version: 66.04
glider: 515
mission: 5
dive: 277
start: 7 19 110 21 37 41
data:
$ID,515
$MISSION,5
$DIVE,277
$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,-23764.746
$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,39
$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
$GPS1,213031,2843.521,-8833.244,37,1.6,37,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-73.0
$GPS2,213702,2843.664,-8833.174,11,1.2,11,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.192,0.182
$KALMAN_X,7929.4,-681.4,-660.7,20969.3,5424.6
$KALMAN_Y,-393478.8,-357.3,323.2,421849.4,-4893.5
$MHEAD_RNG_PITCHd_Wd,71.7,11651,-10.8,-7.500
$D_GRID,1186
$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,-194.6,0.0,0.0,0,57,0.00,0.00,-42.92,0.000,2,0.000,0.000,194,2352,1682
$GC,60,-0.64,-194.6,3.1,-4.6,4,123,10.43,1.48,-47.62,0.000,4,0.251,0.064,2526,3215,3635
$GC,365,-0.64,-194.6,59.7,-14.8,32,368,0.00,1.45,0.00,0.000,6,0.000,0.028,2528,2324,3637
$GC,562,-0.64,-194.6,84.5,-12.5,51,565,0.00,1.23,0.00,0.000,4,0.000,0.033,2531,1404,3638
$GC,701,-0.64,-194.6,101.8,-11.5,64,704,0.00,1.25,0.00,0.000,6,0.000,0.035,2527,2315,3640
$GC,1024,-0.64,-194.6,143.9,-13.5,95,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2316,3640
$GC,1332,-0.64,-194.6,183.2,-12.2,125,1335,0.00,1.23,0.00,0.000,4,0.000,0.034,2527,1404,3639
$GC,1471,-0.64,-194.6,199.7,-11.2,138,1474,0.00,1.27,0.00,0.000,6,0.000,0.035,2522,2328,3638
$GC,1794,-0.64,-194.6,238.1,-11.4,169,1796,0.00,1.25,0.00,0.000,4,0.000,0.035,2521,1414,3637
$GC,1840,-0.64,-194.6,244.0,-11.9,173,1849,0.00,1.25,0.00,0.000,6,0.000,0.035,2516,2322,3637
$GC,2159,-0.64,-194.6,282.2,-12.0,204,2162,0.00,1.25,0.00,0.000,4,0.000,0.035,2516,1408,3635
$GC,2216,-0.64,-194.6,289.7,-12.1,209,2224,0.08,1.30,0.00,0.000,6,0.140,0.037,2534,2328,3635
$GC,2535,-0.64,-194.6,321.4,-10.3,240,2538,0.00,1.25,0.00,0.000,4,0.000,0.036,2534,1425,3632
$GC,2609,-0.64,-194.6,328.6,-9.2,247,2612,0.00,1.25,0.00,0.000,6,0.000,0.039,2531,2321,3632
$GC,2932,-0.64,-194.6,361.0,-11.0,278,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2321,3630
$GC,3240,-0.64,-194.6,394.0,-10.6,308,3243,0.00,1.25,0.00,0.000,4,0.000,0.038,2531,1417,3627
$GC,3308,-0.64,-194.6,401.3,-9.9,314,3316,0.00,1.30,0.00,0.000,6,0.000,0.039,2525,2330,3627
$GC,3627,-0.64,-194.6,434.5,-10.8,345,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2330,3625
$GC,3935,-0.64,-194.6,467.8,-10.1,375,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2330,3623
$GC,4246,-0.64,-194.6,500.7,-10.6,405,4250,0.00,1.27,0.00,0.000,4,0.000,0.040,2525,1420,3620
$GC,4325,-0.64,-194.6,509.0,-10.2,412,4332,0.00,1.30,0.00,0.000,6,0.000,0.041,2520,2327,3619
$GC,4643,-0.64,-194.6,543.1,-10.9,443,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2327,3618
$GC,4952,-0.64,-194.6,576.2,-10.5,473,4955,0.00,1.27,0.00,0.000,4,0.000,0.040,2520,1417,3615
$GC,4999,-0.64,-194.6,581.3,-10.1,477,5007,0.00,1.27,0.00,0.000,6,0.000,0.042,2514,2319,3615
$GC,5318,-0.64,-194.6,615.8,-11.0,508,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2318,3613
$GC,5626,-0.64,-194.6,648.9,-10.5,538,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2319,3611
$GC,5937,-0.64,-194.6,681.6,-10.7,568,5940,0.00,1.25,0.00,0.000,4,0.000,0.042,2514,1428,3608
$GC,5984,-0.64,-194.6,686.8,-11.0,572,5991,0.08,1.30,0.00,0.000,6,0.143,0.044,2534,2329,3608
$GC,6300,-0.64,-194.6,714.5,-9.0,603,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2329,3606
$GC,6611,-0.64,-194.6,741.4,-8.6,633,6613,0.00,1.27,0.00,0.000,4,0.000,0.043,2534,1430,3605
$GC,6675,-0.64,-194.6,747.1,-8.6,639,6678,0.00,1.27,0.00,0.000,6,0.000,0.046,2531,2322,3605
$GC,6998,-0.64,-194.6,775.3,-9.1,670,7000,0.00,1.58,0.00,0.000,4,0.000,0.057,2523,3215,3603
$GC,7040,-0.64,-194.6,779.4,-9.7,674,7043,0.00,1.48,0.00,0.000,6,0.000,0.037,2523,2333,3603
$GC,7363,-0.64,-194.6,809.8,-9.6,705,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2332,3601
$GC,7672,-0.64,-194.6,838.9,-9.2,735,7675,0.00,1.58,0.00,0.000,4,0.000,0.058,2517,3217,3599
$GC,7704,-0.64,-194.6,842.0,-9.8,738,7707,0.00,1.50,0.00,0.000,6,0.000,0.037,2517,2328,3598
$GC,8025,-0.64,-194.6,872.4,-9.2,769,8028,0.00,1.27,0.00,0.000,4,0.000,0.045,2517,1420,3597
$GC,8089,-0.64,-194.6,878.3,-10.1,775,8092,0.08,1.30,0.00,0.000,6,0.142,0.048,2536,2319,3597
$GC,8410,-0.64,-194.6,903.9,-8.0,806,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2319,3596
$GC,8722,-0.64,-194.6,929.0,-8.7,836,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2320,3595
$GC,9030,-0.64,-194.6,954.5,-8.6,866,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2320,3593
$GC,9343,-0.64,-194.6,979.3,-7.9,896,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2319,3593
$STATE,9485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9485,begin apogee
$GC,9490,-0.26,0.0,990.8,7.5,910,9648,0.40,0.00,153.73,1.243,6,0.128,0.000,2659,2267,2839
$STATE,9649,end apogee,CONTROL_FINISHED_OK
$STATE,9649,begin climb
$GC,9652,0.64,194.6,995.1,0.0,926,9830,0.90,1.38,170.77,1.211,4,0.100,0.051,2949,1371,2045
$GC,9853,0.64,194.6,978.8,11.7,944,9856,0.00,1.33,0.00,0.000,6,0.000,0.044,2949,2265,2042
$GC,10175,0.64,194.6,940.9,11.6,975,10179,0.00,1.67,0.00,0.000,4,0.000,0.054,2949,3174,2034
$GC,10222,0.64,194.6,934.6,13.3,979,10229,0.00,1.58,0.00,0.000,6,0.000,0.036,2956,2277,2033
$GC,10540,0.64,194.6,895.8,11.9,1010,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2278,2032
$GC,10849,0.64,194.6,858.2,12.2,1040,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2278,2031
$GC,11160,0.64,194.6,820.2,12.6,1070,11161,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2278,2030
$GC,11470,0.64,194.6,781.9,12.0,1100,11473,0.00,1.65,0.00,0.000,4,0.000,0.055,2956,3174,2029
$GC,11506,0.64,194.6,777.3,12.3,1103,11513,0.00,1.58,0.00,0.000,6,0.000,0.036,2962,2273,2029
$GC,11825,0.64,194.6,738.2,11.8,1134,11827,0.00,1.62,0.00,0.000,4,0.000,0.055,2963,3176,2028
$GC,11867,0.64,194.6,732.5,12.9,1138,11870,0.00,1.58,0.00,0.000,6,0.000,0.037,2970,2273,2028
$GC,12190,0.64,194.6,692.1,12.8,1169,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2273,2028
$GC,12499,0.64,194.6,654.5,11.7,1199,12502,0.00,1.62,0.00,0.000,4,0.000,0.055,2970,3174,2028
$GC,12535,0.64,194.6,649.8,12.9,1202,12542,0.00,1.58,0.00,0.000,6,0.000,0.036,2977,2274,2027
$GC,12853,0.64,194.6,609.8,12.7,1233,12854,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2275,2027
$GC,13162,0.64,194.6,570.1,12.8,1263,13165,0.00,1.65,0.00,0.000,4,0.000,0.055,2977,3174,2027
$GC,13216,0.64,194.6,562.9,13.2,1268,13219,0.12,1.58,0.00,0.000,6,0.150,0.037,2953,2277,2026
$GC,13537,0.64,194.6,528.4,10.6,1299,13539,0.00,1.20,0.00,0.000,4,0.000,0.043,2958,1368,2026
$GC,13573,0.64,194.6,524.5,10.4,1302,13580,0.00,1.25,0.00,0.000,6,0.000,0.044,2957,2285,2026
$GC,13890,0.64,194.6,490.7,10.9,1333,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2285,2026
$GC,14200,0.64,194.6,456.1,11.6,1363,14203,0.00,1.60,0.00,0.000,4,0.000,0.054,2957,3166,2026
$GC,14232,0.64,194.6,452.2,11.3,1366,14235,0.00,1.55,0.00,0.000,6,0.000,0.036,2963,2275,2026
$GC,14554,0.64,194.6,415.0,11.4,1397,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2276,2026
$GC,14863,0.64,194.6,378.5,11.4,1427,14864,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2276,2026
$GC,15173,0.64,194.6,342.7,11.2,1457,15177,0.00,1.62,0.00,0.000,4,0.000,0.052,2963,3162,2026
$GC,15206,0.64,194.6,338.9,11.5,1460,15208,0.00,1.52,0.00,0.000,6,0.000,0.035,2970,2279,2026
$GC,15528,0.64,194.6,300.9,11.9,1491,15529,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2280,2026
$GC,15837,0.64,194.6,263.8,11.4,1521,15840,0.00,1.60,0.00,0.000,4,0.000,0.051,2969,3183,2027
$GC,15869,0.64,194.6,259.9,11.7,1524,15872,0.00,1.55,0.00,0.000,6,0.000,0.034,2978,2278,2027
$GC,16190,0.64,194.6,220.1,12.4,1555,16193,0.00,1.60,0.00,0.000,4,0.000,0.050,2977,3163,2026
$GC,16237,0.64,194.6,213.8,13.8,1559,16244,0.08,1.55,0.00,0.000,6,0.143,0.032,2960,2269,2026
$GC,16553,0.64,194.6,179.7,10.2,1590,16557,0.00,1.65,0.00,0.000,4,0.000,0.049,2960,3176,2027
$GC,16586,0.64,194.6,176.2,10.3,1593,16589,0.00,1.55,0.00,0.000,6,0.000,0.032,2965,2271,2027
$GC,16907,0.64,194.6,141.5,10.1,1624,16908,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2272,2028
$GC,17217,0.64,194.6,109.3,10.3,1654,17220,0.00,1.60,0.00,0.000,4,0.000,0.048,2966,3179,2029
$GC,17270,0.64,194.6,103.9,10.0,1659,17274,0.00,1.55,0.00,0.000,6,0.000,0.031,2973,2271,2029
$GC,17593,0.64,194.6,71.2,10.2,1690,17594,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2272,2031
$GC,17778,0.64,194.6,54.6,7.6,1708,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2273,2031
$GC,17964,0.71,252.9,42.4,6.0,1726,18013,0.00,1.67,43.85,0.539,4,0.000,0.045,2973,3180,1807
$GC,18056,0.75,282.4,36.8,6.7,1734,18083,0.00,1.55,23.58,0.518,6,0.000,0.029,2980,2275,1688
$GC,18272,0.90,402.6,27.2,4.3,1754,18367,0.15,1.25,89.53,0.519,4,0.060,0.035,3067,1361,1198
$GC,18416,0.90,402.6,14.9,8.6,1766,18422,0.08,1.25,0.00,0.000,6,0.112,0.035,3038,2281,1193
$GC,18607,1.10,567.7,6.5,3.2,1785,18717,0.17,0.00,107.03,0.493,2,0.097,0.000,3101,2281,600
$STATE,18717,end climb,SURFACE_DEPTH_REACHED
$STATE,18717,begin surface coast
$FINISH,0.8,1.018640
$STATE,18774,end surface coast,CONTROL_FINISHED_OK
$STATE,18774,begin surface
$SM_CCo,18789,29.02,0.466,0,0,403,597.54
$SM_GC,1.77,0.00,0.00,29.02,0.000,0.000,0.466,198,2333,403,-7.96,0.23,597.54
$IRIDIUM_FIX,2833.46,-8836.47,131099,161658
$TT8_MAMPS,0.052156
$HUMID,1379
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,22.6,48.720
$10V_AH,10.6,67.112
$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,20.325,83.050,588.475,29.025,0.000,29.382,29.576,202.976,4.000,0.000,0.000,13.061,0.000,12533.828,623.153,5364.364,658.755,33.340,2169.495,0.000,4818.380,0.000,28.020,0.000
$DEVICE_MAMPS,250.809,79.001,1242.540,466.336,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1230.333,1318.998,4045.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94559,1800
$CAP_FILE_SIZE,166272,0
$CFSIZE,260165632,230354944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,120.3,1
$GPS,200710,025206,2843.955,-8828.982,24,1.2,24,-0.4