version: 66.04
glider: 515
mission: 5
dive: 197
start: 7 2 110 8 10 17
data:
$ID,515
$MISSION,5
$DIVE,197
$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,-17051.27
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,080330,2838.071,-8833.689,36,1.6,36,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-65.7
$GPS2,080938,2838.086,-8833.751,15,2.0,15,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.147,0.220
$KALMAN_X,-38319.8,606.5,421.2,63873.4,-7299.0
$KALMAN_Y,-129435.4,420.1,472.4,146547.4,-5717.6
$MHEAD_RNG_PITCHd_Wd,77.3,12604,-10.8,-7.500
$D_GRID,1538
$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,-194.6,0.0,0.0,0,102,0.00,0.00,-88.43,0.000,2,0.000,0.000,203,2397,2916
$GC,104,-0.63,-194.6,3.2,-2.7,9,134,10.60,1.50,-15.80,0.000,4,0.259,0.072,2529,3257,3635
$GC,198,-0.63,-194.6,27.7,-26.2,17,201,0.00,1.48,0.00,0.000,6,0.000,0.028,2534,2354,3637
$GC,394,-0.63,-194.6,63.8,-16.0,36,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3639
$GC,580,-0.63,-194.6,91.5,-13.8,54,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2353,3640
$GC,767,-0.63,-194.6,117.5,-13.6,72,770,0.00,1.23,0.00,0.000,4,0.000,0.037,2536,1473,3640
$GC,798,-0.63,-194.6,121.7,-13.0,75,802,0.00,1.27,0.00,0.000,6,0.000,0.037,2532,2359,3641
$GC,1121,-0.63,-194.6,162.9,-12.6,106,1123,0.00,1.52,0.00,0.000,4,0.000,0.046,2525,3269,3640
$GC,1199,-0.63,-194.6,172.9,-11.8,113,1206,0.00,1.45,0.00,0.000,6,0.000,0.028,2525,2362,3640
$GC,1517,-0.63,-194.6,210.4,-12.0,144,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2361,3641
$GC,1826,-0.63,-194.6,246.3,-11.9,174,1829,0.00,1.23,0.00,0.000,4,0.000,0.038,2525,1492,3640
$GC,1900,-0.63,-194.6,255.2,-11.9,181,1904,0.00,1.30,0.00,0.000,6,0.000,0.039,2519,2385,3639
$GC,2222,-0.63,-194.6,294.5,-12.2,212,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2386,3637
$GC,2532,-0.63,-194.6,331.8,-11.6,242,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2386,3636
$GC,2842,-0.63,-194.6,367.8,-11.6,272,2845,0.00,1.30,0.00,0.000,4,0.000,0.038,2519,1487,3633
$GC,2889,-0.63,-194.6,373.1,-10.8,276,2897,0.08,1.30,0.00,0.000,6,0.146,0.040,2537,2374,3633
$GC,3205,-0.63,-194.6,403.3,-8.1,307,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2374,3631
$GC,3516,-0.63,-194.6,434.5,-9.6,337,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2374,3629
$GC,3826,-0.63,-194.6,464.7,-9.9,367,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2374,3626
$GC,4137,-0.63,-194.6,495.1,-9.5,397,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2375,3624
$GC,4447,-0.63,-194.6,525.6,-10.0,427,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2375,3622
$GC,4758,-0.63,-194.6,556.1,-9.5,457,4761,0.00,1.27,0.00,0.000,4,0.000,0.042,2537,1506,3620
$GC,4804,-0.63,-194.6,561.0,-10.5,461,4811,0.00,1.33,0.00,0.000,6,0.000,0.044,2533,2382,3620
$GC,5122,-0.63,-194.6,593.8,-10.4,492,5125,0.00,1.30,0.00,0.000,4,0.000,0.043,2533,1499,3618
$GC,5164,-0.63,-194.6,598.3,-10.7,496,5167,0.00,1.30,0.00,0.000,6,0.000,0.045,2528,2369,3618
$GC,5486,-0.63,-194.6,632.1,-10.9,527,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2370,3616
$GC,5796,-0.63,-194.6,663.9,-10.0,557,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2370,3614
$GC,6106,-0.63,-194.6,694.4,-10.1,587,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2370,3612
$GC,6416,-0.63,-194.6,724.8,-9.9,617,6420,0.00,1.27,0.00,0.000,4,0.000,0.044,2528,1507,3611
$GC,6480,-0.63,-194.6,731.4,-10.9,623,6483,0.00,1.30,0.00,0.000,6,0.000,0.048,2523,2371,3609
$GC,6802,-0.63,-194.6,763.5,-10.3,654,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2372,3608
$GC,7111,-0.63,-194.6,794.1,-10.0,684,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2372,3607
$GC,7422,-0.63,-194.6,823.8,-9.4,714,7425,0.00,1.30,0.00,0.000,4,0.000,0.045,2523,1497,3605
$GC,7464,-0.63,-194.6,827.8,-8.9,718,7467,0.00,1.33,0.00,0.000,6,0.000,0.048,2517,2377,3605
$GC,7786,-0.63,-194.6,858.7,-9.9,749,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2378,3604
$GC,8096,-0.63,-194.6,888.7,-9.4,779,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2378,3603
$GC,8406,-0.63,-194.6,918.5,-10.0,809,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2378,3602
$GC,8716,-0.63,-194.6,948.8,-9.9,839,8719,0.00,1.30,0.00,0.000,4,0.000,0.046,2517,1507,3601
$GC,8780,-0.63,-194.6,955.1,-10.7,845,8783,0.08,1.30,0.00,0.000,6,0.150,0.049,2535,2366,3600
$GC,9101,-0.63,-194.6,983.2,-8.7,876,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2366,3599
$STATE,9182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9182,begin apogee
$GC,9187,-0.25,0.0,990.3,8.4,884,9346,0.43,0.00,153.40,1.248,6,0.136,0.000,2664,2295,2840
$STATE,9346,end apogee,CONTROL_FINISHED_OK
$STATE,9346,begin climb
$GC,9348,0.63,194.6,995.2,0.0,900,9523,0.88,0.00,168.75,1.218,6,0.104,0.000,2939,2295,2046
$GC,9832,0.63,194.6,946.9,11.5,946,9835,0.00,1.27,0.00,0.000,4,0.000,0.044,2944,1369,2036
$GC,9889,0.63,194.6,940.2,11.7,951,9897,0.00,1.27,0.00,0.000,6,0.000,0.045,2944,2277,2036
$GC,10207,0.63,194.6,903.0,12.6,982,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2277,2034
$GC,10516,0.63,194.6,865.1,12.1,1012,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2277,2033
$GC,10827,0.63,194.6,827.2,12.1,1042,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2277,2031
$GC,11137,0.63,194.6,789.2,12.1,1072,11140,0.00,1.20,0.00,0.000,4,0.000,0.044,2949,1378,2031
$GC,11163,0.63,194.6,786.1,12.6,1074,11171,0.00,1.25,0.00,0.000,6,0.000,0.045,2949,2283,2031
$GC,11480,0.63,194.6,747.3,11.8,1105,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2283,2030
$GC,11790,0.63,194.6,710.1,11.6,1135,11793,0.00,1.23,0.00,0.000,4,0.000,0.044,2955,1371,2030
$GC,11843,0.63,194.6,703.9,12.4,1140,11846,0.00,1.23,0.00,0.000,6,0.000,0.046,2955,2277,2030
$GC,12165,0.63,194.6,666.9,11.8,1171,12168,0.00,1.20,0.00,0.000,4,0.000,0.044,2960,1375,2029
$GC,12208,0.63,194.6,661.9,11.5,1175,12210,0.00,1.20,0.00,0.000,6,0.000,0.045,2960,2272,2029
$GC,12529,0.63,194.6,622.9,11.8,1206,12532,0.00,1.67,0.00,0.000,4,0.000,0.054,2960,3175,2029
$GC,12554,0.63,194.6,619.4,13.8,1208,12562,0.00,1.60,0.00,0.000,6,0.000,0.038,2967,2275,2027
$GC,12872,0.63,194.6,579.3,12.8,1239,12875,0.00,1.17,0.00,0.000,4,0.000,0.044,2972,1373,2027
$GC,12903,0.63,194.6,575.2,11.3,1242,12906,0.00,1.23,0.00,0.000,6,0.000,0.045,2973,2277,2027
$GC,13226,0.63,194.6,532.4,13.1,1273,13227,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2279,2028
$GC,13535,0.63,194.6,491.2,13.0,1303,13538,0.00,1.23,0.00,0.000,4,0.000,0.043,2979,1364,2027
$GC,13571,0.63,194.6,486.4,13.8,1306,13579,0.00,1.23,0.00,0.000,6,0.000,0.044,2978,2275,2027
$GC,13888,0.63,194.6,444.2,13.2,1337,13889,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2275,2027
$GC,14198,0.63,194.6,403.9,13.1,1367,14201,0.00,1.62,0.00,0.000,4,0.000,0.053,2979,3181,2027
$GC,14234,0.63,194.6,398.7,14.8,1370,14243,0.10,1.62,0.00,0.000,6,0.147,0.036,2955,2272,2027
$GC,14550,0.63,194.6,363.3,11.1,1401,14554,0.00,1.17,0.00,0.000,4,0.000,0.042,2959,1367,2027
$GC,14625,0.63,194.6,355.1,10.4,1408,14628,0.00,1.23,0.00,0.000,6,0.000,0.044,2959,2280,2027
$GC,14947,0.63,194.6,317.8,11.1,1439,14948,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2280,2027
$GC,15257,0.63,194.6,282.6,11.6,1469,15257,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2280,2027
$GC,15567,0.63,194.6,246.8,11.7,1499,15570,0.00,1.23,0.00,0.000,4,0.000,0.041,2965,1358,2027
$GC,15646,0.63,194.6,237.5,11.1,1506,15654,0.00,1.25,0.00,0.000,6,0.000,0.041,2964,2285,2028
$GC,15963,0.63,194.6,198.1,12.5,1537,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2285,2028
$GC,16273,0.63,194.6,161.5,11.8,1567,16274,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2285,2029
$GC,16583,0.63,194.6,128.0,10.6,1597,16586,0.00,1.60,0.00,0.000,4,0.000,0.050,2964,3173,2029
$GC,16619,0.63,194.6,123.8,11.4,1600,16627,0.00,1.60,0.00,0.000,6,0.000,0.032,2972,2266,2029
$GC,16937,0.63,194.6,88.9,11.2,1631,16940,0.00,1.15,0.00,0.000,4,0.000,0.038,2977,1360,2030
$GC,16958,0.63,194.6,86.4,10.4,1633,16961,0.00,1.20,0.00,0.000,6,0.000,0.038,2977,2275,2031
$GC,17155,0.63,194.6,65.4,10.3,1652,17158,0.00,1.17,0.00,0.000,4,0.000,0.037,2982,1371,2031
$GC,17207,0.63,194.6,60.3,10.0,1657,17211,0.10,1.17,0.00,0.000,6,0.128,0.037,2950,2273,2031
$GC,17404,0.75,296.0,48.9,4.8,1676,17488,0.12,0.00,75.15,0.555,6,0.068,0.000,3003,2273,1631
$GC,17671,0.75,296.0,26.9,8.1,1701,17674,0.00,1.62,0.00,0.000,4,0.000,0.045,3003,3163,1625
$GC,17799,0.75,298.3,17.8,7.4,1713,17802,0.00,1.55,0.00,0.000,6,0.000,0.029,3010,2272,1622
$GC,17996,0.79,331.1,5.0,6.6,1732,18031,0.00,1.20,25.80,0.493,4,0.000,0.035,3015,1354,1489
$STATE,18034,end climb,SURFACE_DEPTH_REACHED
$STATE,18034,begin surface coast
$FINISH,1.5,1.022988
$STATE,18040,end surface coast,CONTROL_FINISHED_OK
$STATE,18040,begin surface
$SM_CCo,18055,118.78,0.494,0,0,495,575.22
$SM_GC,1.56,0.00,0.00,118.78,0.000,0.000,0.494,203,2387,495,-7.95,0.34,575.22
$IRIDIUM_FIX,2828.55,-8831.62,260999,030357
$TT8_MAMPS,0.050622
$HUMID,1329
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,22.9,35.146
$10V_AH,10.6,48.956
$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,20.175,66.625,423.100,118.775,0.000,27.732,26.496,192.320,0.500,0.000,0.000,17.657,0.000,12275.848,627.895,5074.635,533.591,33.341,2035.348,0.000,4551.327,0.000,0.848,0.000
$DEVICE_MAMPS,259.246,72.098,1247.909,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1188.877,1267.745,3901.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91540,1736
$CAP_FILE_SIZE,156344,0
$CFSIZE,260165632,237404160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,221.5,1
$GPS,020710,131407,2838.198,-8831.307,34,1.2,34,-0.4