version: 66.04
glider: 515
mission: 5
dive: 108
start: 6 12 110 1 21 29
data:
$ID,515
$MISSION,5
$DIVE,108
$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,-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,-7058.2681
$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,2400
$C_ROLL_CLIMB,2282
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,25
$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
$GPS1,011224,2840.758,-8834.269,39,1.5,39,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-71.6
$GPS2,012050,2840.723,-8834.406,12,1.5,12,-0.3
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0607E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.105,0.230
$KALMAN_X,-237490.7,501.7,-81.7,269274.4,-9440.1
$KALMAN_Y,57224.0,390.7,615.2,-74191.8,-13723.7
$MHEAD_RNG_PITCHd_Wd,296.7,17486,-9.2,-6.667
$D_GRID,1309
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.58,-194.6,0.0,0.0,0,62,0.00,0.00,-48.92,0.000,2,0.000,0.000,194,2376,1956
$GC,64,-0.58,-194.6,3.2,-4.3,5,117,10.55,1.60,-39.17,0.000,4,0.260,0.067,2535,3302,3636
$GC,355,-0.58,-194.6,50.2,-13.6,31,364,0.00,1.48,0.00,0.000,6,0.000,0.029,2537,2392,3637
$GC,548,-0.58,-194.6,74.2,-12.8,50,551,0.00,1.50,0.00,0.000,4,0.000,0.046,2531,3284,3638
$GC,648,-0.58,-194.6,86.9,-12.1,59,657,0.00,1.42,0.00,0.000,6,0.000,0.029,2533,2409,3639
$GC,840,-0.58,-194.6,110.9,-12.7,78,844,0.00,1.27,0.00,0.000,4,0.000,0.041,2533,1509,3639
$GC,872,-0.58,-194.6,114.8,-12.7,81,875,0.00,1.30,0.00,0.000,6,0.000,0.038,2529,2414,3639
$GC,1193,-0.58,-194.6,155.3,-11.9,112,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2414,3639
$GC,1503,-0.58,-194.6,191.8,-11.3,142,1507,0.00,1.30,0.00,0.000,4,0.000,0.041,2529,1505,3638
$GC,1546,-0.58,-194.6,196.7,-11.3,146,1549,0.00,1.25,0.00,0.000,6,0.000,0.038,2523,2379,3638
$GC,1867,-0.58,-194.6,233.9,-11.8,177,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2379,3636
$GC,2177,-0.58,-194.6,269.3,-11.1,207,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2379,3635
$GC,2487,-0.58,-194.6,303.7,-11.3,237,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2379,3633
$GC,2798,-0.58,-194.6,338.3,-11.0,267,2801,0.00,1.23,0.00,0.000,4,0.000,0.042,2522,1509,3631
$GC,2833,-0.58,-194.6,342.4,-10.8,270,2841,0.12,1.33,0.00,0.000,6,0.141,0.041,2549,2416,3631
$GC,3150,-0.58,-194.6,370.3,-8.6,301,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2417,3629
$GC,3461,-0.58,-194.6,398.4,-8.9,331,3464,0.00,1.30,0.00,0.000,4,0.000,0.045,2549,1516,3627
$GC,3577,-0.58,-194.6,408.9,-8.7,342,3581,0.00,1.25,0.00,0.000,6,0.000,0.042,2545,2379,3625
$GC,3900,-0.58,-194.6,438.1,-9.3,373,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2379,3623
$GC,4209,-0.58,-194.6,466.8,-9.1,403,4212,0.00,1.23,0.00,0.000,4,0.000,0.046,2545,1518,3621
$GC,4273,-0.58,-194.6,473.0,-10.2,409,4276,0.00,1.30,0.00,0.000,6,0.000,0.045,2540,2410,3621
$GC,4595,-0.58,-194.6,503.2,-9.1,440,4597,0.00,1.30,0.00,0.000,4,0.000,0.048,2540,1516,3619
$GC,4668,-0.58,-194.6,510.3,-9.0,447,4672,0.00,1.27,0.00,0.000,6,0.000,0.046,2535,2383,3618
$GC,4991,-0.58,-194.6,541.3,-10.2,478,4994,0.00,1.27,0.00,0.000,4,0.000,0.046,2535,1507,3616
$GC,5054,-0.58,-194.6,547.7,-9.8,484,5058,0.00,1.33,0.00,0.000,6,0.000,0.046,2529,2414,3616
$GC,5376,-0.58,-194.6,579.4,-9.6,515,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2415,3614
$GC,5685,-0.58,-194.6,609.5,-9.7,545,5689,0.00,1.30,0.00,0.000,4,0.000,0.047,2529,1523,3611
$GC,5739,-0.58,-194.6,614.7,-9.8,550,5742,0.00,1.25,0.00,0.000,6,0.000,0.046,2523,2378,3611
$GC,6060,-0.58,-194.6,646.4,-9.9,581,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2378,3609
$GC,6370,-0.58,-194.6,676.9,-10.0,611,6371,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2378,3607
$GC,6680,-0.58,-194.6,707.3,-9.6,641,6683,0.00,1.23,0.00,0.000,4,0.000,0.048,2523,1523,3605
$GC,6754,-0.58,-194.6,714.5,-10.0,648,6758,0.00,1.33,0.00,0.000,6,0.000,0.048,2518,2416,3605
$GC,7076,-0.58,-194.6,746.5,-10.1,679,7077,0.12,0.00,0.00,0.000,6,0.146,0.000,2550,2416,3603
$GC,7387,-0.58,-194.6,770.5,-7.8,709,7389,0.00,1.33,0.00,0.000,4,0.000,0.050,2550,1517,3602
$GC,7429,-0.58,-194.6,774.0,-8.3,713,7432,0.00,1.27,0.00,0.000,6,0.000,0.050,2547,2378,3601
$GC,7750,-0.58,-194.6,799.8,-8.2,744,7753,0.00,1.23,0.00,0.000,4,0.000,0.050,2547,1525,3600
$GC,7813,-0.58,-194.6,805.0,-8.0,750,7817,0.00,1.33,0.00,0.000,6,0.000,0.049,2542,2416,3600
$GC,8134,-0.58,-194.6,831.2,-8.6,781,8137,0.00,1.33,0.00,0.000,4,0.000,0.050,2541,1517,3597
$GC,8187,-0.58,-194.6,835.7,-8.9,786,8191,0.00,1.30,0.00,0.000,6,0.000,0.050,2536,2390,3597
$GC,8509,-0.58,-194.6,862.3,-8.4,817,8512,0.00,1.27,0.00,0.000,4,0.000,0.051,2537,1514,3597
$GC,8604,-0.58,-194.6,870.7,-8.3,826,8608,0.00,1.30,0.00,0.000,6,0.000,0.050,2531,2387,3597
$GC,8926,-0.58,-194.6,899.2,-8.2,857,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2388,3595
$GC,9235,-0.58,-194.6,926.2,-8.7,887,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2388,3594
$GC,9546,-0.58,-194.6,953.1,-8.4,917,9549,0.00,1.27,0.00,0.000,4,0.000,0.051,2531,1510,3592
$GC,9599,-0.58,-194.6,957.4,-7.9,922,9603,0.00,1.35,0.00,0.000,6,0.000,0.051,2526,2413,3593
$GC,9920,-0.58,-194.6,984.7,-8.5,953,9924,0.00,1.33,0.00,0.000,4,0.000,0.051,2526,1517,3592
$STATE,9982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9982,begin apogee
$GC,9987,-0.26,0.0,990.2,9.1,959,10138,0.43,0.00,149.27,1.268,6,0.136,0.000,2649,2278,2840
$STATE,10139,end apogee,CONTROL_FINISHED_OK
$STATE,10139,begin climb
$GC,10140,0.58,194.6,994.0,0.0,974,10313,0.85,1.80,164.73,1.235,4,0.107,0.062,2915,3161,2044
$GC,10327,0.58,194.6,978.5,11.3,991,10336,0.00,1.67,0.00,0.000,6,0.000,0.039,2922,2304,2042
$GC,10645,0.58,194.6,941.9,11.9,1022,10648,0.00,1.25,0.00,0.000,4,0.000,0.048,2928,1381,2034
$GC,10719,0.58,194.6,933.0,11.6,1029,10723,0.00,1.23,0.00,0.000,6,0.000,0.047,2928,2280,2034
$GC,11040,0.58,194.6,895.0,12.0,1060,11041,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2280,2033
$GC,11350,0.58,194.6,857.7,12.6,1090,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2280,2032
$GC,11661,0.58,194.6,820.2,12.1,1120,11664,0.00,1.20,0.00,0.000,4,0.000,0.047,2933,1374,2031
$GC,11703,0.58,194.6,815.1,12.3,1124,11707,0.00,1.20,0.00,0.000,6,0.000,0.047,2933,2279,2030
$GC,12024,0.58,194.6,776.3,12.0,1155,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2279,2030
$GC,12335,0.58,194.6,739.2,12.2,1185,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2279,2029
$GC,12645,0.58,194.6,702.8,11.2,1215,12649,0.00,1.20,0.00,0.000,4,0.000,0.047,2938,1367,2029
$GC,12681,0.58,194.6,698.6,11.3,1218,12688,0.00,1.25,0.00,0.000,6,0.000,0.046,2938,2288,2029
$GC,12998,0.58,194.6,661.3,11.5,1249,12999,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2028
$GC,13308,0.58,194.6,624.5,11.7,1279,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2028
$GC,13618,0.58,194.6,587.4,11.9,1309,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2028
$GC,13929,0.58,194.6,551.6,11.3,1339,13930,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2028
$GC,14239,0.58,194.6,515.9,11.3,1369,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2288,2028
$GC,14549,0.58,194.6,480.4,11.9,1399,14553,0.00,1.20,0.00,0.000,4,0.000,0.045,2943,1375,2028
$GC,14603,0.58,194.6,474.3,11.8,1404,14606,0.00,1.20,0.00,0.000,6,0.000,0.045,2943,2282,2028
$GC,14923,0.58,194.6,436.6,11.5,1435,14924,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2283,2028
$GC,15234,0.58,194.6,400.3,11.7,1465,15235,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2283,2028
$GC,15544,0.58,194.6,364.3,11.6,1495,15547,0.00,1.17,0.00,0.000,4,0.000,0.045,2949,1378,2028
$GC,15591,0.58,194.6,358.9,11.2,1499,15600,0.00,1.23,0.00,0.000,6,0.000,0.044,2949,2292,2028
$GC,15908,0.58,194.6,320.6,12.2,1530,15908,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2292,2028
$GC,16217,0.58,194.6,282.9,11.8,1560,16218,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2292,2028
$GC,16527,0.58,194.6,244.7,12.4,1590,16531,0.00,1.60,0.00,0.000,4,0.000,0.053,2948,3170,2028
$GC,16553,0.58,194.6,241.2,13.5,1592,16561,0.12,1.60,0.00,0.000,6,0.159,0.037,2925,2276,2028
$GC,16869,0.58,194.6,209.7,10.1,1623,16873,0.00,1.12,0.00,0.000,4,0.000,0.042,2928,1380,2028
$GC,16923,0.58,194.6,204.4,9.8,1628,16926,0.00,1.17,0.00,0.000,6,0.000,0.042,2928,2282,2028
$GC,17244,0.58,194.6,171.4,10.5,1659,17247,0.00,1.62,0.00,0.000,4,0.000,0.051,2928,3177,2028
$GC,17279,0.58,194.6,167.4,10.6,1662,17287,0.00,1.60,0.00,0.000,6,0.000,0.035,2936,2274,2029
$GC,17597,0.58,194.6,134.9,9.8,1693,17600,0.00,1.62,0.00,0.000,4,0.000,0.051,2936,3189,2029
$GC,17649,0.58,194.6,129.3,12.0,1698,17653,0.00,1.58,0.00,0.000,6,0.000,0.034,2943,2284,2030
$GC,17971,0.58,194.6,96.3,10.4,1729,17974,0.00,1.15,0.00,0.000,4,0.000,0.039,2949,1363,2030
$GC,18017,0.58,194.6,91.2,10.2,1733,18025,0.00,1.23,0.00,0.000,6,0.000,0.038,2949,2293,2030
$GC,18209,0.58,194.6,70.1,10.9,1752,18210,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2293,2031
$GC,18396,0.58,194.6,51.6,9.2,1770,18399,0.00,1.17,0.00,0.000,4,0.000,0.038,2954,1375,2032
$GC,18427,0.58,194.6,48.4,9.6,1773,18431,0.08,1.17,0.00,0.000,6,0.131,0.038,2928,2286,2032
$GC,18625,0.61,215.8,35.2,6.2,1792,18646,0.00,0.00,15.15,0.528,6,0.000,0.000,2927,2286,1960
$GC,18831,0.70,291.3,24.8,4.9,1812,18893,0.00,0.00,56.92,0.543,6,0.000,0.000,2928,2286,1650
$GC,19078,0.77,350.3,10.9,5.3,1836,19126,0.17,1.62,43.55,0.518,4,0.075,0.047,2987,3168,1411
$GC,19180,1.00,534.7,5.5,2.3,1845,19274,0.15,1.58,88.82,0.513,2,0.061,0.030,3057,2278,916
$STATE,19274,end climb,SURFACE_DEPTH_REACHED
$STATE,19274,begin surface coast
$FINISH,0.8,1.009666
$STATE,19325,end surface coast,CONTROL_FINISHED_OK
$STATE,19325,begin surface
$SM_CCo,19339,61.83,0.499,0,0,494,575.22
$SM_GC,1.60,0.00,0.00,61.83,0.000,0.000,0.499,196,2415,494,-7.94,0.42,575.22
$IRIDIUM_FIX,2831.00,-8831.56,060999,010157
$TT8_MAMPS,0.050622
$HUMID,1292
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,23.50
$XPDR_PINGS,2
$24V_AH,23.3,21.151
$10V_AH,10.6,27.970
$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,20.425,80.100,518.450,61.825,0.000,56.194,79.377,206.665,0.500,0.000,0.000,13.919,0.000,13120.568,639.554,5517.385,599.788,33.340,2196.919,0.000,4957.008,0.000,0.847,0.000
$DEVICE_MAMPS,260.013,67.496,1267.851,499.317,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1272.339,1360.197,4176.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97566,1858
$CAP_FILE_SIZE,173965,0
$CFSIZE,260165632,245633024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$CURRENT,0.080,171.4,1
$GPS,120610,064537,2841.190,-8837.439,27,1.7,27,-0.3