version: 66.04
glider: 515
mission: 5
dive: 226
start: 7 8 110 10 8 16
data:
$ID,515
$MISSION,5
$DIVE,226
$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,-17595.541
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,095800,2843.368,-8836.195,38,1.2,43,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.7
$GPS2,100737,2843.353,-8836.214,11,0.9,16,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.221,0.145
$KALMAN_X,-55701.4,19.1,230.3,78040.7,1130.8
$KALMAN_Y,-227573.8,1222.0,1056.5,253046.8,-11807.6
$MHEAD_RNG_PITCHd_Wd,273.4,14381,-10.8,-7.500
$D_GRID,976
$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,-92.78,0.000,2,0.000,0.000,194,2392,3045
$GC,109,-0.63,-194.6,3.4,-3.2,9,136,10.60,1.50,-12.20,0.000,4,0.255,0.067,2530,3261,3635
$GC,375,-0.63,-194.6,60.3,-16.5,33,382,0.00,1.48,0.00,0.000,6,0.000,0.027,2534,2354,3638
$GC,567,-0.63,-194.6,87.7,-13.9,52,570,0.00,1.52,0.00,0.000,4,0.000,0.047,2529,3253,3639
$GC,689,-0.63,-194.6,104.7,-13.5,63,696,0.00,1.42,0.00,0.000,6,0.000,0.028,2534,2358,3639
$GC,1006,-0.63,-194.6,145.9,-12.2,94,1010,0.00,1.23,0.00,0.000,4,0.000,0.036,2534,1482,3639
$GC,1059,-0.63,-194.6,152.5,-11.5,99,1062,0.00,1.25,0.00,0.000,6,0.000,0.038,2530,2356,3639
$GC,1382,-0.63,-194.6,191.2,-12.2,130,1385,0.00,1.23,0.00,0.000,4,0.000,0.037,2530,1496,3638
$GC,1460,-0.63,-194.6,200.9,-11.7,137,1468,0.00,1.30,0.00,0.000,6,0.000,0.038,2524,2386,3639
$GC,1779,-0.63,-194.6,238.2,-11.3,168,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2386,3637
$GC,2087,-0.63,-194.6,273.1,-11.1,198,2090,0.00,1.27,0.00,0.000,4,0.000,0.038,2524,1499,3636
$GC,2166,-0.63,-194.6,282.2,-11.3,205,2174,0.00,1.25,0.00,0.000,6,0.000,0.039,2518,2362,3635
$GC,2484,-0.63,-194.6,317.3,-11.2,236,2487,0.00,1.25,0.00,0.000,4,0.000,0.038,2518,1491,3634
$GC,2526,-0.63,-194.6,322.1,-11.1,240,2530,0.08,1.30,0.00,0.000,6,0.144,0.041,2537,2383,3633
$GC,2847,-0.63,-194.6,355.1,-10.4,271,2850,0.00,1.48,0.00,0.000,4,0.000,0.052,2532,3248,3631
$GC,2894,-0.63,-194.6,360.4,-10.5,275,2901,0.00,1.40,0.00,0.000,6,0.000,0.031,2532,2369,3631
$GC,3211,-0.63,-194.6,394.2,-10.5,306,3215,0.00,1.25,0.00,0.000,4,0.000,0.040,2532,1498,3629
$GC,3275,-0.63,-194.6,400.9,-10.5,312,3278,0.00,1.27,0.00,0.000,6,0.000,0.042,2527,2365,3629
$GC,3598,-0.63,-194.6,435.8,-11.2,343,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2365,3627
$GC,3906,-0.63,-194.6,469.8,-10.6,373,3909,0.00,1.25,0.00,0.000,4,0.000,0.041,2527,1508,3624
$GC,3964,-0.63,-194.6,476.1,-10.8,378,3972,0.00,1.30,0.00,0.000,6,0.000,0.042,2521,2387,3624
$GC,4282,-0.63,-194.6,509.7,-10.7,409,4285,0.00,1.30,0.00,0.000,4,0.000,0.041,2521,1500,3621
$GC,4313,-0.63,-194.6,513.2,-11.0,412,4316,0.00,1.27,0.00,0.000,6,0.000,0.044,2516,2362,3621
$GC,4636,-0.63,-194.6,549.6,-11.0,443,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2362,3619
$GC,4945,-0.63,-194.6,583.9,-11.2,473,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2362,3617
$GC,5255,-0.63,-194.6,618.0,-11.0,503,5259,0.00,1.25,0.00,0.000,4,0.000,0.042,2516,1511,3615
$GC,5298,-0.63,-194.6,622.4,-10.7,507,5301,0.10,1.30,0.00,0.000,6,0.140,0.045,2541,2379,3615
$GC,5619,-0.63,-194.6,650.8,-8.3,538,5620,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2379,3612
$GC,5929,-0.63,-194.6,677.5,-8.6,568,5932,0.00,1.30,0.00,0.000,4,0.000,0.044,2541,1502,3610
$GC,5972,-0.63,-194.6,681.3,-8.8,572,5974,0.00,1.30,0.00,0.000,6,0.000,0.047,2538,2370,3610
$GC,6293,-0.63,-194.6,710.7,-9.4,603,6297,0.00,1.27,0.00,0.000,4,0.000,0.044,2538,1511,3608
$GC,6325,-0.63,-194.6,713.7,-9.9,606,6328,0.00,1.30,0.00,0.000,6,0.000,0.048,2532,2372,3608
$GC,6647,-0.63,-194.6,744.1,-9.7,637,6650,0.00,1.30,0.00,0.000,4,0.000,0.044,2532,1500,3606
$GC,6679,-0.63,-194.6,747.3,-10.1,640,6682,0.00,1.35,0.00,0.000,6,0.000,0.048,2527,2391,3606
$GC,7001,-0.63,-194.6,778.0,-9.6,671,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2391,3604
$GC,7311,-0.63,-194.6,806.8,-8.9,701,7313,0.00,1.33,0.00,0.000,4,0.000,0.046,2527,1501,3603
$GC,7357,-0.63,-194.6,811.4,-9.2,705,7364,0.00,1.33,0.00,0.000,6,0.000,0.048,2521,2366,3603
$GC,7675,-0.63,-194.6,841.6,-9.6,736,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2366,3602
$GC,7984,-0.63,-194.6,871.5,-9.5,766,7987,0.00,1.58,0.00,0.000,4,0.000,0.062,2514,3268,3600
$GC,8016,-0.63,-194.6,874.4,-9.7,769,8019,0.00,1.45,0.00,0.000,6,0.000,0.038,2515,2389,3599
$GC,8338,-0.63,-194.6,905.4,-9.6,800,8341,0.12,1.33,0.00,0.000,4,0.149,0.044,2546,1495,3598
$STATE,8394,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8394,begin apogee
$GC,8399,-0.25,0.0,910.5,8.2,805,8556,0.35,0.00,150.77,1.190,6,0.130,0.000,2656,2277,2840
$STATE,8556,end apogee,CONTROL_FINISHED_OK
$STATE,8556,begin climb
$GC,8558,0.63,194.6,915.5,0.0,821,8729,0.90,1.77,165.93,1.158,4,0.107,0.057,2940,3165,2045
$GC,8758,0.63,194.6,900.0,11.0,838,8761,0.00,1.60,0.00,0.000,6,0.000,0.036,2947,2296,2040
$GC,9079,0.63,194.6,862.8,11.9,869,9083,0.00,1.27,0.00,0.000,4,0.000,0.044,2953,1366,2035
$GC,9179,0.63,194.6,851.2,11.2,878,9188,0.00,1.27,0.00,0.000,6,0.000,0.045,2953,2275,2034
$GC,9497,0.63,194.6,814.6,11.5,909,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2276,2032
$GC,9806,0.63,194.6,778.8,11.7,939,9807,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2276,2031
$GC,10117,0.63,194.6,742.0,12.4,969,10120,0.00,1.23,0.00,0.000,4,0.000,0.044,2958,1363,2030
$GC,10149,0.63,194.6,738.1,11.9,972,10152,0.00,1.25,0.00,0.000,6,0.000,0.046,2958,2277,2030
$GC,10469,0.63,194.6,698.6,12.4,1003,10473,0.00,1.23,0.00,0.000,4,0.000,0.044,2963,1367,2029
$GC,10512,0.63,194.6,693.5,12.1,1007,10515,0.00,1.23,0.00,0.000,6,0.000,0.044,2963,2272,2029
$GC,10834,0.63,194.6,654.3,12.3,1038,10837,0.00,1.62,0.00,0.000,4,0.000,0.054,2963,3179,2029
$GC,10859,0.63,194.6,650.8,12.9,1040,10867,0.00,1.62,0.00,0.000,6,0.000,0.037,2971,2260,2028
$GC,11177,0.63,194.6,612.3,11.9,1071,11180,0.00,1.15,0.00,0.000,4,0.000,0.044,2976,1368,2027
$GC,11213,0.63,194.6,607.5,12.7,1074,11221,0.00,1.25,0.00,0.000,6,0.000,0.044,2976,2281,2027
$GC,11530,0.63,194.6,568.2,11.9,1105,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2280,2028
$GC,11840,0.63,194.6,527.7,13.4,1135,11841,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2281,2027
$GC,12150,0.63,194.6,488.3,12.1,1165,12153,0.00,1.23,0.00,0.000,4,0.000,0.043,2982,1370,2027
$GC,12214,0.63,194.6,480.5,12.1,1171,12217,0.10,1.23,0.00,0.000,6,0.140,0.043,2951,2274,2027
$GC,12535,0.63,194.6,447.5,10.4,1202,12538,0.00,1.62,0.00,0.000,4,0.000,0.053,2950,3164,2027
$GC,12560,0.63,194.6,444.5,11.6,1204,12568,0.00,1.60,0.00,0.000,6,0.000,0.036,2956,2260,2026
$GC,12878,0.63,194.6,410.9,10.6,1235,12881,0.00,1.15,0.00,0.000,4,0.000,0.042,2961,1366,2026
$GC,12925,0.63,194.6,405.6,10.8,1239,12932,0.00,1.25,0.00,0.000,6,0.000,0.041,2961,2278,2026
$GC,13243,0.63,194.6,369.9,11.4,1270,13244,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2278,2026
$GC,13552,0.63,194.6,334.3,11.4,1300,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2278,2026
$GC,13862,0.63,194.6,297.5,12.0,1330,13863,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2279,2026
$GC,14173,0.63,194.6,261.2,11.4,1360,14174,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2279,2026
$GC,14483,0.63,194.6,226.7,11.5,1390,14486,0.00,1.20,0.00,0.000,4,0.000,0.041,2966,1375,2026
$GC,14540,0.63,194.6,220.0,11.2,1395,14548,0.00,1.23,0.00,0.000,6,0.000,0.039,2966,2278,2027
$GC,14858,0.63,194.6,183.1,11.5,1426,14862,0.00,1.20,0.00,0.000,4,0.000,0.039,2971,1368,2026
$GC,14900,0.63,194.6,178.2,10.7,1430,14904,0.00,1.20,0.00,0.000,6,0.000,0.039,2971,2275,2027
$GC,15221,0.63,194.6,142.1,10.6,1461,15224,0.00,1.20,0.00,0.000,4,0.000,0.038,2975,1357,2027
$GC,15258,0.63,194.6,138.3,10.3,1464,15265,0.00,1.23,0.00,0.000,6,0.000,0.038,2975,2279,2028
$GC,15575,0.63,194.6,104.1,11.1,1495,15578,0.00,1.20,0.00,0.000,4,0.000,0.037,2980,1361,2029
$GC,15617,0.63,194.6,99.4,10.2,1499,15621,0.08,1.20,0.00,0.000,6,0.133,0.038,2956,2276,2029
$GC,15814,0.63,194.6,80.8,8.8,1518,15817,0.00,1.17,0.00,0.000,4,0.000,0.037,2959,1369,2029
$GC,15857,0.63,197.0,77.3,7.4,1522,15860,0.00,1.20,0.00,0.000,6,0.000,0.037,2959,2279,2030
$GC,16054,0.63,199.5,61.1,7.4,1541,16056,0.00,1.58,0.00,0.000,4,0.000,0.047,2959,3160,2031
$GC,16096,0.63,199.5,57.4,8.4,1545,16099,0.00,1.52,0.00,0.000,6,0.000,0.030,2966,2270,2031
$GC,16293,0.67,233.3,43.5,6.6,1564,16328,0.00,1.60,28.55,0.537,4,0.000,0.045,2966,3168,1888
$GC,16350,0.69,250.4,39.7,7.1,1569,16374,0.00,1.55,14.35,0.506,6,0.000,0.030,2974,2273,1818
$GC,16557,0.79,329.8,27.1,5.4,1589,16620,0.00,1.15,59.83,0.525,4,0.000,0.034,2978,1369,1495
$GC,16649,0.82,350.9,22.1,6.9,1597,16673,0.00,1.20,17.20,0.492,6,0.000,0.034,2979,2272,1407
$GC,16857,0.82,354.9,8.1,7.4,1617,16869,0.00,1.62,3.55,0.304,4,0.000,0.044,2979,3172,1392
$STATE,16925,end climb,SURFACE_DEPTH_REACHED
$STATE,16925,begin surface coast
$FINISH,0.9,1.009192
$STATE,16969,end surface coast,CONTROL_FINISHED_OK
$STATE,16969,begin surface
$SM_CCo,16984,105.10,0.488,0,0,495,575.22
$SM_GC,1.61,0.00,0.00,105.10,0.000,0.000,0.488,198,2348,495,-7.96,-0.76,575.22
$IRIDIUM_FIX,2831.00,-8836.47,021099,101049
$TT8_MAMPS,0.051389
$HUMID,1372
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,24.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,870.4,59.6
$24V_AH,23.0,39.744
$10V_AH,10.6,55.181
$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,19.775,93.175,440.175,105.100,0.000,52.199,55.437,277.638,1.250,0.000,0.000,18.331,0.000,11369.767,636.167,4927.628,704.920,33.341,2066.832,0.000,4388.926,0.000,11.003,0.000
$DEVICE_MAMPS,255.411,67.496,1189.617,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1110.443,1184.790,3656.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85241,1627
$CAP_FILE_SIZE,166422,0
$CFSIZE,260165632,234942464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,159.9,1
$GPS,080710,145406,2843.143,-8839.021,39,0.8,39,-0.3