version: 66.04
glider: 515
mission: 5
dive: 276
start: 7 19 110 16 34 4
data:
$ID,515
$MISSION,5
$DIVE,276
$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,597.54108
$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,-23751.057
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,162337,2843.273,-8837.294,35,1.0,35,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.3
$GPS2,163325,2843.486,-8837.286,12,1.2,12,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.233,0.124
$KALMAN_X,7137.2,-1040.0,4.2,14781.0,3413.7
$KALMAN_Y,-391973.6,165.6,702.0,419104.3,-7703.5
$MHEAD_RNG_PITCHd_Wd,78.0,18331,-10.8,-7.500
$D_GRID,956
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.64,-194.6,0.0,0.0,0,67,0.00,0.00,-51.10,0.000,2,0.000,0.000,199,2350,1904
$GC,69,-0.64,-194.6,3.3,-3.7,5,122,10.57,1.42,-39.20,0.000,4,0.254,0.061,2530,3214,3634
$GC,215,-0.64,-194.6,32.8,-23.1,19,218,0.00,1.45,0.00,0.000,6,0.000,0.028,2535,2327,3635
$GC,412,-0.64,-194.6,65.4,-13.5,38,415,0.00,1.23,0.00,0.000,4,0.000,0.033,2537,1411,3636
$GC,465,-0.64,-194.6,72.6,-13.3,43,468,0.00,1.25,0.00,0.000,6,0.000,0.034,2533,2319,3636
$GC,662,-0.64,-194.6,97.3,-12.5,62,665,0.00,1.23,0.00,0.000,4,0.000,0.033,2533,1411,3637
$GC,709,-0.64,-194.6,103.3,-12.8,66,717,0.00,1.30,0.00,0.000,6,0.000,0.034,2527,2334,3637
$GC,1026,-0.64,-194.6,145.1,-13.3,97,1029,0.00,1.27,0.00,0.000,4,0.000,0.034,2527,1407,3637
$GC,1105,-0.64,-194.6,155.8,-13.4,104,1112,0.00,1.30,0.00,0.000,6,0.000,0.035,2522,2330,3637
$GC,1423,-0.64,-194.6,195.7,-12.6,135,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2331,3636
$GC,1732,-0.64,-194.6,234.3,-12.5,165,1735,0.00,1.25,0.00,0.000,4,0.000,0.035,2522,1416,3634
$GC,1829,-0.64,-194.6,246.2,-12.0,174,1832,0.00,1.25,0.00,0.000,6,0.000,0.036,2515,2321,3634
$GC,2152,-0.64,-194.6,286.1,-12.2,205,2154,0.00,1.25,0.00,0.000,4,0.000,0.036,2516,1409,3632
$GC,2226,-0.64,-194.6,295.2,-11.4,212,2229,0.00,1.27,0.00,0.000,6,0.000,0.038,2509,2325,3631
$GC,2549,-0.64,-194.6,334.6,-12.5,243,2552,0.12,1.25,0.00,0.000,4,0.145,0.036,2545,1420,3629
$GC,2606,-0.64,-194.6,341.1,-10.1,248,2614,0.00,1.30,0.00,0.000,6,0.000,0.039,2541,2332,3629
$GC,2925,-0.64,-194.6,372.0,-9.9,279,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2331,3626
$GC,3234,-0.64,-194.6,401.9,-9.6,309,3237,0.00,1.27,0.00,0.000,4,0.000,0.038,2541,1416,3625
$GC,3302,-0.64,-194.6,408.5,-9.4,315,3309,0.00,1.30,0.00,0.000,6,0.000,0.040,2536,2328,3624
$GC,3621,-0.64,-194.6,439.7,-9.8,346,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2328,3621
$GC,3929,-0.64,-194.6,471.1,-10.2,376,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2328,3618
$GC,4240,-0.64,-194.6,501.8,-9.4,406,4243,0.00,1.27,0.00,0.000,4,0.000,0.041,2537,1415,3616
$GC,4286,-0.64,-194.6,506.5,-9.5,410,4295,0.00,1.30,0.00,0.000,6,0.000,0.041,2530,2323,3616
$GC,4604,-0.64,-194.6,537.3,-9.5,441,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3614
$GC,4914,-0.64,-194.6,568.0,-9.4,471,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3612
$GC,5224,-0.64,-194.6,598.1,-9.8,501,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3609
$GC,5535,-0.64,-194.6,627.8,-9.4,531,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2323,3607
$GC,5845,-0.64,-194.6,657.5,-9.4,561,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2324,3605
$GC,6156,-0.64,-194.6,687.5,-9.4,591,6158,0.00,1.27,0.00,0.000,4,0.000,0.043,2530,1421,3603
$GC,6213,-0.64,-194.6,693.1,-9.3,596,6220,0.00,1.33,0.00,0.000,6,0.000,0.045,2525,2330,3603
$GC,6531,-0.64,-194.6,722.4,-9.3,627,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2330,3601
$GC,6840,-0.64,-194.6,752.3,-9.4,657,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2330,3600
$GC,7151,-0.64,-194.6,782.6,-9.8,687,7154,0.00,1.30,0.00,0.000,4,0.000,0.044,2525,1414,3597
$GC,7219,-0.64,-194.6,789.3,-9.3,693,7226,0.00,1.33,0.00,0.000,6,0.000,0.046,2520,2323,3597
$GC,7537,-0.64,-194.6,819.4,-9.5,724,7540,0.00,1.58,0.00,0.000,4,0.000,0.058,2513,3206,3595
$GC,7569,-0.64,-194.6,822.7,-10.0,727,7572,0.00,1.48,0.00,0.000,6,0.000,0.038,2513,2330,3594
$GC,7890,-0.64,-194.6,854.2,-9.7,758,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2330,3594
$GC,8200,-0.64,-194.6,884.4,-9.8,788,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,2331,3593
$GC,8511,-0.64,-194.6,914.5,-9.9,818,8514,0.00,1.30,0.00,0.000,4,0.000,0.045,2513,1414,3591
$GC,8580,-0.64,-194.6,921.6,-9.7,824,8587,0.08,1.33,0.00,0.000,6,0.145,0.048,2532,2325,3590
$GC,8896,-0.64,-194.6,950.6,-9.0,855,8899,0.00,1.58,0.00,0.000,4,0.000,0.059,2527,3209,3589
$GC,8922,-0.64,-194.6,953.2,-10.2,857,8929,0.00,1.50,0.00,0.000,6,0.000,0.038,2527,2325,3589
$STATE,8957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8957,begin apogee
$GC,8962,-0.26,0.0,956.5,9.3,861,9121,0.45,0.00,152.40,1.216,6,0.132,0.000,2663,2264,2840
$STATE,9121,end apogee,CONTROL_FINISHED_OK
$STATE,9121,begin climb
$GC,9123,0.64,194.6,961.4,0.0,877,9302,0.93,0.00,169.32,1.187,6,0.097,0.000,2952,2265,2045
$GC,9610,0.64,194.6,909.3,12.0,925,9613,0.00,1.67,0.00,0.000,4,0.000,0.059,2953,3172,2036
$GC,9657,0.64,194.6,903.5,12.2,929,9664,0.00,1.58,0.00,0.000,6,0.000,0.036,2960,2279,2034
$GC,9975,0.64,194.6,863.9,13.1,960,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2033
$GC,10284,0.64,194.6,824.6,13.1,990,10284,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2280,2032
$GC,10594,0.64,194.6,786.0,12.4,1020,10598,0.00,1.62,0.00,0.000,4,0.000,0.054,2960,3167,2031
$GC,10647,0.64,194.6,779.2,12.7,1025,10650,0.00,1.58,0.00,0.000,6,0.000,0.037,2967,2269,2030
$GC,10968,0.64,194.6,738.8,11.9,1056,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2270,2030
$GC,11279,0.64,194.6,700.7,12.5,1086,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2270,2029
$GC,11590,0.64,194.6,662.4,11.9,1116,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2270,2029
$GC,11900,0.64,194.6,625.1,12.2,1146,11903,0.00,1.62,0.00,0.000,4,0.000,0.054,2967,3171,2029
$GC,11943,0.64,194.6,619.7,12.8,1150,11946,0.00,1.55,0.00,0.000,6,0.000,0.037,2975,2278,2027
$GC,12266,0.64,194.6,579.6,13.0,1181,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2279,2027
$GC,12575,0.64,194.6,541.4,12.5,1211,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2279,2027
$GC,12885,0.64,194.6,502.0,12.8,1241,12888,0.00,1.60,0.00,0.000,4,0.000,0.053,2975,3174,2027
$GC,12927,0.64,194.6,496.0,12.4,1245,12930,0.00,1.55,0.00,0.000,6,0.000,0.036,2983,2279,2026
$GC,13250,0.64,194.6,452.7,13.3,1276,13251,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2280,2026
$GC,13559,0.64,194.6,411.7,12.4,1306,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2281,2026
$GC,13870,0.64,194.6,370.9,13.9,1336,13873,0.00,1.60,0.00,0.000,4,0.000,0.052,2983,3157,2026
$GC,13923,0.64,194.6,362.7,15.5,1341,13926,0.10,1.52,0.00,0.000,6,0.146,0.035,2959,2279,2026
$GC,14243,0.64,194.6,326.2,10.7,1372,14244,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2280,2026
$GC,14554,0.64,194.6,292.3,10.7,1402,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2280,2026
$GC,14865,0.64,194.6,258.2,10.9,1432,14868,0.00,1.62,0.00,0.000,4,0.000,0.051,2958,3170,2026
$GC,14907,0.64,194.6,253.3,11.6,1436,14910,0.00,1.55,0.00,0.000,6,0.000,0.033,2964,2272,2026
$GC,15228,0.64,194.6,217.4,12.0,1467,15231,0.00,1.62,0.00,0.000,4,0.000,0.050,2964,3161,2026
$GC,15286,0.64,194.6,210.7,11.7,1472,15293,0.00,1.52,0.00,0.000,6,0.000,0.032,2972,2277,2026
$GC,15603,0.64,194.6,173.0,12.2,1503,15607,0.00,1.60,0.00,0.000,4,0.000,0.050,2972,3161,2027
$GC,15657,0.64,194.6,166.5,11.7,1508,15660,0.00,1.52,0.00,0.000,6,0.000,0.032,2979,2273,2027
$GC,15978,0.64,194.6,129.2,11.7,1539,15979,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2274,2028
$GC,16288,0.64,194.6,92.9,11.9,1569,16291,0.00,1.62,0.00,0.000,4,0.000,0.048,2979,3192,2029
$GC,16367,0.64,194.6,83.3,12.3,1576,16375,0.10,1.55,0.00,0.000,6,0.133,0.030,2954,2276,2029
$GC,16560,0.64,194.6,66.3,8.2,1595,16562,0.00,1.17,0.00,0.000,4,0.000,0.037,2958,1367,2030
$GC,16603,0.66,213.7,63.2,7.0,1599,16625,0.00,1.20,14.32,0.527,6,0.000,0.038,2958,2269,1967
$GC,16810,0.74,275.3,48.6,5.9,1619,16861,0.00,1.60,47.88,0.545,4,0.000,0.044,2958,3172,1716
$GC,16939,0.78,304.4,40.5,6.7,1630,16966,0.00,1.55,23.10,0.520,6,0.000,0.029,2965,2269,1597
$GC,17161,0.90,407.1,30.1,4.8,1651,17245,0.17,1.20,76.47,0.523,4,0.070,0.034,3041,1369,1180
$GC,17320,0.90,407.1,19.0,8.3,1665,17323,0.00,1.23,0.00,0.000,6,0.000,0.034,3041,2274,1176
$GC,17517,1.08,551.1,7.2,3.7,1684,17625,0.15,0.00,105.15,0.493,2,0.077,0.000,3096,2274,594
$STATE,17625,end climb,SURFACE_DEPTH_REACHED
$STATE,17625,begin surface coast
$FINISH,0.8,1.005086
$STATE,17683,end surface coast,CONTROL_FINISHED_OK
$STATE,17684,begin surface
$SM_CCo,17698,28.85,0.467,0,0,403,597.54
$SM_GC,1.63,0.00,0.00,28.85,0.000,0.000,0.467,195,2350,403,-7.97,0.71,597.54
$IRIDIUM_FIX,2833.46,-8836.47,131099,161635
$TT8_MAMPS,0.049855
$HUMID,1394
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.80
$XPDR_PINGS,5
$24V_AH,22.7,48.551
$10V_AH,10.5,66.880
$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,20.400,73.875,588.650,28.850,0.000,57.005,54.074,277.237,4.000,0.000,0.000,14.179,0.000,11884.198,635.549,5029.367,736.735,33.343,2083.508,0.000,4497.263,0.000,20.819,0.000
$DEVICE_MAMPS,253.877,72.865,1216.462,467.103,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1159.667,1244.094,3818.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88353,1699
$CAP_FILE_SIZE,158264,0
$CFSIZE,260165632,230457344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,132.5,1
$GPS,190710,213031,2843.521,-8833.244,37,1.6,37,-0.3