version: 66.04
glider: 515
mission: 2
dive: 30
start: 8 16 110 13 42 32
data:
$ID,515
$MISSION,2
$DIVE,30
$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,330
$T_MISSION,360
$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,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52026
$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,550
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-28525.217
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3075
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-43.012939
$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,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$DEVICE4,101
$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
$GPS1,132444,2842.667,-8827.106,83,1.7,86,-0.4
$_CALLS,2
$_XMS_NAKs,42
$_XMS_TOUTs,4
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-77.5
$GPS2,134152,2842.742,-8827.037,13,2.7,32,-0.4
$SPEED_LIMITS,0.173,0.310
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.299,-0.082
$KALMAN_X,55945.0,-859.0,-743.9,-52130.2,12278.1
$KALMAN_Y,12036.0,-599.1,340.2,-47689.8,-2403.5
$MHEAD_RNG_PITCHd_Wd,204.9,8085,-13.9,-10.000
$D_GRID,1357
$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,-0.78,-219.1,0.0,0.0,0,47,0.00,0.00,-32.83,0.000,2,0.000,0.000,190,2497,1754
$GC,49,-0.78,-219.1,3.7,-6.6,3,111,7.65,0.00,-51.72,0.000,6,0.242,0.000,2039,2498,3960
$GC,211,-0.78,-219.1,40.1,-31.0,18,214,0.00,1.50,0.00,0.000,4,0.000,0.038,2046,1590,3961
$GC,328,-0.78,-219.1,66.9,-16.4,29,331,0.00,1.55,0.00,0.000,6,0.000,0.047,2040,2501,3962
$GC,443,-0.78,-219.1,89.3,-20.5,40,445,0.00,1.35,0.00,0.000,4,0.000,0.055,2033,3405,3963
$GC,560,-0.78,-219.1,114.9,-20.5,51,563,0.00,1.30,0.00,0.000,6,0.000,0.035,2033,2498,3963
$GC,883,-0.78,-219.1,180.1,-20.0,82,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2500,3963
$GC,1191,-0.78,-219.1,240.1,-18.9,112,1194,0.00,1.48,0.00,0.000,4,0.000,0.045,2033,1589,3961
$GC,1223,-0.78,-219.1,246.2,-18.7,115,1226,0.00,1.55,0.00,0.000,6,0.000,0.050,2027,2500,3961
$GC,1546,-0.78,-219.1,307.3,-19.4,146,1548,0.00,1.50,0.00,0.000,4,0.000,0.045,2027,1597,3959
$GC,1599,-0.78,-219.1,317.4,-17.9,151,1602,0.00,1.52,0.00,0.000,6,0.000,0.051,2020,2498,3959
$GC,1921,-0.78,-219.1,377.2,-18.7,182,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2498,3956
$GC,2230,-0.78,-219.1,433.9,-18.1,212,2234,0.00,1.50,0.00,0.000,4,0.000,0.047,2021,1596,3954
$GC,2316,-0.78,-219.1,448.8,-16.7,220,2319,0.08,1.52,0.00,0.000,6,0.159,0.054,2049,2495,3953
$GC,2637,-0.78,-219.1,497.6,-14.8,251,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,2495,3949
$GC,2947,-0.78,-219.1,543.0,-14.7,281,2951,0.00,1.50,0.00,0.000,4,0.000,0.050,2049,1597,3946
$GC,2990,-0.78,-219.1,549.0,-14.0,285,2993,0.00,1.55,0.00,0.000,6,0.000,0.057,2044,2499,3946
$GC,3312,-0.78,-219.1,596.0,-14.5,316,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2499,3943
$GC,3621,-0.78,-219.1,640.1,-14.5,346,3624,0.00,1.52,0.00,0.000,4,0.000,0.051,2044,1587,3940
$GC,3642,-0.78,-219.1,643.2,-14.4,348,3646,0.00,1.55,0.00,0.000,6,0.000,0.059,2037,2496,3940
$GC,3965,-0.78,-219.1,690.6,-15.0,379,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,2496,3935
$GC,4273,-0.78,-219.1,736.8,-14.8,409,4276,0.00,1.50,0.00,0.000,4,0.000,0.052,2037,1603,3932
$GC,4295,-0.78,-219.1,739.8,-15.0,411,4298,0.00,1.55,0.00,0.000,6,0.000,0.061,2030,2498,3932
$GC,4617,-0.78,-219.1,788.3,-15.0,442,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2498,3930
$GC,4926,-0.78,-219.1,834.6,-14.9,472,4929,0.00,1.52,0.00,0.000,4,0.000,0.053,2030,1590,3927
$GC,5001,-0.78,-219.1,845.1,-13.3,479,5004,0.00,1.55,0.00,0.000,6,0.000,0.061,2023,2496,3926
$GC,5323,-0.78,-219.1,894.1,-15.2,510,5326,0.00,1.50,0.00,0.000,4,0.000,0.054,2023,1601,3923
$GC,5370,-0.78,-219.1,901.5,-14.3,514,5378,0.08,1.55,0.00,0.000,6,0.160,0.061,2040,2497,3923
$GC,5686,-0.78,-219.1,943.5,-13.4,545,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2497,3921
$GC,5997,-0.78,-219.1,984.3,-13.0,575,6000,0.00,1.52,0.00,0.000,4,0.000,0.054,2040,1591,3919
$GC,6022,-0.78,-219.1,988.1,-14.0,577,6030,0.00,1.58,0.00,0.000,6,0.000,0.063,2035,2497,3919
$STATE,6048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6048,begin apogee
$GC,6052,-0.19,0.0,991.4,13.2,580,6221,0.65,0.00,162.95,1.232,6,0.138,0.000,2240,2497,3076
$STATE,6222,end apogee,CONTROL_FINISHED_OK
$STATE,6222,begin climb
$GC,6224,0.78,219.1,999.0,0.0,597,6414,0.90,0.00,180.75,1.203,6,0.059,0.000,2552,2497,2180
$GC,6722,0.78,219.1,906.2,23.4,646,6725,0.00,1.58,0.00,0.000,4,0.000,0.055,2559,1604,2171
$GC,6829,0.78,219.1,882.3,22.4,656,6832,0.00,1.60,0.00,0.000,6,0.000,0.064,2560,2505,2171
$GC,7152,0.78,219.1,806.6,23.5,687,7155,0.00,1.58,0.00,0.000,4,0.000,0.054,2566,1605,2169
$GC,7280,0.78,219.1,777.3,21.8,699,7283,0.00,1.60,0.00,0.000,6,0.000,0.064,2566,2511,2169
$GC,7602,0.78,219.1,699.8,24.3,730,7606,0.00,1.58,0.00,0.000,4,0.000,0.053,2573,1607,2166
$GC,7660,0.78,219.1,686.0,23.1,735,7669,0.00,1.58,0.00,0.000,6,0.000,0.061,2573,2499,2167
$GC,7978,0.78,219.1,609.5,23.8,766,7981,0.00,1.52,0.00,0.000,4,0.000,0.051,2580,1603,2166
$GC,8021,0.78,219.1,598.8,22.7,770,8024,0.00,1.58,0.00,0.000,6,0.000,0.058,2580,2503,2165
$GC,8342,0.78,219.1,521.5,24.5,801,8345,0.00,1.52,0.00,0.000,4,0.000,0.050,2587,1605,2164
$GC,8373,0.78,219.1,513.8,24.5,804,8377,0.10,1.55,0.00,0.000,6,0.185,0.057,2559,2499,2164
$GC,8694,0.78,219.1,440.5,22.3,835,8697,0.00,1.52,0.00,0.000,4,0.000,0.049,2564,1594,2163
$GC,8758,0.78,219.1,426.2,21.2,841,8761,0.00,1.55,0.00,0.000,6,0.000,0.057,2564,2498,2163
$GC,9079,0.78,219.1,351.1,23.0,872,9082,0.00,1.50,0.00,0.000,4,0.000,0.048,2571,1607,2162
$GC,9143,0.78,219.1,336.7,21.9,878,9146,0.00,1.52,0.00,0.000,6,0.000,0.056,2571,2495,2162
$GC,9466,0.78,219.1,258.0,24.9,909,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2496,2162
$GC,9775,0.78,219.1,181.1,24.5,939,9778,0.00,1.50,0.00,0.000,4,0.000,0.046,2578,1595,2162
$GC,9800,0.78,219.1,174.6,24.7,941,9808,0.00,1.55,0.00,0.000,6,0.000,0.054,2578,2499,2162
$GC,10119,0.78,219.1,98.1,25.8,972,10122,0.00,1.50,0.00,0.000,4,0.000,0.044,2585,1599,2162
$GC,10144,0.78,219.1,91.5,23.2,974,10152,0.10,1.52,0.00,0.000,6,0.176,0.052,2556,2497,2162
$GC,10254,0.78,219.1,71.6,17.9,985,10257,0.00,1.38,0.00,0.000,4,0.000,0.064,2556,3397,2162
$GC,10440,0.78,219.1,39.2,13.3,1002,10448,0.00,1.30,0.00,0.000,6,0.000,0.040,2561,2504,2163
$GC,10550,0.82,245.7,28.3,9.2,1013,10572,0.00,1.48,18.12,0.533,4,0.000,0.042,2568,1578,2072
$GC,10758,0.98,380.1,14.3,5.8,1032,10862,0.10,1.58,97.38,0.523,6,0.058,0.052,2625,2497,1524
$GC,10964,1.35,676.7,7.2,0.8,1051,11170,0.28,1.48,197.32,0.495,4,0.044,0.060,2756,3405,403
$STATE,11172,end climb,SURFACE_DEPTH_REACHED
$STATE,11173,begin surface coast
$FINISH,0.3,0.997381
$STATE,11237,end surface coast,CONTROL_FINISHED_OK
$STATE,11237,begin surface
$SM_CCo,11313,0.00,0.000,0,0,401,655.92
$SM_GC,1.78,6.97,0.00,0.00,0.042,0.000,0.000,201,2497,401,-6.51,-0.08,655.92
$IRIDIUM_FIX,2833.46,-8826.65,101199,131330
$TT8_MAMPS,0.050622
$HUMID,2241
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.8,4.660
$10V_AH,10.7,3.728
$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,16.900,69.625,656.525,0.000,0.000,53.808,66.225,699.510,0.000,0.000,0.000,35.245,0.000,7251.120,602.617,3367.949,1095.798,33.332,1672.418,0.000,2961.853,0.000,1.155,0.000
$DEVICE_MAMPS,241.605,64.428,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,733.507,801.299,2413.889,2484.721,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76109,1074
$CAP_FILE_SIZE,123194,0
$CFSIZE,260165632,252805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041,334.3,1
$GPS,160810,165207,2841.162,-8828.046,42,1.8,42,-0.4