version: 66.04
glider: 515
mission: 5
dive: 301
start: 7 25 110 4 31 24
data:
$ID,515
$MISSION,5
$DIVE,301
$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,597.54108
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-25044.777
$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,27
$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,2325
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,24
$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,30
$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
$GPS1,042407,2831.482,-8843.078,40,1.9,40,-0.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.4
$GPS2,043044,2831.565,-8843.055,14,1.8,14,-0.2
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,NEW0723G
$TGT_LATLONG,2830.000,-8845.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.264,-0.023
$KALMAN_X,69753.0,-654.4,-504.0,-57104.4,10468.3
$KALMAN_Y,-454065.5,475.1,-147.9,459699.1,-1728.2
$MHEAD_RNG_PITCHd_Wd,245.0,4292,-13.4,-7.500
$D_GRID,1313
$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,-0.67,-140.8,0.0,0.0,0,87,0.00,0.00,-72.95,0.000,2,0.000,0.000,197,2332,2403
$GC,90,-0.74,-194.6,3.0,-3.2,7,139,10.45,1.33,-34.75,0.000,4,0.254,0.068,2507,1401,3635
$GC,261,-0.74,-194.6,36.9,-18.3,22,268,0.00,1.33,0.00,0.000,6,0.000,0.035,2503,2335,3637
$GC,454,-0.74,-194.6,67.8,-14.8,41,457,0.00,1.27,0.00,0.000,4,0.000,0.036,2505,1418,3638
$GC,614,-0.74,-194.6,90.8,-14.3,56,617,0.00,1.25,0.00,0.000,6,0.000,0.035,2501,2326,3639
$GC,811,-0.74,-194.6,120.5,-14.6,75,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2326,3639
$GC,1121,-0.74,-194.6,165.9,-14.2,105,1124,0.00,1.25,0.00,0.000,4,0.000,0.035,2501,1410,3639
$GC,1229,-0.74,-194.6,180.8,-13.3,115,1232,0.00,1.25,0.00,0.000,6,0.000,0.035,2495,2320,3639
$GC,1552,-0.74,-194.6,225.4,-13.2,146,1555,0.00,1.23,0.00,0.000,4,0.000,0.037,2497,1425,3639
$GC,1662,-0.74,-194.6,240.3,-12.6,156,1670,0.00,1.27,0.00,0.000,6,0.000,0.036,2492,2333,3638
$GC,1981,-0.74,-194.6,282.7,-13.3,187,1984,0.00,1.27,0.00,0.000,4,0.000,0.038,2492,1417,3636
$GC,2077,-0.74,-194.6,296.0,-13.1,196,2080,0.00,1.27,0.00,0.000,6,0.000,0.038,2487,2330,3635
$GC,2400,-0.74,-194.6,340.8,-13.8,227,2403,0.00,1.25,0.00,0.000,4,0.000,0.038,2486,1429,3633
$GC,2522,-0.74,-194.6,358.2,-13.7,238,2529,0.00,1.27,0.00,0.000,6,0.000,0.037,2481,2335,3633
$GC,2840,-0.74,-194.6,403.5,-14.8,269,2843,0.00,1.27,0.00,0.000,4,0.000,0.039,2480,1426,3631
$GC,2919,-0.74,-194.6,415.5,-14.9,276,2926,0.10,1.27,0.00,0.000,6,0.157,0.038,2506,2329,3630
$GC,3236,-0.74,-194.6,455.5,-12.7,307,3239,0.00,1.25,0.00,0.000,4,0.000,0.039,2507,1427,3628
$GC,3321,-0.74,-194.6,466.3,-12.8,315,3324,0.00,1.25,0.00,0.000,6,0.000,0.040,2503,2322,3628
$GC,3644,-0.74,-194.6,505.5,-11.9,346,3647,0.00,1.25,0.00,0.000,4,0.000,0.041,2503,1424,3625
$GC,3745,-0.74,-194.6,517.7,-11.3,355,3752,0.00,1.27,0.00,0.000,6,0.000,0.041,2499,2326,3624
$GC,4062,-0.74,-194.6,555.8,-11.6,386,4065,0.00,1.25,0.00,0.000,4,0.000,0.041,2499,1434,3622
$GC,4163,-0.74,-194.6,568.2,-11.7,395,4171,0.00,1.25,0.00,0.000,6,0.000,0.040,2493,2319,3621
$GC,4480,-0.74,-194.6,606.0,-11.9,426,4484,0.00,1.25,0.00,0.000,4,0.000,0.042,2494,1423,3619
$GC,4620,-0.74,-194.6,622.7,-11.9,439,4622,0.00,1.27,0.00,0.000,6,0.000,0.042,2488,2326,3618
$GC,4942,-0.74,-194.6,662.0,-12.6,470,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2326,3616
$GC,5251,-0.74,-194.6,699.4,-11.6,500,5254,0.00,1.25,0.00,0.000,4,0.000,0.042,2488,1434,3614
$GC,5326,-0.74,-194.6,708.6,-12.6,507,5329,0.00,1.27,0.00,0.000,6,0.000,0.043,2482,2329,3613
$GC,5649,-0.74,-194.6,749.0,-12.4,538,5652,0.00,1.27,0.00,0.000,4,0.000,0.043,2482,1423,3612
$GC,5745,-0.74,-194.6,761.3,-11.9,547,5748,0.08,1.27,0.00,0.000,6,0.165,0.044,2500,2321,3611
$GC,6066,-0.74,-194.6,796.6,-10.8,578,6069,0.00,1.25,0.00,0.000,4,0.000,0.044,2500,1435,3608
$GC,6134,-0.74,-194.6,804.3,-11.2,584,6141,0.00,1.27,0.00,0.000,6,0.000,0.044,2496,2325,3608
$GC,6452,-0.74,-194.6,838.7,-11.1,615,6455,0.00,1.27,0.00,0.000,4,0.000,0.044,2496,1421,3606
$GC,6542,-0.74,-194.6,849.0,-11.3,623,6550,0.00,1.30,0.00,0.000,6,0.000,0.044,2490,2328,3605
$GC,6858,-0.74,-194.6,884.5,-11.1,654,6861,0.00,1.27,0.00,0.000,4,0.000,0.044,2490,1428,3603
$GC,6927,-0.74,-194.6,892.4,-11.5,660,6933,0.00,1.27,0.00,0.000,6,0.000,0.044,2485,2319,3603
$GC,7243,-0.74,-194.6,928.2,-11.2,691,7246,0.00,1.25,0.00,0.000,4,0.000,0.044,2485,1435,3602
$GC,7301,-0.74,-194.6,934.9,-10.9,696,7307,0.00,1.27,0.00,0.000,6,0.000,0.044,2480,2324,3601
$GC,7617,-0.74,-194.6,972.1,-12.0,727,7620,0.12,1.27,0.00,0.000,4,0.169,0.042,2511,1433,3600
$GC,7665,-0.74,-194.6,977.1,-10.1,731,7673,0.00,1.27,0.00,0.000,6,0.000,0.045,2507,2319,3600
$STATE,7803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7803,begin apogee
$GC,7808,-0.26,0.0,990.6,9.5,745,7967,0.50,0.00,155.98,1.233,6,0.133,0.000,2657,2280,2840
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7970,0.74,194.6,995.4,0.0,761,8150,1.00,1.80,170.65,1.205,4,0.100,0.058,2973,3159,2045
$GC,8176,0.74,194.6,976.4,13.9,778,8184,0.00,1.65,0.00,0.000,6,0.000,0.034,2981,2270,2041
$GC,8494,0.74,194.6,932.1,13.8,809,8498,0.00,1.62,0.00,0.000,4,0.000,0.055,2981,3157,2035
$GC,8548,0.74,194.6,924.0,16.0,814,8551,0.00,1.55,0.00,0.000,6,0.000,0.035,2988,2267,2034
$GC,8870,0.74,194.6,878.1,14.2,845,8873,0.00,1.60,0.00,0.000,4,0.000,0.055,2988,3161,2033
$GC,8934,0.74,194.6,868.1,15.5,851,8938,0.00,1.52,0.00,0.000,6,0.000,0.036,2996,2274,2032
$GC,9257,0.74,194.6,820.4,15.0,882,9260,0.00,1.60,0.00,0.000,4,0.000,0.054,2996,3157,2032
$GC,9315,0.74,194.6,811.0,15.9,887,9322,0.00,1.52,0.00,0.000,6,0.000,0.035,3003,2273,2030
$GC,9632,0.74,194.6,763.2,15.0,918,9635,0.00,1.60,0.00,0.000,4,0.000,0.054,3003,3155,2030
$GC,9674,0.74,194.6,756.2,15.7,922,9678,0.00,1.52,0.00,0.000,6,0.000,0.035,3011,2272,2029
$GC,9998,0.74,194.6,707.4,14.8,953,10001,0.00,1.62,0.00,0.000,4,0.000,0.054,3011,3167,2029
$GC,10045,0.74,194.6,699.4,16.2,957,10052,0.10,1.52,0.00,0.000,6,0.162,0.035,2987,2277,2028
$GC,10361,0.74,194.6,656.0,13.9,988,10364,0.00,1.60,0.00,0.000,4,0.000,0.054,2987,3155,2028
$GC,10468,0.74,194.6,640.8,14.2,998,10470,0.00,1.52,0.00,0.000,6,0.000,0.035,2993,2274,2027
$GC,10791,0.74,194.6,594.9,14.2,1029,10794,0.00,1.60,0.00,0.000,4,0.000,0.054,2993,3175,2027
$GC,10891,0.74,194.6,579.1,15.4,1038,10898,0.00,1.55,0.00,0.000,6,0.000,0.035,3001,2274,2027
$GC,11210,0.74,194.6,533.3,14.2,1069,11213,0.00,1.60,0.00,0.000,4,0.000,0.053,3001,3174,2027
$GC,11284,0.74,194.6,521.9,16.0,1076,11287,0.00,1.55,0.00,0.000,6,0.000,0.035,3008,2271,2027
$GC,11608,0.74,194.6,474.2,15.2,1107,11610,0.00,1.62,0.00,0.000,4,0.000,0.053,3008,3187,2027
$GC,11697,0.74,194.6,459.8,14.8,1115,11706,0.08,1.58,0.00,0.000,6,0.160,0.035,2992,2271,2026
$GC,12014,0.74,194.6,417.5,13.4,1146,12017,0.00,1.62,0.00,0.000,4,0.000,0.052,2990,3162,2026
$GC,12072,0.74,194.6,409.2,13.5,1151,12079,0.00,1.52,0.00,0.000,6,0.000,0.034,2997,2274,2026
$GC,12389,0.74,194.6,365.3,14.0,1182,12392,0.00,1.60,0.00,0.000,4,0.000,0.051,2996,3180,2026
$GC,12465,0.74,194.6,354.1,14.9,1189,12467,0.00,1.55,0.00,0.000,6,0.000,0.034,3003,2274,2026
$GC,12787,0.74,194.6,308.0,13.9,1220,12790,0.00,1.60,0.00,0.000,4,0.000,0.051,3003,3178,2026
$GC,12845,0.74,194.6,298.9,14.3,1225,12852,0.00,1.55,0.00,0.000,6,0.000,0.032,3010,2273,2027
$GC,13163,0.74,194.6,251.9,14.8,1256,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2274,2027
$GC,13472,0.74,194.6,205.7,15.0,1286,13475,0.00,1.60,0.00,0.000,4,0.000,0.050,3010,3158,2026
$GC,13558,0.74,194.6,192.8,14.4,1294,13561,0.08,1.50,0.00,0.000,6,0.158,0.031,2983,2276,2026
$GC,13879,0.74,194.6,152.7,11.9,1325,13882,0.00,1.60,0.00,0.000,4,0.000,0.048,2983,3167,2026
$GC,13900,0.74,194.6,150.1,13.0,1327,13903,0.00,1.52,0.00,0.000,6,0.000,0.031,2989,2270,2027
$GC,14223,0.74,194.6,109.4,12.4,1358,14226,0.00,1.60,0.00,0.000,4,0.000,0.048,2989,3159,2027
$GC,14270,0.74,194.6,103.2,13.4,1362,14276,0.00,1.50,0.00,0.000,6,0.000,0.030,2997,2274,2027
$GC,14587,0.74,194.6,65.5,12.0,1393,14590,0.00,1.60,0.00,0.000,4,0.000,0.048,2997,3168,2028
$GC,14673,0.74,194.6,54.7,12.3,1401,14676,0.00,1.52,0.00,0.000,6,0.000,0.029,3004,2265,2029
$GC,14871,0.74,194.6,34.8,9.3,1420,14874,0.00,1.15,0.00,0.000,4,0.000,0.036,3010,1372,2028
$GC,14914,0.74,194.6,31.2,7.8,1424,14917,0.00,1.20,0.00,0.000,6,0.000,0.036,3010,2270,2029
$GC,15111,0.94,359.6,23.3,1.5,1443,15239,0.12,1.65,123.15,0.522,4,0.067,0.044,3071,3167,1373
$GC,15266,0.94,359.6,13.5,8.7,1456,15272,0.00,1.55,0.00,0.000,6,0.000,0.028,3079,2269,1369
$STATE,15373,end climb,SURFACE_DEPTH_REACHED
$STATE,15373,begin surface coast
$FINISH,0.6,1.022576
$STATE,15393,end surface coast,CONTROL_FINISHED_OK
$STATE,15393,begin surface
$SM_CCo,15409,114.45,0.488,0,0,402,597.54
$SM_GC,1.52,0.00,0.00,114.45,0.000,0.000,0.488,199,2345,402,-7.96,0.59,597.54
$IRIDIUM_FIX,2823.64,-9024.52,181099,232346
$TT8_MAMPS,0.051389
$HUMID,1399
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,22.50
$XPDR_PINGS,4
$24V_AH,22.6,52.712
$10V_AH,10.5,72.563
$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,20.375,105.100,449.775,114.450,0.000,31.438,26.327,200.903,4.750,0.000,0.000,16.641,0.000,9984.777,648.744,4637.976,616.575,33.344,2046.101,0.000,4122.821,0.000,28.025,0.000
$DEVICE_MAMPS,253.877,81.302,1233.336,487.812,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.491,1072.980,3301.835,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78964,1469
$CAP_FILE_SIZE,153607,0
$CFSIZE,260165632,228233216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,104.5,1
$GPS,250710,085107,2829.808,-8844.188,36,1.0,36,-0.2