version: 66.04
glider: 515
mission: 5
dive: 186
start: 6 29 110 22 59 40
data:
$ID,515
$MISSION,5
$DIVE,186
$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,-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,8
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15710.527
$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,52
$R_STBD_OVSHOOT,32
$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
$GPS1,224501,2837.470,-8826.158,38,1.3,38,-0.4
$_CALLS,2
$_XMS_NAKs,48
$_XMS_TOUTs,3
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-58.7
$GPS2,225802,2837.482,-8826.216,8,1.9,8,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.244,0.103
$KALMAN_X,-17032.3,-1429.0,-1085.2,58421.7,4285.5
$KALMAN_Y,-97465.1,999.1,525.2,112830.9,-15538.5
$MHEAD_RNG_PITCHd_Wd,267.3,30552,-10.8,-7.500
$D_GRID,1525
$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,13,-0.63,-194.6,0.0,0.0,0,102,0.00,0.00,-87.72,0.000,2,0.000,0.000,196,2376,2906
$GC,104,-0.63,-194.6,3.0,-3.3,9,134,10.70,1.27,-16.65,0.000,4,0.259,0.054,2539,1489,3635
$GC,363,-0.63,-194.6,56.1,-13.8,32,370,0.00,1.35,0.00,0.000,6,0.000,0.035,2534,2408,3637
$GC,555,-0.63,-194.6,82.4,-12.9,51,558,0.00,1.27,0.00,0.000,4,0.000,0.036,2536,1522,3637
$GC,581,-0.63,-194.6,85.9,-13.5,53,588,0.00,1.27,0.00,0.000,6,0.000,0.035,2532,2396,3638
$GC,773,-0.63,-194.6,112.4,-13.7,72,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2396,3638
$GC,1083,-0.63,-194.6,152.0,-11.5,102,1086,0.00,1.25,0.00,0.000,4,0.000,0.037,2532,1519,3638
$GC,1115,-0.63,-194.6,155.6,-11.4,105,1118,0.00,1.27,0.00,0.000,6,0.000,0.036,2527,2401,3638
$GC,1437,-0.63,-194.6,192.6,-11.5,136,1440,0.00,1.27,0.00,0.000,4,0.000,0.038,2527,1514,3637
$GC,1505,-0.63,-194.6,200.7,-11.7,142,1513,0.00,1.30,0.00,0.000,6,0.000,0.036,2520,2402,3636
$GC,1822,-0.63,-194.6,237.4,-11.1,173,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2402,3634
$GC,2132,-0.63,-194.6,273.8,-11.3,203,2135,0.00,1.27,0.00,0.000,4,0.000,0.039,2521,1521,3632
$GC,2168,-0.63,-194.6,278.2,-10.8,206,2177,0.00,1.30,0.00,0.000,6,0.000,0.038,2515,2403,3632
$GC,2485,-0.63,-194.6,315.5,-11.9,237,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2403,3629
$GC,2795,-0.63,-194.6,352.5,-12.3,267,2796,0.10,0.00,0.00,0.000,6,0.151,0.000,2539,2403,3627
$GC,3106,-0.63,-194.6,384.8,-10.5,297,3107,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2404,3625
$GC,3416,-0.63,-194.6,415.7,-9.7,327,3419,0.00,1.30,0.00,0.000,4,0.000,0.042,2540,1516,3621
$GC,3479,-0.63,-194.6,421.8,-9.2,333,3483,0.00,1.27,0.00,0.000,6,0.000,0.042,2536,2385,3621
$GC,3802,-0.63,-194.6,453.7,-10.2,364,3805,0.00,1.55,0.00,0.000,4,0.000,0.054,2528,3294,3619
$GC,3854,-0.63,-194.6,459.2,-10.6,369,3858,0.00,1.45,0.00,0.000,6,0.000,0.033,2529,2402,3618
$GC,4177,-0.63,-194.6,493.4,-10.6,400,4180,0.00,1.27,0.00,0.000,4,0.000,0.043,2529,1522,3616
$GC,4213,-0.63,-194.6,497.4,-10.6,403,4220,0.00,1.33,0.00,0.000,6,0.000,0.044,2522,2414,3615
$GC,4530,-0.63,-194.6,531.7,-10.9,434,4533,0.00,1.48,0.00,0.000,4,0.000,0.057,2515,3269,3613
$GC,4572,-0.63,-194.6,536.5,-11.7,438,4575,0.00,1.42,0.00,0.000,6,0.000,0.035,2516,2403,3613
$GC,4894,-0.63,-194.6,573.2,-11.3,469,4897,0.00,1.27,0.00,0.000,4,0.000,0.044,2515,1519,3610
$GC,4940,-0.63,-194.6,578.8,-10.5,473,4948,0.08,1.33,0.00,0.000,6,0.144,0.044,2534,2397,3610
$GC,5257,-0.63,-194.6,609.3,-9.9,504,5260,0.00,1.52,0.00,0.000,4,0.000,0.058,2529,3282,3607
$GC,5303,-0.63,-194.6,614.0,-10.2,508,5311,0.00,1.48,0.00,0.000,6,0.000,0.035,2529,2390,3606
$GC,5622,-0.63,-194.6,646.5,-10.1,539,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2389,3605
$GC,5931,-0.63,-194.6,678.3,-10.4,569,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2389,3603
$GC,6241,-0.63,-194.6,709.0,-9.2,599,6244,0.00,1.55,0.00,0.000,4,0.000,0.059,2523,3279,3601
$GC,6266,-0.63,-194.6,711.7,-9.6,601,6275,0.00,1.48,0.00,0.000,6,0.000,0.035,2522,2393,3601
$GC,6584,-0.63,-194.6,743.4,-10.2,632,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2394,3599
$GC,6893,-0.63,-194.6,774.3,-10.2,662,6894,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2394,3597
$GC,7204,-0.63,-194.6,806.1,-10.4,692,7207,0.00,1.55,0.00,0.000,4,0.000,0.060,2516,3274,3595
$GC,7251,-0.63,-194.6,811.1,-10.4,696,7258,0.00,1.45,0.00,0.000,6,0.000,0.037,2516,2399,3594
$GC,7569,-0.63,-194.6,842.6,-9.9,727,7572,0.00,1.30,0.00,0.000,4,0.000,0.048,2516,1523,3594
$GC,7611,-0.63,-194.6,847.0,-10.4,731,7614,0.00,1.30,0.00,0.000,6,0.000,0.048,2510,2383,3593
$GC,7933,-0.63,-194.6,878.9,-9.9,762,7934,0.12,0.00,0.00,0.000,6,0.150,0.000,2542,2385,3592
$GC,8243,-0.63,-194.6,904.9,-8.5,792,8246,0.00,1.30,0.00,0.000,4,0.000,0.048,2542,1518,3591
$GC,8286,-0.63,-194.6,908.6,-8.9,796,8289,0.00,1.35,0.00,0.000,6,0.000,0.050,2539,2405,3590
$GC,8607,-0.63,-194.6,935.0,-8.6,827,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2406,3589
$GC,8917,-0.63,-194.6,960.9,-8.4,857,8920,0.00,1.35,0.00,0.000,4,0.000,0.049,2539,1510,3588
$GC,8970,-0.63,-194.6,965.2,-8.9,862,8973,0.00,1.35,0.00,0.000,6,0.000,0.050,2533,2398,3588
$STATE,9269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9269,begin apogee
$GC,9274,-0.25,0.0,990.3,8.6,891,9433,0.45,0.00,150.18,1.251,6,0.135,0.000,2667,2266,2838
$STATE,9433,end apogee,CONTROL_FINISHED_OK
$STATE,9433,begin climb
$GC,9435,0.63,194.6,994.0,0.0,907,9606,0.85,0.00,167.20,1.216,6,0.101,0.000,2938,2266,2046
$GC,9913,0.63,194.6,945.5,11.5,952,9916,0.00,1.23,0.00,0.000,4,0.000,0.055,2944,1360,2036
$GC,9981,0.63,194.6,937.3,11.8,958,9989,0.00,1.23,0.00,0.000,6,0.000,0.044,2943,2260,2035
$GC,10298,0.63,194.6,899.5,12.3,989,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2260,2033
$GC,10608,0.63,194.6,864.5,11.3,1019,10611,0.00,1.20,0.00,0.000,4,0.000,0.045,2949,1345,2032
$GC,10655,0.63,194.6,859.4,11.3,1023,10662,0.00,1.20,0.00,0.000,6,0.000,0.044,2949,2255,2032
$GC,10972,0.63,194.6,823.5,11.3,1054,10975,0.00,1.17,0.00,0.000,4,0.000,0.045,2954,1353,2031
$GC,11007,0.63,194.6,819.3,11.6,1057,11015,0.00,1.20,0.00,0.000,6,0.000,0.044,2955,2253,2031
$GC,11325,0.63,194.6,782.5,11.9,1088,11326,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2253,2030
$GC,11634,0.63,194.6,745.6,11.8,1118,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2253,2029
$GC,11945,0.63,194.6,708.8,11.5,1148,11948,0.00,1.65,0.00,0.000,4,0.000,0.054,2954,3128,2029
$GC,11966,0.63,194.6,706.1,13.3,1150,11969,0.00,1.60,0.00,0.000,6,0.000,0.039,2962,2252,2028
$GC,12286,0.63,194.6,666.0,12.5,1181,12290,0.00,1.15,0.00,0.000,4,0.000,0.045,2967,1352,2028
$GC,12329,0.63,194.6,660.6,13.3,1185,12332,0.00,1.17,0.00,0.000,6,0.000,0.044,2967,2250,2028
$GC,12651,0.63,194.6,619.6,13.0,1216,12654,0.00,1.17,0.00,0.000,4,0.000,0.045,2972,1340,2028
$GC,12676,0.63,194.6,616.4,12.2,1218,12684,0.00,1.23,0.00,0.000,6,0.000,0.043,2972,2259,2028
$GC,12993,0.63,194.6,576.2,12.2,1249,12996,0.00,1.62,0.00,0.000,4,0.000,0.054,2972,3144,2028
$GC,13018,0.63,194.6,572.7,13.4,1251,13026,0.00,1.62,0.00,0.000,6,0.000,0.037,2980,2245,2027
$GC,13335,0.63,194.6,532.0,13.3,1282,13338,0.12,1.15,0.00,0.000,4,0.159,0.042,2952,1339,2027
$GC,13377,0.63,194.6,527.1,10.5,1286,13381,0.00,1.20,0.00,0.000,6,0.000,0.043,2953,2256,2027
$GC,13698,0.63,194.6,491.2,11.2,1317,13701,0.00,1.65,0.00,0.000,4,0.000,0.053,2952,3134,2027
$GC,13745,0.63,194.6,485.3,12.2,1321,13752,0.00,1.62,0.00,0.000,6,0.000,0.036,2960,2248,2026
$GC,14063,0.63,194.6,448.1,11.8,1352,14066,0.00,1.15,0.00,0.000,4,0.000,0.044,2965,1340,2026
$GC,14120,0.63,194.6,441.2,10.7,1357,14128,0.00,1.23,0.00,0.000,6,0.000,0.042,2965,2261,2026
$GC,14438,0.63,194.6,404.0,11.5,1388,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2261,2026
$GC,14747,0.63,194.6,367.7,11.5,1418,14748,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2261,2026
$GC,15058,0.63,194.6,329.8,12.1,1448,15061,0.00,1.17,0.00,0.000,4,0.000,0.042,2970,1350,2026
$GC,15104,0.63,194.6,324.3,10.9,1452,15111,0.00,1.20,0.00,0.000,6,0.000,0.041,2970,2258,2026
$GC,15421,0.63,194.6,284.9,12.7,1483,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2258,2026
$GC,15732,0.63,194.6,245.3,12.7,1513,15734,0.00,1.60,0.00,0.000,4,0.000,0.051,2971,3134,2026
$GC,15767,0.63,194.6,240.5,13.0,1516,15775,0.00,1.62,0.00,0.000,6,0.000,0.034,2978,2239,2027
$GC,16085,0.63,194.6,200.2,12.8,1547,16088,0.00,1.10,0.00,0.000,4,0.000,0.041,2984,1353,2027
$GC,16131,0.63,194.6,193.9,12.1,1551,16139,0.12,1.20,0.00,0.000,6,0.146,0.039,2953,2262,2028
$GC,16448,0.63,194.6,159.9,11.5,1582,16451,0.00,1.17,0.00,0.000,4,0.000,0.040,2956,1346,2028
$GC,16495,0.63,194.6,155.0,10.0,1586,16504,0.00,1.20,0.00,0.000,6,0.000,0.038,2956,2261,2028
$GC,16812,0.63,194.6,122.8,8.8,1617,16813,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2261,2028
$GC,17122,0.63,194.6,92.2,11.0,1647,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2261,2029
$GC,17308,0.63,194.6,74.8,9.3,1665,17311,0.00,1.17,0.00,0.000,4,0.000,0.037,2961,1333,2029
$GC,17419,0.63,194.6,65.0,8.0,1675,17426,0.00,1.17,0.00,0.000,6,0.000,0.036,2961,2258,2030
$GC,17611,0.63,194.6,49.4,7.5,1694,17614,0.00,1.60,0.00,0.000,4,0.000,0.046,2961,3128,2030
$GC,17665,0.67,226.6,45.1,6.7,1699,17691,0.00,1.55,23.45,0.538,6,0.000,0.031,2969,2250,1916
$GC,17880,0.74,290.8,30.4,5.8,1719,17932,0.00,1.17,49.12,0.532,4,0.000,0.036,2973,1339,1653
$GC,17965,0.86,388.1,25.8,4.9,1726,18042,0.10,1.17,72.88,0.522,6,0.053,0.035,3036,2255,1257
$GC,18234,0.86,388.1,4.6,9.3,1751,18238,0.00,1.62,0.00,0.000,4,0.000,0.044,3036,3132,1250
$GC,18249,0.86,388.1,3.7,8.0,1752,18257,0.00,1.60,0.00,0.000,6,0.000,0.028,3043,2249,1250
$STATE,18264,end climb,SURFACE_DEPTH_REACHED
$STATE,18264,begin surface coast
$FINISH,0.6,1.022893
$STATE,18296,end surface coast,CONTROL_FINISHED_OK
$STATE,18296,begin surface
$SM_CCo,18310,89.07,0.490,0,0,494,575.22
$SM_GC,1.34,0.00,0.00,89.07,0.000,0.000,0.490,196,2401,494,-7.97,0.03,575.22
$IRIDIUM_FIX,2828.55,-8826.71,230999,222248
$TT8_MAMPS,0.051389
$HUMID,1346
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.10
$XPDR_PINGS,0
$24V_AH,23.0,33.476
$10V_AH,10.6,46.503
$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,20.350,91.950,462.825,89.075,0.000,53.765,57.508,486.725,0.000,0.000,0.000,10.406,0.000,12334.429,658.161,5235.309,979.287,33.337,2164.369,0.000,4696.229,0.000,1.155,0.000
$DEVICE_MAMPS,259.246,59.826,1250.977,490.113,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1201.883,1279.863,3948.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91388,1757
$CAP_FILE_SIZE,178382,0
$CFSIZE,260165632,238358528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,220.2,1
$GPS,300610,040706,2836.652,-8829.910,26,1.2,26,-0.4