$GC,320,-0.64,-194.6,54.9,-14.9,28,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2323,3636
$GC,506,-0.64,-194.6,79.1,-11.7,46,509,0.00,1.23,0.00,0.000,4,0.000,0.033,2537,1411,3636
$GC,592,-0.64,-194.6,89.5,-11.7,54,595,0.00,1.25,0.00,0.000,6,0.000,0.032,2533,2331,3637
$GC,788,-0.64,-194.6,113.6,-12.3,73,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2331,3636
$GC,1099,-0.64,-194.6,151.8,-11.6,103,1102,0.00,1.25,0.00,0.000,4,0.000,0.033,2533,1402,3635
$GC,1152,-0.64,-194.6,158.3,-12.5,108,1155,0.00,1.25,0.00,0.000,6,0.000,0.033,2527,2324,3635
$GC,1476,-0.64,-194.6,196.4,-11.8,139,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2324,3632
$GC,1784,-0.64,-194.6,232.1,-11.5,169,1787,0.00,1.23,0.00,0.000,4,0.000,0.035,2527,1417,3629
$GC,1838,-0.64,-194.6,238.0,-10.9,174,1841,0.00,1.23,0.00,0.000,6,0.000,0.035,2522,2320,3629
$GC,2160,-0.64,-194.6,273.6,-10.7,205,2162,0.00,1.23,0.00,0.000,4,0.000,0.035,2521,1413,3626
$GC,2213,-0.64,-194.6,279.9,-11.4,210,2216,0.00,1.25,0.00,0.000,6,0.000,0.035,2516,2325,3626
$GC,2535,-0.64,-194.6,316.3,-11.8,241,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2325,3623
$GC,2844,-0.64,-194.6,351.9,-11.3,271,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2325,3620
$GC,3155,-0.64,-194.6,387.7,-11.1,301,3158,0.00,1.25,0.00,0.000,4,0.000,0.037,2516,1407,3617
$GC,3230,-0.64,-194.6,396.3,-10.9,308,3232,0.00,1.27,0.00,0.000,6,0.000,0.038,2510,2326,3616
$GC,3553,-0.64,-194.6,432.8,-11.3,339,3554,0.12,0.00,0.00,0.000,6,0.145,0.000,2542,2326,3613
$GC,3862,-0.64,-194.6,461.2,-9.1,369,3865,0.00,1.25,0.00,0.000,4,0.000,0.039,2543,1424,3610
$GC,3909,-0.64,-194.6,465.9,-9.3,373,3916,0.00,1.27,0.00,0.000,6,0.000,0.040,2539,2323,3609
$GC,4227,-0.64,-194.6,495.6,-9.7,404,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3608
$GC,4536,-0.64,-194.6,525.6,-9.2,434,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3604
$GC,4847,-0.64,-194.6,554.4,-9.2,464,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2323,3602
$GC,5157,-0.64,-194.6,582.2,-8.6,494,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3599
$GC,5467,-0.64,-194.6,609.5,-8.9,524,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3597
$GC,5777,-0.64,-194.6,637.9,-9.3,554,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3594
$GC,6089,-0.64,-194.6,666.4,-8.8,584,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3592
$GC,6398,-0.64,-194.6,693.7,-8.8,614,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3590
$GC,6709,-0.64,-194.6,720.8,-8.6,644,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3589
$GC,7019,-0.64,-194.6,746.8,-8.4,674,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3587
$GC,7330,-0.64,-194.6,773.7,-8.6,704,7331,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2323,3585
$GC,7640,-0.64,-194.6,800.1,-8.4,734,7643,0.00,1.27,0.00,0.000,4,0.000,0.045,2539,1425,3583
$GC,7676,-0.64,-194.6,803.4,-8.5,737,7683,0.00,1.27,0.00,0.000,6,0.000,0.047,2534,2314,3583
$GC,7994,-0.64,-194.6,831.1,-8.6,768,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2315,3581
$GC,8305,-0.64,-194.6,857.8,-8.9,798,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2314,3580
$GC,8613,-0.64,-194.6,884.6,-9.1,828,8616,0.00,1.60,0.00,0.000,4,0.000,0.058,2527,3234,3578
$GC,8645,-0.64,-194.6,887.4,-8.7,831,8648,0.00,1.52,0.00,0.000,6,0.000,0.038,2527,2330,3578
$GC,8966,-0.64,-194.6,917.0,-9.5,862,8967,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2330,3577
$GC,9276,-0.64,-194.6,945.0,-8.2,892,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2329,3576
$GC,9587,-0.64,-194.6,971.9,-9.1,922,9587,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2330,3575
$STATE,9793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9793,begin apogee
$GC,9798,-0.26,0.0,990.5,9.2,942,9949,0.45,0.00,148.18,1.245,6,0.137,0.000,2661,2260,2840
$STATE,9949,end apogee,CONTROL_FINISHED_OK
$STATE,9949,begin climb
$GC,9952,0.64,194.6,995.7,0.0,957,10122,0.90,0.00,167.57,1.216,6,0.104,0.000,2946,2260,2046
$GC,10427,0.64,194.6,949.9,11.0,1004,10428,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2260,2034
$GC,10738,0.64,194.6,915.3,11.3,1034,10741,0.00,1.70,0.00,0.000,4,0.000,0.059,2946,3166,2033
$GC,10774,0.64,194.6,911.0,12.5,1037,10781,0.00,1.55,0.00,0.000,6,0.000,0.038,2954,2282,2031
$GC,11092,0.64,194.6,873.7,11.8,1068,11093,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2283,2031
$GC,11401,0.64,194.6,837.8,11.5,1098,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2283,2031
$GC,11711,0.64,194.6,801.5,11.2,1128,11715,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1369,2030
$GC,11744,0.64,194.6,797.6,12.1,1131,11747,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2271,2029
$GC,12066,0.64,194.6,759.1,12.4,1162,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2271,2029
$GC,12375,0.64,194.6,721.0,12.2,1192,12376,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2271,2029
$GC,12685,0.64,194.6,683.4,12.0,1222,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2271,2028
$GC,12997,0.64,194.6,646.3,12.1,1252,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2271,2028
$GC,13306,0.64,194.6,610.2,11.5,1282,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2271,2028
$GC,13617,0.64,194.6,573.8,11.5,1312,13620,0.00,1.23,0.00,0.000,4,0.000,0.043,2965,1359,2027
$GC,13653,0.64,194.6,569.6,11.1,1315,13660,0.00,1.27,0.00,0.000,6,0.000,0.044,2965,2275,2028
$GC,13971,0.64,194.6,533.6,11.4,1346,13974,0.00,1.60,0.00,0.000,4,0.000,0.054,2965,3178,2028
$GC,14008,0.64,194.6,528.6,13.8,1349,14015,0.00,1.58,0.00,0.000,6,0.000,0.036,2972,2274,2026
$GC,14325,0.64,194.6,489.1,13.3,1380,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2027
$GC,14635,0.64,194.6,449.9,12.3,1410,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2026
$GC,14945,0.64,194.6,411.1,12.8,1440,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2026
$GC,15256,0.64,194.6,372.3,12.6,1470,15257,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2026
$GC,15566,0.64,194.6,333.4,12.4,1500,15566,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2275,2026
$GC,15877,0.64,194.6,294.4,12.6,1530,15878,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2276,2026
$GC,16186,0.64,194.6,255.9,12.4,1560,16189,0.00,1.62,0.00,0.000,4,0.000,0.052,2972,3184,2027
$GC,16229,0.64,194.6,250.3,12.3,1564,16232,0.00,1.58,0.00,0.000,6,0.000,0.035,2980,2274,2027
$GC,16552,0.64,194.6,209.5,12.4,1595,16553,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2274,2027
$GC,16861,0.64,194.6,170.1,13.2,1625,16863,0.00,1.60,0.00,0.000,4,0.000,0.051,2979,3172,2027
$GC,16907,0.64,194.6,163.5,13.1,1629,16915,0.10,1.55,0.00,0.000,6,0.146,0.032,2956,2275,2027
$GC,17224,0.64,194.6,131.0,9.0,1660,17227,0.00,1.60,0.00,0.000,4,0.000,0.049,2956,3178,2028
$GC,17278,0.64,194.6,125.3,12.3,1665,17281,0.00,1.55,0.00,0.000,6,0.000,0.032,2962,2273,2028
$GC,17598,0.64,194.6,91.3,10.2,1696,17601,0.00,1.62,0.00,0.000,4,0.000,0.048,2962,3172,2029
$GC,17624,0.64,194.6,88.5,11.2,1698,17632,0.00,1.55,0.00,0.000,6,0.000,0.031,2970,2270,2029
$GC,17817,0.64,194.6,69.2,9.4,1717,17820,0.00,1.62,0.00,0.000,4,0.000,0.047,2970,3190,2030
$GC,17885,0.64,194.6,62.0,8.7,1723,17892,0.00,1.55,0.00,0.000,6,0.000,0.031,2977,2278,2030
$GC,18078,0.68,228.8,46.0,6.6,1742,18106,0.00,1.17,25.58,0.536,4,0.000,0.035,2983,1356,1906
$GC,18189,0.79,317.2,39.7,5.2,1752,18259,0.00,1.23,67.28,0.539,6,0.000,0.037,2983,2274,1545
$GC,18444,0.90,403.6,27.5,5.2,1776,18515,0.15,1.62,64.32,0.518,4,0.064,0.044,3062,3168,1191
$GC,18557,0.90,403.6,18.4,9.3,1786,18561,0.10,1.55,0.00,0.000,6,0.117,0.029,3036,2279,1188
$GC,18756,1.03,508.7,9.4,4.7,1805,18835,0.12,0.00,76.65,0.497,6,0.078,0.000,3079,2278,765
$GC,19017,1.34,760.4,4.6,0.9,1830,19088,0.28,1.27,65.70,0.482,4,0.146,0.041,3164,1351,404
$STATE,19096,end climb,SURFACE_DEPTH_REACHED
$STATE,19096,begin surface coast
$FINISH,2.8,1.015231
$STATE,19109,end surface coast,CONTROL_FINISHED_OK
$STATE,19109,begin surface
$SM_CCo,19186,0.00,0.000,0,0,401,598.28
$SM_GC,2.85,8.23,0.00,0.00,0.058,0.000,0.000,204,2337,401,-7.90,0.34,598.28
$IRIDIUM_FIX,2828.55,-8836.53,101099,121257
$TT8_MAMPS,0.049855
$HUMID,1378
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.30
$XPDR_PINGS,4
$24V_AH,23.0,45.989
$10V_AH,10.6,63.589
$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,20.725,58.825,615.275,0.000,0.000,197.228,248.914,2190.508,4.750,0.000,0.000,17.597,0.000,13345.679,592.992,5336.526,3057.954,33.335,2079.824,0.000,4795.386,0.000,34.040,0.000
$DEVICE_MAMPS,246.974,74.399,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.667,1343.901,4131.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94559,1838
$CAP_FILE_SIZE,215303,0
$CFSIZE,260165632,231673856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,28.583, 69.7,1
$GPS,160710,175027,3026.666,-8311.083,468,3.4,487,-4.4