version: 66.04
glider: 515
mission: 5
dive: 116
start: 6 13 110 21 37 47
data:
$ID,515
$MISSION,5
$DIVE,116
$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,-7190.2075
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2733
$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,2367
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,212836,2836.727,-8845.470,37,0.9,42,-0.2
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.9
$GPS2,213708,2836.663,-8845.532,15,0.9,15,-0.2
$SPEED_LIMITS,0.115,0.252
$TGT_NAME,NEW0602B
$TGT_LATLONG,2845.000,-8829.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,0.174
$KALMAN_X,-267090.8,-28.7,1111.9,280175.9,-12201.8
$KALMAN_Y,7167.4,1725.7,2678.3,-35120.7,-21480.1
$MHEAD_RNG_PITCHd_Wd,52.0,30968,-9.2,-6.667
$D_GRID,1137
$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,11,-0.58,-194.6,0.0,0.0,0,91,0.00,0.00,-77.97,0.000,2,0.000,0.000,202,2353,2777
$GC,93,-0.58,-194.6,3.9,-3.6,8,127,10.52,0.00,-16.45,0.000,6,0.262,0.000,2538,2353,3636
$GC,310,-0.58,-194.6,43.6,-12.8,29,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2353,3637
$GC,496,-0.58,-194.6,66.3,-12.4,47,500,0.00,1.55,0.00,0.000,4,0.000,0.044,2532,3261,3637
$GC,582,-0.58,-194.6,77.7,-13.1,55,585,0.00,1.45,0.00,0.000,6,0.000,0.028,2537,2363,3638
$GC,778,-0.58,-194.6,102.8,-12.7,74,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2362,3638
$GC,1089,-0.58,-194.6,141.6,-11.8,104,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2362,3637
$GC,1399,-0.58,-194.6,177.2,-11.2,134,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2362,3637
$GC,1710,-0.58,-194.6,210.7,-10.6,164,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2362,3635
$GC,2020,-0.58,-194.6,242.6,-10.2,194,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2363,3633
$GC,2330,-0.58,-194.6,274.4,-10.6,224,2334,0.00,1.23,0.00,0.000,4,0.000,0.039,2536,1475,3631
$GC,2377,-0.58,-194.6,279.0,-9.7,228,2384,0.00,1.27,0.00,0.000,6,0.000,0.038,2532,2368,3630
$GC,2694,-0.58,-194.6,312.7,-10.9,259,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2368,3629
$GC,3004,-0.58,-194.6,346.1,-10.6,289,3005,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2368,3626
$GC,3314,-0.58,-194.6,379.5,-10.5,319,3317,0.00,1.50,0.00,0.000,4,0.000,0.054,2525,3250,3624
$GC,3356,-0.58,-194.6,383.9,-10.5,323,3360,0.00,1.42,0.00,0.000,6,0.000,0.033,2526,2369,3623
$GC,3678,-0.58,-194.6,417.6,-10.2,354,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2368,3621
$GC,3987,-0.58,-194.6,449.3,-10.2,384,3991,0.00,1.52,0.00,0.000,4,0.000,0.055,2519,3250,3620
$GC,4041,-0.58,-194.6,455.0,-10.7,389,4045,0.00,1.42,0.00,0.000,6,0.000,0.035,2518,2374,3619
$GC,4362,-0.58,-194.6,489.7,-11.0,420,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2373,3616
$GC,4672,-0.58,-194.6,523.2,-10.6,450,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2373,3615
$GC,4983,-0.58,-194.6,557.1,-10.9,480,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2373,3612
$GC,5293,-0.58,-194.6,590.0,-10.2,510,5296,0.00,1.52,0.00,0.000,4,0.000,0.058,2512,3249,3609
$GC,5329,-0.58,-194.6,594.1,-11.6,513,5337,0.12,1.48,0.00,0.000,6,0.148,0.037,2543,2366,3609
$GC,5646,-0.58,-194.6,623.6,-9.2,544,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2367,3607
$GC,5956,-0.58,-194.6,651.2,-8.6,574,5959,0.00,1.25,0.00,0.000,4,0.000,0.048,2543,1474,3604
$GC,5992,-0.58,-194.6,654.6,-9.3,577,6000,0.00,1.30,0.00,0.000,6,0.000,0.048,2539,2362,3604
$GC,6309,-0.58,-194.6,683.0,-9.1,608,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2362,3602
$GC,6618,-0.58,-194.6,711.7,-9.4,638,6622,0.00,1.55,0.00,0.000,4,0.000,0.061,2533,3249,3600
$GC,6682,-0.58,-194.6,717.7,-9.4,644,6686,0.00,1.48,0.00,0.000,6,0.000,0.040,2532,2365,3600
$GC,7004,-0.58,-194.6,748.5,-9.6,675,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2364,3598
$GC,7314,-0.58,-194.6,777.8,-9.5,705,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2364,3596
$GC,7624,-0.58,-194.6,805.6,-8.4,735,7627,0.00,1.25,0.00,0.000,4,0.000,0.050,2532,1476,3595
$GC,7660,-0.58,-194.6,809.0,-9.1,738,7668,0.00,1.33,0.00,0.000,6,0.000,0.051,2527,2365,3594
$GC,7977,-0.58,-194.6,838.0,-9.2,769,7978,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2366,3593
$GC,8287,-0.58,-194.6,866.3,-8.9,799,8290,0.00,1.55,0.00,0.000,4,0.000,0.064,2520,3253,3592
$GC,8340,-0.58,-194.6,871.4,-9.7,804,8343,0.00,1.48,0.00,0.000,6,0.000,0.041,2520,2366,3591
$GC,8661,-0.58,-194.6,901.7,-9.2,835,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2366,3590
$GC,8971,-0.58,-194.6,931.2,-9.6,865,8974,0.00,1.58,0.00,0.000,4,0.000,0.064,2514,3258,3589
$GC,9007,-0.58,-194.6,934.8,-10.0,868,9015,0.12,1.52,0.00,0.000,6,0.150,0.041,2545,2361,3588
$GC,9323,-0.58,-194.6,959.5,-7.5,899,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2362,3588
$GC,9634,-0.58,-194.6,983.0,-6.9,929,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2362,3587
$STATE,9736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9736,begin apogee
$GC,9739,-0.26,0.0,990.5,7.1,939,9890,0.32,0.00,148.55,1.267,6,0.138,0.000,2644,2277,2840
$STATE,9891,end apogee,CONTROL_FINISHED_OK
$STATE,9891,begin climb
$GC,9892,0.58,194.6,994.5,0.0,954,10065,0.85,0.00,164.75,1.235,6,0.113,0.000,2907,2277,2044
$GC,10374,0.58,194.6,949.7,10.2,1000,10377,0.00,1.23,0.00,0.000,4,0.000,0.057,2913,1378,2035
$GC,10427,0.58,194.6,944.2,9.5,1005,10430,0.00,1.23,0.00,0.000,6,0.000,0.048,2913,2277,2035
$GC,10749,0.58,194.6,910.4,10.8,1036,10751,0.00,1.20,0.00,0.000,4,0.000,0.047,2919,1381,2033
$GC,10784,0.58,194.6,906.5,10.8,1039,10792,0.00,1.25,0.00,0.000,6,0.000,0.047,2918,2286,2032
$GC,11101,0.58,194.6,873.1,10.6,1070,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2286,2031
$GC,11411,0.58,194.6,839.9,10.6,1100,11414,0.00,1.20,0.00,0.000,4,0.000,0.046,2923,1371,2031
$GC,11474,0.58,194.6,833.1,10.9,1106,11478,0.00,1.23,0.00,0.000,6,0.000,0.047,2923,2281,2031
$GC,11796,0.58,194.6,797.9,11.1,1137,11797,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2281,2029
$GC,12106,0.58,194.6,764.1,10.8,1167,12109,0.00,1.20,0.00,0.000,4,0.000,0.047,2928,1369,2028
$GC,12174,0.58,194.6,756.4,9.8,1173,12181,0.00,1.25,0.00,0.000,6,0.000,0.046,2929,2286,2029
$GC,12491,0.58,194.6,721.4,11.0,1204,12494,0.00,1.17,0.00,0.000,4,0.000,0.046,2934,1384,2028
$GC,12526,0.58,194.6,717.3,10.7,1207,12534,0.00,1.23,0.00,0.000,6,0.000,0.046,2934,2285,2028
$GC,12843,0.58,194.6,681.5,11.2,1238,12844,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2285,2028
$GC,13153,0.58,194.6,646.4,11.3,1268,13156,0.00,1.20,0.00,0.000,4,0.000,0.045,2939,1373,2027
$GC,13206,0.58,194.6,640.4,12.0,1273,13210,0.00,1.20,0.00,0.000,6,0.000,0.046,2939,2279,2027
$GC,13527,0.58,194.6,603.0,11.6,1304,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2279,2027
$GC,13838,0.58,194.6,567.8,11.3,1334,13841,0.00,1.17,0.00,0.000,4,0.000,0.045,2944,1377,2027
$GC,13869,0.58,194.6,564.1,12.3,1337,13873,0.00,1.20,0.00,0.000,6,0.000,0.045,2944,2280,2027
$GC,14190,0.58,194.6,526.8,11.6,1368,14191,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2280,2027
$GC,14501,0.58,194.6,489.6,11.9,1398,14504,0.00,1.17,0.00,0.000,4,0.000,0.045,2949,1379,2027
$GC,14543,0.58,194.6,484.5,10.6,1402,14546,0.00,1.20,0.00,0.000,6,0.000,0.045,2949,2282,2027
$GC,14865,0.58,194.6,445.2,11.7,1433,14865,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2282,2027
$GC,15174,0.58,194.6,407.8,11.7,1463,15177,0.00,1.17,0.00,0.000,4,0.000,0.044,2955,1382,2027
$GC,15216,0.58,194.6,402.7,12.1,1467,15220,0.10,1.20,0.00,0.000,6,0.144,0.044,2923,2284,2027
$GC,15538,0.58,194.6,370.9,9.5,1498,15541,0.00,1.20,0.00,0.000,4,0.000,0.043,2927,1372,2027
$GC,15584,0.58,194.6,366.4,9.4,1502,15593,0.00,1.23,0.00,0.000,6,0.000,0.044,2927,2285,2027
$GC,15901,0.58,194.6,334.2,10.5,1533,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2285,2027
$GC,16211,0.58,194.6,302.0,10.3,1563,16214,0.00,1.20,0.00,0.000,4,0.000,0.042,2932,1366,2027
$GC,16264,0.58,194.6,296.5,10.5,1568,16267,0.00,1.20,0.00,0.000,6,0.000,0.042,2932,2282,2027
$GC,16585,0.58,194.6,263.1,10.0,1599,16588,0.00,1.17,0.00,0.000,4,0.000,0.042,2937,1374,2027
$GC,16632,0.58,194.6,258.0,12.0,1603,16639,0.00,1.20,0.00,0.000,6,0.000,0.041,2937,2282,2028
$GC,16949,0.58,194.6,224.2,10.4,1634,16950,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2283,2028
$GC,17259,0.58,194.6,190.4,11.1,1664,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2283,2029
$GC,17569,0.58,194.6,157.5,11.1,1694,17572,0.00,1.17,0.00,0.000,4,0.000,0.040,2943,1368,2030
$GC,17637,0.58,194.6,150.3,9.9,1700,17644,0.00,1.20,0.00,0.000,6,0.000,0.039,2943,2281,2030
$GC,17954,0.58,194.6,117.9,10.2,1731,17957,0.00,1.17,0.00,0.000,4,0.000,0.039,2948,1364,2030
$GC,18000,0.58,194.6,113.0,10.9,1735,18008,0.00,1.20,0.00,0.000,6,0.000,0.038,2948,2279,2031
$GC,18317,0.58,194.6,79.4,11.0,1766,18318,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2279,2031
$GC,18503,0.58,194.6,60.1,10.4,1784,18506,0.00,1.15,0.00,0.000,4,0.000,0.038,2953,1374,2032
$GC,18560,0.58,194.6,54.7,9.7,1789,18568,0.12,1.20,0.00,0.000,6,0.133,0.038,2919,2288,2032
$GC,18753,0.61,217.0,41.8,6.1,1808,18774,0.00,0.00,16.02,0.534,6,0.000,0.000,2919,2288,1955
$GC,18959,0.73,312.5,30.8,4.4,1828,19034,0.15,1.65,71.30,0.547,4,0.057,0.046,2987,3179,1565
$GC,19088,0.73,312.5,19.9,8.9,1839,19091,0.00,1.60,0.00,0.000,6,0.000,0.031,2995,2265,1560
$GC,19284,0.86,418.0,7.1,4.2,1858,19367,0.00,1.12,77.10,0.521,4,0.000,0.036,2995,1364,1134
$STATE,19434,end climb,SURFACE_DEPTH_REACHED
$STATE,19434,begin surface coast
$FINISH,0.8,1.005976
$STATE,19551,end surface coast,CONTROL_FINISHED_OK
$STATE,19551,begin surface
$SM_CCo,19565,92.18,0.503,0,0,494,575.22
$SM_GC,1.53,0.00,0.00,92.18,0.000,0.000,0.503,198,2368,494,-7.92,0.00,575.22
$IRIDIUM_FIX,2826.10,-8841.49,070999,151514
$TT8_MAMPS,0.051389
$HUMID,1282
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.4,22.206
$10V_AH,10.7,29.873
$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,19.900,70.650,477.725,92.175,0.000,26.631,33.877,338.303,0.000,0.000,0.000,17.392,0.000,13296.136,649.668,5513.430,676.980,33.348,2185.247,0.000,4977.583,0.000,0.849,0.000
$DEVICE_MAMPS,261.547,68.263,1267.084,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.710,1375.478,4230.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97744,1882
$CAP_FILE_SIZE,171229,0
$CFSIZE,260165632,244887552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.069,132.4,1
$GPS,140610,030624,2837.724,-8842.234,40,0.8,40,-0.2