version: 66.04
glider: 515
mission: 5
dive: 315
start: 7 28 110 4 17 58
data:
$ID,515
$MISSION,5
$DIVE,315
$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,330
$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,-25271.301
$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,30
$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
$GPS1,041100,2840.455,-8839.494,40,1.9,40,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.3
$GPS2,041719,2840.499,-8839.452,11,1.9,17,-0.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.044,0.291
$KALMAN_X,96166.7,-580.6,-443.5,-77794.8,4777.8
$KALMAN_Y,-495106.6,399.3,311.5,516895.7,-7969.3
$MHEAD_RNG_PITCHd_Wd,300.8,9675,-14.9,-10.000
$D_GRID,1130
$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,-0.77,-194.6,0.0,0.0,0,74,0.00,0.00,-57.60,0.000,2,0.000,0.000,203,2398,2105
$GC,76,-0.77,-194.6,3.1,-2.9,6,137,10.38,1.35,-42.62,0.000,4,0.254,0.053,2495,1458,3635
$GC,377,-0.77,-194.6,60.8,-15.7,33,384,0.00,1.30,0.00,0.000,6,0.000,0.035,2490,2363,3637
$GC,570,-0.77,-194.6,90.3,-14.9,52,572,0.00,1.27,0.00,0.000,4,0.000,0.033,2494,1464,3638
$GC,719,-0.77,-194.6,112.4,-14.5,66,722,0.00,1.33,0.00,0.000,6,0.000,0.035,2490,2384,3639
$GC,1042,-0.77,-194.6,161.5,-15.5,97,1045,0.00,1.30,0.00,0.000,4,0.000,0.034,2494,1467,3639
$GC,1170,-0.77,-194.6,180.6,-14.3,109,1173,0.00,1.27,0.00,0.000,6,0.000,0.035,2490,2364,3639
$GC,1493,-0.77,-194.6,226.8,-14.0,140,1496,0.00,1.27,0.00,0.000,4,0.000,0.034,2494,1466,3639
$GC,1568,-0.77,-194.6,237.5,-13.4,147,1571,0.00,1.30,0.00,0.000,6,0.000,0.035,2490,2377,3638
$GC,1891,-0.77,-194.6,282.5,-13.4,178,1894,0.00,1.30,0.00,0.000,4,0.000,0.035,2494,1459,3637
$GC,2009,-0.77,-194.6,298.2,-12.5,189,2012,0.00,1.30,0.00,0.000,6,0.000,0.037,2490,2364,3636
$GC,2332,-0.77,-194.6,341.8,-13.6,220,2335,0.00,1.27,0.00,0.000,4,0.000,0.036,2492,1469,3634
$GC,2411,-0.77,-194.6,352.7,-12.6,227,2418,0.00,1.33,0.00,0.000,6,0.000,0.036,2488,2388,3634
$GC,2729,-0.77,-194.6,395.5,-13.7,258,2732,0.00,1.30,0.00,0.000,4,0.000,0.036,2489,1475,3632
$GC,2847,-0.77,-194.6,411.4,-12.8,269,2850,0.00,1.27,0.00,0.000,6,0.000,0.038,2485,2357,3632
$GC,3169,-0.77,-194.6,455.6,-13.3,300,3173,0.00,1.27,0.00,0.000,4,0.000,0.038,2485,1467,3629
$GC,3280,-0.77,-194.6,471.4,-13.4,310,3289,0.00,1.35,0.00,0.000,6,0.000,0.039,2479,2391,3628
$GC,3599,-0.77,-194.6,515.3,-13.6,341,3602,0.00,1.33,0.00,0.000,4,0.000,0.039,2479,1474,3627
$GC,3728,-0.77,-194.6,533.2,-13.5,353,3731,0.00,1.30,0.00,0.000,6,0.000,0.041,2474,2363,3625
$GC,4051,-0.77,-194.6,578.5,-14.2,384,4054,0.00,1.30,0.00,0.000,4,0.000,0.041,2474,1469,3623
$GC,4190,-0.77,-194.6,598.3,-13.7,397,4194,0.08,1.35,0.00,0.000,6,0.166,0.042,2490,2386,3622
$GC,4512,-0.77,-194.6,637.6,-11.9,428,4515,0.00,1.33,0.00,0.000,4,0.000,0.041,2490,1479,3619
$GC,4644,-0.77,-194.6,653.5,-12.1,440,4651,0.00,1.30,0.00,0.000,6,0.000,0.042,2486,2358,3618
$GC,4962,-0.77,-194.6,692.7,-12.5,471,4965,0.00,1.30,0.00,0.000,4,0.000,0.042,2486,1470,3616
$GC,5027,-0.77,-194.6,700.8,-11.8,477,5030,0.00,1.35,0.00,0.000,6,0.000,0.044,2480,2382,3617
$GC,5349,-0.77,-194.6,741.5,-12.6,508,5352,0.00,1.33,0.00,0.000,4,0.000,0.043,2480,1478,3614
$GC,5435,-0.77,-194.6,752.6,-12.4,516,5438,0.00,1.33,0.00,0.000,6,0.000,0.044,2474,2373,3614
$GC,5758,-0.77,-194.6,794.2,-12.7,547,5761,0.00,1.33,0.00,0.000,4,0.000,0.043,2474,1471,3611
$GC,5876,-0.77,-194.6,809.6,-13.3,558,5879,0.00,1.33,0.00,0.000,6,0.000,0.044,2469,2366,3610
$GC,6197,-0.77,-194.6,851.6,-13.2,589,6200,0.12,1.33,0.00,0.000,4,0.175,0.043,2499,1473,3608
$GC,6315,-0.77,-194.6,864.9,-11.9,600,6318,0.00,1.35,0.00,0.000,6,0.000,0.045,2494,2380,3607
$GC,6637,-0.77,-194.6,900.9,-11.2,631,6640,0.00,1.33,0.00,0.000,4,0.000,0.044,2494,1482,3605
$GC,6724,-0.77,-194.6,910.4,-11.2,639,6727,0.00,1.33,0.00,0.000,6,0.000,0.046,2488,2369,3605
$GC,7045,-0.77,-194.6,945.5,-11.0,670,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2369,3603
$GC,7356,-0.77,-194.6,980.2,-11.1,700,7359,0.00,1.33,0.00,0.000,4,0.000,0.044,2488,1473,3602
$STATE,7445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7445,begin apogee
$GC,7451,-0.25,0.0,990.4,11.5,708,7610,0.57,0.00,156.18,1.236,6,0.143,0.000,2656,2276,2840
$STATE,7610,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7613,0.77,194.6,995.1,0.0,724,7793,1.05,1.80,170.57,1.204,4,0.100,0.055,2988,3163,2046
$GC,7836,0.77,194.6,971.2,15.7,743,7839,0.00,1.60,0.00,0.000,6,0.000,0.035,2996,2270,2040
$GC,8159,0.77,194.6,920.5,16.3,774,8161,0.00,1.62,0.00,0.000,4,0.000,0.054,2996,3182,2035
$GC,8227,0.77,194.6,908.7,16.6,780,8234,0.00,1.58,0.00,0.000,6,0.000,0.035,3003,2270,2033
$GC,8546,0.77,194.6,857.6,16.3,811,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2271,2033
$GC,8854,0.77,194.6,807.9,15.6,841,8856,0.00,1.62,0.00,0.000,4,0.000,0.053,3003,3190,2032
$GC,8901,0.77,194.6,800.2,16.3,845,8907,0.00,1.58,0.00,0.000,6,0.000,0.035,3011,2271,2030
$GC,9219,0.77,194.6,750.1,16.0,876,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2272,2030
$GC,9528,0.77,194.6,701.9,15.6,906,9531,0.00,1.62,0.00,0.000,4,0.000,0.054,3010,3190,2030
$GC,9602,0.77,194.6,689.3,17.5,913,9605,0.00,1.58,0.00,0.000,6,0.000,0.035,3018,2269,2028
$GC,9925,0.77,194.6,636.0,17.1,944,9928,0.00,1.62,0.00,0.000,4,0.000,0.054,3018,3188,2028
$GC,9978,0.77,194.6,626.3,18.2,949,9982,0.10,1.58,0.00,0.000,6,0.161,0.036,2996,2270,2027
$GC,10299,0.77,194.6,579.3,14.1,980,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2271,2027
$GC,10610,0.77,194.6,535.5,13.7,1010,10613,0.00,1.62,0.00,0.000,4,0.000,0.053,2996,3189,2027
$GC,10663,0.77,194.6,527.5,14.4,1015,10667,0.00,1.58,0.00,0.000,6,0.000,0.036,3002,2269,2026
$GC,10986,0.77,194.6,481.0,14.8,1046,10989,0.00,1.62,0.00,0.000,4,0.000,0.053,3002,3184,2027
$GC,11050,0.77,194.6,471.1,15.8,1052,11053,0.00,1.55,0.00,0.000,6,0.000,0.035,3010,2274,2026
$GC,11371,0.77,194.6,422.2,15.5,1083,11374,0.00,1.62,0.00,0.000,4,0.000,0.052,3010,3198,2026
$GC,11446,0.77,194.6,410.3,16.4,1090,11448,0.00,1.58,0.00,0.000,6,0.000,0.035,3017,2272,2025
$GC,11769,0.77,194.6,359.1,16.0,1121,11772,0.00,1.60,0.00,0.000,4,0.000,0.051,3018,3181,2026
$GC,11833,0.77,194.6,348.0,17.1,1127,11836,0.05,1.55,0.00,0.000,6,0.142,0.034,2998,2273,2026
$GC,12154,0.77,194.6,301.8,13.8,1158,12157,0.00,1.60,0.00,0.000,4,0.000,0.051,2995,3182,2026
$GC,12208,0.77,194.6,294.0,14.6,1163,12211,0.00,1.55,0.00,0.000,6,0.000,0.034,3001,2274,2026
$GC,12531,0.77,194.6,248.3,14.2,1194,12534,0.00,1.60,0.00,0.000,4,0.000,0.050,3001,3189,2026
$GC,12567,0.77,194.6,242.6,14.7,1197,12574,0.00,1.55,0.00,0.000,6,0.000,0.032,3008,2273,2026
$GC,12885,0.77,194.6,196.7,14.4,1228,12888,0.00,1.60,0.00,0.000,4,0.000,0.049,3009,3168,2026
$GC,12921,0.77,194.6,191.1,14.8,1231,12929,0.00,1.52,0.00,0.000,6,0.000,0.031,3016,2269,2026
$GC,13240,0.77,194.6,145.2,14.7,1262,13243,0.00,1.60,0.00,0.000,4,0.000,0.048,3016,3185,2027
$GC,13293,0.77,194.6,137.1,14.1,1267,13296,0.00,1.55,0.00,0.000,6,0.000,0.031,3024,2269,2027
$GC,13616,0.77,194.6,90.0,14.1,1298,13619,0.00,1.60,0.00,0.000,4,0.000,0.048,3024,3167,2028
$GC,13663,0.77,194.6,82.9,14.0,1302,13672,0.10,1.50,0.00,0.000,6,0.153,0.030,3001,2274,2028
$GC,13856,0.77,194.6,61.5,10.6,1321,13856,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2275,2028
$GC,14043,0.85,259.2,45.8,7.8,1339,14101,0.00,1.65,48.78,0.544,4,0.000,0.046,3000,3175,1782
$GC,14134,0.92,318.1,38.7,8.0,1347,14184,0.05,1.52,45.53,0.532,6,0.067,0.029,3055,2272,1542
$GC,14378,0.99,376.4,17.3,8.0,1370,14425,0.00,1.17,44.22,0.509,4,0.000,0.033,3061,1364,1304
$GC,14550,1.11,471.3,6.3,6.7,1386,14591,0.08,1.25,36.72,0.493,2,0.057,0.035,3112,2282,1108
$STATE,14591,end climb,SURFACE_DEPTH_REACHED
$STATE,14591,begin surface coast
$FINISH,0.7,1.022470
$STATE,14620,end surface coast,CONTROL_FINISHED_OK
$STATE,14621,begin surface
$SM_CCo,14637,76.80,0.489,0,0,495,575.22
$SM_GC,1.66,0.00,0.00,76.80,0.000,0.000,0.489,196,2415,495,-7.97,1.13,575.22
$IRIDIUM_FIX,2828.55,-8836.53,221099,000059
$TT8_MAMPS,0.050622
$HUMID,1404
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,22.6,55.021
$10V_AH,10.5,75.685
$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,20.475,94.875,502.000,76.800,0.000,23.474,28.561,194.717,3.750,0.000,0.000,19.376,0.000,9429.949,602.703,4437.324,597.533,33.346,1947.169,0.000,3947.858,0.000,30.145,0.000
$DEVICE_MAMPS,253.877,55.224,1236.404,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,950.444,1019.319,3128.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72545,1392
$CAP_FILE_SIZE,146922,0
$CFSIZE,260165632,226992128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,121.8,1
$GPS,280710,082407,2840.540,-8840.758,32,1.2,32,-0.2