version: 66.04
glider: 515
mission: 5
dive: 210
start: 7 5 110 1 32 59
data:
$ID,515
$MISSION,5
$DIVE,210
$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,-17314.02
$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,33
$R_STBD_OVSHOOT,23
$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
$GPS1,012454,2842.437,-8839.839,42,1.0,42,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-65.7
$GPS2,013220,2842.409,-8839.843,16,1.3,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.249,0.091
$KALMAN_X,-53732.6,1911.5,971.8,67447.5,-7873.2
$KALMAN_Y,-179307.7,371.5,47.4,204921.7,-8894.6
$MHEAD_RNG_PITCHd_Wd,67.6,22589,-10.8,-7.500
$D_GRID,1009
$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,-194.6,0.0,0.0,0,89,0.00,0.00,-74.05,0.000,2,0.000,0.000,201,2381,2508
$GC,91,-0.63,-194.6,3.1,-3.2,7,139,10.60,1.48,-32.38,0.000,4,0.258,0.063,2533,3276,3634
$GC,256,-0.63,-194.6,37.0,-24.7,22,259,0.00,1.48,0.00,0.000,6,0.000,0.028,2537,2359,3635
$GC,452,-0.63,-194.6,68.5,-14.1,41,456,0.00,1.52,0.00,0.000,4,0.000,0.044,2532,3259,3635
$GC,495,-0.63,-194.6,74.6,-14.5,45,498,0.00,1.42,0.00,0.000,6,0.000,0.028,2537,2366,3636
$GC,692,-0.63,-194.6,101.3,-13.2,64,695,0.00,1.23,0.00,0.000,4,0.000,0.036,2537,1495,3637
$GC,766,-0.63,-194.6,111.4,-12.8,71,769,0.00,1.27,0.00,0.000,6,0.000,0.037,2533,2377,3637
$GC,1089,-0.63,-194.6,153.0,-12.4,102,1092,0.00,1.27,0.00,0.000,4,0.000,0.036,2533,1486,3637
$GC,1131,-0.63,-194.6,158.2,-11.4,106,1134,0.00,1.27,0.00,0.000,6,0.000,0.037,2527,2369,3637
$GC,1453,-0.63,-194.6,198.6,-12.6,137,1456,0.00,1.25,0.00,0.000,4,0.000,0.036,2527,1501,3638
$GC,1484,-0.63,-194.6,202.6,-13.0,140,1488,0.00,1.27,0.00,0.000,6,0.000,0.037,2521,2380,3637
$GC,1807,-0.63,-194.6,241.9,-12.4,171,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2381,3635
$GC,2116,-0.63,-194.6,279.9,-12.0,201,2119,0.00,1.27,0.00,0.000,4,0.000,0.037,2521,1496,3634
$GC,2169,-0.63,-194.6,286.1,-11.4,206,2172,0.00,1.27,0.00,0.000,6,0.000,0.038,2515,2369,3634
$GC,2491,-0.63,-194.6,325.4,-12.8,237,2494,0.00,1.25,0.00,0.000,4,0.000,0.038,2515,1505,3632
$GC,2523,-0.63,-194.6,329.5,-12.6,240,2526,0.10,1.27,0.00,0.000,6,0.139,0.040,2540,2381,3631
$GC,2843,-0.63,-194.6,362.5,-9.7,271,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2381,3629
$GC,3154,-0.63,-194.6,393.2,-9.7,301,3157,0.00,1.27,0.00,0.000,4,0.000,0.038,2541,1503,3627
$GC,3211,-0.63,-194.6,399.0,-10.0,306,3219,0.00,1.30,0.00,0.000,6,0.000,0.041,2537,2375,3626
$GC,3530,-0.63,-194.6,431.2,-10.1,337,3533,0.00,1.27,0.00,0.000,4,0.000,0.041,2537,1502,3624
$GC,3582,-0.63,-194.6,436.9,-10.8,342,3586,0.00,1.27,0.00,0.000,6,0.000,0.042,2531,2368,3624
$GC,3905,-0.63,-194.6,470.2,-10.4,373,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2368,3621
$GC,4214,-0.63,-194.6,502.7,-10.5,403,4217,0.00,1.25,0.00,0.000,4,0.000,0.041,2531,1511,3619
$GC,4277,-0.63,-194.6,509.5,-10.8,409,4281,0.00,1.30,0.00,0.000,6,0.000,0.043,2525,2392,3618
$GC,4600,-0.63,-194.6,543.6,-10.4,440,4603,0.00,1.30,0.00,0.000,4,0.000,0.041,2526,1507,3617
$GC,4647,-0.63,-194.6,549.0,-10.5,444,4654,0.00,1.27,0.00,0.000,6,0.000,0.043,2520,2362,3616
$GC,4964,-0.63,-194.6,584.0,-11.2,475,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2363,3614
$GC,5274,-0.63,-194.6,617.3,-10.7,505,5276,0.00,1.25,0.00,0.000,4,0.000,0.043,2520,1509,3613
$GC,5331,-0.63,-194.6,623.6,-11.1,510,5339,0.12,1.33,0.00,0.000,6,0.148,0.044,2546,2386,3612
$GC,5647,-0.63,-194.6,651.7,-8.6,541,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2386,3610
$GC,5958,-0.63,-194.6,678.9,-8.9,571,5961,0.00,1.30,0.00,0.000,4,0.000,0.043,2546,1505,3607
$GC,6054,-0.63,-194.6,687.7,-9.0,580,6057,0.00,1.27,0.00,0.000,6,0.000,0.046,2542,2362,3607
$GC,6376,-0.63,-194.6,716.2,-9.0,611,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2362,3605
$GC,6685,-0.63,-194.6,744.5,-9.3,641,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2362,3604
$GC,6995,-0.63,-194.6,773.5,-9.2,671,6998,0.00,1.25,0.00,0.000,4,0.000,0.045,2542,1514,3602
$GC,7070,-0.63,-194.6,780.6,-9.8,678,7073,0.00,1.30,0.00,0.000,6,0.000,0.048,2537,2379,3602
$GC,7392,-0.63,-194.6,809.3,-8.8,709,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2379,3600
$GC,7702,-0.63,-194.6,836.4,-8.3,739,7705,0.00,1.30,0.00,0.000,4,0.000,0.046,2537,1505,3599
$GC,7769,-0.63,-194.6,842.6,-8.9,745,7778,0.00,1.33,0.00,0.000,6,0.000,0.048,2532,2371,3598
$GC,8087,-0.63,-194.6,870.3,-9.0,776,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2371,3597
$GC,8397,-0.63,-194.6,899.1,-9.2,806,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2371,3596
$GC,8707,-0.63,-194.6,927.3,-9.4,836,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2371,3595
$GC,9018,-0.63,-194.6,945.8,0.4,866,9021,0.00,1.30,0.00,0.000,4,0.000,0.048,2532,1510,3594
$STATE,9062,end dive,NO_VERTICAL_VELOCITY
$STATE,9062,begin apogee
$GC,9067,-0.25,0.0,945.9,0.0,870,9225,0.35,0.00,151.10,1.216,6,0.067,0.000,2669,2275,2840
$STATE,9225,end apogee,CONTROL_FINISHED_OK
$STATE,9225,begin climb
$GC,9227,0.63,194.6,945.8,0.0,886,9405,0.85,1.85,167.20,1.182,4,0.098,0.061,2941,3159,2044
$GC,9517,0.63,194.6,927.3,9.9,911,9525,0.00,1.58,0.00,0.000,6,0.000,0.037,2948,2306,2036
$GC,9835,0.63,194.6,895.8,10.7,942,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2307,2033
$GC,10144,0.63,194.6,861.3,11.6,972,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2307,2033
$GC,10454,0.63,194.6,825.8,11.1,1002,10455,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2308,2031
$GC,10766,0.63,194.6,790.2,11.4,1032,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2308,2030
$GC,11076,0.63,194.6,756.5,10.9,1062,11078,0.00,1.27,0.00,0.000,4,0.000,0.044,2954,1374,2029
$GC,11143,0.63,194.6,749.2,10.6,1068,11151,0.00,1.25,0.00,0.000,6,0.000,0.044,2954,2277,2029
$GC,11461,0.63,194.6,714.9,10.7,1099,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2277,2029
$GC,11770,0.63,194.6,682.2,10.0,1129,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2278,2028
$GC,12081,0.63,194.6,648.6,10.6,1159,12084,0.00,1.65,0.00,0.000,4,0.000,0.056,2954,3174,2028
$GC,12123,0.63,194.6,643.9,10.7,1163,12126,0.00,1.60,0.00,0.000,6,0.000,0.038,2962,2273,2027
$GC,12445,0.63,194.6,608.5,11.3,1194,12446,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2027
$GC,12754,0.63,194.6,575.2,10.5,1224,12755,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2027
$GC,13065,0.63,194.6,540.7,11.3,1254,13068,0.00,1.17,0.00,0.000,4,0.000,0.044,2967,1375,2027
$GC,13101,0.63,194.6,536.5,11.3,1257,13110,0.00,1.25,0.00,0.000,6,0.000,0.044,2967,2278,2027
$GC,13419,0.63,194.6,500.2,11.5,1288,13421,0.00,1.62,0.00,0.000,4,0.000,0.055,2967,3186,2027
$GC,13455,0.63,194.6,495.8,10.6,1291,13462,0.00,1.62,0.00,0.000,6,0.000,0.038,2975,2269,2026
$GC,13772,0.63,194.6,459.1,11.9,1322,13773,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2270,2026
$GC,14082,0.63,194.6,422.8,11.4,1352,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2270,2026
$GC,14392,0.63,194.6,385.5,12.4,1382,14392,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2270,2026
$GC,14702,0.63,194.6,347.7,11.9,1412,14706,0.00,1.67,0.00,0.000,4,0.000,0.054,2975,3172,2026
$GC,14749,0.63,194.6,341.7,12.9,1416,14756,0.08,1.60,0.00,0.000,6,0.152,0.037,2958,2276,2026
$GC,15066,0.63,194.6,309.4,10.2,1447,15069,0.00,1.17,0.00,0.000,4,0.000,0.043,2962,1376,2027
$GC,15118,0.63,194.6,303.9,10.0,1452,15122,0.00,1.23,0.00,0.000,6,0.000,0.043,2962,2278,2027
$GC,15439,0.63,194.6,270.5,10.2,1483,15442,0.00,1.62,0.00,0.000,4,0.000,0.053,2962,3164,2027
$GC,15487,0.63,194.6,265.2,10.3,1487,15494,0.00,1.58,0.00,0.000,6,0.000,0.036,2970,2273,2027
$GC,15804,0.63,194.6,230.7,10.5,1518,15807,0.00,1.17,0.00,0.000,4,0.000,0.042,2975,1369,2027
$GC,15846,0.63,194.6,226.0,11.0,1522,15849,0.00,1.23,0.00,0.000,6,0.000,0.043,2975,2280,2027
$GC,16168,0.63,194.6,190.7,11.0,1553,16171,0.00,1.60,0.00,0.000,4,0.000,0.052,2975,3178,2028
$GC,16210,0.63,194.6,185.6,12.0,1557,16214,0.10,1.58,0.00,0.000,6,0.142,0.035,2952,2278,2028
$GC,16531,0.63,194.6,158.2,8.2,1588,16534,0.00,1.20,0.00,0.000,4,0.000,0.041,2955,1360,2029
$GC,16573,0.65,217.5,154.9,6.9,1592,16598,0.00,1.23,16.85,0.614,6,0.000,0.041,2955,2277,1952
$GC,16906,0.65,217.5,127.8,7.6,1624,16909,0.00,1.62,0.00,0.000,4,0.000,0.051,2956,3166,1950
$GC,16948,0.65,217.5,124.3,8.3,1628,16951,0.00,1.58,0.00,0.000,6,0.000,0.035,2963,2270,1950
$GC,17269,0.65,217.5,97.2,8.6,1659,17270,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2271,1950
$GC,17455,0.65,217.5,81.9,7.9,1677,17456,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2271,1950
$GC,17642,0.67,231.3,68.4,7.1,1695,17656,0.00,1.15,12.27,0.525,4,0.000,0.038,2968,1353,1896
$GC,17696,0.70,255.1,64.6,6.9,1700,17721,0.00,1.23,19.40,0.542,6,0.000,0.038,2968,2275,1800
$GC,17904,0.76,305.9,49.9,6.2,1720,17950,0.00,0.00,39.60,0.542,6,0.000,0.000,2968,2275,1591
$GC,18136,0.93,440.0,39.4,4.0,1742,18241,0.17,0.00,99.90,0.530,6,0.064,0.000,3060,2275,1045
$GC,18427,1.00,499.6,16.5,5.9,1770,18475,0.00,1.25,44.30,0.502,4,0.000,0.038,3065,1368,802
$GC,18625,1.05,538.6,3.4,6.5,1788,18638,0.00,1.23,9.98,0.439,2,0.000,0.035,3065,2283,752
$STATE,18638,end climb,SURFACE_DEPTH_REACHED
$STATE,18638,begin surface coast
$FINISH,0.8,1.023342
$STATE,18679,end surface coast,CONTROL_FINISHED_OK
$STATE,18679,begin surface
$SM_CCo,18693,31.60,0.477,0,0,494,575.22
$SM_GC,1.47,0.00,0.00,31.60,0.000,0.000,0.477,195,2391,494,-7.98,0.45,575.22
$IRIDIUM_FIX,2831.00,-8843.89,280999,202016
$TT8_MAMPS,0.050622
$HUMID,1432
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,22.9,37.154
$10V_AH,10.5,51.756
$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,20.100,81.525,560.600,31.600,0.000,23.706,28.134,272.296,0.250,0.000,0.000,18.836,0.000,12529.887,635.343,5349.604,627.848,33.331,2174.906,0.000,4782.759,0.000,0.847,0.000
$DEVICE_MAMPS,257.712,62.894,1216.462,477.074,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1225.252,1308.530,4029.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94645,1793
$CAP_FILE_SIZE,168680,0
$CFSIZE,260165632,236290048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,193.7,1
$GPS,050710,064606,2842.887,-8837.307,40,1.1,40,-0.3