version: 66.04
glider: 515
mission: 5
dive: 196
start: 7 2 110 2 56 59
data:
$ID,515
$MISSION,5
$DIVE,196
$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,-17032.984
$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,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,024306,2837.919,-8836.072,28,1.2,28,-0.3
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.5
$GPS2,025619,2837.907,-8836.141,12,1.2,17,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.252,0.080
$KALMAN_X,-35525.9,433.5,240.4,57539.7,-6263.1
$KALMAN_Y,-128571.1,754.6,554.9,144925.9,-7242.0
$MHEAD_RNG_PITCHd_Wd,74.0,16484,-10.8,-7.500
$D_GRID,1411
$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,-73.40,0.000,2,0.000,0.000,201,2396,2502
$GC,89,-0.63,-194.6,3.0,-3.3,7,136,10.62,1.48,-31.38,0.000,4,0.258,0.064,2533,3253,3635
$GC,164,-0.63,-194.6,14.5,-24.9,14,167,0.00,1.45,0.00,0.000,6,0.000,0.028,2537,2364,3635
$GC,361,-0.63,-194.6,57.4,-16.6,33,364,0.00,1.25,0.00,0.000,4,0.000,0.036,2537,1478,3637
$GC,425,-0.63,-194.6,66.4,-14.5,39,428,0.00,1.27,0.00,0.000,6,0.000,0.037,2533,2360,3636
$GC,622,-0.63,-194.6,93.9,-14.4,58,625,0.00,1.50,0.00,0.000,4,0.000,0.045,2526,3258,3638
$GC,647,-0.63,-194.6,97.6,-14.4,60,655,0.00,1.45,0.00,0.000,6,0.000,0.027,2526,2361,3637
$GC,839,-0.63,-194.6,124.0,-13.1,79,840,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2361,3638
$GC,1150,-0.63,-194.6,164.0,-13.0,109,1153,0.00,1.52,0.00,0.000,4,0.000,0.045,2519,3262,3637
$GC,1197,-0.63,-194.6,170.2,-12.9,113,1204,0.00,1.42,0.00,0.000,6,0.000,0.027,2519,2367,3637
$GC,1514,-0.63,-194.6,209.1,-12.3,144,1517,0.00,1.52,0.00,0.000,4,0.000,0.048,2512,3269,3636
$GC,1550,-0.63,-194.6,213.9,-12.5,147,1558,0.12,1.45,0.00,0.000,6,0.142,0.028,2544,2365,3636
$GC,1866,-0.63,-194.6,246.2,-9.9,178,1870,0.00,1.23,0.00,0.000,4,0.000,0.038,2544,1495,3635
$GC,1931,-0.63,-194.6,252.7,-9.5,184,1933,0.00,1.27,0.00,0.000,6,0.000,0.039,2541,2373,3634
$GC,2252,-0.63,-194.6,286.6,-10.3,215,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2373,3632
$GC,2562,-0.63,-194.6,317.2,-9.5,245,2565,0.00,1.27,0.00,0.000,4,0.000,0.038,2541,1492,3630
$GC,2619,-0.63,-194.6,322.9,-9.3,250,2627,0.00,1.33,0.00,0.000,6,0.000,0.040,2535,2389,3629
$GC,2938,-0.63,-194.6,354.1,-9.9,281,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2389,3627
$GC,3246,-0.63,-194.6,384.8,-9.9,311,3249,0.00,1.30,0.00,0.000,4,0.000,0.039,2535,1494,3625
$GC,3314,-0.63,-194.6,391.8,-10.1,317,3322,0.00,1.30,0.00,0.000,6,0.000,0.041,2529,2370,3624
$GC,3632,-0.63,-194.6,423.6,-10.2,348,3635,0.00,1.52,0.00,0.000,4,0.000,0.053,2522,3262,3621
$GC,3657,-0.63,-194.6,426.5,-10.5,350,3665,0.00,1.45,0.00,0.000,6,0.000,0.031,2522,2372,3621
$GC,3975,-0.63,-194.6,459.1,-10.7,381,3978,0.00,1.25,0.00,0.000,4,0.000,0.041,2522,1501,3619
$GC,4022,-0.63,-194.6,464.4,-11.5,385,4029,0.00,1.33,0.00,0.000,6,0.000,0.043,2516,2387,3619
$GC,4339,-0.63,-194.6,500.4,-11.3,416,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2387,3617
$GC,4649,-0.63,-194.6,536.6,-11.8,446,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2387,3614
$GC,4959,-0.63,-194.6,572.2,-11.2,476,4962,0.00,1.30,0.00,0.000,4,0.000,0.041,2516,1497,3613
$GC,4991,-0.63,-194.6,575.9,-11.9,479,4994,0.10,1.27,0.00,0.000,6,0.142,0.045,2541,2362,3612
$GC,5312,-0.63,-194.6,606.9,-9.6,510,5315,0.00,1.25,0.00,0.000,4,0.000,0.042,2541,1504,3610
$GC,5376,-0.63,-194.6,613.1,-9.9,516,5379,0.00,1.30,0.00,0.000,6,0.000,0.046,2538,2373,3609
$GC,5697,-0.63,-194.6,643.7,-9.4,547,5700,0.00,1.52,0.00,0.000,4,0.000,0.057,2531,3254,3607
$GC,5733,-0.63,-194.6,647.4,-9.7,550,5741,0.00,1.42,0.00,0.000,6,0.000,0.035,2531,2383,3607
$GC,6051,-0.63,-194.6,677.6,-9.5,581,6054,0.00,1.30,0.00,0.000,4,0.000,0.044,2531,1488,3604
$GC,6114,-0.63,-194.6,683.7,-9.6,587,6118,0.00,1.33,0.00,0.000,6,0.000,0.046,2525,2370,3604
$GC,6437,-0.63,-194.6,714.9,-9.5,618,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2371,3603
$GC,6746,-0.63,-194.6,745.2,-9.9,648,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2371,3602
$GC,7057,-0.63,-194.6,775.4,-9.7,678,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2371,3599
$GC,7366,-0.63,-194.6,805.8,-9.9,708,7370,0.00,1.30,0.00,0.000,4,0.000,0.044,2525,1498,3598
$GC,7420,-0.63,-194.6,811.1,-9.7,713,7423,0.00,1.33,0.00,0.000,6,0.000,0.048,2520,2376,3598
$GC,7742,-0.63,-194.6,844.7,-10.7,744,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2376,3596
$GC,8051,-0.63,-194.6,875.9,-10.1,774,8054,0.00,1.33,0.00,0.000,4,0.000,0.045,2519,1486,3595
$GC,8094,-0.63,-194.6,880.2,-9.8,778,8097,0.08,1.35,0.00,0.000,6,0.150,0.049,2537,2380,3594
$GC,8414,-0.63,-194.6,908.2,-8.6,809,8418,0.00,1.33,0.00,0.000,4,0.000,0.044,2537,1492,3593
$GC,8446,-0.63,-194.6,910.9,-8.5,812,8449,0.00,1.35,0.00,0.000,6,0.000,0.048,2533,2383,3593
$GC,8769,-0.63,-194.6,939.5,-9.0,843,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2383,3592
$GC,9077,-0.63,-194.6,967.7,-8.7,873,9080,0.00,1.33,0.00,0.000,4,0.000,0.045,2533,1493,3590
$GC,9167,-0.63,-194.6,976.0,-9.4,881,9174,0.00,1.33,0.00,0.000,6,0.000,0.048,2528,2369,3590
$STATE,9326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9326,begin apogee
$GC,9331,-0.25,0.0,991.0,9.6,897,9490,0.45,0.00,151.43,1.248,6,0.138,0.000,2661,2289,2839
$STATE,9491,end apogee,CONTROL_FINISHED_OK
$STATE,9491,begin climb
$GC,9493,0.63,194.6,996.3,0.0,913,9671,0.88,1.38,168.15,1.218,4,0.104,0.044,2942,1378,2045
$GC,9693,0.63,194.6,981.4,10.8,930,9696,0.00,1.30,0.00,0.000,6,0.000,0.044,2942,2269,2042
$GC,10015,0.63,194.6,945.4,11.6,961,10018,0.00,1.20,0.00,0.000,4,0.000,0.044,2947,1378,2035
$GC,10051,0.63,194.6,941.1,11.3,964,10059,0.00,1.25,0.00,0.000,6,0.000,0.044,2947,2274,2034
$GC,10369,0.63,194.6,903.5,12.1,995,10370,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2274,2033
$GC,10678,0.63,194.6,866.4,12.2,1025,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2274,2033
$GC,10988,0.63,194.6,829.4,11.3,1055,10992,0.00,1.20,0.00,0.000,4,0.000,0.044,2952,1375,2031
$GC,11035,0.63,194.6,823.9,11.5,1059,11042,0.00,1.25,0.00,0.000,6,0.000,0.045,2952,2280,2031
$GC,11352,0.63,194.6,785.6,11.9,1090,11353,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2280,2030
$GC,11662,0.63,194.6,747.4,12.5,1120,11663,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2280,2030
$GC,11972,0.63,194.6,708.9,12.2,1150,11973,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2280,2029
$GC,12283,0.63,194.6,671.5,12.0,1180,12286,0.00,1.23,0.00,0.000,4,0.000,0.044,2958,1367,2029
$GC,12325,0.63,194.6,666.5,11.3,1184,12328,0.00,1.23,0.00,0.000,6,0.000,0.045,2957,2274,2029
$GC,12647,0.63,194.6,628.6,11.8,1215,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2274,2029
$GC,12956,0.63,194.6,592.0,11.9,1245,12957,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2274,2028
$GC,13267,0.63,194.6,556.9,11.5,1275,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2274,2028
$GC,13577,0.63,194.6,519.4,12.6,1305,13580,0.00,1.20,0.00,0.000,4,0.000,0.044,2963,1371,2028
$GC,13602,0.63,194.6,516.4,12.9,1307,13610,0.00,1.25,0.00,0.000,6,0.000,0.044,2963,2283,2028
$GC,13920,0.63,194.6,476.6,12.8,1338,13921,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2283,2028
$GC,14229,0.63,194.6,436.9,12.8,1368,14230,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2283,2028
$GC,14540,0.63,194.6,398.9,12.2,1398,14541,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2283,2028
$GC,14850,0.63,194.6,361.3,12.1,1428,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2283,2028
$GC,15160,0.63,194.6,323.5,12.0,1458,15163,0.00,1.23,0.00,0.000,4,0.000,0.042,2968,1367,2028
$GC,15203,0.63,194.6,318.2,12.8,1462,15206,0.00,1.23,0.00,0.000,6,0.000,0.043,2968,2281,2028
$GC,15524,0.63,194.6,277.9,12.3,1493,15525,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2281,2028
$GC,15834,0.63,194.6,239.1,12.0,1523,15837,0.00,1.23,0.00,0.000,4,0.000,0.041,2973,1361,2028
$GC,15877,0.63,194.6,233.9,11.6,1527,15880,0.00,1.23,0.00,0.000,6,0.000,0.042,2973,2281,2028
$GC,16197,0.63,194.6,194.1,12.1,1558,16198,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2281,2028
$GC,16508,0.63,194.6,155.4,12.2,1588,16509,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2281,2029
$GC,16818,0.63,194.6,119.4,11.5,1618,16821,0.00,1.62,0.00,0.000,4,0.000,0.050,2973,3174,2029
$GC,16908,0.63,194.6,108.4,13.6,1626,16916,0.08,1.58,0.00,0.000,6,0.139,0.032,2956,2272,2029
$GC,17225,0.63,194.6,79.0,8.9,1657,17225,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2273,2029
$GC,17410,0.63,194.6,62.4,8.9,1675,17411,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2273,2030
$GC,17597,0.65,210.4,47.7,7.1,1693,17612,0.00,1.15,11.38,0.510,4,0.000,0.036,2959,1364,1982
$GC,17655,0.69,244.3,43.8,6.6,1698,17687,0.00,1.23,27.25,0.541,6,0.000,0.037,2959,2280,1843
$GC,17871,0.82,354.9,31.8,4.6,1719,17959,0.15,1.65,82.78,0.534,4,0.061,0.045,3032,3163,1392
$GC,17977,0.82,354.9,23.1,10.1,1728,17980,0.00,1.58,0.00,0.000,6,0.000,0.029,3039,2276,1389
$GC,18174,0.82,354.9,5.8,9.1,1747,18177,0.00,1.17,0.00,0.000,4,0.000,0.036,3045,1365,1384
$STATE,18204,end climb,SURFACE_DEPTH_REACHED
$STATE,18204,begin surface coast
$FINISH,2.2,1.023025
$STATE,18208,end surface coast,CONTROL_FINISHED_OK
$STATE,18208,begin surface
$SM_CCo,18224,109.18,0.496,0,0,494,575.22
$SM_GC,1.51,0.00,0.00,109.18,0.000,0.000,0.496,204,2394,494,-7.95,0.54,575.22
$IRIDIUM_FIX,2826.10,-8836.59,260999,020240
$TT8_MAMPS,0.051389
$HUMID,1339
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,22.0,34.989
$10V_AH,10.6,48.736
$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,20.575,77.950,440.975,109.175,0.000,77.623,116.126,349.819,0.000,0.000,0.000,20.401,0.000,12468.892,632.556,5149.122,848.794,33.336,2085.670,0.000,4612.721,0.000,1.152,0.000
$DEVICE_MAMPS,257.712,64.428,1247.909,496.249,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.351,1278.442,3933.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91560,1750
$CAP_FILE_SIZE,167480,0
$CFSIZE,260165632,237486080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,213.0,1
$GPS,020710,080330,2838.071,-8833.689,36,1.6,36,-0.3