version: 66.04
glider: 515
mission: 5
dive: 223
start: 7 7 110 18 37 11
data:
$ID,515
$MISSION,5
$DIVE,223
$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,-14
$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,-17543.361
$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,32
$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
$GPS1,183024,2843.373,-8826.805,39,0.9,39,-0.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-60.4
$GPS2,183614,2843.411,-8826.862,15,0.9,15,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.245,0.100
$KALMAN_X,-61102.8,456.2,296.5,98156.1,-3708.6
$KALMAN_Y,-220362.9,530.8,192.0,247518.8,-12445.5
$MHEAD_RNG_PITCHd_Wd,285.6,29521,-10.8,-7.500
$D_GRID,1412
$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,12,begin dive
$GC,14,-0.63,-194.6,0.0,0.0,0,88,0.00,0.00,-72.62,0.000,2,0.000,0.000,194,2391,2465
$GC,90,-0.63,-194.6,3.0,-3.1,7,139,10.60,1.50,-35.20,0.000,4,0.257,0.069,2532,3257,3634
$GC,379,-0.63,-194.6,56.9,-15.5,33,386,0.00,1.45,0.00,0.000,6,0.000,0.027,2537,2358,3637
$GC,571,-0.63,-194.6,84.7,-13.9,52,574,0.00,1.50,0.00,0.000,4,0.000,0.043,2531,3249,3638
$GC,778,-0.63,-194.6,114.6,-13.4,71,786,0.00,1.40,0.00,0.000,6,0.000,0.028,2533,2366,3639
$GC,1096,-0.63,-194.6,156.2,-12.4,102,1099,0.00,1.23,0.00,0.000,4,0.000,0.038,2532,1501,3640
$GC,1127,-0.63,-194.6,160.4,-13.0,105,1130,0.00,1.25,0.00,0.000,6,0.000,0.035,2529,2366,3639
$GC,1450,-0.63,-194.6,199.8,-12.3,136,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2367,3639
$GC,1758,-0.63,-194.6,237.4,-11.6,166,1761,0.00,1.25,0.00,0.000,4,0.000,0.038,2529,1502,3638
$GC,1795,-0.63,-194.6,242.0,-12.6,169,1802,0.00,1.27,0.00,0.000,6,0.000,0.037,2523,2384,3638
$GC,2112,-0.63,-194.6,280.7,-12.6,200,2115,0.00,1.27,0.00,0.000,4,0.000,0.038,2523,1501,3637
$GC,2158,-0.63,-194.6,286.6,-12.5,204,2167,0.00,1.27,0.00,0.000,6,0.000,0.037,2517,2369,3636
$GC,2476,-0.63,-194.6,324.5,-11.4,235,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2369,3635
$GC,2786,-0.63,-194.6,359.3,-10.5,265,2788,0.00,1.25,0.00,0.000,4,0.000,0.039,2517,1508,3633
$GC,2828,-0.63,-194.6,364.1,-11.8,269,2832,0.08,1.25,0.00,0.000,6,0.145,0.039,2536,2367,3633
$GC,3149,-0.63,-194.6,395.5,-10.1,300,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2367,3631
$GC,3460,-0.63,-194.6,428.4,-10.5,330,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2367,3629
$GC,3770,-0.63,-194.6,460.7,-10.4,360,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2367,3627
$GC,4081,-0.63,-194.6,491.4,-9.6,390,4084,0.00,1.27,0.00,0.000,4,0.000,0.042,2537,1498,3625
$GC,4112,-0.63,-194.6,494.5,-9.4,393,4115,0.00,1.30,0.00,0.000,6,0.000,0.042,2532,2384,3625
$GC,4435,-0.63,-194.6,526.1,-10.0,424,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2384,3622
$GC,4743,-0.63,-194.6,557.2,-10.3,454,4746,0.00,1.30,0.00,0.000,4,0.000,0.042,2532,1497,3621
$GC,4796,-0.63,-194.6,562.5,-9.4,459,4800,0.00,1.27,0.00,0.000,6,0.000,0.043,2527,2361,3621
$GC,5119,-0.63,-194.6,596.3,-10.2,490,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2361,3618
$GC,5428,-0.63,-194.6,627.5,-10.0,520,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2362,3616
$GC,5738,-0.63,-194.6,657.8,-9.1,550,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2362,3615
$GC,6048,-0.63,-194.6,687.5,-9.6,580,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2362,3612
$GC,6360,-0.63,-194.6,718.1,-10.3,610,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2361,3611
$GC,6669,-0.63,-194.6,748.6,-9.9,640,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2361,3609
$GC,6980,-0.63,-194.6,779.9,-9.9,670,6983,0.00,1.27,0.00,0.000,4,0.000,0.046,2527,1502,3606
$GC,7016,-0.63,-194.6,783.7,-10.5,673,7023,0.00,1.35,0.00,0.000,6,0.000,0.046,2521,2390,3606
$GC,7334,-0.63,-194.6,815.9,-10.2,704,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2390,3606
$GC,7643,-0.63,-194.6,846.3,-9.9,734,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2390,3604
$GC,7954,-0.63,-194.6,876.6,-9.8,764,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2391,3603
$GC,8264,-0.63,-194.6,906.7,-9.9,794,8267,0.00,1.33,0.00,0.000,4,0.000,0.048,2522,1508,3601
$GC,8310,-0.63,-194.6,911.6,-10.4,798,8318,0.00,1.30,0.00,0.000,6,0.000,0.048,2516,2363,3601
$GC,8627,-0.63,-194.6,943.0,-10.1,829,8630,0.00,1.58,0.00,0.000,4,0.000,0.059,2508,3262,3599
$GC,8680,-0.63,-194.6,948.4,-10.5,834,8683,0.10,1.45,0.00,0.000,6,0.140,0.038,2539,2389,3599
$GC,9001,-0.63,-194.6,975.1,-8.1,865,9004,0.00,1.33,0.00,0.000,4,0.000,0.047,2540,1493,3598
$GC,9048,-0.63,-194.6,979.0,-8.8,869,9055,0.00,1.35,0.00,0.000,6,0.000,0.049,2536,2386,3598
$STATE,9187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9187,begin apogee
$GC,9192,-0.25,0.0,990.6,8.3,883,9350,0.43,0.00,152.55,1.249,6,0.133,0.000,2663,2285,2841
$STATE,9351,end apogee,CONTROL_FINISHED_OK
$STATE,9351,begin climb
$GC,9352,0.63,194.6,994.7,0.0,899,9525,0.88,0.00,169.07,1.216,6,0.104,0.000,2938,2285,2046
$GC,9831,0.63,194.6,946.1,11.6,945,9832,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2285,2035
$GC,10141,0.63,194.6,911.6,11.3,975,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2284,2033
$GC,10452,0.63,194.6,876.2,11.6,1005,10455,0.00,1.23,0.00,0.000,4,0.000,0.044,2943,1376,2032
$GC,10516,0.63,194.6,869.1,10.8,1011,10519,0.00,1.20,0.00,0.000,6,0.000,0.043,2943,2265,2032
$GC,10837,0.63,194.6,833.0,11.7,1042,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2265,2030
$GC,11147,0.63,194.6,798.1,10.8,1072,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2266,2030
$GC,11458,0.63,194.6,764.0,11.2,1102,11459,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2265,2030
$GC,11768,0.63,194.6,729.5,11.1,1132,11771,0.00,1.67,0.00,0.000,4,0.000,0.054,2944,3178,2029
$GC,11811,0.63,194.6,724.3,11.7,1136,11814,0.00,1.60,0.00,0.000,6,0.000,0.038,2952,2257,2028
$GC,12133,0.63,194.6,687.0,11.2,1167,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2258,2028
$GC,12442,0.63,194.6,650.8,11.7,1197,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2258,2028
$GC,12752,0.63,194.6,615.6,11.3,1227,12755,0.00,1.15,0.00,0.000,4,0.000,0.045,2957,1369,2028
$GC,12784,0.63,194.6,612.0,11.4,1230,12787,0.00,1.25,0.00,0.000,6,0.000,0.045,2957,2282,2028
$GC,13105,0.63,194.6,575.5,11.3,1261,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2282,2028
$GC,13416,0.63,194.6,538.6,12.0,1291,13417,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2282,2027
$GC,13726,0.63,194.6,502.9,11.4,1321,13729,0.00,1.23,0.00,0.000,4,0.000,0.044,2962,1372,2027
$GC,13768,0.63,194.6,498.0,11.7,1325,13771,0.00,1.23,0.00,0.000,6,0.000,0.044,2962,2277,2027
$GC,14091,0.63,194.6,460.9,11.5,1356,14093,0.00,1.23,0.00,0.000,4,0.000,0.043,2967,1362,2027
$GC,14208,0.63,194.6,447.1,12.1,1367,14211,0.00,1.23,0.00,0.000,6,0.000,0.044,2967,2274,2027
$GC,14530,0.63,194.6,407.4,12.7,1398,14533,0.00,1.20,0.00,0.000,4,0.000,0.042,2973,1373,2028
$GC,14608,0.63,194.6,397.3,12.3,1405,14616,0.00,1.25,0.00,0.000,6,0.000,0.042,2973,2284,2028
$GC,14926,0.63,194.6,357.5,12.7,1436,14930,0.00,1.23,0.00,0.000,4,0.000,0.041,2978,1371,2028
$GC,15005,0.63,194.6,347.3,13.0,1443,15012,0.00,1.25,0.00,0.000,6,0.000,0.041,2978,2284,2028
$GC,15323,0.63,194.6,305.4,12.9,1474,15326,0.00,1.23,0.00,0.000,4,0.000,0.041,2984,1367,2028
$GC,15412,0.63,194.6,293.8,12.9,1482,15420,0.12,1.25,0.00,0.000,6,0.146,0.041,2952,2284,2028
$GC,15729,0.63,194.6,260.3,10.8,1513,15733,0.00,1.23,0.00,0.000,4,0.000,0.041,2955,1367,2028
$GC,15819,0.63,194.6,250.7,11.1,1521,15826,0.00,1.23,0.00,0.000,6,0.000,0.040,2955,2273,2028
$GC,16136,0.63,194.6,216.5,10.6,1552,16139,0.00,1.20,0.00,0.000,4,0.000,0.039,2960,1358,2028
$GC,16168,0.63,194.6,213.0,10.6,1555,16171,0.00,1.23,0.00,0.000,6,0.000,0.041,2961,2280,2029
$GC,16489,0.63,194.6,178.0,10.6,1586,16492,0.00,1.23,0.00,0.000,4,0.000,0.038,2965,1356,2029
$GC,16536,0.63,194.6,172.9,10.1,1590,16543,0.00,1.23,0.00,0.000,6,0.000,0.038,2965,2280,2029
$GC,16853,0.63,194.6,138.6,10.4,1621,16854,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2280,2030
$GC,17163,0.63,194.6,106.9,9.8,1651,17166,0.00,1.20,0.00,0.000,4,0.000,0.037,2971,1365,2031
$GC,17237,0.63,194.6,99.7,9.5,1658,17240,0.00,1.20,0.00,0.000,6,0.000,0.038,2970,2278,2032
$GC,17434,0.63,194.6,80.7,8.7,1677,17435,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2277,2031
$GC,17621,0.63,194.6,63.6,8.6,1695,17621,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2278,2033
$GC,17806,0.63,194.6,47.2,8.7,1713,17809,0.00,1.20,0.00,0.000,4,0.000,0.036,2975,1357,2033
$GC,17885,0.71,262.5,41.4,5.7,1720,17943,0.00,1.23,49.90,0.539,6,0.000,0.035,2975,2281,1770
$GC,18127,0.88,405.1,27.8,3.8,1743,18238,0.17,1.25,106.03,0.521,4,0.058,0.035,3074,1368,1187
$STATE,18382,end climb,SURFACE_DEPTH_REACHED
$STATE,18382,begin surface coast
$FINISH,2.3,1.023138
$STATE,18387,end surface coast,CONTROL_FINISHED_OK
$STATE,18387,begin surface
$SM_CCo,18403,87.07,0.492,0,0,493,575.22
$SM_GC,1.56,0.00,0.00,87.07,0.000,0.000,0.492,194,2384,493,-7.97,0.25,575.22
$IRIDIUM_FIX,2835.91,-8838.92,011099,141441
$TT8_MAMPS,0.050622
$HUMID,1344
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,23.80
$XPDR_PINGS,2
$24V_AH,22.9,39.252
$10V_AH,10.6,54.533
$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,20.525,67.500,477.550,87.075,0.000,24.244,26.852,193.719,4.250,0.000,0.000,18.144,0.000,12374.558,627.341,5274.841,560.817,33.341,2110.690,0.000,4712.556,0.000,28.327,0.000
$DEVICE_MAMPS,256.945,69.030,1248.676,492.414,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1207.266,1291.099,3969.237,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91532,1766
$CAP_FILE_SIZE,163176,0
$CFSIZE,260165632,235200512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,191.3,1
$GPS,070710,234607,2843.388,-8829.838,24,1.6,24,-0.4