version: 66.04
glider: 515
mission: 5
dive: 178
start: 6 28 110 5 40 24
data:
$ID,515
$MISSION,5
$DIVE,178
$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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15564.198
$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,2400
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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,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
$GPS1,052930,2836.413,-8840.551,40,1.7,40,-0.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-66.4
$GPS2,053944,2836.403,-8840.564,13,0.9,13,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.224,0.141
$KALMAN_X,-12655.3,-551.7,-11.4,28731.5,-2002.9
$KALMAN_Y,-64822.7,1784.6,690.8,77207.0,-13326.6
$MHEAD_RNG_PITCHd_Wd,63.7,23836,-10.8,-7.500
$D_GRID,1324
$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,-194.6,0.0,0.0,0,87,0.00,0.00,-73.22,0.000,2,0.000,0.000,199,2356,2609
$GC,89,-0.63,-194.6,3.1,-2.0,7,129,10.70,1.20,-25.20,0.000,4,0.260,0.061,2544,1514,3636
$GC,371,-0.63,-194.6,52.4,-13.6,33,374,0.00,1.33,0.00,0.000,6,0.000,0.035,2539,2422,3637
$GC,567,-0.63,-194.6,78.5,-13.2,52,570,0.00,1.42,0.00,0.000,4,0.000,0.045,2532,3276,3639
$GC,610,-0.63,-194.6,84.3,-14.2,56,613,0.00,1.42,0.00,0.000,6,0.000,0.028,2534,2377,3639
$GC,807,-0.63,-194.6,110.3,-13.2,75,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2377,3639
$GC,1117,-0.63,-194.6,147.8,-11.3,105,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2377,3639
$GC,1427,-0.63,-194.6,183.7,-11.3,135,1431,0.00,1.50,0.00,0.000,4,0.000,0.046,2529,3265,3638
$GC,1480,-0.63,-194.6,190.0,-12.5,140,1484,0.00,1.38,0.00,0.000,6,0.000,0.028,2529,2404,3638
$GC,1803,-0.63,-194.6,226.6,-11.2,171,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2402,3636
$GC,2112,-0.63,-194.6,261.9,-11.1,201,2115,0.00,1.48,0.00,0.000,4,0.000,0.047,2522,3273,3634
$GC,2169,-0.63,-194.6,268.5,-11.3,206,2176,0.00,1.42,0.00,0.000,6,0.000,0.028,2522,2394,3634
$GC,2487,-0.63,-194.6,304.5,-11.4,237,2490,0.00,1.50,0.00,0.000,4,0.000,0.048,2515,3276,3632
$GC,2529,-0.63,-194.6,309.6,-12.2,241,2532,0.00,1.40,0.00,0.000,6,0.000,0.030,2515,2405,3631
$GC,2851,-0.63,-194.6,347.3,-11.6,272,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2404,3629
$GC,3160,-0.63,-194.6,383.4,-11.6,302,3163,0.00,1.48,0.00,0.000,4,0.000,0.049,2508,3267,3626
$GC,3213,-0.63,-194.6,390.0,-12.3,307,3217,0.10,1.42,0.00,0.000,6,0.139,0.031,2539,2388,3625
$GC,3534,-0.63,-194.6,422.9,-9.8,338,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2388,3623
$GC,3845,-0.63,-194.6,454.1,-10.1,368,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2388,3621
$GC,4155,-0.63,-194.6,485.2,-10.1,398,4158,0.00,1.50,0.00,0.000,4,0.000,0.053,2534,3258,3619
$GC,4208,-0.63,-194.6,490.7,-10.0,403,4212,0.00,1.40,0.00,0.000,6,0.000,0.033,2534,2403,3618
$GC,4530,-0.63,-194.6,523.6,-10.2,434,4533,0.00,1.50,0.00,0.000,4,0.000,0.054,2528,3267,3616
$GC,4566,-0.63,-194.6,527.6,-11.1,437,4573,0.00,1.45,0.00,0.000,6,0.000,0.033,2527,2380,3615
$GC,4883,-0.63,-194.6,561.2,-10.8,468,4886,0.00,1.55,0.00,0.000,4,0.000,0.054,2521,3271,3613
$GC,4915,-0.63,-194.6,564.7,-11.0,471,4918,0.00,1.42,0.00,0.000,6,0.000,0.035,2521,2407,3613
$GC,5237,-0.63,-194.6,600.6,-10.9,502,5239,0.00,1.50,0.00,0.000,4,0.000,0.054,2514,3266,3610
$GC,5279,-0.63,-194.6,605.5,-11.9,506,5282,0.08,1.45,0.00,0.000,6,0.147,0.035,2538,2384,3610
$GC,5599,-0.63,-194.6,637.0,-9.7,537,5603,0.00,1.52,0.00,0.000,4,0.000,0.055,2532,3261,3607
$GC,5635,-0.63,-194.6,640.7,-10.0,540,5644,0.00,1.45,0.00,0.000,6,0.000,0.035,2532,2386,3607
$GC,5954,-0.63,-194.6,671.8,-9.7,571,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2387,3606
$GC,6262,-0.63,-194.6,701.5,-9.6,601,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2387,3604
$GC,6573,-0.63,-194.6,731.6,-10.2,631,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2386,3602
$GC,6884,-0.63,-194.6,762.1,-10.1,661,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2386,3600
$GC,7194,-0.63,-194.6,792.2,-10.1,691,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2386,3599
$GC,7504,-0.63,-194.6,822.5,-9.8,721,7507,0.00,1.55,0.00,0.000,4,0.000,0.058,2525,3264,3597
$GC,7568,-0.63,-194.6,828.8,-9.9,727,7571,0.00,1.45,0.00,0.000,6,0.000,0.038,2525,2397,3596
$GC,7890,-0.63,-194.6,859.5,-9.5,758,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2395,3595
$GC,8199,-0.63,-194.6,888.5,-9.2,788,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2395,3594
$GC,8510,-0.63,-194.6,917.7,-9.7,818,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2395,3592
$GC,8820,-0.63,-194.6,947.3,-9.6,848,8823,0.00,1.55,0.00,0.000,4,0.000,0.060,2518,3270,3591
$GC,8852,-0.63,-194.6,950.6,-10.3,851,8855,0.00,1.45,0.00,0.000,6,0.000,0.039,2518,2402,3591
$GC,9174,-0.63,-194.6,981.9,-9.4,882,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2402,3590
$STATE,9264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9264,begin apogee
$GC,9269,-0.25,0.0,990.8,9.6,891,9421,0.50,0.00,150.02,1.253,6,0.139,0.000,2666,2261,2840
$STATE,9422,end apogee,CONTROL_FINISHED_OK
$STATE,9422,begin climb
$GC,9423,0.63,194.6,995.5,0.0,906,9599,0.88,0.00,166.48,1.220,6,0.104,0.000,2940,2261,2046
$GC,9907,0.63,194.6,946.9,11.5,951,9910,0.00,1.20,0.00,0.000,4,0.000,0.045,2945,1350,2036
$GC,9943,0.63,194.6,942.7,10.6,954,9951,0.00,1.23,0.00,0.000,6,0.000,0.044,2945,2256,2036
$GC,10261,0.63,194.6,904.7,11.5,985,10264,0.00,1.17,0.00,0.000,4,0.000,0.044,2950,1354,2034
$GC,10307,0.63,194.6,899.0,10.9,989,10314,0.00,1.23,0.00,0.000,6,0.000,0.044,2949,2264,2034
$GC,10625,0.63,194.6,861.2,12.5,1020,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2264,2032
$GC,10934,0.63,194.6,822.1,12.9,1050,10937,0.00,1.20,0.00,0.000,4,0.000,0.044,2955,1340,2032
$GC,10980,0.63,194.6,815.9,13.2,1054,10988,0.00,1.23,0.00,0.000,6,0.000,0.044,2955,2260,2032
$GC,11299,0.63,194.6,775.5,12.7,1085,11299,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2261,2031
$GC,11607,0.63,194.6,736.3,12.3,1115,11610,0.00,1.17,0.00,0.000,4,0.000,0.044,2960,1351,2030
$GC,11650,0.63,194.6,731.2,11.1,1119,11653,0.00,1.17,0.00,0.000,6,0.000,0.044,2961,2253,2030
$GC,11971,0.63,194.6,689.6,13.0,1150,11972,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2253,2030
$GC,12281,0.63,194.6,649.8,12.2,1180,12284,0.00,1.17,0.00,0.000,4,0.000,0.044,2965,1338,2030
$GC,12367,0.63,194.6,639.1,12.8,1188,12369,0.00,1.20,0.00,0.000,6,0.000,0.044,2965,2259,2029
$GC,12688,0.63,194.6,597.8,12.8,1219,12691,0.00,1.17,0.00,0.000,4,0.000,0.044,2970,1349,2029
$GC,12724,0.63,194.6,593.1,12.0,1222,12731,0.00,1.20,0.00,0.000,6,0.000,0.043,2970,2256,2029
$GC,13041,0.63,194.6,552.7,12.9,1253,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2256,2028
$GC,13351,0.63,194.6,511.8,13.1,1283,13354,0.00,1.17,0.00,0.000,4,0.000,0.044,2975,1348,2028
$GC,13393,0.63,194.6,506.3,12.3,1287,13396,0.00,1.17,0.00,0.000,6,0.000,0.042,2976,2251,2028
$GC,13716,0.63,194.6,464.0,13.0,1318,13718,0.00,1.62,0.00,0.000,4,0.000,0.053,2976,3133,2028
$GC,13740,0.63,194.6,460.3,14.4,1320,13750,0.12,1.65,0.00,0.000,6,0.159,0.037,2947,2235,2027
$GC,14057,0.63,194.6,426.0,10.3,1351,14060,0.00,1.10,0.00,0.000,4,0.000,0.043,2951,1356,2027
$GC,14132,0.63,194.6,418.1,11.5,1358,14135,0.00,1.17,0.00,0.000,6,0.000,0.043,2951,2260,2027
$GC,14452,0.63,194.6,382.4,11.4,1389,14453,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2260,2027
$GC,14763,0.63,194.6,348.3,11.0,1419,14764,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2260,2027
$GC,15074,0.63,194.6,313.8,10.8,1449,15077,0.00,1.17,0.00,0.000,4,0.000,0.042,2956,1343,2027
$GC,15121,0.63,194.6,308.8,10.2,1453,15128,0.00,1.17,0.00,0.000,6,0.000,0.041,2956,2255,2027
$GC,15438,0.63,194.6,271.7,12.2,1484,15438,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2255,2027
$GC,15748,0.63,194.6,234.5,11.3,1514,15751,0.00,1.15,0.00,0.000,4,0.000,0.041,2961,1351,2027
$GC,15801,0.63,194.6,228.3,11.6,1519,15804,0.00,1.17,0.00,0.000,6,0.000,0.040,2961,2262,2027
$GC,16123,0.63,194.6,189.0,12.5,1550,16123,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2262,2027
$GC,16432,0.63,194.6,152.8,11.5,1580,16435,0.00,1.17,0.00,0.000,4,0.000,0.040,2966,1337,2028
$GC,16485,0.63,194.6,146.8,10.5,1585,16489,0.00,1.17,0.00,0.000,6,0.000,0.038,2966,2259,2029
$GC,16806,0.63,194.6,110.9,10.8,1616,16809,0.00,1.15,0.00,0.000,4,0.000,0.038,2971,1349,2028
$GC,16863,0.63,194.6,104.8,8.5,1621,16871,0.00,1.17,0.00,0.000,6,0.000,0.038,2971,2259,2028
$GC,17181,0.63,194.6,68.8,11.8,1652,17182,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2259,2029
$GC,17366,0.63,194.6,50.1,9.6,1670,17369,0.00,1.15,0.00,0.000,4,0.000,0.038,2976,1342,2030
$GC,17408,0.63,194.6,46.3,8.3,1674,17412,0.00,1.15,0.00,0.000,6,0.000,0.037,2976,2251,2030
$GC,17606,0.65,212.4,31.8,7.0,1693,17622,0.00,1.65,12.85,0.507,4,0.000,0.046,2976,3133,1973
$GC,17675,0.68,238.5,27.0,6.8,1699,17701,0.00,1.58,21.35,0.520,6,0.000,0.031,2984,2246,1867
$GC,17884,0.91,423.8,19.4,2.6,1719,18027,0.15,1.67,137.10,0.520,4,0.060,0.041,3056,3134,1110
$STATE,18089,end climb,SURFACE_DEPTH_REACHED
$STATE,18089,begin surface coast
$FINISH,2.2,1.022816
$STATE,18093,end surface coast,CONTROL_FINISHED_OK
$STATE,18093,begin surface
$SM_CCo,18108,77.12,0.490,0,0,494,575.22
$SM_GC,1.41,0.00,0.00,77.12,0.000,0.000,0.490,198,2369,494,-7.96,-0.88,575.22
$IRIDIUM_FIX,2823.64,-8836.59,220999,050512
$TT8_MAMPS,0.050622
$HUMID,1341
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,24.00
$XPDR_PINGS,73
$24V_AH,22.0,32.274
$10V_AH,10.6,44.726
$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,20.825,78.125,487.800,77.125,0.000,60.040,61.583,308.746,18.250,0.000,0.000,16.924,0.000,12261.207,617.006,5156.655,738.490,33.329,2082.119,0.000,4635.145,0.000,1.154,0.000
$DEVICE_MAMPS,260.013,60.593,1253.278,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1189.310,1273.209,3904.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91368,1737
$CAP_FILE_SIZE,164612,0
$CFSIZE,260165632,239083520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,214.1,1
$GPS,280610,104436,2836.649,-8838.334,39,1.0,45,-0.3