version: 66.04
glider: 515
mission: 5
dive: 221
start: 7 7 110 9 23 28
data:
$ID,515
$MISSION,5
$DIVE,221
$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,-17510.369
$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,23
$R_STBD_OVSHOOT,33
$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
$GPS1,091624,2843.739,-8832.404,26,1.8,43,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-58.4
$GPS2,092249,2843.763,-8832.427,9,1.7,14,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0528A
$TGT_LATLONG,2843.600,-8826.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.222,0.144
$KALMAN_X,-59561.5,-14.0,314.0,88003.4,-2572.5
$KALMAN_Y,-211640.8,426.3,557.4,239150.8,-8725.4
$MHEAD_RNG_PITCHd_Wd,86.0,10441,-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,13,-0.63,-194.6,0.0,0.0,0,107,0.00,0.00,-92.80,0.000,2,0.000,0.000,197,2400,3031
$GC,109,-0.63,-194.6,3.2,-3.0,9,141,10.82,1.50,-12.57,0.000,4,0.265,0.063,2529,3265,3635
$GC,227,-0.63,-194.6,36.0,-25.9,20,230,0.00,1.48,0.00,0.000,6,0.000,0.028,2534,2354,3637
$GC,423,-0.63,-194.6,68.9,-15.9,39,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2353,3638
$GC,609,-0.63,-194.6,96.1,-13.7,57,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3639
$GC,796,-0.63,-194.6,120.0,-12.6,75,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3640
$GC,1106,-0.63,-194.6,160.2,-12.5,105,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2353,3640
$GC,1417,-0.63,-194.6,197.5,-11.9,135,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2353,3639
$GC,1727,-0.63,-194.6,233.5,-10.9,165,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3639
$GC,2038,-0.63,-194.6,267.8,-10.9,195,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3637
$GC,2348,-0.63,-194.6,301.6,-10.9,225,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3636
$GC,2658,-0.63,-194.6,335.5,-10.7,255,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3634
$GC,2969,-0.63,-194.6,367.4,-10.1,285,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3633
$GC,3279,-0.63,-194.6,399.3,-10.2,315,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2354,3631
$GC,3590,-0.63,-194.6,431.2,-10.2,345,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2353,3628
$GC,3900,-0.63,-194.6,462.6,-10.3,375,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2354,3626
$GC,4211,-0.63,-194.6,495.4,-10.4,405,4213,0.00,1.23,0.00,0.000,4,0.000,0.043,2534,1496,3624
$GC,4253,-0.63,-194.6,500.0,-10.8,409,4256,0.00,1.27,0.00,0.000,6,0.000,0.043,2530,2360,3624
$GC,4575,-0.63,-194.6,534.0,-10.6,440,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2360,3621
$GC,4884,-0.63,-194.6,567.3,-11.2,470,4887,0.00,1.27,0.00,0.000,4,0.000,0.043,2530,1491,3619
$GC,4916,-0.63,-194.6,570.8,-11.6,473,4919,0.00,1.33,0.00,0.000,6,0.000,0.044,2525,2387,3619
$GC,5238,-0.63,-194.6,605.8,-10.9,504,5239,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2387,3617
$GC,5547,-0.63,-194.6,637.9,-10.0,534,5550,0.00,1.33,0.00,0.000,4,0.000,0.044,2525,1486,3615
$GC,5611,-0.63,-194.6,644.1,-10.1,540,5614,0.00,1.30,0.00,0.000,6,0.000,0.044,2519,2361,3615
$GC,5933,-0.63,-194.6,677.1,-10.4,571,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2362,3614
$GC,6243,-0.63,-194.6,710.2,-10.6,601,6244,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2362,3611
$GC,6553,-0.63,-194.6,742.8,-10.1,631,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2362,3609
$GC,6863,-0.63,-194.6,773.9,-9.7,661,6867,0.00,1.27,0.00,0.000,4,0.000,0.044,2518,1501,3608
$GC,6917,-0.63,-194.6,779.3,-10.0,666,6920,0.08,1.33,0.00,0.000,6,0.149,0.047,2537,2387,3608
$GC,7237,-0.63,-194.6,807.8,-9.4,697,7238,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2386,3605
$GC,7548,-0.63,-194.6,836.5,-9.3,727,7551,0.00,1.33,0.00,0.000,4,0.000,0.046,2537,1497,3605
$GC,7601,-0.63,-194.6,841.6,-10.3,732,7605,0.00,1.30,0.00,0.000,6,0.000,0.048,2534,2361,3604
$GC,7922,-0.63,-194.6,871.2,-9.4,763,7923,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2361,3603
$GC,8234,-0.63,-194.6,899.0,-8.8,793,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3602
$GC,8543,-0.63,-194.6,925.5,-8.6,823,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3600
$GC,8853,-0.63,-194.6,951.8,-8.3,853,8854,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3599
$GC,9166,-0.63,-194.6,976.9,-8.1,883,9166,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2362,3598
$STATE,9329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9329,begin apogee
$GC,9333,-0.25,0.0,990.9,8.6,899,9492,0.43,0.00,153.02,1.252,6,0.134,0.000,2660,2289,2840
$STATE,9492,end apogee,CONTROL_FINISHED_OK
$STATE,9492,begin climb
$GC,9494,0.63,194.6,995.5,0.0,915,9669,0.90,1.40,169.12,1.218,4,0.104,0.045,2948,1383,2046
$GC,9691,0.63,194.6,980.0,10.9,932,9694,0.00,1.33,0.00,0.000,6,0.000,0.043,2947,2275,2043
$GC,10013,0.63,194.6,941.1,12.2,963,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2275,2035
$GC,10323,0.63,194.6,903.6,11.7,993,10326,0.00,1.65,0.00,0.000,4,0.000,0.055,2948,3169,2034
$GC,10348,0.63,194.6,900.3,13.3,995,10355,0.00,1.58,0.00,0.000,6,0.000,0.038,2955,2279,2033
$GC,10665,0.63,194.6,860.1,12.5,1026,10668,0.00,1.23,0.00,0.000,4,0.000,0.045,2961,1360,2032
$GC,10712,0.63,194.6,854.2,13.3,1030,10720,0.00,1.25,0.00,0.000,6,0.000,0.044,2960,2276,2032
$GC,11029,0.63,194.6,814.3,12.2,1061,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2276,2031
$GC,11339,0.63,194.6,776.3,12.3,1091,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2276,2031
$GC,11649,0.63,194.6,738.8,11.8,1121,11652,0.00,1.23,0.00,0.000,4,0.000,0.044,2966,1368,2030
$GC,11713,0.63,194.6,731.1,12.9,1127,11716,0.00,1.25,0.00,0.000,6,0.000,0.046,2966,2283,2031
$GC,12034,0.63,194.6,691.5,12.0,1158,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2283,2030
$GC,12344,0.63,194.6,654.0,11.8,1188,12347,0.00,1.25,0.00,0.000,4,0.000,0.044,2972,1363,2029
$GC,12381,0.63,194.6,649.6,11.9,1191,12388,0.00,1.23,0.00,0.000,6,0.000,0.044,2972,2273,2030
$GC,12698,0.63,194.6,611.0,12.2,1222,12699,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2274,2029
$GC,13008,0.63,194.6,572.6,12.0,1252,13009,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2274,2028
$GC,13317,0.63,194.6,534.1,12.9,1282,13318,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2274,2028
$GC,13628,0.63,194.6,494.7,12.1,1312,13629,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2273,2028
$GC,13939,0.63,194.6,455.8,12.6,1342,13942,0.00,1.20,0.00,0.000,4,0.000,0.044,2977,1376,2028
$GC,13974,0.63,194.6,451.1,12.7,1345,13982,0.00,1.25,0.00,0.000,6,0.000,0.043,2977,2283,2028
$GC,14293,0.63,194.6,411.6,12.4,1376,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2283,2029
$GC,14602,0.63,194.6,372.1,12.7,1406,14603,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2283,2028
$GC,14912,0.63,194.6,332.9,12.7,1436,14913,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2283,2028
$GC,15222,0.63,194.6,293.1,12.9,1466,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2283,2029
$GC,15533,0.63,194.6,252.1,13.5,1496,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2283,2029
$GC,15844,0.63,194.6,212.7,12.8,1526,15847,0.00,1.23,0.00,0.000,4,0.000,0.041,2981,1374,2029
$GC,15886,0.63,194.6,207.3,12.4,1530,15889,0.08,1.20,0.00,0.000,6,0.140,0.041,2956,2277,2028
$GC,16207,0.63,194.6,172.3,10.9,1561,16208,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2277,2029
$GC,16518,0.63,194.6,139.7,10.5,1591,16521,0.00,1.60,0.00,0.000,4,0.000,0.049,2956,3194,2030
$GC,16549,0.63,194.6,136.4,10.0,1594,16553,0.00,1.58,0.00,0.000,6,0.000,0.033,2962,2274,2030
$GC,16870,0.63,194.6,103.3,10.0,1625,16873,0.00,1.17,0.00,0.000,4,0.000,0.038,2968,1363,2031
$GC,16935,0.63,194.6,97.3,7.9,1631,16937,0.00,1.20,0.00,0.000,6,0.000,0.038,2968,2275,2031
$GC,17131,0.63,194.6,77.9,9.5,1650,17132,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2276,2032
$GC,17318,0.63,194.6,61.3,9.0,1668,17321,0.00,1.58,0.00,0.000,4,0.000,0.047,2967,3162,2032
$GC,17382,0.63,194.6,55.1,11.5,1674,17385,0.00,1.52,0.00,0.000,6,0.000,0.031,2975,2273,2033
$GC,17578,0.69,250.2,40.6,6.0,1693,17621,0.00,0.00,41.70,0.538,6,0.000,0.000,2975,2273,1818
$GC,17806,0.82,353.3,26.5,4.8,1715,17888,0.10,1.15,76.85,0.522,4,0.072,0.035,3035,1367,1399
$GC,17963,0.82,353.3,15.8,8.4,1729,17966,0.00,1.20,0.00,0.000,6,0.000,0.034,3034,2269,1395
$STATE,18116,end climb,SURFACE_DEPTH_REACHED
$STATE,18116,begin surface coast
$FINISH,0.8,1.023213
$STATE,18147,end surface coast,CONTROL_FINISHED_OK
$STATE,18147,begin surface
$SM_CCo,18162,105.25,0.492,0,0,494,575.22
$SM_GC,1.51,0.00,0.00,105.25,0.000,0.000,0.492,191,2388,494,-7.99,0.34,575.22
$IRIDIUM_FIX,2833.46,-8836.47,011099,040418
$TT8_MAMPS,0.050622
$HUMID,1345
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.30
$XPDR_PINGS,1
$24V_AH,22.8,38.938
$10V_AH,10.6,54.135
$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,20.000,45.600,440.700,105.250,0.000,23.758,29.847,205.226,4.000,0.000,0.000,18.377,0.000,12428.354,579.611,5039.108,577.182,33.335,1950.649,0.000,4533.625,0.000,28.327,0.000
$DEVICE_MAMPS,264.615,63.661,1251.744,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1195.391,1280.641,3926.243,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91347,1747
$CAP_FILE_SIZE,151470,0
$CFSIZE,260165632,235368448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,175.8,1
$GPS,070710,142854,2843.508,-8829.324,37,1.6,37,-0.4