version: 66.04
glider: 515
mission: 5
dive: 102
start: 6 10 110 17 52 28
data:
$ID,515
$MISSION,5
$DIVE,102
$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,495
$T_MISSION,520
$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,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,-6970.9463
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2735
$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,2375
$C_ROLL_CLIMB,2282
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$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,5
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$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
$GPS1,174154,2845.691,-8828.602,39,1.5,39,-0.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.1
$GPS2,175132,2845.639,-8828.702,12,1.4,12,-0.4
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602A
$TGT_LATLONG,2840.600,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.206,-0.146
$KALMAN_X,-227029.7,-160.2,2322.8,266381.5,-4418.9
$KALMAN_Y,81580.9,-528.3,408.0,-88304.0,753.2
$MHEAD_RNG_PITCHd_Wd,155.0,10314,-9.2,-6.667
$D_GRID,1371
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.58,-194.6,0.0,0.0,0,68,0.00,0.00,-53.55,0.000,2,0.000,0.000,202,2375,2063
$GC,70,-0.58,-194.6,3.2,-4.0,5,121,10.38,1.25,-37.70,0.000,4,0.257,0.058,2543,1467,3633
$GC,362,-0.58,-194.6,50.2,-12.9,32,366,0.00,1.27,0.00,0.000,6,0.000,0.034,2539,2372,3635
$GC,466,-0.58,-194.6,63.7,-13.6,42,469,0.00,1.23,0.00,0.000,4,0.000,0.035,2539,1471,3635
$GC,498,-0.58,-194.6,67.7,-12.3,45,501,0.00,1.27,0.00,0.000,6,0.000,0.035,2536,2374,3636
$GC,601,-0.58,-194.6,80.7,-12.6,55,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2374,3636
$GC,694,-0.58,-194.6,92.9,-13.2,64,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2374,3636
$GC,787,-0.58,-194.6,105.1,-13.1,73,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2374,3636
$GC,974,-0.58,-194.6,128.6,-12.2,91,977,0.00,1.50,0.00,0.000,4,0.000,0.045,2528,3272,3636
$GC,1027,-0.58,-194.6,135.0,-12.5,96,1030,0.00,1.48,0.00,0.000,6,0.000,0.029,2528,2364,3636
$GC,1223,-0.58,-194.6,159.5,-12.0,115,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2364,3636
$GC,1410,-0.58,-194.6,181.0,-11.5,133,1413,0.00,1.55,0.00,0.000,4,0.000,0.046,2521,3273,3635
$GC,1456,-0.58,-194.6,186.8,-13.0,137,1465,0.00,1.48,0.00,0.000,6,0.000,0.029,2521,2367,3635
$GC,1648,-0.58,-194.6,210.5,-11.9,156,1652,0.00,1.52,0.00,0.000,4,0.000,0.047,2514,3270,3634
$GC,1674,-0.58,-194.6,213.8,-12.1,158,1682,0.12,1.48,0.00,0.000,6,0.147,0.030,2545,2368,3633
$GC,1866,-0.58,-194.6,232.5,-9.4,177,1870,0.00,1.52,0.00,0.000,4,0.000,0.048,2540,3271,3632
$GC,1898,-0.58,-194.6,235.4,-9.3,180,1901,0.00,1.45,0.00,0.000,6,0.000,0.030,2539,2372,3632
$GC,2095,-0.58,-194.6,255.0,-10.2,199,2098,0.00,1.52,0.00,0.000,4,0.000,0.048,2533,3270,3631
$GC,2126,-0.58,-194.6,258.3,-10.8,202,2130,0.00,1.45,0.00,0.000,6,0.000,0.031,2534,2373,3631
$GC,2323,-0.58,-194.6,278.7,-10.2,221,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2372,3629
$GC,2510,-0.58,-194.6,297.7,-10.2,239,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2372,3628
$GC,2695,-0.58,-194.6,316.9,-10.4,257,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2372,3627
$GC,2882,-0.58,-194.6,336.5,-10.5,275,2885,0.00,1.52,0.00,0.000,4,0.000,0.051,2527,3268,3625
$GC,2918,-0.58,-194.6,340.5,-10.8,278,2926,0.00,1.48,0.00,0.000,6,0.000,0.032,2526,2371,3625
$GC,3110,-0.58,-194.6,361.2,-10.7,297,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2371,3624
$GC,3296,-0.58,-194.6,380.7,-10.5,315,3300,0.00,1.52,0.00,0.000,4,0.000,0.052,2519,3265,3622
$GC,3339,-0.58,-194.6,385.3,-10.9,319,3342,0.00,1.45,0.00,0.000,6,0.000,0.033,2520,2376,3621
$GC,3536,-0.58,-194.6,406.5,-11.4,338,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2375,3620
$GC,3722,-0.58,-194.6,427.0,-11.1,356,3725,0.00,1.52,0.00,0.000,4,0.000,0.051,2512,3269,3618
$GC,3769,-0.58,-194.6,432.5,-11.6,360,3777,0.12,1.50,0.00,0.000,6,0.146,0.034,2544,2369,3617
$GC,3961,-0.58,-194.6,450.2,-8.8,379,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2368,3617
$GC,4147,-0.58,-194.6,467.3,-9.2,397,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2369,3615
$GC,4334,-0.58,-194.6,484.2,-9.1,415,4337,0.00,1.55,0.00,0.000,4,0.000,0.054,2539,3269,3614
$GC,4376,-0.58,-194.6,488.2,-9.7,419,4379,0.00,1.50,0.00,0.000,6,0.000,0.036,2539,2364,3614
$GC,4573,-0.58,-194.6,506.9,-9.2,438,4576,0.00,1.58,0.00,0.000,4,0.000,0.054,2532,3270,3613
$GC,4594,-0.58,-194.6,508.9,-9.4,440,4597,0.00,1.50,0.00,0.000,6,0.000,0.037,2532,2365,3612
$GC,4790,-0.58,-194.6,528.7,-10.1,459,4791,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2365,3610
$GC,4977,-0.58,-194.6,547.1,-9.9,477,4980,0.00,1.55,0.00,0.000,4,0.000,0.056,2525,3259,3608
$GC,5024,-0.58,-194.6,552.0,-10.5,481,5032,0.00,1.48,0.00,0.000,6,0.000,0.035,2525,2369,3608
$GC,5216,-0.58,-194.6,571.6,-10.3,500,5219,0.00,1.55,0.00,0.000,4,0.000,0.054,2518,3264,3607
$GC,5258,-0.58,-194.6,576.1,-10.7,504,5262,0.00,1.48,0.00,0.000,6,0.000,0.037,2518,2372,3607
$GC,5455,-0.58,-194.6,596.9,-10.4,523,5458,0.00,1.55,0.00,0.000,4,0.000,0.056,2511,3271,3606
$GC,5498,-0.58,-194.6,601.7,-11.8,527,5501,0.10,1.48,0.00,0.000,6,0.143,0.037,2542,2371,3605
$GC,5694,-0.58,-194.6,620.0,-9.2,546,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2372,3604
$GC,5881,-0.58,-194.6,636.8,-9.1,564,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2372,3603
$GC,6067,-0.58,-194.6,653.7,-9.0,582,6070,0.00,1.55,0.00,0.000,4,0.000,0.057,2537,3264,3602
$GC,6092,-0.58,-194.6,656.1,-9.4,584,6100,0.00,1.50,0.00,0.000,6,0.000,0.037,2537,2371,3602
$GC,6284,-0.58,-194.6,673.9,-9.5,603,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2371,3601
$GC,6470,-0.58,-194.6,691.0,-9.1,621,6474,0.00,1.55,0.00,0.000,4,0.000,0.057,2530,3261,3599
$GC,6506,-0.58,-194.6,694.5,-9.7,624,6514,0.00,1.50,0.00,0.000,6,0.000,0.038,2530,2370,3599
$GC,6699,-0.58,-194.6,712.2,-9.0,643,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2370,3598
$GC,6885,-0.58,-194.6,729.1,-9.1,661,6888,0.00,1.55,0.00,0.000,4,0.000,0.058,2523,3260,3597
$GC,6948,-0.58,-194.6,735.3,-9.8,667,6952,0.00,1.48,0.00,0.000,6,0.000,0.038,2523,2373,3596
$GC,7145,-0.58,-194.6,754.4,-10.0,686,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2372,3595
$GC,7332,-0.58,-194.6,772.8,-9.7,704,7335,0.00,1.55,0.00,0.000,4,0.000,0.058,2516,3261,3594
$GC,7378,-0.58,-194.6,777.8,-10.2,708,7386,0.12,1.50,0.00,0.000,6,0.148,0.038,2547,2372,3594
$GC,7571,-0.58,-194.6,793.6,-8.0,727,7572,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2373,3593
$GC,7757,-0.58,-194.6,808.7,-8.3,745,7760,0.00,1.55,0.00,0.000,4,0.000,0.059,2542,3259,3593
$GC,7820,-0.58,-194.6,814.2,-8.8,751,7824,0.00,1.48,0.00,0.000,6,0.000,0.039,2542,2373,3593
$GC,8018,-0.58,-194.6,830.9,-8.5,770,8021,0.00,1.55,0.00,0.000,4,0.000,0.059,2535,3259,3591
$GC,8060,-0.58,-194.6,834.6,-8.4,774,8063,0.00,1.48,0.00,0.000,6,0.000,0.039,2535,2374,3591
$GC,8257,-0.58,-194.6,851.2,-8.3,793,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2374,3590
$GC,8442,-0.58,-194.6,867.1,-8.4,811,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2374,3590
$GC,8629,-0.58,-194.6,883.0,-8.3,829,8632,0.00,1.55,0.00,0.000,4,0.000,0.059,2528,3263,3588
$GC,8682,-0.58,-194.6,887.7,-9.0,834,8686,0.00,1.48,0.00,0.000,6,0.000,0.040,2528,2374,3588
$GC,8879,-0.58,-194.6,905.5,-9.0,853,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2373,3588
$GC,9065,-0.58,-194.6,922.2,-8.5,871,9068,0.00,1.55,0.00,0.000,4,0.000,0.060,2521,3262,3587
$GC,9129,-0.58,-194.6,928.1,-9.0,877,9133,0.00,1.48,0.00,0.000,6,0.000,0.040,2521,2373,3587
$GC,9325,-0.58,-194.6,946.2,-9.5,896,9326,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2372,3587
$GC,9512,-0.58,-194.6,963.3,-9.4,914,9515,0.00,1.55,0.00,0.000,4,0.000,0.060,2514,3257,3586
$GC,9548,-0.58,-194.6,966.9,-9.5,917,9557,0.12,1.50,0.00,0.000,6,0.146,0.040,2546,2371,3585
$GC,9740,-0.58,-194.6,981.2,-7.4,936,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2371,3585
$STATE,9863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9863,begin apogee
$GC,9866,-0.26,0.0,990.3,7.0,948,10017,0.32,0.00,148.15,1.262,6,0.134,0.000,2646,2279,2840
$STATE,10018,end apogee,CONTROL_FINISHED_OK
$STATE,10018,begin climb
$GC,10020,0.58,194.6,994.0,0.0,963,10190,0.85,1.27,163.90,1.230,4,0.109,0.047,2916,1387,2047
$GC,10232,0.58,194.6,976.2,11.1,981,10241,0.00,1.30,0.00,0.000,6,0.000,0.046,2916,2286,2042
$GC,10424,0.58,194.6,953.8,11.7,1000,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2285,2037
$GC,10610,0.58,194.6,932.1,11.7,1018,10614,0.00,1.23,0.00,0.000,4,0.000,0.046,2922,1376,2035
$GC,10646,0.58,194.6,928.0,11.8,1021,10655,0.00,1.25,0.00,0.000,6,0.000,0.048,2922,2285,2035
$GC,10838,0.58,194.6,905.8,11.6,1040,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2285,2034
$GC,11024,0.58,194.6,884.4,11.3,1058,11028,0.00,1.20,0.00,0.000,4,0.000,0.046,2927,1377,2033
$GC,11056,0.58,194.6,880.7,11.1,1061,11060,0.00,1.20,0.00,0.000,6,0.000,0.047,2927,2278,2033
$GC,11253,0.58,194.6,857.3,12.7,1080,11254,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2278,2032
$GC,11439,0.58,194.6,834.3,12.0,1098,11440,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2278,2031
$GC,11625,0.58,194.6,812.6,11.2,1116,11629,0.00,1.67,0.00,0.000,4,0.000,0.058,2927,3179,2031
$GC,11646,0.58,194.6,810.0,12.6,1118,11650,0.00,1.60,0.00,0.000,6,0.000,0.040,2934,2285,2030
$GC,11843,0.58,194.6,785.2,12.5,1137,11846,0.00,1.17,0.00,0.000,4,0.000,0.045,2940,1375,2030
$GC,11875,0.58,194.6,781.3,12.4,1140,11878,0.00,1.20,0.00,0.000,6,0.000,0.047,2940,2279,2030
$GC,12071,0.58,194.6,756.0,13.0,1159,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,2030
$GC,12258,0.58,194.6,732.1,12.5,1177,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,2029
$GC,12444,0.58,194.6,708.7,12.3,1195,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,2029
$GC,12630,0.58,194.6,685.1,12.8,1213,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,2029
$GC,12816,0.58,194.6,661.3,12.6,1231,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2280,2029
$GC,13003,0.58,194.6,637.6,12.7,1249,13006,0.00,1.17,0.00,0.000,4,0.000,0.045,2945,1375,2029
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$STATE,19035,end climb,SURFACE_DEPTH_REACHED
$STATE,19035,begin surface coast
$FINISH,0.5,1.002550
$STATE,19082,end surface coast,CONTROL_FINISHED_OK
$STATE,19082,begin surface
$SM_CCo,19096,69.18,0.498,0,0,494,575.22
$SM_GC,1.64,0.00,0.00,69.18,0.000,0.000,0.498,202,2380,494,-7.92,0.14,575.22
$IRIDIUM_FIX,2838.37,-8829.04,040999,171730
$TT8_MAMPS,0.051389
$HUMID,1298
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,22.80
$XPDR_PINGS,0
$24V_AH,23.5,20.210
$10V_AH,10.6,26.616
$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,20.250,123.225,497.875,69.175,0.000,52.779,56.336,296.017,0.000,0.000,0.000,14.420,0.000,12790.983,691.807,5545.879,695.635,33.344,2318.023,0.000,4912.925,0.000,1.154,0.000
$DEVICE_MAMPS,256.945,62.127,1261.715,497.783,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1255.822,1350.498,4122.119,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97626,1834
$CAP_FILE_SIZE,211698,0
$CFSIZE,260165632,246145024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.032,258.4,1
$GPS,100610,231255,2843.027,-8827.982,42,1.0,42,-0.4