version: 66.04
glider: 515
mission: 5
dive: 151
start: 6 22 110 7 19 19
data:
$ID,515
$MISSION,5
$DIVE,151
$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,440
$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,-7934.1489
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,27
$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,0
$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
$GPS1,070621,2839.170,-8838.701,93,2.8,112,-0.3
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,3
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-75.9
$GPS2,071840,2839.267,-8838.656,16,2.9,35,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618E
$TGT_LATLONG,2839.700,-8844.900
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.260,0.051
$KALMAN_X,-231922.8,-258.8,-105.4,257701.7,512.9
$KALMAN_Y,-125332.0,616.0,-724.9,106799.5,-833.5
$MHEAD_RNG_PITCHd_Wd,291.3,10178,-10.8,-7.500
$D_GRID,1210
$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,-0.63,-194.6,0.0,0.0,0,47,0.00,0.00,-33.67,0.000,2,0.000,0.000,196,2364,1465
$GC,49,-0.63,-194.6,3.2,-4.0,3,121,10.43,1.27,-51.78,0.000,4,0.254,0.054,2545,1464,3637
$GC,157,-0.63,-194.6,17.6,-16.9,12,166,0.00,1.33,0.00,0.000,6,0.000,0.034,2540,2378,3637
$GC,349,-0.63,-194.6,47.9,-15.4,31,352,0.00,1.27,0.00,0.000,4,0.000,0.033,2541,1471,3638
$GC,498,-0.63,-194.6,67.4,-13.9,45,502,0.00,1.27,0.00,0.000,6,0.000,0.035,2535,2374,3638
$GC,695,-0.63,-194.6,93.3,-12.7,64,698,0.00,1.25,0.00,0.000,4,0.000,0.033,2537,1480,3638
$GC,742,-0.63,-194.6,99.5,-12.5,68,751,0.00,1.27,0.00,0.000,6,0.000,0.035,2532,2375,3638
$GC,934,-0.63,-194.6,124.0,-12.9,87,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2375,3638
$GC,1245,-0.63,-194.6,163.5,-12.5,117,1246,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2375,3637
$GC,1555,-0.63,-194.6,199.3,-11.0,147,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2375,3635
$GC,1866,-0.63,-194.6,234.7,-11.6,177,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2375,3632
$GC,2176,-0.63,-194.6,270.1,-11.2,207,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2375,3630
$GC,2487,-0.63,-194.6,304.7,-11.2,237,2490,0.00,1.50,0.00,0.000,4,0.000,0.050,2525,3261,3627
$GC,2529,-0.63,-194.6,309.7,-11.5,241,2532,0.00,1.45,0.00,0.000,6,0.000,0.031,2525,2365,3626
$GC,2851,-0.63,-194.6,347.2,-11.7,272,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3624
$GC,3160,-0.63,-194.6,383.1,-11.5,302,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3621
$GC,3471,-0.63,-194.6,418.3,-11.7,332,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3618
$GC,3781,-0.63,-194.6,452.8,-11.2,362,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3616
$GC,4091,-0.63,-194.6,487.5,-10.7,392,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3613
$GC,4402,-0.63,-194.6,521.6,-10.9,422,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2365,3610
$GC,4712,-0.63,-194.6,556.2,-10.9,452,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3608
$GC,5023,-0.63,-194.6,590.3,-11.1,482,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3605
$GC,5333,-0.63,-194.6,624.2,-11.2,512,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3603
$GC,5644,-0.63,-194.6,656.8,-10.0,542,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3601
$GC,5954,-0.63,-194.6,690.1,-10.7,572,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3598
$GC,6264,-0.63,-194.6,722.6,-10.3,602,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2364,3596
$GC,6575,-0.63,-194.6,753.9,-10.1,632,6578,0.00,1.58,0.00,0.000,4,0.000,0.061,2518,3255,3593
$GC,6622,-0.63,-194.6,758.9,-11.0,636,6630,0.00,1.45,0.00,0.000,6,0.000,0.038,2518,2375,3593
$GC,6939,-0.63,-194.6,791.5,-10.3,667,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2376,3592
$GC,7249,-0.63,-194.6,823.1,-9.7,697,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2376,3591
$GC,7559,-0.63,-194.6,853.6,-10.3,727,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2376,3589
$GC,7869,-0.63,-194.6,884.0,-9.6,757,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2376,3587
$GC,8180,-0.63,-194.6,914.7,-9.7,787,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2377,3586
$GC,8490,-0.63,-194.6,945.3,-9.9,817,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2376,3585
$GC,8800,-0.63,-194.6,974.8,-9.3,847,8804,0.00,1.30,0.00,0.000,4,0.000,0.048,2518,1487,3583
$GC,8854,-0.63,-194.6,979.8,-9.3,852,8857,0.08,1.30,0.00,0.000,6,0.150,0.053,2537,2363,3583
$STATE,8976,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8976,begin apogee
$GC,8980,-0.25,0.0,990.4,8.7,864,9131,0.43,0.00,148.27,1.256,6,0.138,0.000,2666,2263,2840
$STATE,9131,end apogee,CONTROL_FINISHED_OK
$STATE,9132,begin climb
$GC,9133,0.63,194.6,995.1,0.0,879,9302,0.88,0.00,165.98,1.226,6,0.105,0.000,2940,2263,2046
$GC,9608,0.63,194.6,944.3,12.2,925,9611,0.00,1.23,0.00,0.000,4,0.000,0.056,2946,1352,2035
$GC,9643,0.63,194.6,939.9,11.9,928,9652,0.00,1.25,0.00,0.000,6,0.000,0.046,2945,2267,2035
$GC,9961,0.63,194.6,901.8,12.9,959,9964,0.00,1.62,0.00,0.000,4,0.000,0.057,2945,3143,2033
$GC,9981,0.63,194.6,899.1,12.5,961,9985,0.00,1.65,0.00,0.000,6,0.000,0.038,2953,2244,2032
$GC,10304,0.63,194.6,857.6,12.9,992,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2243,2032
$GC,10613,0.63,194.6,818.5,12.9,1022,10616,0.00,1.70,0.00,0.000,4,0.000,0.056,2953,3134,2030
$GC,10649,0.63,194.6,813.5,13.9,1025,10656,0.00,1.60,0.00,0.000,6,0.000,0.038,2961,2258,2030
$GC,10966,0.63,194.6,771.7,13.5,1056,10967,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2259,2029
$GC,11276,0.63,194.6,731.2,13.0,1086,11277,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2259,2029
$GC,11586,0.63,194.6,690.6,13.0,1116,11587,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2259,2029
$GC,11896,0.63,194.6,650.6,12.5,1146,11900,0.00,1.67,0.00,0.000,4,0.000,0.057,2961,3136,2028
$GC,11922,0.63,194.6,647.1,14.4,1148,11931,0.00,1.62,0.00,0.000,6,0.000,0.039,2969,2244,2027
$GC,12239,0.63,194.6,605.8,12.7,1179,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2244,2027
$GC,12550,0.63,194.6,566.1,13.0,1209,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2244,2027
$GC,12859,0.63,194.6,525.1,12.8,1239,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2243,2027
$GC,13170,0.63,194.6,484.0,12.9,1269,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2243,2027
$GC,13480,0.63,194.6,443.7,12.9,1299,13481,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2242,2027
$GC,13791,0.63,194.6,404.1,12.6,1329,13794,0.00,1.67,0.00,0.000,4,0.000,0.054,2969,3144,2027
$GC,13827,0.63,194.6,399.3,14.0,1332,13836,0.00,1.62,0.00,0.000,6,0.000,0.037,2977,2246,2026
$GC,14144,0.63,194.6,356.6,13.6,1363,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2246,2026
$GC,14454,0.63,194.6,315.3,13.1,1393,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2246,2026
$GC,14764,0.63,194.6,275.3,12.8,1423,14765,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2245,2026
$GC,15075,0.63,194.6,234.6,13.2,1453,15078,0.00,1.70,0.00,0.000,4,0.000,0.052,2977,3149,2026
$GC,15117,0.63,194.6,228.6,14.0,1457,15121,0.10,1.62,0.00,0.000,6,0.150,0.035,2954,2246,2026
$GC,15438,0.63,194.6,192.1,11.2,1488,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2247,2026
$GC,15749,0.63,194.6,157.8,10.8,1518,15752,0.00,1.10,0.00,0.000,4,0.000,0.041,2957,1352,2026
$GC,15780,0.63,194.6,154.2,11.1,1521,15783,0.00,1.17,0.00,0.000,6,0.000,0.041,2957,2265,2026
$GC,16101,0.63,194.6,118.8,10.8,1552,16104,0.00,1.60,0.00,0.000,4,0.000,0.050,2957,3133,2028
$GC,16165,0.63,194.6,111.7,10.9,1558,16168,0.00,1.58,0.00,0.000,6,0.000,0.034,2965,2248,2028
$GC,16485,0.63,194.6,76.4,10.6,1589,16486,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2248,2028
$GC,16672,0.63,194.6,56.9,9.7,1607,16672,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2248,2029
$GC,16859,0.63,194.6,40.5,8.8,1625,16862,0.00,1.62,0.00,0.000,4,0.000,0.048,2965,3146,2030
$GC,16890,0.63,194.6,37.9,8.3,1628,16893,0.00,1.58,0.00,0.000,6,0.000,0.031,2973,2251,2029
$GC,17087,0.69,244.4,24.4,6.2,1647,17129,0.00,0.00,36.58,0.534,6,0.000,0.000,2973,2251,1842
$GC,17314,0.85,379.8,13.4,3.9,1669,17422,0.15,1.70,99.97,0.522,4,0.061,0.044,3053,3130,1290
$GC,17661,1.13,603.1,4.8,1.6,1700,17826,0.12,1.58,158.70,0.499,6,0.071,0.028,3106,2242,403
$GC,18019,1.46,876.4,3.3,0.3,1733,18022,0.35,1.67,0.00,0.000,4,0.161,0.045,3201,3147,400
$STATE,18027,end climb,NO_VERTICAL_VELOCITY
$STATE,18027,begin surface
$SM_CCo,18238,0.00,0.000,0,0,398,599.01
$SM_GC,3.28,8.27,0.00,0.00,0.058,0.000,0.000,206,2368,398,-7.90,-0.20,599.01
$IRIDIUM_FIX,2828.55,-8836.53,150999,232306
$TT8_MAMPS,0.049855
$HUMID,1338
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.2,27.919
$10V_AH,10.7,38.529
$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,20.800,50.400,609.500,0.000,0.000,31.269,31.376,519.083,0.250,0.000,0.000,38.208,0.000,12444.011,597.905,5045.775,842.566,33.345,2013.837,0.000,4525.470,0.000,0.849,0.000
$DEVICE_MAMPS,253.877,60.593,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1185.358,1266.700,3897.975,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91480,1734
$CAP_FILE_SIZE,159109,0
$CFSIZE,260165632,241483776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,101.745,289.4,1
$GPS,220610,071840,2839.267,-8838.656,16,2.9,35,-0.3