version: 66.04
glider: 515
mission: 5
dive: 282
start: 7 21 110 0 31 41
data:
$ID,515
$MISSION,5
$DIVE,282
$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,-14
$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,-23852.141
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,001901,2842.816,-8837.624,41,0.8,41,-0.3
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.0
$GPS2,003102,2843.064,-8837.637,14,1.0,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.217,0.151
$KALMAN_X,15663.7,143.7,158.6,4324.3,2882.1
$KALMAN_Y,-414361.0,1450.6,1117.5,439005.2,-11526.4
$MHEAD_RNG_PITCHd_Wd,287.3,12024,-10.8,-7.500
$D_GRID,975
$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,15,-0.64,-194.6,0.0,0.0,0,69,0.00,0.00,-52.78,0.000,2,0.000,0.000,192,2346,1936
$GC,71,-0.64,-194.6,3.3,-3.6,5,132,10.50,1.30,-41.92,0.000,4,0.250,0.054,2539,1425,3634
$GC,271,-0.64,-194.6,38.8,-19.7,23,274,0.00,1.25,0.00,0.000,6,0.000,0.035,2535,2322,3635
$GC,468,-0.64,-194.6,68.8,-13.2,42,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2322,3635
$GC,654,-0.64,-194.6,92.0,-12.0,60,657,0.00,1.23,0.00,0.000,4,0.000,0.033,2537,1418,3636
$GC,696,-0.64,-194.6,97.3,-12.3,64,699,0.00,1.25,0.00,0.000,6,0.000,0.035,2533,2322,3636
$GC,894,-0.64,-194.6,121.6,-12.1,83,896,0.00,1.23,0.00,0.000,4,0.000,0.035,2533,1420,3636
$GC,957,-0.64,-194.6,129.4,-11.8,89,961,0.00,1.25,0.00,0.000,6,0.000,0.035,2527,2325,3636
$GC,1280,-0.64,-194.6,167.7,-11.5,120,1283,0.00,1.25,0.00,0.000,4,0.000,0.035,2527,1404,3636
$GC,1333,-0.64,-194.6,174.1,-11.6,125,1336,0.00,1.27,0.00,0.000,6,0.000,0.036,2522,2327,3636
$GC,1655,-0.64,-194.6,213.8,-12.4,156,1658,0.00,1.25,0.00,0.000,4,0.000,0.035,2521,1416,3634
$GC,1773,-0.64,-194.6,227.9,-12.0,167,1776,0.00,1.25,0.00,0.000,6,0.000,0.036,2516,2322,3633
$GC,2096,-0.64,-194.6,267.2,-12.2,198,2098,0.00,1.25,0.00,0.000,4,0.000,0.036,2516,1405,3631
$GC,2164,-0.64,-194.6,275.9,-11.4,204,2171,0.00,1.27,0.00,0.000,6,0.000,0.037,2510,2325,3631
$GC,2481,-0.64,-194.6,314.3,-11.9,235,2485,0.12,1.25,0.00,0.000,4,0.143,0.035,2543,1416,3629
$GC,2561,-0.64,-194.6,322.7,-9.8,242,2567,0.00,1.25,0.00,0.000,6,0.000,0.037,2539,2318,3628
$GC,2878,-0.64,-194.6,353.2,-9.7,273,2881,0.00,1.23,0.00,0.000,4,0.000,0.037,2539,1424,3626
$GC,2920,-0.64,-194.6,357.5,-9.2,277,2924,0.00,1.25,0.00,0.000,6,0.000,0.039,2534,2323,3625
$GC,3243,-0.64,-194.6,389.8,-10.2,308,3246,0.00,1.25,0.00,0.000,4,0.000,0.038,2534,1413,3622
$GC,3279,-0.64,-194.6,393.8,-10.6,311,3286,0.00,1.27,0.00,0.000,6,0.000,0.038,2528,2323,3623
$GC,3597,-0.64,-194.6,427.2,-10.3,342,3601,0.00,1.52,0.00,0.000,4,0.000,0.049,2521,3210,3620
$GC,3629,-0.64,-194.6,430.6,-10.3,345,3632,0.00,1.45,0.00,0.000,6,0.000,0.031,2521,2328,3619
$GC,3952,-0.64,-194.6,464.2,-10.0,376,3954,0.00,1.25,0.00,0.000,4,0.000,0.040,2521,1413,3617
$GC,4031,-0.64,-194.6,472.7,-9.4,383,4038,0.00,1.30,0.00,0.000,6,0.000,0.041,2515,2330,3617
$GC,4349,-0.64,-194.6,506.2,-11.1,414,4352,0.00,1.27,0.00,0.000,4,0.000,0.040,2515,1417,3614
$GC,4446,-0.64,-194.6,517.1,-11.3,423,4449,0.08,1.27,0.00,0.000,6,0.144,0.041,2534,2322,3614
$GC,4767,-0.64,-194.6,549.0,-10.1,454,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2323,3611
$GC,5078,-0.64,-194.6,578.7,-9.4,484,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2322,3609
$GC,5388,-0.64,-194.6,608.6,-9.7,514,5391,0.00,1.25,0.00,0.000,4,0.000,0.041,2534,1428,3607
$GC,5431,-0.64,-194.6,612.5,-9.2,518,5434,0.00,1.27,0.00,0.000,6,0.000,0.044,2531,2324,3606
$GC,5753,-0.64,-194.6,644.2,-10.0,549,5756,0.00,1.25,0.00,0.000,4,0.000,0.041,2531,1427,3604
$GC,5795,-0.64,-194.6,648.5,-9.8,553,5798,0.00,1.27,0.00,0.000,6,0.000,0.045,2526,2321,3603
$GC,6118,-0.64,-194.6,679.8,-9.5,584,6121,0.00,1.27,0.00,0.000,4,0.000,0.041,2526,1412,3602
$GC,6149,-0.64,-194.6,683.3,-9.9,587,6152,0.00,1.30,0.00,0.000,6,0.000,0.044,2520,2324,3602
$GC,6472,-0.64,-194.6,714.8,-10.0,618,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2324,3600
$GC,6781,-0.64,-194.6,744.5,-9.3,648,6784,0.00,1.27,0.00,0.000,4,0.000,0.042,2520,1416,3597
$GC,6845,-0.64,-194.6,750.7,-9.8,654,6847,0.00,1.30,0.00,0.000,6,0.000,0.044,2515,2324,3597
$GC,7168,-0.64,-194.6,782.9,-10.0,685,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2324,3595
$GC,7476,-0.64,-194.6,814.2,-9.9,715,7479,0.00,1.27,0.00,0.000,4,0.000,0.043,2515,1421,3594
$GC,7523,-0.64,-194.6,819.1,-10.0,719,7530,0.08,1.30,0.00,0.000,6,0.146,0.044,2533,2325,3594
$GC,7839,-0.64,-194.6,845.9,-8.2,750,7842,0.00,1.55,0.00,0.000,4,0.000,0.056,2528,3205,3592
$GC,7871,-0.64,-194.6,848.7,-9.1,753,7874,0.00,1.48,0.00,0.000,6,0.000,0.036,2528,2327,3592
$GC,8192,-0.64,-194.6,876.6,-8.8,784,8195,0.00,1.27,0.00,0.000,4,0.000,0.044,2528,1419,3590
$GC,8256,-0.64,-194.6,882.3,-9.2,790,8260,0.00,1.30,0.00,0.000,6,0.000,0.047,2523,2322,3590
$STATE,8547,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8547,begin apogee
$GC,8551,-0.26,0.0,909.1,9.1,818,8709,0.43,0.00,150.68,1.177,6,0.133,0.000,2655,2273,2842
$STATE,8709,end apogee,CONTROL_FINISHED_OK
$STATE,8709,begin climb
$GC,8712,0.64,194.6,914.5,0.0,834,8889,0.90,1.77,166.82,1.152,4,0.105,0.057,2941,3156,2045
$GC,8905,0.64,194.6,900.9,9.7,851,8912,0.00,1.62,0.00,0.000,6,0.000,0.035,2948,2281,2041
$GC,9224,0.64,194.6,864.3,11.4,882,9227,0.00,1.25,0.00,0.000,4,0.000,0.043,2954,1367,2035
$GC,9330,0.64,194.6,852.4,11.3,892,9333,0.00,1.25,0.00,0.000,6,0.000,0.044,2954,2265,2035
$GC,9653,0.64,194.6,816.6,11.3,923,9656,0.00,1.62,0.00,0.000,4,0.000,0.054,2954,3187,2033
$GC,9696,0.64,194.6,811.4,11.5,927,9699,0.00,1.58,0.00,0.000,6,0.000,0.036,2961,2272,2032
$GC,10018,0.64,194.6,774.3,11.3,958,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2273,2031
$GC,10328,0.64,194.6,738.4,11.8,988,10331,0.00,1.20,0.00,0.000,4,0.000,0.041,2967,1372,2031
$GC,10375,0.64,194.6,732.8,12.1,992,10382,0.00,1.25,0.00,0.000,6,0.000,0.043,2967,2276,2030
$GC,10692,0.64,194.6,695.4,11.8,1023,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2276,2030
$GC,11002,0.64,194.6,658.0,12.0,1053,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2276,2029
$GC,11312,0.64,194.6,620.2,12.6,1083,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2276,2028
$GC,11622,0.64,194.6,583.0,11.8,1113,11626,0.00,1.25,0.00,0.000,4,0.000,0.042,2973,1362,2028
$GC,11654,0.64,194.6,579.2,12.1,1116,11657,0.00,1.27,0.00,0.000,6,0.000,0.044,2973,2282,2028
$GC,11975,0.64,194.6,540.2,12.1,1147,11978,0.00,1.58,0.00,0.000,4,0.000,0.053,2973,3164,2027
$GC,12007,0.64,194.6,536.1,13.0,1150,12010,0.00,1.55,0.00,0.000,6,0.000,0.035,2980,2270,2027
$GC,12329,0.64,194.6,495.6,12.3,1181,12330,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2271,2026
$GC,12638,0.64,194.6,456.4,12.8,1211,12641,0.00,1.65,0.00,0.000,4,0.000,0.053,2980,3174,2026
$GC,12664,0.64,194.6,453.0,13.6,1213,12672,0.10,1.55,0.00,0.000,6,0.142,0.035,2956,2275,2026
$GC,12980,0.64,194.6,419.3,10.4,1244,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2026
$GC,13292,0.64,194.6,386.2,11.1,1274,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2026
$GC,13601,0.64,194.6,352.9,10.8,1304,13604,0.00,1.62,0.00,0.000,4,0.000,0.051,2956,3196,2026
$GC,13637,0.64,194.6,348.5,12.3,1307,13644,0.00,1.58,0.00,0.000,6,0.000,0.033,2962,2274,2026
$GC,13955,0.64,194.6,313.0,11.5,1338,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2275,2026
$GC,14264,0.64,194.6,277.8,11.6,1368,14265,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2275,2026
$GC,14575,0.64,194.6,244.3,10.9,1398,14578,0.00,1.60,0.00,0.000,4,0.000,0.050,2962,3183,2026
$GC,14611,0.64,194.6,239.9,12.6,1401,14619,0.00,1.58,0.00,0.000,6,0.000,0.032,2970,2265,2026
$GC,14929,0.64,194.6,203.6,11.8,1432,14933,0.00,1.62,0.00,0.000,4,0.000,0.048,2969,3166,2026
$GC,14961,0.64,194.6,199.6,12.7,1435,14964,0.00,1.52,0.00,0.000,6,0.000,0.031,2977,2273,2026
$GC,15284,0.64,194.6,160.9,12.1,1466,15285,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2274,2027
$GC,15592,0.64,194.6,125.4,11.2,1496,15593,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2274,2028
$GC,15903,0.64,194.6,91.2,10.7,1526,15906,0.00,1.60,0.00,0.000,4,0.000,0.047,2977,3167,2029
$GC,15950,0.64,194.6,85.8,11.1,1530,15957,0.00,1.52,0.00,0.000,6,0.000,0.029,2984,2270,2029
$GC,16142,0.64,194.6,65.6,9.8,1549,16146,0.12,1.62,0.00,0.000,4,0.139,0.047,2950,3177,2029
$GC,16179,0.64,194.6,62.5,8.0,1552,16186,0.00,1.52,0.00,0.000,6,0.000,0.029,2955,2272,2029
$GC,16371,0.70,241.9,49.6,6.3,1571,16411,0.00,1.62,35.62,0.539,4,0.000,0.046,2955,3169,1853
$GC,16476,0.70,241.9,42.9,7.6,1580,16483,0.00,1.52,0.00,0.000,6,0.000,0.028,2963,2271,1850
$GC,16669,0.85,366.6,34.1,4.2,1599,16768,0.17,1.23,93.70,0.527,4,0.057,0.034,3059,1368,1344
$GC,16802,0.85,366.6,23.5,9.9,1610,16808,0.10,1.25,0.00,0.000,6,0.114,0.034,3025,2279,1340
$GC,16994,0.85,366.6,10.5,8.1,1629,16995,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2279,1336
$GC,17180,1.06,533.2,3.7,3.1,1647,17196,0.17,0.00,13.93,0.456,2,0.080,0.000,3091,2279,1268
$STATE,17196,end climb,SURFACE_DEPTH_REACHED
$STATE,17196,begin surface coast
$FINISH,0.7,1.020314
$STATE,17273,end surface coast,CONTROL_FINISHED_OK
$STATE,17273,begin surface
$SM_CCo,17289,109.43,0.479,0,0,402,597.54
$SM_GC,1.67,0.00,0.00,109.43,0.000,0.000,0.479,193,2341,402,-7.98,0.45,597.54
$IRIDIUM_FIX,2831.00,-8838.98,151099,000004
$TT8_MAMPS,0.051389
$HUMID,1370
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,24.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,890.1,38.7
$24V_AH,22.9,49.574
$10V_AH,10.6,68.253
$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,20.525,91.025,460.750,109.425,0.000,59.805,60.842,398.329,2.250,0.000,0.000,16.678,0.000,11569.358,633.030,4984.833,899.343,33.340,2071.251,0.000,4453.910,0.000,18.514,0.000
$DEVICE_MAMPS,250.042,72.865,1176.578,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.408,1206.824,3722.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88349,1656
$CAP_FILE_SIZE,166015,0
$CFSIZE,260165632,229912576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,144.7,1
$GPS,210710,052237,2843.066,-8839.891,34,1.3,34,-0.3