version: 66.04
glider: 515
mission: 5
dive: 213
start: 7 5 110 17 6 23
data:
$ID,515
$MISSION,5
$DIVE,213
$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,-17361.271
$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,29
$R_STBD_OVSHOOT,26
$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,850
$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
$GPS1,165901,2843.685,-8831.730,41,1.6,41,-0.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.7
$GPS2,170544,2843.756,-8831.736,11,1.6,11,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.251,0.083
$KALMAN_X,-54956.7,-343.5,-163.6,85327.8,-892.3
$KALMAN_Y,-184472.0,885.8,968.4,211120.0,-9349.2
$MHEAD_RNG_PITCHd_Wd,271.7,21691,-10.8,-7.500
$D_GRID,1198
$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,-82.88,0.000,2,0.000,0.000,194,2382,2752
$GC,99,-0.63,-194.6,3.0,-3.1,8,137,10.50,1.35,-22.92,0.000,4,0.255,0.056,2542,1466,3635
$GC,375,-0.63,-194.6,56.8,-16.2,33,383,0.00,1.35,0.00,0.000,6,0.000,0.036,2539,2384,3637
$GC,568,-0.63,-194.6,83.9,-13.8,52,571,0.00,1.30,0.00,0.000,4,0.000,0.035,2540,1471,3638
$GC,604,-0.63,-194.6,89.0,-12.7,55,612,0.00,1.30,0.00,0.000,6,0.000,0.038,2535,2366,3638
$GC,796,-0.63,-194.6,114.1,-12.7,74,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2366,3639
$GC,1107,-0.63,-194.6,154.1,-13.1,104,1110,0.00,1.27,0.00,0.000,4,0.000,0.035,2535,1472,3640
$GC,1171,-0.63,-194.6,162.3,-12.6,110,1174,0.00,1.30,0.00,0.000,6,0.000,0.038,2530,2373,3640
$GC,1493,-0.63,-194.6,201.3,-11.9,141,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2373,3640
$GC,1802,-0.63,-194.6,237.2,-11.3,171,1806,0.00,1.30,0.00,0.000,4,0.000,0.036,2529,1470,3638
$GC,1866,-0.63,-194.6,244.1,-11.0,177,1869,0.00,1.30,0.00,0.000,6,0.000,0.039,2524,2370,3638
$GC,2188,-0.63,-194.6,280.9,-11.8,208,2191,0.00,1.30,0.00,0.000,4,0.000,0.037,2523,1468,3636
$GC,2235,-0.63,-194.6,286.4,-11.3,212,2242,0.00,1.35,0.00,0.000,6,0.000,0.038,2517,2389,3636
$GC,2553,-0.63,-194.6,321.9,-10.7,243,2555,0.00,1.33,0.00,0.000,4,0.000,0.037,2518,1466,3634
$GC,2595,-0.63,-194.6,327.1,-11.9,247,2599,0.08,1.30,0.00,0.000,6,0.146,0.040,2537,2364,3634
$GC,2916,-0.63,-194.6,358.7,-10.0,278,2919,0.00,1.52,0.00,0.000,4,0.000,0.051,2531,3264,3632
$GC,2948,-0.63,-194.6,361.9,-9.7,281,2951,0.00,1.48,0.00,0.000,6,0.000,0.031,2531,2353,3632
$GC,3270,-0.63,-194.6,394.8,-10.2,312,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2354,3630
$GC,3579,-0.63,-194.6,427.9,-10.7,342,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2354,3627
$GC,3890,-0.63,-194.6,460.9,-10.5,372,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2353,3625
$GC,4200,-0.63,-194.6,492.5,-10.0,402,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2353,3623
$GC,4511,-0.63,-194.6,524.2,-10.1,432,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2353,3621
$GC,4821,-0.63,-194.6,555.6,-9.8,462,4824,0.00,1.58,0.00,0.000,4,0.000,0.055,2524,3255,3619
$GC,4868,-0.63,-194.6,560.6,-9.9,466,4876,0.00,1.45,0.00,0.000,6,0.000,0.034,2524,2366,3618
$GC,5185,-0.63,-194.6,593.4,-10.7,497,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2366,3616
$GC,5495,-0.63,-194.6,626.2,-10.3,527,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2365,3615
$GC,5805,-0.63,-194.6,658.7,-10.0,557,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2365,3613
$GC,6116,-0.63,-194.6,689.7,-10.0,587,6119,0.00,1.58,0.00,0.000,4,0.000,0.058,2517,3267,3610
$GC,6147,-0.63,-194.6,693.0,-10.6,590,6150,0.00,1.48,0.00,0.000,6,0.000,0.036,2517,2370,3610
$GC,6469,-0.63,-194.6,726.5,-10.9,621,6472,0.00,1.27,0.00,0.000,4,0.000,0.044,2517,1496,3608
$GC,6491,-0.63,-194.6,728.6,-9.5,623,6494,0.08,1.33,0.00,0.000,6,0.150,0.048,2536,2378,3608
$GC,6811,-0.63,-194.6,757.7,-9.3,654,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2378,3606
$GC,7122,-0.63,-194.6,784.7,-8.7,684,7125,0.00,1.30,0.00,0.000,4,0.000,0.045,2536,1500,3605
$GC,7158,-0.63,-194.6,788.0,-8.5,687,7166,0.00,1.35,0.00,0.000,6,0.000,0.048,2533,2383,3604
$GC,7475,-0.63,-194.6,817.3,-9.2,718,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2383,3603
$GC,7785,-0.63,-194.6,846.1,-9.0,748,7789,0.00,1.33,0.00,0.000,4,0.000,0.045,2532,1493,3602
$GC,7842,-0.63,-194.6,851.9,-10.5,753,7850,0.00,1.35,0.00,0.000,6,0.000,0.048,2528,2374,3602
$GC,8159,-0.63,-194.6,882.2,-9.4,784,8162,0.00,1.30,0.00,0.000,4,0.000,0.044,2528,1500,3600
$GC,8212,-0.63,-194.6,887.5,-9.9,789,8216,0.00,1.33,0.00,0.000,6,0.000,0.049,2522,2375,3600
$GC,8533,-0.63,-194.6,918.8,-9.9,820,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2376,3599
$GC,8844,-0.63,-194.6,947.8,-9.4,850,8846,0.00,1.30,0.00,0.000,4,0.000,0.046,2522,1502,3597
$GC,8890,-0.63,-194.6,952.2,-9.0,854,8899,0.00,1.33,0.00,0.000,6,0.000,0.048,2516,2375,3597
$GC,9207,-0.63,-194.6,982.4,-9.9,885,9210,0.00,1.33,0.00,0.000,4,0.000,0.045,2517,1487,3595
$GC,9249,-0.63,-194.6,986.6,-10.6,889,9253,0.08,1.35,0.00,0.000,6,0.151,0.049,2534,2374,3596
$STATE,9290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9290,begin apogee
$GC,9294,-0.25,0.0,990.1,8.5,893,9452,0.43,0.00,152.65,1.250,6,0.134,0.000,2663,2293,2841
$STATE,9453,end apogee,CONTROL_FINISHED_OK
$STATE,9453,begin climb
$GC,9454,0.63,194.6,994.7,0.0,909,9627,0.93,0.00,169.62,1.214,6,0.104,0.000,2947,2292,2046
$GC,9935,0.63,194.6,945.4,11.8,956,9938,0.00,1.30,0.00,0.000,4,0.000,0.049,2953,1362,2036
$GC,9967,0.63,194.6,941.5,12.4,959,9970,0.00,1.25,0.00,0.000,6,0.000,0.046,2953,2270,2035
$GC,10289,0.63,194.6,903.1,12.5,990,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2271,2034
$GC,10598,0.63,194.6,866.1,12.1,1020,10599,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2271,2033
$GC,10909,0.63,194.6,828.6,11.8,1050,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2271,2032
$GC,11219,0.63,194.6,790.8,12.5,1080,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2271,2031
$GC,11530,0.63,194.6,752.8,12.1,1110,11532,0.00,1.65,0.00,0.000,4,0.000,0.056,2953,3182,2031
$GC,11561,0.63,194.6,748.7,13.1,1113,11564,0.00,1.62,0.00,0.000,6,0.000,0.038,2961,2269,2029
$GC,11882,0.63,194.6,709.3,12.0,1144,11885,0.00,1.17,0.00,0.000,4,0.000,0.044,2966,1372,2030
$GC,11918,0.63,194.6,704.8,11.8,1147,11925,0.00,1.27,0.00,0.000,6,0.000,0.044,2966,2286,2030
$GC,12236,0.63,194.6,666.1,12.2,1178,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2286,2030
$GC,12545,0.63,194.6,627.0,12.4,1208,12548,0.00,1.62,0.00,0.000,4,0.000,0.055,2966,3176,2029
$GC,12566,0.63,194.6,624.2,13.6,1210,12569,0.00,1.60,0.00,0.000,6,0.000,0.038,2974,2275,2028
$GC,12888,0.63,194.6,582.0,12.8,1241,12889,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2276,2028
$GC,13197,0.63,194.6,540.9,13.2,1271,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2277,2028
$GC,13508,0.63,194.6,500.8,12.2,1301,13509,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2276,2028
$GC,13818,0.63,194.6,461.1,12.6,1331,13821,0.00,1.62,0.00,0.000,4,0.000,0.054,2974,3168,2028
$GC,13861,0.63,194.6,455.6,13.2,1335,13864,0.12,1.58,0.00,0.000,6,0.156,0.037,2950,2276,2026
$GC,14181,0.63,194.6,419.7,11.8,1366,14185,0.00,1.20,0.00,0.000,4,0.000,0.043,2955,1358,2027
$GC,14256,0.63,194.6,411.3,11.1,1373,14260,0.00,1.23,0.00,0.000,6,0.000,0.044,2955,2274,2027
$GC,14577,0.63,194.6,374.3,11.4,1404,14580,0.00,1.65,0.00,0.000,4,0.000,0.053,2954,3175,2027
$GC,14613,0.63,194.6,369.8,12.6,1407,14620,0.00,1.60,0.00,0.000,6,0.000,0.035,2963,2273,2027
$GC,14931,0.63,194.6,331.7,11.4,1438,14932,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2274,2027
$GC,15240,0.63,194.6,294.5,12.3,1468,15241,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2274,2027
$GC,15551,0.63,194.6,257.8,11.4,1498,15554,0.00,1.17,0.00,0.000,4,0.000,0.042,2968,1365,2027
$GC,15582,0.63,194.6,254.3,11.3,1501,15585,0.00,1.23,0.00,0.000,6,0.000,0.042,2968,2278,2027
$GC,15905,0.63,194.6,215.5,12.9,1532,15905,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2279,2027
$GC,16213,0.63,194.6,177.5,11.9,1562,16216,0.00,1.20,0.00,0.000,4,0.000,0.040,2973,1371,2028
$GC,16256,0.63,194.6,172.6,11.5,1566,16259,0.00,1.20,0.00,0.000,6,0.000,0.040,2973,2280,2028
$GC,16577,0.63,194.6,135.5,11.6,1597,16578,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2279,2028
$GC,16888,0.63,194.6,100.4,11.2,1627,16890,0.00,1.60,0.00,0.000,4,0.000,0.048,2973,3165,2029
$GC,16930,0.63,194.6,95.3,13.5,1631,16933,0.08,1.55,0.00,0.000,6,0.139,0.031,2956,2274,2029
$GC,17127,0.63,194.6,76.8,9.1,1650,17127,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2275,2029
$GC,17313,0.63,194.6,62.3,7.7,1668,17314,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2275,2030
$GC,17499,0.68,242.6,49.0,6.2,1686,17538,0.00,1.17,36.05,0.546,4,0.000,0.038,2960,1369,1849
$GC,17578,0.73,282.0,44.0,6.5,1693,17614,0.00,1.20,30.92,0.535,6,0.000,0.035,2960,2274,1688
$GC,17800,0.86,381.1,32.1,4.9,1714,17878,0.17,1.60,73.80,0.527,4,0.060,0.043,3051,3170,1286
$GC,17927,0.86,381.1,20.2,11.8,1724,17933,0.10,1.58,0.00,0.000,6,0.125,0.028,3026,2275,1282
$GC,18118,0.86,381.1,3.8,8.7,1743,18122,0.00,1.17,0.00,0.000,4,0.000,0.036,3030,1361,1278
$STATE,18127,end climb,SURFACE_DEPTH_REACHED
$STATE,18127,begin surface coast
$FINISH,0.6,1.010460
$STATE,18170,end surface coast,CONTROL_FINISHED_OK
$STATE,18170,begin surface
$SM_CCo,18185,93.03,0.494,0,0,494,575.22
$SM_GC,1.52,0.00,0.00,93.03,0.000,0.000,0.494,196,2393,494,-7.97,0.48,575.22
$IRIDIUM_FIX,2833.46,-8831.56,290999,111148
$TT8_MAMPS,0.051389
$HUMID,1358
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,22.9,37.635
$10V_AH,10.6,52.415
$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,20.100,77.425,463.050,93.025,0.000,30.927,31.075,225.873,4.000,0.000,0.000,13.099,0.000,12289.191,625.699,5144.938,593.110,33.342,2064.792,0.000,4598.328,0.000,28.326,0.000
$DEVICE_MAMPS,254.644,57.525,1250.210,493.948,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1195.962,1279.362,3928.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91505,1748
$CAP_FILE_SIZE,164995,0
$CFSIZE,260165632,236036096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.053,199.4,1
$GPS,050710,221200,2843.235,-8834.996,37,1.4,37,-0.3