version: 66.04
glider: 515
mission: 5
dive: 200
start: 7 2 110 22 44 54
data:
$ID,515
$MISSION,5
$DIVE,200
$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,-17102.756
$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,27
$R_STBD_OVSHOOT,42
$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
$GPS1,223707,2838.347,-8826.410,27,1.4,27,-0.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.7
$GPS2,224314,2838.356,-8826.390,12,1.4,12,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0618A
$TGT_LATLONG,2837.900,-8826.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.073,0.254
$KALMAN_X,-36465.9,334.8,219.7,74478.8,-2861.4
$KALMAN_Y,-145544.0,556.6,445.0,163051.2,-13042.6
$MHEAD_RNG_PITCHd_Wd,130.6,1056,-26.8,-7.500
$D_GRID,1460
$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,-1.01,-41.0,0.0,0.0,0,87,0.00,0.00,-73.15,0.000,2,0.000,0.000,204,2402,2490
$GC,89,-1.05,-77.5,3.0,-3.0,7,126,10.00,1.35,-20.62,0.000,4,0.262,0.054,2405,1470,3155
$GC,365,-1.05,-77.5,59.2,-15.7,32,372,0.00,1.27,0.00,0.000,6,0.000,0.033,2400,2358,3156
$GC,557,-1.05,-77.5,84.7,-13.3,51,560,0.00,1.25,0.00,0.000,4,0.000,0.034,2404,1470,3158
$GC,796,-1.05,-77.5,115.4,-12.2,73,803,0.00,1.33,0.00,0.000,6,0.000,0.033,2400,2388,3159
$GC,1114,-1.05,-77.5,157.3,-13.1,104,1116,0.00,1.30,0.00,0.000,4,0.000,0.033,2404,1465,3160
$GC,1192,-1.05,-77.5,167.0,-10.8,111,1201,0.00,1.30,0.00,0.000,6,0.000,0.033,2400,2376,3159
$GC,1509,-1.05,-77.5,202.1,-10.2,142,1513,0.00,1.45,0.00,0.000,4,0.000,0.044,2393,3256,3159
$GC,1530,-1.05,-77.5,204.9,-12.4,144,1533,0.00,1.45,0.00,0.000,6,0.000,0.028,2398,2353,3159
$GC,1853,-1.05,-77.5,239.6,-11.4,175,1856,0.00,1.20,0.00,0.000,4,0.000,0.035,2402,1479,3159
$GC,1884,-1.05,-77.5,243.4,-11.8,178,1887,0.00,1.27,0.00,0.000,6,0.000,0.035,2398,2369,3159
$GC,2206,-1.05,-77.5,279.3,-10.9,209,2209,0.00,1.27,0.00,0.000,4,0.000,0.035,2401,1471,3157
$GC,2324,-1.05,-77.5,292.4,-11.3,220,2326,0.00,1.30,0.00,0.000,6,0.000,0.037,2396,2372,3157
$GC,2645,-1.05,-77.5,328.5,-11.2,251,2649,0.00,1.50,0.00,0.000,4,0.000,0.048,2389,3273,3156
$GC,2817,-1.05,-77.5,349.6,-12.0,267,2820,0.00,1.45,0.00,0.000,6,0.000,0.030,2391,2361,3155
$GC,3139,-1.05,-77.5,388.5,-12.2,298,3142,0.00,1.52,0.00,0.000,4,0.000,0.048,2386,3260,3153
$GC,3170,-1.05,-77.5,392.3,-12.4,301,3173,0.00,1.42,0.00,0.000,6,0.000,0.030,2390,2367,3152
$GC,3493,-1.05,-77.5,430.4,-11.9,332,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2367,3150
$GC,3801,-1.05,-77.5,468.5,-12.5,362,3805,0.00,1.52,0.00,0.000,4,0.000,0.050,2384,3262,3148
$GC,3848,-1.05,-77.5,474.8,-13.2,366,3856,0.00,1.45,0.00,0.000,6,0.000,0.031,2389,2374,3147
$GC,4167,-1.05,-77.5,513.8,-12.2,397,4169,0.00,1.27,0.00,0.000,4,0.000,0.042,2391,1488,3145
$GC,4191,-1.05,-77.5,517.1,-11.8,399,4200,0.00,1.33,0.00,0.000,6,0.000,0.040,2387,2385,3145
$GC,4509,-1.05,-77.5,554.4,-11.5,430,4513,0.00,1.48,0.00,0.000,4,0.000,0.051,2379,3256,3143
$GC,4551,-1.05,-77.5,559.7,-12.4,434,4555,0.00,1.42,0.00,0.000,6,0.000,0.033,2384,2375,3143
$GC,4873,-1.05,-77.5,596.7,-12.2,465,4876,0.00,1.27,0.00,0.000,4,0.000,0.042,2389,1490,3141
$GC,5016,-1.05,-77.5,613.7,-11.7,478,5023,0.00,1.27,0.00,0.000,6,0.000,0.041,2385,2361,3140
$GC,5334,-1.05,-77.5,649.5,-11.0,509,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2361,3138
$GC,5643,-1.05,-77.5,685.0,-11.4,539,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2361,3136
$GC,5953,-1.05,-77.5,719.4,-11.0,569,5956,0.00,1.55,0.00,0.000,4,0.000,0.053,2377,3268,3134
$GC,5979,-1.05,-77.5,722.5,-11.5,571,5988,0.08,1.45,0.00,0.000,6,0.216,0.034,2397,2379,3134
$GC,6295,-1.05,-77.5,755.8,-10.0,602,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2380,3132
$GC,6606,-1.05,-77.5,787.5,-10.3,632,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2380,3130
$GC,6916,-1.05,-77.5,819.0,-10.2,662,6919,0.00,1.30,0.00,0.000,4,0.000,0.044,2403,1493,3129
$GC,7001,-1.05,-77.5,827.7,-10.5,670,7004,0.00,1.33,0.00,0.000,6,0.000,0.045,2398,2379,3129
$GC,7323,-1.05,-77.5,860.5,-10.4,701,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2380,3128
$GC,7633,-1.05,-77.5,891.0,-9.4,731,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2381,3126
$GC,7943,-1.05,-77.5,921.3,-9.8,761,7946,0.00,1.30,0.00,0.000,4,0.000,0.045,2398,1500,3125
$GC,8007,-1.05,-77.5,927.4,-10.0,767,8010,0.00,1.30,0.00,0.000,6,0.000,0.046,2394,2366,3124
$GC,8329,-1.05,-77.5,959.1,-9.3,798,8332,0.00,1.30,0.00,0.000,4,0.000,0.045,2396,1492,3123
$GC,8408,-1.05,-77.5,967.4,-10.5,805,8415,0.00,1.35,0.00,0.000,6,0.000,0.046,2391,2382,3123
$STATE,8640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8640,begin apogee
$GC,8645,-0.25,0.0,990.3,10.2,828,8705,1.02,0.00,57.50,1.242,6,0.193,0.000,2657,2295,2840
$STATE,8705,end apogee,CONTROL_FINISHED_OK
$STATE,8705,begin climb
$GC,8707,1.05,77.5,992.4,0.0,834,8780,1.33,1.75,67.00,1.223,4,0.107,0.058,3079,3169,2523
$GC,8805,1.05,77.5,983.0,13.8,842,8813,0.00,1.65,0.00,0.000,6,0.000,0.035,3086,2282,2520
$GC,9123,1.05,77.5,932.5,16.5,873,9127,0.00,1.23,0.00,0.000,4,0.000,0.043,3092,1359,2514
$GC,9191,1.05,77.5,921.3,16.2,879,9199,0.00,1.27,0.00,0.000,6,0.000,0.044,3092,2280,2514
$GC,9509,1.05,77.5,871.5,15.6,910,9510,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2280,2512
$GC,9818,1.05,77.5,823.8,15.9,940,9819,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2280,2510
$GC,10129,1.05,77.5,775.8,15.0,970,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2280,2509
$GC,10439,1.05,77.5,730.1,14.5,1000,10442,0.00,1.65,0.00,0.000,4,0.000,0.054,3092,3174,2508
$GC,10471,1.05,77.5,725.2,15.6,1003,10474,0.00,1.60,0.00,0.000,6,0.000,0.038,3100,2260,2508
$GC,10792,1.05,77.5,678.2,15.0,1034,10795,0.00,1.70,0.00,0.000,4,0.000,0.054,3100,3162,2508
$GC,10867,1.05,77.5,666.3,16.2,1041,10869,0.00,1.58,0.00,0.000,6,0.000,0.037,3107,2275,2507
$GC,11189,1.05,77.5,617.8,15.2,1072,11192,0.00,1.67,0.00,0.000,4,0.000,0.055,3107,3174,2507
$GC,11231,1.05,77.5,611.0,16.1,1076,11234,0.00,1.60,0.00,0.000,6,0.000,0.037,3115,2274,2507
$GC,11553,1.05,77.5,562.2,15.5,1107,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2274,2507
$GC,11862,1.05,77.5,515.3,15.3,1137,11865,0.00,1.65,0.00,0.000,4,0.000,0.054,3114,3179,2506
$GC,11916,1.05,77.5,506.9,15.6,1142,11919,0.15,1.60,0.00,0.000,6,0.202,0.037,3086,2259,2506
$GC,12236,1.05,77.5,463.9,12.9,1173,12239,0.00,1.15,0.00,0.000,4,0.000,0.042,3091,1361,2506
$GC,12315,1.05,77.5,453.3,13.3,1180,12323,0.00,1.23,0.00,0.000,6,0.000,0.043,3089,2278,2505
$GC,12633,1.05,77.5,412.4,13.3,1211,12636,0.00,1.62,0.00,0.000,4,0.000,0.054,3089,3183,2505
$GC,12686,1.05,77.5,404.6,15.2,1216,12689,0.00,1.60,0.00,0.000,6,0.000,0.036,3096,2276,2505
$GC,13008,1.05,77.5,360.0,13.9,1247,13011,0.00,1.62,0.00,0.000,4,0.000,0.054,3095,3167,2505
$GC,13065,1.05,77.5,351.5,14.4,1252,13073,0.00,1.60,0.00,0.000,6,0.000,0.035,3103,2271,2505
$GC,13384,1.05,77.5,306.2,14.3,1283,13387,0.00,1.65,0.00,0.000,4,0.000,0.051,3103,3180,2505
$GC,13405,1.05,77.5,302.9,15.1,1285,13408,0.00,1.58,0.00,0.000,6,0.000,0.035,3110,2279,2505
$GC,13727,1.05,77.5,256.6,14.8,1316,13728,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2279,2505
$GC,14036,1.05,77.5,211.3,14.8,1346,14039,0.00,1.62,0.00,0.000,4,0.000,0.051,3110,3179,2506
$GC,14164,1.05,77.5,191.7,15.2,1358,14167,0.10,1.58,0.00,0.000,6,0.196,0.034,3090,2277,2506
$GC,14485,1.05,77.5,150.1,11.7,1389,14488,0.00,1.17,0.00,0.000,4,0.000,0.038,3094,1359,2506
$GC,14527,1.05,77.5,145.1,10.8,1393,14530,0.00,1.23,0.00,0.000,6,0.000,0.041,3090,2279,2506
$GC,14850,1.05,77.5,108.0,11.1,1424,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2279,2507
$GC,15158,1.05,77.5,74.7,8.8,1454,15159,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2279,2508
$GC,15345,1.05,77.5,59.1,7.7,1472,15348,0.00,1.60,0.00,0.000,4,0.000,0.048,3089,3168,2509
$GC,15473,1.08,96.6,51.0,5.2,1484,15490,0.00,1.55,13.75,0.531,6,0.000,0.030,3097,2270,2445
$GC,15677,1.12,131.4,39.4,3.2,1503,15713,0.00,1.17,27.45,0.538,4,0.000,0.035,3102,1363,2303
$GC,15953,1.17,174.1,25.2,2.3,1528,15995,0.00,1.20,32.83,0.521,6,0.000,0.035,3102,2281,2128
$GC,16180,1.18,180.1,13.8,6.8,1550,16189,0.00,0.00,5.80,0.405,6,0.000,0.000,3102,2281,2103
$STATE,16331,end climb,SURFACE_DEPTH_REACHED
$STATE,16331,begin surface coast
$FINISH,0.6,1.016380
$STATE,16363,end surface coast,CONTROL_FINISHED_OK
$STATE,16363,begin surface
$SM_CCo,16378,192.18,0.492,0,0,495,575.22
$SM_GC,1.52,0.00,0.00,192.18,0.000,0.000,0.492,195,2386,495,-7.97,0.31,575.22
$IRIDIUM_FIX,2811.40,-8822.08,260999,181846
$TT8_MAMPS,0.050622
$HUMID,1304
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.70
$XPDR_PINGS,5
$24V_AH,23.7,35.562
$10V_AH,10.6,49.560
$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,20.575,86.100,204.325,192.175,0.000,23.918,30.293,203.736,1.250,0.000,0.000,14.562,0.000,11004.263,537.993,4808.019,625.501,33.335,1881.042,0.000,4317.463,0.000,0.847,0.000
$DEVICE_MAMPS,261.547,58.292,1241.773,491.647,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.147,1151.264,3524.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82069,1568
$CAP_FILE_SIZE,154161,0
$CFSIZE,260165632,237178880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,279.8,1
$GPS,030710,032201,2837.593,-8825.578,36,1.4,36,-0.4