version: 66.04
glider: 515
mission: 5
dive: 211
start: 7 5 110 6 53 28
data:
$ID,515
$MISSION,5
$DIVE,211
$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,-17332.916
$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,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
$GPS1,064606,2842.887,-8837.307,40,1.1,40,-0.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-64.4
$GPS2,065249,2842.904,-8837.371,10,1.1,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.240,0.112
$KALMAN_X,-54183.3,1121.3,282.8,73457.3,-6241.2
$KALMAN_Y,-181726.7,922.4,1166.8,206554.7,-10187.9
$MHEAD_RNG_PITCHd_Wd,73.8,18512,-10.8,-7.500
$D_GRID,967
$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,-194.6,0.0,0.0,0,97,0.00,0.00,-83.30,0.000,2,0.000,0.000,191,2395,2773
$GC,99,-0.63,-194.6,3.1,-3.7,8,136,10.70,1.45,-20.52,0.000,4,0.260,0.069,2530,3251,3634
$GC,204,-0.63,-194.6,27.8,-27.7,17,213,0.00,1.45,0.00,0.000,6,0.000,0.030,2534,2361,3635
$GC,396,-0.63,-194.6,63.4,-16.0,36,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2360,3636
$GC,582,-0.63,-194.6,89.5,-13.2,54,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2360,3637
$GC,769,-0.63,-194.6,114.7,-14.1,72,772,0.00,1.25,0.00,0.000,4,0.000,0.037,2537,1479,3637
$GC,812,-0.63,-194.6,120.4,-12.9,76,815,0.00,1.27,0.00,0.000,6,0.000,0.040,2533,2357,3637
$GC,1133,-0.63,-194.6,161.8,-11.8,107,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2358,3637
$GC,1443,-0.63,-194.6,198.8,-12.1,137,1446,0.00,1.25,0.00,0.000,4,0.000,0.038,2533,1485,3637
$GC,1496,-0.63,-194.6,205.0,-11.2,142,1499,0.00,1.33,0.00,0.000,6,0.000,0.038,2527,2394,3637
$GC,1818,-0.63,-194.6,242.8,-11.8,173,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2394,3636
$GC,2127,-0.63,-194.6,279.1,-11.6,203,2130,0.00,1.33,0.00,0.000,4,0.000,0.038,2526,1482,3634
$GC,2185,-0.63,-194.6,285.7,-10.8,208,2192,0.00,1.30,0.00,0.000,6,0.000,0.039,2521,2363,3634
$GC,2502,-0.63,-194.6,322.7,-11.6,239,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3632
$GC,2812,-0.63,-194.6,358.5,-11.4,269,2815,0.00,1.27,0.00,0.000,4,0.000,0.040,2520,1481,3630
$GC,2865,-0.63,-194.6,364.5,-10.9,274,2868,0.00,1.33,0.00,0.000,6,0.000,0.041,2515,2385,3630
$GC,3187,-0.63,-194.6,401.5,-11.7,305,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2386,3628
$GC,3496,-0.63,-194.6,437.8,-11.8,335,3499,0.10,1.30,0.00,0.000,4,0.156,0.040,2539,1493,3625
$GC,3553,-0.63,-194.6,444.0,-10.2,340,3561,0.00,1.30,0.00,0.000,6,0.000,0.043,2535,2363,3625
$GC,3871,-0.63,-194.6,477.0,-10.5,371,3875,0.00,1.27,0.00,0.000,4,0.000,0.041,2535,1490,3623
$GC,3907,-0.63,-194.6,481.1,-10.6,374,3914,0.00,1.35,0.00,0.000,6,0.000,0.044,2529,2389,3622
$GC,4225,-0.63,-194.6,514.1,-10.4,405,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2390,3620
$GC,4534,-0.63,-194.6,546.8,-10.6,435,4537,0.00,1.33,0.00,0.000,4,0.000,0.042,2529,1489,3618
$GC,4619,-0.63,-194.6,555.4,-9.9,443,4622,0.00,1.30,0.00,0.000,6,0.000,0.046,2524,2362,3618
$GC,4942,-0.63,-194.6,589.5,-10.7,474,4942,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2362,3615
$GC,5251,-0.63,-194.6,622.3,-10.6,504,5254,0.00,1.27,0.00,0.000,4,0.000,0.043,2523,1493,3614
$GC,5304,-0.63,-194.6,628.0,-10.7,509,5307,0.00,1.33,0.00,0.000,6,0.000,0.047,2518,2382,3614
$GC,5626,-0.63,-194.6,662.5,-10.7,540,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2383,3611
$GC,5935,-0.63,-194.6,695.1,-10.3,570,5938,0.00,1.33,0.00,0.000,4,0.000,0.044,2518,1484,3609
$GC,5967,-0.63,-194.6,698.4,-10.4,573,5970,0.08,1.33,0.00,0.000,6,0.150,0.048,2536,2366,3609
$GC,6288,-0.63,-194.6,727.1,-8.9,604,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2366,3607
$GC,6599,-0.63,-194.6,755.2,-9.2,634,6602,0.00,1.30,0.00,0.000,4,0.000,0.045,2537,1491,3605
$GC,6666,-0.63,-194.6,761.8,-9.2,640,6674,0.00,1.38,0.00,0.000,6,0.000,0.048,2532,2391,3605
$GC,6985,-0.63,-194.6,791.2,-9.3,671,6988,0.00,1.33,0.00,0.000,4,0.000,0.045,2532,1499,3603
$GC,7042,-0.63,-194.6,796.9,-9.8,676,7049,0.00,1.33,0.00,0.000,6,0.000,0.048,2527,2364,3603
$GC,7359,-0.63,-194.6,827.1,-9.8,707,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2364,3602
$GC,7669,-0.63,-194.6,856.3,-9.7,737,7672,0.00,1.30,0.00,0.000,4,0.000,0.045,2527,1491,3600
$GC,7711,-0.63,-194.6,860.5,-9.8,741,7714,0.00,1.35,0.00,0.000,6,0.000,0.049,2522,2383,3600
$GC,8034,-0.63,-194.6,891.9,-9.8,772,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2383,3599
$GC,8342,-0.63,-194.6,921.5,-9.5,802,8343,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2383,3597
$GC,8653,-0.63,-194.6,951.2,-9.3,832,8656,0.00,1.33,0.00,0.000,4,0.000,0.046,2522,1492,3596
$GC,8695,-0.63,-194.6,955.3,-9.3,836,8699,0.00,1.33,0.00,0.000,6,0.000,0.050,2516,2365,3595
$STATE,8818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8818,begin apogee
$GC,8822,-0.25,0.0,967.4,9.8,848,8982,0.50,0.00,152.18,1.230,6,0.138,0.000,2664,2294,2839
$STATE,8982,end apogee,CONTROL_FINISHED_OK
$STATE,8982,begin climb
$GC,8984,0.63,194.6,971.9,0.0,864,9156,0.93,0.00,168.60,1.201,6,0.103,0.000,2949,2294,2046
$GC,9461,0.63,194.6,920.2,12.2,911,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2294,2036
$GC,9772,0.63,194.6,880.1,12.7,941,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2294,2034
$GC,10082,0.63,194.6,842.6,12.1,971,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2294,2032
$GC,10393,0.63,194.6,805.7,12.1,1001,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2294,2031
$GC,10702,0.63,194.6,768.6,12.1,1031,10706,0.00,1.25,0.00,0.000,4,0.000,0.044,2955,1373,2030
$GC,10745,0.63,194.6,763.7,11.8,1035,10748,0.00,1.23,0.00,0.000,6,0.000,0.044,2955,2276,2031
$GC,11067,0.63,194.6,724.6,12.4,1066,11070,0.00,1.62,0.00,0.000,4,0.000,0.055,2954,3175,2030
$GC,11098,0.63,194.6,720.5,13.8,1069,11102,0.00,1.60,0.00,0.000,6,0.000,0.038,2962,2273,2029
$GC,11421,0.63,194.6,679.7,12.9,1100,11422,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2029
$GC,11730,0.63,194.6,639.8,12.6,1130,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2029
$GC,12041,0.63,194.6,600.2,13.1,1160,12044,0.00,1.67,0.00,0.000,4,0.000,0.055,2962,3175,2029
$GC,12066,0.63,194.6,596.8,14.1,1162,12073,0.00,1.58,0.00,0.000,6,0.000,0.037,2970,2280,2027
$GC,12384,0.63,194.6,554.3,13.2,1193,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2281,2027
$GC,12693,0.63,194.6,513.4,12.8,1223,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2281,2027
$GC,13003,0.63,194.6,474.0,12.8,1253,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2281,2027
$GC,13313,0.63,194.6,434.0,12.8,1283,13316,0.00,1.20,0.00,0.000,4,0.000,0.043,2975,1369,2027
$GC,13339,0.63,194.6,430.7,13.6,1285,13347,0.00,1.25,0.00,0.000,6,0.000,0.043,2975,2280,2027
$GC,13657,0.63,194.6,388.2,13.3,1316,13657,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2280,2027
$GC,13966,0.63,194.6,347.2,13.7,1346,13969,0.00,1.60,0.00,0.000,4,0.000,0.054,2975,3180,2027
$GC,14009,0.63,194.6,341.3,14.0,1350,14012,0.12,1.58,0.00,0.000,6,0.157,0.036,2952,2276,2027
$GC,14329,0.63,194.6,305.5,10.9,1381,14332,0.00,1.20,0.00,0.000,4,0.000,0.042,2956,1361,2027
$GC,14383,0.63,194.6,299.7,11.0,1386,14386,0.00,1.23,0.00,0.000,6,0.000,0.043,2956,2276,2027
$GC,14703,0.63,194.6,263.2,10.7,1417,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2027
$GC,15014,0.63,194.6,228.4,11.8,1447,15015,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2027
$GC,15324,0.63,194.6,193.5,11.2,1477,15325,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2027
$GC,15635,0.63,194.6,158.9,11.1,1507,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2027
$GC,15945,0.63,194.6,125.5,10.2,1537,15946,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2276,2028
$GC,16256,0.63,194.6,96.8,9.5,1567,16259,0.00,1.60,0.00,0.000,4,0.000,0.048,2956,3166,2029
$GC,16319,0.63,194.6,90.3,9.6,1573,16322,0.00,1.55,0.00,0.000,6,0.000,0.031,2964,2271,2029
$GC,16516,0.63,194.6,71.2,8.9,1592,16517,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2271,2030
$GC,16703,0.63,199.4,55.8,7.4,1610,16703,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2272,2030
$GC,16889,0.72,274.7,43.7,5.5,1628,16949,0.00,0.00,59.20,0.548,6,0.000,0.000,2964,2271,1719
$GC,17134,0.84,367.5,30.2,5.1,1651,17210,0.15,1.23,69.75,0.525,4,0.061,0.035,3043,1360,1339
$GC,17246,0.84,367.5,20.1,7.5,1661,17255,0.00,1.25,0.00,0.000,6,0.000,0.034,3042,2276,1336
$STATE,17426,end climb,SURFACE_DEPTH_REACHED
$STATE,17426,begin surface coast
$FINISH,0.7,1.009644
$STATE,17458,end surface coast,CONTROL_FINISHED_OK
$STATE,17458,begin surface
$SM_CCo,17472,97.93,0.493,0,0,495,575.22
$SM_GC,1.64,0.00,0.00,97.93,0.000,0.000,0.493,192,2392,495,-7.98,0.48,575.22
$IRIDIUM_FIX,2831.00,-8841.44,290999,010136
$TT8_MAMPS,0.051389
$HUMID,1349
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.20
$XPDR_PINGS,11
$24V_AH,21.5,37.313
$10V_AH,10.6,51.970
$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,20.225,60.000,449.725,97.925,0.000,24.073,39.658,214.543,2.750,0.000,0.000,18.267,0.000,11884.321,618.496,4881.306,559.028,33.331,1967.161,0.000,4376.010,0.000,0.848,0.000
$DEVICE_MAMPS,260.013,69.030,1230.268,493.181,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1150.205,1226.819,3780.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88352,1682
$CAP_FILE_SIZE,149627,0
$CFSIZE,260165632,236232704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,191.2,1
$GPS,050710,114707,2843.269,-8834.645,27,1.5,27,-0.3