version: 66.04
glider: 515
mission: 5
dive: 318
start: 7 28 110 16 57 15
data:
$ID,515
$MISSION,5
$DIVE,318
$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,-25331.49
$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,50
$R_STBD_OVSHOOT,20
$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
$GPS1,165006,2841.236,-8843.163,22,1.6,22,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.4
$GPS2,165636,2841.213,-8843.121,14,1.2,30,-0.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.082,0.283
$KALMAN_X,93920.5,-72.9,164.5,-82659.8,581.9
$KALMAN_Y,-509523.8,1104.2,520.3,531695.9,-10298.7
$MHEAD_RNG_PITCHd_Wd,295.4,3761,-14.9,-10.000
$D_GRID,1167
$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,-194.6,0.0,0.0,0,81,0.00,0.00,-64.75,0.000,2,0.000,0.000,204,2344,2291
$GC,84,-0.77,-194.6,3.1,-2.8,6,142,10.40,1.62,-39.35,0.000,4,0.253,0.069,2487,3287,3637
$GC,303,-0.77,-194.6,47.1,-18.4,26,305,0.00,1.45,0.00,0.000,6,0.000,0.028,2492,2376,3638
$GC,500,-0.77,-194.6,77.4,-14.7,45,503,0.00,1.25,0.00,0.000,4,0.000,0.033,2497,1483,3639
$GC,585,-0.77,-194.6,90.2,-16.9,53,588,0.00,1.30,0.00,0.000,6,0.000,0.035,2493,2389,3639
$GC,783,-0.77,-194.6,120.0,-16.3,72,785,0.00,1.27,0.00,0.000,4,0.000,0.034,2497,1492,3640
$GC,846,-0.77,-194.6,129.3,-13.2,78,849,0.00,1.25,0.00,0.000,6,0.000,0.035,2493,2370,3640
$GC,1169,-0.77,-194.6,177.7,-15.2,109,1172,0.00,1.25,0.00,0.000,4,0.000,0.034,2497,1488,3640
$GC,1259,-0.77,-194.6,190.6,-13.7,117,1267,0.00,1.27,0.00,0.000,6,0.000,0.035,2493,2377,3640
$GC,1577,-0.77,-194.6,236.2,-14.9,148,1580,0.00,1.25,0.00,0.000,4,0.000,0.034,2496,1494,3640
$GC,1674,-0.77,-194.6,249.5,-13.1,157,1676,0.00,1.25,0.00,0.000,6,0.000,0.036,2492,2367,3640
$GC,1996,-0.77,-194.6,293.3,-13.3,188,1999,0.00,1.25,0.00,0.000,4,0.000,0.035,2493,1484,3639
$GC,2075,-0.77,-194.6,303.9,-12.3,195,2082,0.00,1.30,0.00,0.000,6,0.000,0.036,2488,2385,3638
$GC,2394,-0.77,-194.6,346.8,-13.9,226,2397,0.00,1.27,0.00,0.000,4,0.000,0.036,2490,1487,3636
$GC,2500,-0.77,-194.6,361.4,-13.3,236,2503,0.00,1.27,0.00,0.000,6,0.000,0.038,2485,2371,3636
$GC,2824,-0.77,-194.6,405.3,-13.8,267,2826,0.00,1.25,0.00,0.000,4,0.000,0.036,2485,1493,3633
$GC,2920,-0.77,-194.6,419.0,-13.7,276,2923,0.00,1.27,0.00,0.000,6,0.000,0.038,2480,2377,3633
$GC,3243,-0.77,-194.6,464.2,-14.5,307,3246,0.00,1.27,0.00,0.000,4,0.000,0.037,2481,1489,3631
$GC,3339,-0.77,-194.6,477.5,-13.3,316,3342,0.00,1.27,0.00,0.000,6,0.000,0.039,2476,2367,3630
$GC,3662,-0.77,-194.6,520.7,-13.6,347,3665,0.00,1.27,0.00,0.000,4,0.000,0.039,2479,1482,3628
$GC,3801,-0.77,-194.6,539.0,-12.6,360,3804,0.00,1.33,0.00,0.000,6,0.000,0.041,2474,2388,3627
$GC,4124,-0.77,-194.6,581.8,-13.3,391,4127,0.00,1.30,0.00,0.000,4,0.000,0.040,2474,1491,3625
$GC,4300,-0.77,-194.6,605.4,-13.3,407,4307,0.00,1.27,0.00,0.000,6,0.000,0.041,2468,2359,3623
$GC,4618,-0.77,-194.6,648.0,-13.9,438,4619,0.12,0.00,0.00,0.000,6,0.173,0.000,2499,2359,3621
$GC,4928,-0.77,-194.6,683.6,-11.2,468,4931,0.00,1.25,0.00,0.000,4,0.000,0.041,2499,1501,3618
$GC,4996,-0.77,-194.6,691.6,-11.1,474,5003,0.00,1.30,0.00,0.000,6,0.000,0.043,2495,2385,3618
$GC,5314,-0.77,-194.6,726.9,-10.9,505,5317,0.00,1.30,0.00,0.000,4,0.000,0.043,2495,1495,3616
$GC,5421,-0.77,-194.6,739.6,-12.9,515,5424,0.00,1.30,0.00,0.000,6,0.000,0.044,2489,2373,3616
$GC,5744,-0.77,-194.6,776.9,-12.2,546,5747,0.00,1.27,0.00,0.000,4,0.000,0.043,2489,1505,3614
$GC,5898,-0.77,-194.6,796.1,-12.0,560,5905,0.00,1.30,0.00,0.000,6,0.000,0.044,2483,2379,3612
$GC,6216,-0.77,-194.6,834.9,-12.2,591,6219,0.00,1.30,0.00,0.000,4,0.000,0.043,2482,1488,3611
$GC,6345,-0.77,-194.6,850.8,-12.4,603,6348,0.00,1.30,0.00,0.000,6,0.000,0.046,2478,2363,3610
$GC,6666,-0.77,-194.6,889.7,-11.8,634,6670,0.00,1.27,0.00,0.000,4,0.000,0.044,2478,1493,3608
$GC,6799,-0.77,-194.6,906.0,-11.9,646,6805,0.00,1.33,0.00,0.000,6,0.000,0.046,2472,2382,3607
$GC,7115,-0.77,-194.6,944.2,-12.1,677,7117,0.00,1.30,0.00,0.000,4,0.000,0.044,2472,1501,3605
$GC,7255,-0.77,-194.6,961.1,-12.4,690,7259,0.08,1.30,0.00,0.000,6,0.168,0.045,2489,2372,3604
$STATE,7523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7523,begin apogee
$GC,7529,-0.25,0.0,990.3,10.5,716,7689,0.57,0.00,156.70,1.233,6,0.141,0.000,2661,2287,2840
$STATE,7689,end apogee,CONTROL_FINISHED_OK
$STATE,7689,begin climb
$GC,7691,0.77,194.6,995.1,0.0,732,7870,1.02,1.75,170.77,1.203,4,0.097,0.055,2986,3154,2046
$GC,7919,0.77,194.6,970.3,16.6,752,7926,0.00,1.60,0.00,0.000,6,0.000,0.033,2993,2278,2040
$GC,8237,0.77,194.6,920.9,15.4,783,8241,0.00,1.62,0.00,0.000,4,0.000,0.054,2993,3171,2035
$GC,8270,0.77,194.6,915.4,16.4,786,8272,0.00,1.55,0.00,0.000,6,0.000,0.035,3000,2273,2034
$GC,8592,0.77,194.6,862.5,16.4,817,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2274,2033
$GC,8901,0.77,194.6,811.5,17.0,847,8904,0.00,1.60,0.00,0.000,4,0.000,0.054,3001,3178,2032
$GC,8976,0.77,194.6,798.9,16.3,854,8979,0.00,1.55,0.00,0.000,6,0.000,0.035,3008,2273,2031
$GC,9299,0.77,194.6,745.8,16.3,885,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2274,2030
$GC,9608,0.77,194.6,695.3,16.3,915,9611,0.00,1.60,0.00,0.000,4,0.000,0.054,3008,3159,2030
$GC,9683,0.77,194.6,683.0,16.5,922,9686,0.00,1.52,0.00,0.000,6,0.000,0.036,3016,2273,2029
$GC,10005,0.77,194.6,632.3,16.0,953,10009,0.00,1.60,0.00,0.000,4,0.000,0.053,3016,3159,2028
$GC,10106,0.77,194.6,614.6,17.5,962,10113,0.00,1.52,0.00,0.000,6,0.000,0.035,3023,2274,2028
$GC,10424,0.77,194.6,560.5,17.2,993,10427,0.00,1.62,0.00,0.000,4,0.000,0.053,3024,3173,2027
$GC,10488,0.77,194.6,549.3,16.8,999,10491,0.08,1.55,0.00,0.000,6,0.150,0.035,2998,2271,2027
$GC,10810,0.77,194.6,503.4,14.4,1030,10812,0.00,1.60,0.00,0.000,4,0.000,0.052,2997,3174,2027
$GC,10856,0.77,194.6,496.2,14.6,1034,10864,0.00,1.55,0.00,0.000,6,0.000,0.034,3004,2270,2026
$GC,11174,0.77,194.6,448.6,15.4,1065,11177,0.00,1.62,0.00,0.000,4,0.000,0.052,3004,3190,2026
$GC,11222,0.77,194.6,440.7,16.7,1069,11229,0.00,1.58,0.00,0.000,6,0.000,0.035,3011,2269,2026
$GC,11540,0.77,194.6,391.5,15.6,1100,11542,0.00,1.62,0.00,0.000,4,0.000,0.052,3011,3191,2026
$GC,11593,0.77,194.6,382.5,15.2,1105,11596,0.00,1.55,0.00,0.000,6,0.000,0.034,3018,2276,2026
$GC,11914,0.77,194.6,330.6,15.9,1136,11917,0.00,1.60,0.00,0.000,4,0.000,0.051,3019,3190,2026
$GC,11967,0.77,194.6,321.8,16.2,1141,11971,0.08,1.55,0.00,0.000,6,0.143,0.033,2993,2276,2026
$GC,12288,0.77,194.6,277.1,14.1,1172,12291,0.00,1.60,0.00,0.000,4,0.000,0.051,2993,3169,2026
$GC,12320,0.77,194.6,272.8,13.9,1175,12323,0.00,1.52,0.00,0.000,6,0.000,0.033,2999,2272,2026
$GC,12641,0.77,194.6,228.4,14.1,1206,12644,0.00,1.60,0.00,0.000,4,0.000,0.050,2997,3164,2026
$GC,12705,0.77,194.6,219.2,14.6,1212,12708,0.00,1.52,0.00,0.000,6,0.000,0.032,3003,2268,2026
$GC,13028,0.77,194.6,174.2,13.7,1243,13031,0.00,1.60,0.00,0.000,4,0.000,0.049,3003,3162,2026
$GC,13103,0.77,194.6,162.7,14.9,1250,13106,0.00,1.50,0.00,0.000,6,0.000,0.031,3010,2273,2026
$GC,13424,0.77,194.6,115.9,14.0,1281,13427,0.00,1.60,0.00,0.000,4,0.000,0.048,3010,3172,2027
$GC,13492,0.77,194.6,105.9,13.7,1287,13500,0.00,1.52,0.00,0.000,6,0.000,0.030,3018,2270,2027
$GC,13810,0.77,194.6,62.9,12.4,1318,13814,0.00,1.60,0.00,0.000,4,0.000,0.047,3018,3171,2028
$GC,13864,0.77,194.6,55.4,11.9,1323,13867,0.08,1.50,0.00,0.000,6,0.150,0.029,2990,2274,2028
$GC,14061,0.94,335.0,40.5,5.1,1342,14175,0.17,0.00,105.32,0.540,6,0.061,0.000,3067,2275,1472
$GC,14359,1.04,415.4,11.7,7.2,1370,14421,0.00,0.00,60.17,0.507,6,0.000,0.000,3067,2275,1146
$STATE,14490,end climb,SURFACE_DEPTH_REACHED
$STATE,14490,begin surface coast
$FINISH,0.6,1.021939
$STATE,14531,end surface coast,CONTROL_FINISHED_OK
$STATE,14531,begin surface
$SM_CCo,14547,83.05,0.488,0,0,494,575.22
$SM_GC,1.57,0.00,0.00,83.05,0.000,0.000,0.488,201,2391,494,-7.96,0.45,575.22
$IRIDIUM_FIX,2831.00,-8843.84,221099,121257
$TT8_MAMPS,0.052923
$HUMID,1430
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,22.6,55.507
$10V_AH,10.5,76.239
$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,20.375,91.825,492.975,83.050,0.000,31.794,31.349,182.800,4.250,0.000,0.000,32.500,0.000,9379.013,614.791,4398.527,602.141,33.351,1940.751,0.000,3904.453,0.000,30.189,0.000
$DEVICE_MAMPS,253.110,69.030,1233.336,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,947.015,1016.976,3117.496,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72603,1387
$CAP_FILE_SIZE,144252,0
$CFSIZE,260165632,226758656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140, 99.4,1
$GPS,280710,210206,2841.526,-8844.410,37,0.9,37,-0.2