version: 66.04
glider: 515
mission: 5
dive: 217
start: 7 6 110 12 43 30
data:
$ID,515
$MISSION,5
$DIVE,217
$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,-17444.273
$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,31
$R_STBD_OVSHOOT,37
$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
$GPS1,123619,2842.807,-8843.854,24,1.6,36,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.6
$GPS2,124249,2842.846,-8843.892,14,1.8,31,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.228,0.134
$KALMAN_X,-54044.1,-917.5,-0.3,65049.4,879.6
$KALMAN_Y,-202392.3,503.0,383.4,228340.7,-15259.9
$MHEAD_RNG_PITCHd_Wd,77.3,29091,-10.8,-7.500
$D_GRID,1110
$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,-194.6,0.0,0.0,0,107,0.00,0.00,-93.28,0.000,2,0.000,0.000,200,2402,3058
$GC,109,-0.63,-194.6,3.4,-3.1,9,133,10.55,0.00,-12.10,0.000,6,0.256,0.000,2539,2402,3636
$GC,315,-0.63,-194.6,52.9,-20.4,29,318,0.00,1.42,0.00,0.000,4,0.000,0.044,2534,3249,3638
$GC,394,-0.63,-194.6,65.9,-14.9,36,401,0.00,1.42,0.00,0.000,6,0.000,0.027,2536,2357,3639
$GC,587,-0.63,-194.6,92.2,-13.3,55,590,0.00,1.50,0.00,0.000,4,0.000,0.046,2532,3249,3639
$GC,629,-0.63,-194.6,97.6,-13.6,59,632,0.00,1.40,0.00,0.000,6,0.000,0.028,2535,2363,3640
$GC,826,-0.63,-194.6,123.4,-13.3,78,829,0.00,1.23,0.00,0.000,4,0.000,0.037,2536,1491,3640
$GC,868,-0.63,-194.6,128.6,-11.9,82,872,0.00,1.25,0.00,0.000,6,0.000,0.038,2533,2359,3640
$GC,1190,-0.63,-194.6,168.4,-11.3,113,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2359,3640
$GC,1500,-0.63,-194.6,204.5,-11.4,143,1503,0.00,1.50,0.00,0.000,4,0.000,0.048,2525,3253,3640
$GC,1546,-0.63,-194.6,210.1,-11.3,147,1554,0.00,1.42,0.00,0.000,6,0.000,0.028,2525,2363,3640
$GC,1864,-0.63,-194.6,246.3,-11.5,178,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2362,3639
$GC,2173,-0.63,-194.6,282.0,-12.0,208,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2362,3637
$GC,2484,-0.63,-194.6,317.9,-11.4,238,2487,0.00,1.23,0.00,0.000,4,0.000,0.038,2525,1503,3636
$GC,2520,-0.63,-194.6,322.5,-11.7,241,2528,0.00,1.30,0.00,0.000,6,0.000,0.039,2520,2386,3635
$GC,2838,-0.63,-194.6,359.9,-12.2,272,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2386,3634
$GC,3147,-0.63,-194.6,395.9,-11.4,302,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2386,3632
$GC,3458,-0.63,-194.6,429.9,-10.9,332,3460,0.00,1.30,0.00,0.000,4,0.000,0.041,2520,1492,3629
$GC,3494,-0.63,-194.6,434.1,-11.4,335,3501,0.08,1.27,0.00,0.000,6,0.146,0.042,2538,2361,3629
$GC,3810,-0.63,-194.6,464.7,-10.1,366,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2361,3627
$GC,4121,-0.63,-194.6,495.1,-9.6,396,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2361,3625
$GC,4431,-0.63,-194.6,525.5,-10.2,426,4434,0.00,1.55,0.00,0.000,4,0.000,0.056,2533,3262,3622
$GC,4463,-0.63,-194.6,528.9,-10.8,429,4466,0.00,1.42,0.00,0.000,6,0.000,0.034,2532,2390,3622
$GC,4785,-0.63,-194.6,560.6,-9.8,460,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2389,3620
$GC,5094,-0.63,-194.6,590.6,-9.4,490,5097,0.00,1.30,0.00,0.000,4,0.000,0.043,2532,1494,3618
$GC,5137,-0.63,-194.6,594.7,-9.4,494,5140,0.00,1.33,0.00,0.000,6,0.000,0.046,2528,2384,3618
$GC,5459,-0.63,-194.6,626.7,-10.2,525,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2384,3616
$GC,5768,-0.63,-194.6,657.9,-10.1,555,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2384,3615
$GC,6078,-0.63,-194.6,689.5,-10.3,585,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2384,3613
$GC,6389,-0.63,-194.6,721.3,-9.7,615,6392,0.00,1.33,0.00,0.000,4,0.000,0.046,2526,1494,3610
$GC,6453,-0.63,-194.6,728.5,-10.9,621,6456,0.00,1.30,0.00,0.000,6,0.000,0.048,2521,2362,3610
$GC,6775,-0.63,-194.6,762.7,-10.7,652,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2362,3608
$GC,7085,-0.63,-194.6,794.4,-9.7,682,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2362,3607
$GC,7394,-0.63,-194.6,825.4,-10.0,712,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2362,3605
$GC,7706,-0.63,-194.6,856.4,-9.5,742,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2362,3604
$GC,8015,-0.63,-194.6,886.5,-9.4,772,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2363,3603
$GC,8325,-0.63,-194.6,916.2,-9.4,802,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2363,3602
$GC,8637,-0.63,-194.6,945.7,-9.6,832,8639,0.00,1.30,0.00,0.000,4,0.000,0.048,2521,1495,3600
$GC,8684,-0.63,-194.6,950.5,-9.8,836,8691,0.00,1.35,0.00,0.000,6,0.000,0.050,2516,2383,3600
$GC,9000,-0.63,-194.6,981.5,-9.4,867,9000,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2383,3599
$STATE,9092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9092,begin apogee
$GC,9097,-0.25,0.0,990.4,9.6,876,9255,0.50,0.00,153.60,1.249,6,0.139,0.000,2663,2295,2839
$STATE,9256,end apogee,CONTROL_FINISHED_OK
$STATE,9256,begin climb
$GC,9258,0.63,194.6,995.2,0.0,892,9437,0.88,1.40,168.60,1.216,4,0.104,0.049,2943,1383,2047
$GC,9469,0.63,194.6,978.0,10.9,910,9472,0.00,1.27,0.00,0.000,6,0.000,0.044,2943,2262,2043
$GC,9791,0.63,194.6,940.7,11.5,941,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2262,2036
$GC,10100,0.63,194.6,905.0,11.4,971,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2262,2034
$GC,10410,0.63,194.6,869.8,11.2,1001,10414,0.00,1.20,0.00,0.000,4,0.000,0.044,2948,1358,2034
$GC,10436,0.63,194.6,866.8,12.2,1003,10443,0.00,1.27,0.00,0.000,6,0.000,0.045,2948,2282,2034
$GC,10753,0.63,194.6,830.5,11.6,1034,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2282,2032
$GC,11063,0.63,194.6,794.0,12.0,1064,11066,0.00,1.25,0.00,0.000,4,0.000,0.044,2954,1359,2031
$GC,11099,0.63,194.6,789.6,11.5,1067,11107,0.00,1.27,0.00,0.000,6,0.000,0.044,2953,2280,2031
$GC,11417,0.63,194.6,752.0,12.0,1098,11420,0.00,1.23,0.00,0.000,4,0.000,0.044,2959,1373,2031
$GC,11449,0.63,194.6,748.2,11.1,1101,11452,0.00,1.23,0.00,0.000,6,0.000,0.045,2958,2274,2031
$GC,11770,0.63,194.6,709.3,11.7,1132,11771,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2275,2030
$GC,12080,0.63,194.6,670.7,12.6,1162,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2275,2030
$GC,12390,0.63,194.6,632.9,11.6,1192,12393,0.00,1.20,0.00,0.000,4,0.000,0.044,2964,1377,2029
$GC,12433,0.63,194.6,628.0,11.7,1196,12436,0.00,1.23,0.00,0.000,6,0.000,0.044,2964,2277,2029
$GC,12755,0.63,194.6,589.1,12.2,1227,12756,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2277,2029
$GC,13064,0.63,194.6,551.1,12.3,1257,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2277,2029
$GC,13374,0.63,194.6,513.7,11.5,1287,13377,0.00,1.23,0.00,0.000,4,0.000,0.043,2969,1363,2029
$GC,13421,0.63,194.6,507.8,12.3,1291,13429,0.00,1.27,0.00,0.000,6,0.000,0.044,2969,2285,2029
$GC,13739,0.63,194.6,468.8,11.3,1322,13740,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2285,2029
$GC,14048,0.63,194.6,429.4,12.7,1352,14051,0.00,1.25,0.00,0.000,4,0.000,0.042,2975,1363,2029
$GC,14080,0.63,194.6,425.6,11.8,1355,14083,0.00,1.23,0.00,0.000,6,0.000,0.044,2975,2276,2028
$GC,14402,0.63,194.6,383.1,13.8,1386,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2276,2029
$GC,14711,0.63,194.6,343.1,12.9,1416,14714,0.00,1.20,0.00,0.000,4,0.000,0.042,2980,1374,2029
$GC,14743,0.63,194.6,338.9,12.7,1419,14746,0.08,1.20,0.00,0.000,6,0.145,0.043,2956,2273,2029
$GC,15064,0.63,194.6,303.0,11.2,1450,15064,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2273,2029
$GC,15375,0.63,194.6,268.2,11.1,1480,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2273,2029
$GC,15684,0.63,194.6,234.1,10.9,1510,15688,0.00,1.62,0.00,0.000,4,0.000,0.051,2956,3163,2029
$GC,15710,0.63,194.6,230.9,12.5,1512,15718,0.00,1.58,0.00,0.000,6,0.000,0.034,2961,2266,2029
$GC,16028,0.63,194.6,194.7,11.7,1543,16028,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2266,2030
$GC,16337,0.63,194.6,160.0,11.5,1573,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2267,2030
$GC,16648,0.63,194.6,126.0,11.2,1603,16649,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2267,2031
$GC,16958,0.63,194.6,94.4,9.8,1633,16959,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2267,2032
$GC,17144,0.63,194.6,76.1,9.7,1651,17147,0.00,1.65,0.00,0.000,4,0.000,0.048,2961,3169,2032
$GC,17176,0.63,194.6,72.9,11.0,1654,17179,0.00,1.55,0.00,0.000,6,0.000,0.031,2969,2273,2033
$GC,17373,0.63,194.6,57.2,7.8,1673,17374,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2273,2033
$GC,17559,0.68,236.8,44.5,6.4,1691,17594,0.00,1.20,31.77,0.541,4,0.000,0.036,2974,1363,1873
$GC,17648,0.74,283.9,39.1,6.3,1699,17694,0.00,1.20,36.40,0.534,6,0.000,0.036,2974,2272,1681
$GC,17879,0.89,413.2,26.0,4.1,1721,17978,0.17,1.62,95.82,0.522,4,0.064,0.044,3064,3168,1154
$GC,18019,0.89,413.2,13.6,10.5,1733,18022,0.12,1.58,0.00,0.000,6,0.130,0.029,3038,2274,1151
$STATE,18141,end climb,SURFACE_DEPTH_REACHED
$STATE,18141,begin surface coast
$FINISH,0.6,1.023175
$STATE,18172,end surface coast,CONTROL_FINISHED_OK
$STATE,18172,begin surface
$SM_CCo,18186,77.97,0.489,0,0,494,575.22
$SM_GC,1.45,0.00,0.00,77.97,0.000,0.000,0.489,200,2388,494,-7.96,0.37,575.22
$IRIDIUM_FIX,2831.00,-8843.84,300999,080859
$TT8_MAMPS,0.051389
$HUMID,1357
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,23.40
$XPDR_PINGS,2
$24V_AH,22.9,38.269
$10V_AH,10.6,53.256
$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,20.025,59.500,486.200,77.975,0.000,24.519,40.172,195.965,4.250,0.000,0.000,32.916,0.000,12366.150,602.070,5093.160,573.134,33.364,2016.594,0.000,4556.761,0.000,28.329,0.000
$DEVICE_MAMPS,256.178,59.059,1248.676,489.346,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1196.134,1277.131,3928.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91510,1748
$CAP_FILE_SIZE,155743,0
$CFSIZE,260165632,235700224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,191.1,1
$GPS,060710,174855,2842.816,-8841.008,38,1.8,38,-0.2