version: 66.04
glider: 515
mission: 5
dive: 189
start: 6 30 110 14 41 16
data:
$ID,515
$MISSION,5
$DIVE,189
$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,-16896.674
$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,36
$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
$GPS1,143237,2835.879,-8835.834,40,1.1,40,-0.3
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-62.5
$GPS2,144037,2835.984,-8835.876,14,1.8,19,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0607F
$TGT_LATLONG,2837.000,-8845.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.146,0.220
$KALMAN_X,-19490.2,682.6,1191.7,40731.4,-3919.3
$KALMAN_Y,-108917.9,1094.1,669.7,121258.1,-14497.4
$MHEAD_RNG_PITCHd_Wd,281.6,14953,-10.8,-7.500
$D_GRID,1421
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.63,-194.6,0.0,0.0,0,95,0.00,0.00,-80.57,0.000,2,0.000,0.000,201,2403,2710
$GC,97,-0.63,-194.6,3.1,-3.7,8,135,10.65,1.33,-22.55,0.000,4,0.258,0.058,2537,1490,3634
$GC,296,-0.63,-194.6,43.2,-17.6,26,303,0.00,1.35,0.00,0.000,6,0.000,0.036,2533,2407,3636
$GC,488,-0.63,-194.6,72.4,-13.5,45,491,0.00,1.30,0.00,0.000,4,0.000,0.035,2533,1503,3637
$GC,599,-0.63,-194.6,86.7,-12.2,55,609,0.00,1.30,0.00,0.000,6,0.000,0.036,2527,2396,3638
$GC,791,-0.63,-194.6,110.9,-13.2,74,795,0.00,1.27,0.00,0.000,4,0.000,0.035,2527,1503,3638
$GC,877,-0.63,-194.6,121.7,-13.2,82,880,0.00,1.30,0.00,0.000,6,0.000,0.037,2521,2401,3638
$GC,1199,-0.63,-194.6,162.6,-12.8,113,1202,0.00,1.48,0.00,0.000,4,0.000,0.047,2514,3279,3638
$GC,1234,-0.63,-194.6,167.6,-12.8,116,1242,0.12,1.45,0.00,0.000,6,0.143,0.027,2545,2370,3638
$GC,1551,-0.63,-194.6,200.6,-10.7,147,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2370,3637
$GC,1861,-0.63,-194.6,232.2,-10.1,177,1865,0.00,1.20,0.00,0.000,4,0.000,0.038,2545,1522,3635
$GC,1926,-0.63,-194.6,238.3,-9.0,183,1928,0.00,1.27,0.00,0.000,6,0.000,0.038,2542,2399,3635
$GC,2247,-0.63,-194.6,269.7,-10.1,214,2250,0.00,1.27,0.00,0.000,4,0.000,0.040,2542,1517,3633
$GC,2304,-0.63,-194.6,276.2,-10.3,219,2313,0.00,1.30,0.00,0.000,6,0.000,0.038,2536,2399,3633
$GC,2622,-0.63,-194.6,309.7,-10.7,250,2625,0.00,1.27,0.00,0.000,4,0.000,0.040,2536,1521,3631
$GC,2675,-0.63,-194.6,315.7,-10.8,255,2678,0.00,1.27,0.00,0.000,6,0.000,0.040,2530,2396,3630
$GC,2998,-0.63,-194.6,350.7,-10.9,286,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2397,3628
$GC,3306,-0.63,-194.6,385.0,-11.1,316,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2397,3626
$GC,3617,-0.63,-194.6,417.9,-10.5,346,3620,0.00,1.25,0.00,0.000,4,0.000,0.041,2530,1536,3624
$GC,3692,-0.63,-194.6,425.8,-10.6,353,3695,0.00,1.27,0.00,0.000,6,0.000,0.042,2525,2399,3623
$GC,4014,-0.63,-194.6,460.3,-10.8,384,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2399,3621
$GC,4323,-0.63,-194.6,493.6,-10.8,414,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2399,3618
$GC,4633,-0.63,-194.6,526.2,-10.3,444,4636,0.00,1.27,0.00,0.000,4,0.000,0.043,2525,1533,3617
$GC,4697,-0.63,-194.6,533.0,-10.4,450,4700,0.00,1.27,0.00,0.000,6,0.000,0.045,2519,2389,3616
$GC,5019,-0.63,-194.6,569.3,-11.8,481,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2391,3615
$GC,5329,-0.63,-194.6,605.5,-10.8,511,5331,0.00,1.25,0.00,0.000,4,0.000,0.043,2519,1541,3612
$GC,5360,-0.63,-194.6,609.1,-11.5,514,5363,0.08,1.30,0.00,0.000,6,0.148,0.045,2538,2405,3612
$GC,5681,-0.63,-194.6,639.2,-9.4,545,5684,0.00,1.27,0.00,0.000,4,0.000,0.044,2538,1541,3609
$GC,5824,-0.63,-194.6,652.5,-9.2,558,5831,0.00,1.30,0.00,0.000,6,0.000,0.046,2534,2400,3609
$GC,6142,-0.63,-194.6,681.2,-9.0,589,6145,0.00,1.27,0.00,0.000,4,0.000,0.045,2534,1541,3607
$GC,6220,-0.63,-194.6,688.6,-9.0,596,6227,0.00,1.33,0.00,0.000,6,0.000,0.046,2529,2408,3606
$GC,6537,-0.63,-194.6,718.0,-9.3,627,6541,0.00,1.30,0.00,0.000,4,0.000,0.044,2529,1535,3604
$GC,6634,-0.63,-194.6,727.1,-9.8,636,6636,0.00,1.30,0.00,0.000,6,0.000,0.048,2523,2401,3604
$GC,6955,-0.63,-194.6,759.0,-10.0,667,6958,0.00,1.27,0.00,0.000,4,0.000,0.044,2523,1540,3603
$GC,6991,-0.63,-194.6,762.9,-10.6,670,6998,0.00,1.33,0.00,0.000,6,0.000,0.047,2518,2407,3602
$GC,7308,-0.63,-194.6,794.2,-10.1,701,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2407,3601
$GC,7618,-0.63,-194.6,824.9,-9.9,731,7621,0.00,1.30,0.00,0.000,4,0.000,0.045,2518,1535,3599
$GC,7660,-0.63,-194.6,829.1,-10.2,735,7664,0.08,1.30,0.00,0.000,6,0.153,0.048,2536,2397,3599
$GC,7981,-0.63,-194.6,857.6,-8.8,766,7984,0.00,1.27,0.00,0.000,4,0.000,0.045,2537,1537,3597
$GC,8024,-0.63,-194.6,861.3,-8.4,770,8027,0.00,1.30,0.00,0.000,6,0.000,0.048,2532,2400,3597
$GC,8346,-0.63,-194.6,889.4,-8.8,801,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2400,3596
$GC,8656,-0.63,-194.6,916.7,-8.8,831,8659,0.00,1.27,0.00,0.000,4,0.000,0.048,2532,1544,3595
$GC,8698,-0.63,-194.6,920.4,-8.7,835,8701,0.00,1.30,0.00,0.000,6,0.000,0.048,2528,2400,3595
$GC,9020,-0.63,-194.6,948.9,-9.3,866,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2400,3594
$GC,9329,-0.63,-194.6,977.2,-8.9,896,9332,0.00,1.27,0.00,0.000,4,0.000,0.046,2528,1544,3592
$GC,9382,-0.63,-194.6,982.1,-8.6,901,9385,0.00,1.30,0.00,0.000,6,0.000,0.049,2523,2400,3592
$STATE,9474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9474,begin apogee
$GC,9478,-0.25,0.0,990.3,8.7,910,9637,0.47,0.00,151.20,1.250,6,0.137,0.000,2663,2281,2839
$STATE,9638,end apogee,CONTROL_FINISHED_OK
$STATE,9638,begin climb
$GC,9639,0.63,194.6,994.7,0.0,926,9813,0.88,1.40,167.45,1.216,4,0.103,0.051,2945,1353,2046
$GC,9834,0.63,194.6,978.4,11.8,942,9838,0.00,1.27,0.00,0.000,6,0.000,0.043,2944,2249,2042
$GC,10156,0.63,194.6,940.3,11.9,973,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2249,2035
$GC,10466,0.63,194.6,904.9,11.5,1003,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2249,2033
$GC,10776,0.63,194.6,869.2,11.4,1033,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2249,2032
$GC,11087,0.63,194.6,833.7,11.3,1063,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2249,2031
$GC,11397,0.63,194.6,798.5,11.3,1093,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2249,2031
$GC,11708,0.63,194.6,762.8,11.8,1123,11709,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2250,2030
$GC,12018,0.63,194.6,727.6,11.3,1153,12018,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2249,2030
$GC,12328,0.63,194.6,693.2,10.9,1183,12332,0.00,1.65,0.00,0.000,4,0.000,0.054,2944,3128,2029
$GC,12364,0.63,194.6,688.9,11.4,1186,12372,0.00,1.62,0.00,0.000,6,0.000,0.038,2953,2245,2028
$GC,12682,0.63,194.6,652.6,11.3,1217,12685,0.00,1.12,0.00,0.000,4,0.000,0.046,2957,1354,2027
$GC,12729,0.63,194.6,646.8,11.2,1221,12736,0.00,1.20,0.00,0.000,6,0.000,0.044,2957,2256,2028
$GC,13046,0.63,194.6,609.2,12.1,1252,13047,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2256,2028
$GC,13356,0.63,194.6,573.5,11.7,1282,13359,0.00,1.17,0.00,0.000,4,0.000,0.044,2963,1348,2027
$GC,13388,0.63,194.6,569.8,12.0,1285,13391,0.00,1.20,0.00,0.000,6,0.000,0.044,2963,2258,2027
$GC,13708,0.63,194.6,532.0,11.8,1316,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2258,2028
$GC,14019,0.63,194.6,494.7,12.0,1346,14022,0.00,1.65,0.00,0.000,4,0.000,0.054,2963,3137,2027
$GC,14044,0.63,194.6,491.4,13.4,1348,14052,0.00,1.62,0.00,0.000,6,0.000,0.037,2970,2249,2027
$GC,14362,0.63,194.6,451.7,12.3,1379,14365,0.00,1.65,0.00,0.000,4,0.000,0.053,2970,3136,2027
$GC,14387,0.63,194.6,448.2,13.6,1381,14396,0.00,1.62,0.00,0.000,6,0.000,0.037,2978,2248,2026
$GC,14705,0.63,194.6,406.8,12.9,1412,14706,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2249,2027
$GC,15014,0.63,194.6,366.7,12.2,1442,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2249,2026
$GC,15325,0.63,194.6,327.6,12.8,1472,15328,0.00,1.65,0.00,0.000,4,0.000,0.052,2978,3139,2026
$GC,15350,0.63,194.6,324.0,12.8,1474,15358,0.12,1.62,0.00,0.000,6,0.156,0.035,2951,2250,2026
$GC,15667,0.63,194.6,289.2,11.1,1505,15670,0.00,1.15,0.00,0.000,4,0.000,0.043,2955,1341,2026
$GC,15720,0.63,194.6,283.5,10.5,1510,15723,0.00,1.17,0.00,0.000,6,0.000,0.041,2955,2252,2027
$GC,16040,0.63,194.6,248.2,11.0,1541,16044,0.00,1.65,0.00,0.000,4,0.000,0.051,2955,3135,2026
$GC,16062,0.63,194.6,245.8,11.7,1543,16065,0.00,1.60,0.00,0.000,6,0.000,0.036,2963,2221,2026
$GC,16382,0.63,194.6,207.8,11.9,1574,16386,0.00,1.70,0.00,0.000,4,0.000,0.049,2963,3127,2027
$GC,16425,0.63,194.6,202.5,12.6,1578,16429,0.00,1.55,0.00,0.000,6,0.000,0.035,2970,2261,2027
$GC,16746,0.63,194.6,162.1,12.3,1609,16749,0.00,1.15,0.00,0.000,4,0.000,0.040,2976,1345,2028
$GC,16782,0.63,194.6,157.5,11.2,1612,16789,0.00,1.20,0.00,0.000,6,0.000,0.038,2976,2262,2028
$GC,17100,0.63,194.6,119.7,12.0,1643,17103,0.00,1.60,0.00,0.000,4,0.000,0.048,2976,3153,2028
$GC,17142,0.63,194.6,114.2,14.5,1647,17146,0.10,1.62,0.00,0.000,6,0.139,0.033,2952,2241,2028
$GC,17463,0.63,194.6,83.4,8.5,1678,17466,0.00,1.67,0.00,0.000,4,0.000,0.047,2952,3136,2029
$GC,17505,0.63,194.6,79.6,9.0,1682,17508,0.00,1.58,0.00,0.000,6,0.000,0.031,2958,2250,2029
$GC,17702,0.63,199.5,62.9,7.4,1701,17705,0.00,1.12,0.00,0.000,4,0.000,0.038,2964,1336,2030
$GC,17734,0.65,217.1,60.6,7.0,1704,17757,0.00,1.17,16.58,0.544,6,0.000,0.037,2963,2259,1953
$GC,17942,0.66,224.6,43.7,7.3,1724,17953,0.00,0.00,7.18,0.471,6,0.000,0.000,2963,2259,1923
$GC,18139,0.78,320.3,33.0,5.0,1743,18216,0.10,1.60,72.40,0.536,4,0.077,0.044,3013,3135,1534
$GC,18260,0.78,320.3,23.5,8.6,1753,18263,0.00,1.60,0.00,0.000,6,0.000,0.030,3020,2233,1528
$GC,18457,0.86,384.2,9.3,5.8,1772,18508,0.00,1.12,47.60,0.505,4,0.000,0.037,3026,1350,1272
$GC,18558,0.94,451.9,3.9,5.7,1781,18573,0.00,1.17,12.25,0.459,2,0.000,0.033,3026,2259,1211
$STATE,18574,end climb,SURFACE_DEPTH_REACHED
$STATE,18574,begin surface coast
$FINISH,2.1,1.022979
$STATE,18578,end surface coast,CONTROL_FINISHED_OK
$STATE,18578,begin surface
$SM_CCo,18592,85.10,0.491,0,0,494,575.22
$SM_GC,1.35,0.00,0.00,85.10,0.000,0.000,0.491,201,2408,494,-7.96,0.23,575.22
$IRIDIUM_FIX,2828.55,-8802.18,240999,090938
$TT8_MAMPS,0.050622
$HUMID,1320
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.20
$XPDR_PINGS,1
$24V_AH,23.0,33.901
$10V_AH,10.6,47.193
$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,20.550,93.225,474.650,85.100,0.000,24.663,39.812,282.723,0.250,0.000,0.000,21.961,0.000,12473.725,634.157,5346.332,675.176,33.332,2166.490,0.000,4784.950,0.000,0.848,0.000
$DEVICE_MAMPS,258.479,57.525,1250.210,490.880,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1220.634,1302.844,4007.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94674,1783
$CAP_FILE_SIZE,173189,0
$CFSIZE,260165632,238088192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,221.3,1
$GPS,300610,195337,2835.475,-8839.727,41,1.9,41,-0.2