version: 66.04
glider: 515
mission: 5
dive: 247
start: 7 12 110 23 0 15
data:
$ID,515
$MISSION,5
$DIVE,247
$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,-17976.758
$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,34
$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
$GPS1,224957,2843.190,-8839.439,81,3.8,100,-0.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-75.6
$GPS2,225936,2843.209,-8839.398,13,1.7,29,-0.3
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0617E
$TGT_LATLONG,2842.400,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.188,0.187
$KALMAN_X,-39771.2,-139.8,-81.2,57410.2,5033.6
$KALMAN_Y,-292436.4,159.3,363.4,319410.2,-4913.8
$MHEAD_RNG_PITCHd_Wd,273.1,9222,-10.8,-7.500
$D_GRID,1002
$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,-194.6,0.0,0.0,0,47,0.00,0.00,-32.72,0.000,2,0.000,0.000,200,2397,1431
$GC,49,-0.63,-194.6,3.4,-4.7,3,134,10.12,1.48,-66.38,0.000,4,0.241,0.062,2535,3255,3635
$GC,348,-0.63,-194.6,47.0,-15.7,30,351,0.00,1.42,0.00,0.000,6,0.000,0.027,2537,2357,3636
$GC,545,-0.63,-194.6,75.5,-13.8,49,547,0.00,1.20,0.00,0.000,4,0.000,0.033,2537,1488,3637
$GC,677,-0.63,-194.6,94.1,-14.0,61,684,0.00,1.25,0.00,0.000,6,0.000,0.034,2533,2362,3637
$GC,869,-0.63,-194.6,119.3,-13.5,80,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2362,3637
$GC,1180,-0.63,-194.6,158.6,-12.1,110,1183,0.00,1.23,0.00,0.000,4,0.000,0.033,2533,1490,3636
$GC,1280,-0.63,-194.6,170.7,-11.9,119,1288,0.00,1.30,0.00,0.000,6,0.000,0.035,2527,2386,3635
$GC,1598,-0.63,-194.6,208.0,-11.2,150,1601,0.00,1.27,0.00,0.000,4,0.000,0.034,2527,1482,3634
$GC,1655,-0.63,-194.6,215.4,-11.8,155,1664,0.00,1.27,0.00,0.000,6,0.000,0.035,2521,2363,3633
$GC,1973,-0.63,-194.6,252.1,-11.7,186,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2364,3632
$GC,2283,-0.63,-194.6,288.2,-11.5,216,2286,0.00,1.25,0.00,0.000,4,0.000,0.035,2521,1484,3629
$GC,2372,-0.63,-194.6,299.2,-11.8,224,2380,0.00,1.33,0.00,0.000,6,0.000,0.037,2515,2388,3629
$GC,2690,-0.63,-194.6,336.4,-11.7,255,2694,0.00,1.27,0.00,0.000,4,0.000,0.035,2515,1495,3626
$GC,2722,-0.63,-194.6,340.5,-12.1,258,2725,0.08,1.25,0.00,0.000,6,0.139,0.039,2535,2360,3625
$GC,3043,-0.63,-194.6,373.4,-10.1,289,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3623
$GC,3353,-0.63,-194.6,404.7,-9.7,319,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3621
$GC,3664,-0.63,-194.6,435.3,-9.5,349,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3618
$GC,3974,-0.63,-194.6,464.9,-9.6,379,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3616
$GC,4284,-0.63,-194.6,493.4,-8.7,409,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2360,3612
$GC,4595,-0.63,-194.6,522.8,-9.6,439,4598,0.00,1.25,0.00,0.000,4,0.000,0.041,2535,1503,3610
$GC,4627,-0.63,-194.6,525.8,-9.7,442,4630,0.00,1.30,0.00,0.000,6,0.000,0.044,2532,2379,3610
$GC,4950,-0.63,-194.6,556.5,-9.7,473,4953,0.00,1.30,0.00,0.000,4,0.000,0.041,2532,1495,3607
$GC,4992,-0.63,-194.6,560.8,-10.2,477,4995,0.00,1.30,0.00,0.000,6,0.000,0.045,2526,2369,3606
$GC,5314,-0.63,-194.6,592.5,-9.8,508,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2369,3605
$GC,5623,-0.63,-194.6,624.0,-9.8,538,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2370,3603
$GC,5934,-0.63,-194.6,655.3,-9.9,568,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2370,3600
$GC,6244,-0.63,-194.6,685.8,-9.7,598,6248,0.00,1.30,0.00,0.000,4,0.000,0.044,2526,1493,3598
$GC,6291,-0.63,-194.6,690.6,-10.2,602,6299,0.00,1.35,0.00,0.000,6,0.000,0.047,2521,2380,3598
$GC,6609,-0.63,-194.6,723.2,-10.1,633,6613,0.00,1.30,0.00,0.000,4,0.000,0.043,2521,1502,3596
$GC,6641,-0.63,-194.6,726.6,-10.1,636,6644,0.00,1.30,0.00,0.000,6,0.000,0.048,2515,2365,3596
$GC,6964,-0.63,-194.6,761.1,-10.5,667,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2366,3594
$GC,7272,-0.63,-194.6,792.9,-9.8,697,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2366,3592
$GC,7583,-0.63,-194.6,824.0,-10.1,727,7587,0.00,1.27,0.00,0.000,4,0.000,0.044,2515,1507,3590
$GC,7637,-0.63,-194.6,829.5,-10.6,732,7640,0.10,1.33,0.00,0.000,6,0.136,0.048,2541,2385,3590
$GC,7957,-0.63,-194.6,857.2,-8.8,763,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2385,3589
$GC,8268,-0.63,-194.6,882.8,-8.5,793,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2385,3588
$GC,8579,-0.63,-194.6,908.1,-7.9,823,8583,0.00,1.33,0.00,0.000,4,0.000,0.045,2542,1495,3587
$GC,8611,-0.63,-194.6,910.8,-8.4,826,8614,0.00,1.33,0.00,0.000,6,0.000,0.051,2538,2367,3587
$GC,8932,-0.63,-194.6,937.6,-8.7,857,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2369,3585
$GC,9242,-0.63,-194.6,964.3,-8.7,887,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2369,3584
$STATE,9553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9553,begin apogee
$GC,9558,-0.25,0.0,990.1,8.0,917,9715,0.40,0.00,151.10,1.243,6,0.130,0.000,2663,2296,2838
$STATE,9716,end apogee,CONTROL_FINISHED_OK
$STATE,9716,begin climb
$GC,9718,0.63,194.6,994.7,0.0,933,9894,0.90,0.00,169.75,1.215,6,0.097,0.000,2945,2296,2045
$GC,10203,0.63,194.6,945.0,11.3,979,10206,0.00,1.30,0.00,0.000,4,0.000,0.051,2950,1368,2034
$GC,10239,0.63,194.6,940.8,12.4,982,10246,0.00,1.25,0.00,0.000,6,0.000,0.045,2950,2270,2034
$GC,10557,0.63,194.6,903.0,12.1,1013,10561,0.00,1.67,0.00,0.000,4,0.000,0.055,2950,3174,2031
$GC,10583,0.63,194.6,899.6,13.4,1015,10591,0.00,1.58,0.00,0.000,6,0.000,0.037,2958,2281,2031
$GC,10900,0.63,194.6,860.5,12.4,1046,10903,0.00,1.23,0.00,0.000,4,0.000,0.045,2963,1366,2030
$GC,10958,0.63,194.6,852.9,12.9,1051,10966,0.00,1.25,0.00,0.000,6,0.000,0.044,2963,2274,2030
$GC,11276,0.63,194.6,812.4,13.0,1082,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2274,2029
$GC,11585,0.63,194.6,773.0,13.1,1112,11588,0.00,1.23,0.00,0.000,4,0.000,0.044,2969,1366,2029
$GC,11610,0.63,194.6,769.6,13.0,1114,11618,0.00,1.27,0.00,0.000,6,0.000,0.044,2969,2283,2029
$GC,11928,0.63,194.6,728.4,13.2,1145,11931,0.00,1.25,0.00,0.000,4,0.000,0.044,2974,1370,2028
$GC,11953,0.63,194.6,725.0,13.5,1147,11962,0.00,1.25,0.00,0.000,6,0.000,0.044,2974,2273,2028
$GC,12271,0.63,194.6,684.3,12.7,1178,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2273,2028
$GC,12581,0.63,194.6,644.5,12.7,1208,12584,0.00,1.23,0.00,0.000,4,0.000,0.044,2980,1365,2028
$GC,12617,0.63,194.6,639.7,11.9,1211,12626,0.12,1.27,0.00,0.000,6,0.152,0.044,2949,2282,2028
$GC,12933,0.63,194.6,605.3,10.8,1242,12934,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2282,2027
$GC,13244,0.63,194.6,572.6,10.4,1272,13247,0.00,1.25,0.00,0.000,4,0.000,0.044,2953,1367,2027
$GC,13280,0.63,194.6,568.8,10.8,1275,13289,0.00,1.25,0.00,0.000,6,0.000,0.044,2953,2278,2027
$GC,13598,0.63,194.6,534.6,10.8,1306,13599,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2278,2027
$GC,13908,0.63,194.6,500.7,11.1,1336,13910,0.00,1.23,0.00,0.000,4,0.000,0.042,2958,1371,2027
$GC,13950,0.63,194.6,495.9,11.7,1340,13953,0.00,1.23,0.00,0.000,6,0.000,0.044,2958,2275,2027
$GC,14272,0.63,194.6,460.6,11.1,1371,14273,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2275,2027
$GC,14582,0.63,194.6,426.2,11.1,1401,14584,0.00,1.23,0.00,0.000,4,0.000,0.042,2963,1363,2028
$GC,14613,0.63,194.6,422.7,10.8,1404,14616,0.00,1.23,0.00,0.000,6,0.000,0.044,2963,2273,2027
$GC,14936,0.63,194.6,387.1,10.6,1435,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2027
$GC,15245,0.63,194.6,352.3,11.1,1465,15246,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2027
$GC,15555,0.63,194.6,316.7,11.6,1495,15556,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2273,2027
$GC,15865,0.63,194.6,280.4,12.1,1525,15868,0.00,1.23,0.00,0.000,4,0.000,0.041,2967,1354,2027
$GC,15897,0.63,194.6,276.7,12.1,1528,15900,0.00,1.25,0.00,0.000,6,0.000,0.041,2967,2278,2027
$GC,16220,0.63,194.6,237.3,11.9,1559,16221,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2278,2027
$GC,16529,0.63,194.6,200.0,11.7,1589,16529,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2278,2027
$GC,16839,0.63,194.6,162.6,12.0,1619,16839,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2279,2028
$GC,17150,0.63,194.6,127.4,10.9,1649,17151,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2278,2028
$GC,17459,0.63,194.6,94.7,9.4,1679,17462,0.00,1.23,0.00,0.000,4,0.000,0.038,2973,1356,2029
$GC,17485,0.63,194.6,92.1,9.5,1681,17493,0.00,1.25,0.00,0.000,6,0.000,0.038,2973,2280,2030
$GC,17678,0.63,194.6,72.4,10.1,1700,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2280,2030
$GC,17863,0.63,194.6,55.0,8.6,1718,17864,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2280,2031
$GC,18050,0.63,194.6,39.6,8.2,1736,18053,0.00,1.23,0.00,0.000,4,0.000,0.037,2978,1356,2031
$GC,18212,0.70,251.3,30.5,6.0,1751,18259,0.00,1.20,42.25,0.524,6,0.000,0.037,2978,2275,1814
$GC,18446,0.83,363.2,19.0,4.6,1773,18533,0.10,1.60,83.50,0.509,4,0.071,0.044,3038,3168,1358
$GC,18574,0.83,363.2,10.3,8.4,1784,18577,0.00,1.60,0.00,0.000,6,0.000,0.028,3045,2256,1354
$STATE,18769,end climb,SURFACE_DEPTH_REACHED
$STATE,18769,begin surface coast
$FINISH,3.5,1.014686
$STATE,19110,end surface coast,CONTROL_FINISHED_OK
$STATE,19110,begin surface
$SM_CCo,19113,171.00,0.480,0,0,403,597.54
$SM_GC,2.69,8.05,0.00,0.00,0.063,0.000,0.000,203,2388,400,-7.91,0.37,598.77
$IRIDIUM_FIX,2835.91,-8841.38,061099,232353
$TT8_MAMPS,0.049855
$HUMID,1326
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.8,43.098
$10V_AH,10.6,59.864
$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,19.875,65.400,446.600,171.000,0.000,54.947,103.475,217.340,3.750,0.000,0.000,32.319,0.000,13106.895,688.304,5411.405,730.110,33.347,2190.056,0.000,4839.237,0.000,28.328,0.000
$DEVICE_MAMPS,240.838,62.127,1243.307,480.142,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.158,1344.198,4126.911,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94611,1836
$CAP_FILE_SIZE,167794,0
$CFSIZE,260165632,233107456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,121.9,1
$GPS,130710,042701,2842.784,-8841.533,196,1.2,196,-0.2