version: 66.04
glider: 515
mission: 5
dive: 310
start: 7 27 110 3 18 17
data:
$ID,515
$MISSION,5
$DIVE,310
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25188.414
$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,31
$R_STBD_OVSHOOT,59
$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
$GPS1,030907,2842.005,-8831.016,23,1.8,23,-0.4
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.2
$GPS2,031738,2842.080,-8830.920,12,1.8,12,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.252,0.081
$KALMAN_X,84108.0,-85.3,-287.9,-52514.7,5977.2
$KALMAN_Y,-476781.2,314.1,965.6,500904.8,-8718.7
$MHEAD_RNG_PITCHd_Wd,283.9,22879,-10.8,-7.500
$D_GRID,1368
$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,-0.63,-194.6,0.0,0.0,0,90,0.00,0.00,-73.93,0.000,2,0.000,0.000,194,2422,2533
$GC,92,-0.63,-194.6,3.4,-3.8,7,133,10.65,1.35,-26.48,0.000,4,0.253,0.054,2538,1458,3634
$GC,236,-0.63,-194.6,33.6,-20.5,19,242,0.00,1.27,0.00,0.000,6,0.000,0.037,2534,2344,3636
$GC,428,-0.63,-194.6,63.6,-11.8,38,430,0.00,1.25,0.00,0.000,4,0.000,0.035,2536,1466,3636
$GC,582,-0.63,-194.6,82.4,-10.8,52,590,0.00,1.33,0.00,0.000,6,0.000,0.035,2532,2388,3637
$GC,774,-0.63,-194.6,106.6,-12.8,71,776,0.00,1.30,0.00,0.000,4,0.000,0.035,2532,1477,3639
$GC,827,-0.63,-194.6,113.4,-12.4,76,830,0.00,1.27,0.00,0.000,6,0.000,0.035,2526,2366,3639
$GC,1150,-0.63,-194.6,154.1,-12.5,107,1153,0.00,1.27,0.00,0.000,4,0.000,0.035,2526,1475,3638
$GC,1278,-0.63,-194.6,170.2,-12.7,119,1281,0.00,1.30,0.00,0.000,6,0.000,0.037,2521,2381,3638
$GC,1601,-0.63,-194.6,209.5,-12.3,150,1604,0.00,1.30,0.00,0.000,4,0.000,0.036,2520,1475,3637
$GC,1712,-0.63,-194.6,223.5,-12.3,160,1720,0.00,1.30,0.00,0.000,6,0.000,0.036,2515,2376,3636
$GC,2030,-0.63,-194.6,262.3,-12.0,191,2034,0.12,1.30,0.00,0.000,4,0.141,0.035,2549,1467,3635
$GC,2137,-0.63,-194.6,273.4,-10.3,201,2140,0.00,1.30,0.00,0.000,6,0.000,0.038,2546,2370,3634
$GC,2460,-0.63,-194.6,304.7,-9.6,232,2463,0.00,1.30,0.00,0.000,4,0.000,0.038,2545,1464,3633
$GC,2561,-0.63,-194.6,315.1,-9.6,241,2568,0.00,1.33,0.00,0.000,6,0.000,0.038,2539,2377,3632
$GC,2879,-0.63,-194.6,346.8,-10.0,272,2882,0.00,1.30,0.00,0.000,4,0.000,0.039,2540,1476,3629
$GC,2975,-0.63,-194.6,356.2,-9.3,281,2978,0.00,1.30,0.00,0.000,6,0.000,0.039,2534,2373,3629
$GC,3298,-0.63,-194.6,388.0,-10.0,312,3302,0.00,1.30,0.00,0.000,4,0.000,0.038,2534,1469,3627
$GC,3448,-0.63,-194.6,402.6,-9.6,326,3451,0.00,1.33,0.00,0.000,6,0.000,0.040,2529,2378,3625
$GC,3771,-0.63,-194.6,434.4,-10.1,357,3774,0.00,1.33,0.00,0.000,4,0.000,0.040,2529,1462,3624
$GC,3871,-0.63,-194.6,444.7,-9.9,366,3878,0.00,1.33,0.00,0.000,6,0.000,0.041,2523,2370,3622
$GC,4189,-0.63,-194.6,478.0,-10.5,397,4192,0.00,1.30,0.00,0.000,4,0.000,0.041,2523,1477,3621
$GC,4290,-0.63,-194.6,488.9,-10.5,406,4297,0.00,1.33,0.00,0.000,6,0.000,0.041,2517,2382,3620
$GC,4607,-0.63,-194.6,523.6,-10.9,437,4611,0.00,1.33,0.00,0.000,4,0.000,0.041,2517,1476,3617
$GC,4715,-0.63,-194.6,535.6,-11.5,447,4718,0.08,1.30,0.00,0.000,6,0.141,0.041,2536,2362,3617
$GC,5035,-0.63,-194.6,565.0,-9.3,478,5038,0.00,1.30,0.00,0.000,4,0.000,0.042,2537,1478,3616
$GC,5089,-0.63,-194.6,569.7,-9.3,483,5092,0.00,1.33,0.00,0.000,6,0.000,0.042,2533,2379,3615
$GC,5412,-0.63,-194.6,599.4,-9.5,514,5415,0.00,1.33,0.00,0.000,4,0.000,0.042,2533,1474,3613
$GC,5530,-0.63,-194.6,610.5,-9.2,525,5532,0.00,1.33,0.00,0.000,6,0.000,0.043,2527,2372,3612
$GC,5852,-0.63,-194.6,640.8,-9.2,556,5855,0.00,1.30,0.00,0.000,4,0.000,0.042,2527,1488,3609
$GC,5949,-0.63,-194.6,650.4,-10.4,565,5951,0.00,1.33,0.00,0.000,6,0.000,0.044,2521,2379,3609
$GC,6271,-0.63,-194.6,682.0,-10.2,596,6275,0.00,1.33,0.00,0.000,4,0.000,0.043,2522,1485,3607
$GC,6372,-0.63,-194.6,692.2,-9.8,605,6379,0.00,1.33,0.00,0.000,6,0.000,0.044,2516,2377,3607
$GC,6690,-0.63,-194.6,723.7,-10.1,636,6693,0.00,1.33,0.00,0.000,4,0.000,0.043,2516,1480,3605
$GC,6743,-0.63,-194.6,729.4,-10.3,641,6746,0.08,1.33,0.00,0.000,6,0.143,0.044,2535,2373,3604
$GC,7064,-0.63,-194.6,757.5,-8.5,672,7067,0.00,1.33,0.00,0.000,4,0.000,0.044,2535,1475,3603
$GC,7100,-0.63,-194.6,761.0,-9.1,675,7108,0.00,1.35,0.00,0.000,6,0.000,0.044,2531,2379,3603
$GC,7419,-0.63,-194.6,788.4,-8.7,706,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2379,3601
$GC,7728,-0.63,-194.6,814.7,-8.6,736,7731,0.00,1.33,0.00,0.000,4,0.000,0.044,2531,1489,3600
$GC,7888,-0.63,-194.6,828.3,-8.0,751,7891,0.00,1.33,0.00,0.000,6,0.000,0.046,2527,2373,3599
$GC,8209,-0.63,-194.6,855.1,-8.4,782,8212,0.00,1.33,0.00,0.000,4,0.000,0.044,2527,1478,3598
$GC,8305,-0.63,-194.6,863.4,-8.4,791,8308,0.00,1.35,0.00,0.000,6,0.000,0.046,2521,2380,3597
$GC,8627,-0.63,-194.6,890.7,-8.5,822,8630,0.00,1.33,0.00,0.000,4,0.000,0.044,2521,1489,3596
$GC,8702,-0.63,-194.6,897.3,-8.8,829,8705,0.00,1.33,0.00,0.000,6,0.000,0.046,2515,2372,3596
$GC,9023,-0.63,-194.6,925.9,-9.2,860,9026,0.00,1.33,0.00,0.000,4,0.000,0.044,2516,1479,3594
$GC,9066,-0.63,-194.6,929.8,-9.6,864,9070,0.10,1.35,0.00,0.000,6,0.138,0.046,2541,2379,3594
$GC,9387,-0.63,-194.6,954.9,-8.0,895,9390,0.00,1.33,0.00,0.000,4,0.000,0.044,2541,1484,3593
$GC,9466,-0.63,-194.6,961.4,-7.6,902,9473,0.00,1.33,0.00,0.000,6,0.000,0.046,2538,2364,3593
$GC,9783,-0.63,-194.6,987.3,-8.5,933,9785,0.00,1.33,0.00,0.000,4,0.000,0.044,2538,1471,3592
$STATE,9817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9817,begin apogee
$GC,9823,-0.25,0.0,990.4,8.5,936,9981,0.40,0.00,155.50,1.242,6,0.132,0.000,2659,2270,2840
$STATE,9982,end apogee,CONTROL_FINISHED_OK
$STATE,9982,begin climb
$GC,9985,0.63,194.6,995.4,0.0,952,10163,0.90,1.77,172.32,1.213,4,0.100,0.057,2943,3164,2046
$GC,10185,0.63,194.6,980.1,11.8,971,10193,0.00,1.65,0.00,0.000,6,0.000,0.035,2950,2276,2042
$GC,10503,0.63,194.6,943.0,11.7,1002,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2277,2035
$GC,10812,0.63,194.6,906.9,11.2,1032,10815,0.00,1.62,0.00,0.000,4,0.000,0.056,2951,3199,2033
$GC,10844,0.63,194.6,903.2,12.8,1035,10847,0.00,1.60,0.00,0.000,6,0.000,0.037,2958,2271,2032
$GC,11165,0.63,194.6,864.1,12.1,1066,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2272,2032
$GC,11476,0.63,194.6,826.5,12.2,1096,11479,0.00,1.60,0.00,0.000,4,0.000,0.054,2958,3173,2031
$GC,11508,0.63,194.6,822.4,12.9,1099,11511,0.00,1.55,0.00,0.000,6,0.000,0.036,2965,2270,2030
$GC,11829,0.63,194.6,781.9,13.1,1130,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2271,2030
$GC,12140,0.63,194.6,743.1,13.4,1160,12142,0.00,1.62,0.00,0.000,4,0.000,0.054,2966,3188,2030
$GC,12218,0.63,194.6,732.5,13.4,1167,12225,0.00,1.58,0.00,0.000,6,0.000,0.035,2973,2269,2029
$GC,12537,0.63,194.6,691.1,12.9,1198,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2271,2029
$GC,12845,0.63,194.6,651.0,12.6,1228,12848,0.00,1.60,0.00,0.000,4,0.000,0.054,2973,3171,2029
$GC,12893,0.63,194.6,644.9,12.6,1232,12900,0.08,1.55,0.00,0.000,6,0.152,0.035,2957,2272,2028
$GC,13209,0.63,194.6,610.0,10.4,1263,13212,0.00,1.23,0.00,0.000,4,0.000,0.043,2961,1364,2028
$GC,13252,0.63,194.6,605.2,11.4,1267,13254,0.00,1.27,0.00,0.000,6,0.000,0.044,2961,2280,2028
$GC,13572,0.63,194.6,568.9,10.9,1298,13575,0.00,1.58,0.00,0.000,4,0.000,0.054,2961,3164,2028
$GC,13604,0.63,194.6,565.2,12.0,1301,13607,0.00,1.52,0.00,0.000,6,0.000,0.036,2967,2272,2028
$GC,13925,0.63,194.6,526.8,11.9,1332,13926,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2273,2028
$GC,14236,0.63,194.6,489.8,11.7,1362,14239,0.00,1.62,0.00,0.000,4,0.000,0.054,2967,3172,2028
$GC,14272,0.63,194.6,485.3,12.7,1365,14280,0.00,1.55,0.00,0.000,6,0.000,0.035,2975,2269,2028
$GC,14590,0.63,194.6,446.4,12.4,1396,14593,0.00,1.60,0.00,0.000,4,0.000,0.053,2975,3175,2028
$GC,14615,0.63,194.6,442.9,13.4,1398,14623,0.10,1.55,0.00,0.000,6,0.141,0.034,2952,2273,2028
$GC,14932,0.63,194.6,409.6,10.5,1429,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2274,2028
$GC,15243,0.63,194.6,377.5,10.4,1459,15246,0.00,1.60,0.00,0.000,4,0.000,0.051,2952,3182,2028
$GC,15275,0.63,194.6,374.1,10.8,1462,15278,0.00,1.55,0.00,0.000,6,0.000,0.035,2957,2274,2028
$GC,15598,0.63,194.6,340.0,10.4,1493,15599,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2275,2028
$GC,15907,0.63,194.6,307.1,10.5,1523,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2275,2028
$GC,16217,0.63,194.6,273.3,10.5,1553,16219,0.00,1.60,0.00,0.000,4,0.000,0.051,2958,3184,2028
$GC,16281,0.63,194.6,266.3,11.1,1559,16284,0.00,1.55,0.00,0.000,6,0.000,0.034,2965,2272,2028
$GC,16604,0.63,194.6,231.8,10.9,1590,16606,0.00,1.62,0.00,0.000,4,0.000,0.050,2965,3195,2029
$GC,16635,0.63,194.6,227.8,13.1,1593,16638,0.00,1.58,0.00,0.000,6,0.000,0.032,2972,2268,2028
$GC,16959,0.63,194.6,190.6,11.6,1624,16959,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2270,2029
$GC,17267,0.63,194.6,155.5,10.8,1654,17270,0.00,1.62,0.00,0.000,4,0.000,0.048,2972,3199,2029
$GC,17325,0.63,194.6,148.5,11.3,1659,17332,0.08,1.55,0.00,0.000,6,0.143,0.030,2955,2277,2030
$GC,17641,0.63,194.6,119.5,9.1,1690,17644,0.00,1.60,0.00,0.000,4,0.000,0.048,2955,3175,2031
$GC,17684,0.63,194.6,115.7,8.8,1694,17688,0.00,1.52,0.00,0.000,6,0.000,0.031,2961,2270,2031
$GC,18005,0.63,194.6,86.6,8.6,1725,18008,0.00,1.60,0.00,0.000,4,0.000,0.047,2961,3167,2032
$GC,18102,0.63,194.6,77.7,8.7,1734,18105,0.00,1.50,0.00,0.000,6,0.000,0.030,2968,2271,2032
$GC,18299,0.63,194.6,59.9,9.0,1753,18302,0.00,1.60,0.00,0.000,4,0.000,0.046,2968,3194,2033
$GC,18330,0.63,194.6,56.9,9.2,1756,18333,0.00,1.55,0.00,0.000,6,0.000,0.029,2976,2270,2033
$GC,18528,0.68,240.8,42.5,6.3,1775,18566,0.00,1.23,35.35,0.529,4,0.000,0.035,2981,1367,1857
$GC,18679,0.82,355.8,33.9,4.5,1788,18771,0.00,1.25,87.55,0.528,6,0.000,0.035,2981,2280,1388
$GC,18955,0.84,368.2,19.1,7.2,1814,18967,0.10,0.00,9.77,0.452,6,0.091,0.000,3018,2280,1337
$GC,19152,0.87,390.4,5.5,6.9,1833,19176,0.00,1.55,17.67,0.467,4,0.000,0.044,3018,3165,1249
$STATE,19184,end climb,SURFACE_DEPTH_REACHED
$STATE,19184,begin surface coast
$FINISH,0.9,0.998615
$STATE,19216,end surface coast,CONTROL_FINISHED_OK
$STATE,19216,begin surface
$SM_CCo,19233,88.88,0.482,0,0,495,575.22
$SM_GC,1.75,0.00,0.00,88.88,0.000,0.000,0.482,204,2346,495,-7.95,-0.82,575.22
$IRIDIUM_FIX,2833.46,-8826.65,201099,212125
$TT8_MAMPS,0.051389
$HUMID,1400
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.20
$XPDR_PINGS,0
$24V_AH,22.5,54.186
$10V_AH,10.5,74.646
$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,20.300,118.450,478.175,88.875,0.000,28.750,34.141,308.557,3.750,0.000,0.000,14.501,0.000,12668.560,638.582,5684.861,804.534,33.347,2289.071,0.000,5076.625,0.000,28.349,0.000
$DEVICE_MAMPS,253.110,56.758,1241.773,482.443,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1258.484,1352.318,4133.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97729,1839
$CAP_FILE_SIZE,187389,0
$CFSIZE,260165632,227364864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,119.3,1
$GPS,270710,084107,2841.386,-8832.896,25,1.7,25,-0.3