version: 66.04
glider: 515
mission: 2
dive: 36
start: 8 17 110 12 33 53
data:
$ID,515
$MISSION,2
$DIVE,36
$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,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,275
$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,675
$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,-28676.879
$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,2475
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,14
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,3150
$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,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
$DEVICE4,101
$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
$GPS1,122607,2839.219,-8822.003,38,1.1,38,-0.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-68.1
$GPS2,123314,2839.344,-8821.961,13,1.1,13,-0.5
$SPEED_LIMITS,0.130,0.301
$TGT_NAME,TARGET_CENTER2
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.273
$KALMAN_X,91180.4,-2627.4,-1352.5,-76740.7,33605.5
$KALMAN_Y,-8923.5,369.2,883.7,-34558.0,-17160.2
$MHEAD_RNG_PITCHd_Wd,101.8,1991,-26.8,-7.500
$D_GRID,1673
$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,-1.04,-41.0,0.0,0.0,0,59,0.00,0.00,-45.22,0.000,2,0.000,0.000,190,2472,1847
$GC,61,-1.04,-41.0,3.9,-7.7,4,110,7.25,1.45,-35.15,0.000,4,0.236,0.074,1950,3385,3319
$GC,349,-1.04,-41.0,65.2,-13.5,30,356,0.00,1.35,0.00,0.000,6,0.000,0.034,1950,2473,3320
$GC,459,-1.04,-41.0,77.1,-11.1,41,462,0.00,1.40,0.00,0.000,4,0.000,0.056,1945,3373,3321
$GC,705,-1.04,-41.0,112.9,-16.0,64,707,0.00,1.30,0.00,0.000,6,0.000,0.035,1949,2478,3322
$GC,1026,-1.04,-41.0,162.7,-15.5,95,1029,0.00,1.38,0.00,0.000,4,0.000,0.057,1944,3374,3323
$GC,1271,-1.04,-41.0,204.8,-17.4,118,1274,0.00,1.30,0.00,0.000,6,0.000,0.037,1949,2477,3322
$GC,1593,-1.04,-41.0,254.1,-15.3,149,1596,0.00,1.38,0.00,0.000,4,0.000,0.058,1944,3369,3321
$GC,1839,-1.04,-41.0,294.8,-17.3,172,1842,0.00,1.27,0.00,0.000,6,0.000,0.038,1948,2483,3319
$GC,2162,-1.04,-41.0,342.9,-14.6,203,2165,0.00,1.38,0.00,0.000,4,0.000,0.061,1943,3382,3318
$GC,2237,-1.04,-41.0,354.8,-16.2,210,2240,0.00,1.33,0.00,0.000,6,0.000,0.038,1948,2476,3317
$GC,2559,-1.04,-41.0,403.1,-14.8,241,2562,0.00,1.45,0.00,0.000,4,0.000,0.048,1949,1573,3316
$GC,2591,-1.04,-41.0,408.0,-14.4,244,2594,0.00,1.50,0.00,0.000,6,0.000,0.051,1944,2475,3316
$GC,2914,-1.04,-41.0,456.9,-15.3,275,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2476,3313
$GC,3223,-1.04,-41.0,504.4,-15.3,305,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2476,3311
$GC,3533,-1.04,-41.0,550.4,-14.7,335,3536,0.00,1.50,0.00,0.000,4,0.000,0.050,1945,1566,3308
$GC,3580,-1.04,-41.0,557.6,-14.5,339,3589,0.00,1.50,0.00,0.000,6,0.000,0.052,1939,2469,3307
$GC,3898,-1.04,-41.0,604.7,-15.1,370,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2470,3306
$GC,4207,-1.04,-41.0,652.8,-15.1,400,4210,0.00,1.48,0.00,0.000,4,0.000,0.051,1940,1566,3303
$GC,4218,-1.04,-41.0,654.4,-15.4,401,4221,0.08,1.52,0.00,0.000,6,0.207,0.054,1954,2477,3303
$GC,4538,-1.04,-41.0,702.1,-15.1,432,4541,0.00,1.50,0.00,0.000,4,0.000,0.052,1956,1573,3300
$GC,4553,-1.04,-41.0,704.8,-16.8,433,4560,0.00,1.50,0.00,0.000,6,0.000,0.055,1951,2469,3300
$GC,4871,-1.04,-41.0,751.4,-14.4,464,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2469,3298
$GC,5180,-1.04,-41.0,794.4,-13.8,494,5183,0.00,1.48,0.00,0.000,4,0.000,0.052,1951,1572,3296
$GC,5330,-1.04,-41.0,814.3,-13.6,508,5333,0.00,1.50,0.00,0.000,6,0.000,0.057,1945,2470,3295
$GC,5652,-1.04,-41.0,857.5,-13.9,539,5655,0.00,1.48,0.00,0.000,4,0.000,0.051,1945,1572,3292
$GC,5753,-1.04,-41.0,871.0,-12.9,548,5760,0.00,1.52,0.00,0.000,6,0.000,0.056,1938,2477,3291
$GC,6071,-1.04,-41.0,912.5,-13.0,579,6074,0.00,1.50,0.00,0.000,4,0.000,0.054,1938,1572,3290
$GC,6113,-1.04,-41.0,918.4,-13.7,583,6117,0.10,1.52,0.00,0.000,6,0.206,0.058,1958,2478,3289
$GC,6434,-1.04,-41.0,957.9,-12.4,614,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2478,3288
$STATE,6711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6712,begin apogee
$GC,6717,-0.19,0.0,990.9,11.8,641,6747,0.95,0.00,27.02,1.205,6,0.184,0.000,2233,2384,3150
$STATE,6748,end apogee,CONTROL_FINISHED_OK
$STATE,6748,begin climb
$GC,6750,1.04,41.0,992.7,0.0,644,6788,1.12,1.38,33.38,1.194,4,0.080,0.043,2641,1502,2983
$GC,6828,1.05,43.7,988.2,7.2,651,6840,0.00,1.48,3.60,0.649,6,0.000,0.055,2641,2411,2973
$GC,7148,1.05,44.1,963.7,7.5,682,7151,0.00,1.50,0.00,0.000,4,0.000,0.064,2641,3283,2971
$GC,7394,1.05,44.1,940.9,26.2,705,7397,0.00,1.42,0.00,0.000,6,0.000,0.044,2647,2415,2969
$GC,7717,1.06,52.6,913.4,6.4,736,7729,0.00,1.52,7.93,0.988,4,0.000,0.064,2646,3285,2935
$GC,7968,1.06,52.6,891.2,9.3,759,7976,0.00,1.48,0.00,0.000,6,0.000,0.044,2652,2391,2933
$GC,8286,1.06,52.6,864.4,8.6,790,8289,0.00,1.55,0.00,0.000,4,0.000,0.065,2652,3289,2933
$GC,8532,1.06,52.6,842.5,8.9,813,8534,0.00,1.45,0.00,0.000,6,0.000,0.045,2658,2408,2932
$GC,8855,1.06,52.6,816.8,7.7,844,8857,0.00,1.50,0.00,0.000,4,0.000,0.065,2657,3282,2930
$GC,9101,1.06,52.6,796.6,9.0,867,9104,0.00,1.45,0.00,0.000,6,0.000,0.044,2663,2389,2929
$GC,9421,1.06,56.2,772.6,7.1,898,9433,0.00,1.55,3.67,0.641,4,0.000,0.064,2663,3287,2919
$GC,9672,1.06,56.2,752.0,8.9,921,9679,0.00,1.42,0.00,0.000,6,0.000,0.044,2669,2414,2918
$GC,9990,1.07,59.3,728.2,7.1,952,10002,0.00,1.50,3.90,0.658,4,0.000,0.065,2664,3282,2908
$GC,10241,1.07,59.3,709.2,8.0,975,10250,0.00,1.45,0.00,0.000,6,0.000,0.044,2670,2394,2908
$GC,10559,1.08,70.3,689.2,6.2,1006,10574,0.00,1.55,9.98,0.935,4,0.000,0.064,2664,3283,2863
$GC,10705,1.08,70.3,676.4,9.6,1019,10713,0.00,1.48,0.00,0.000,6,0.000,0.044,2670,2387,2862
$GC,11022,1.08,70.3,646.3,9.7,1050,11025,0.00,1.55,0.00,0.000,4,0.000,0.064,2666,3291,2862
$GC,11087,1.08,70.3,640.1,9.3,1056,11089,0.00,1.42,0.00,0.000,6,0.000,0.046,2671,2418,2862
$GC,11407,1.08,70.3,610.9,9.2,1087,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2420,2861
$GC,11718,1.08,70.3,581.5,9.7,1117,11721,0.00,1.48,0.00,0.000,4,0.000,0.065,2666,3288,2861
$GC,11782,1.08,70.3,575.3,9.3,1123,11785,0.00,1.48,0.00,0.000,6,0.000,0.045,2672,2384,2861
$GC,12103,1.08,70.3,547.6,8.1,1154,12106,0.00,1.52,0.00,0.000,4,0.000,0.063,2666,3282,2861
$GC,12129,1.08,70.3,545.5,8.1,1156,12136,0.00,1.40,0.00,0.000,6,0.000,0.043,2672,2417,2861
$GC,12447,1.08,70.3,520.5,8.5,1187,12450,0.00,1.48,0.00,0.000,4,0.000,0.064,2666,3284,2861
$GC,12628,1.08,70.3,504.9,8.8,1204,12631,0.00,1.45,0.00,0.000,6,0.000,0.044,2672,2388,2861
$GC,12949,1.08,70.3,479.6,8.3,1235,12952,0.00,1.52,0.00,0.000,4,0.000,0.062,2666,3284,2861
$GC,13195,1.08,70.3,458.5,9.0,1258,13198,0.00,1.40,0.00,0.000,6,0.000,0.044,2672,2414,2861
$GC,13516,1.08,70.3,433.9,7.5,1289,13519,0.00,1.48,0.00,0.000,4,0.000,0.063,2666,3285,2861
$GC,13762,1.08,71.3,414.2,7.4,1312,13765,0.00,1.45,0.00,0.000,6,0.000,0.044,2672,2387,2861
$GC,14083,1.08,72.0,390.8,7.4,1343,14086,0.00,1.52,0.00,0.000,4,0.000,0.061,2666,3287,2862
$GC,14329,1.08,72.0,371.3,7.8,1366,14340,0.00,1.40,3.03,0.410,6,0.000,0.043,2671,2415,2856
$GC,14649,1.08,72.0,346.3,7.7,1397,14652,0.00,1.48,0.00,0.000,4,0.000,0.062,2666,3294,2856
$GC,14895,1.08,72.0,326.7,8.0,1420,14898,0.00,1.45,0.00,0.000,6,0.000,0.043,2672,2392,2857
$GC,15216,1.09,78.9,304.4,6.6,1451,15229,0.00,1.48,6.75,0.636,4,0.000,0.060,2666,3286,2829
$GC,15468,1.09,78.9,281.4,9.2,1474,15475,0.00,1.42,0.00,0.000,6,0.000,0.041,2672,2407,2829
$GC,15786,1.09,78.9,251.2,9.5,1505,15789,0.00,1.48,0.00,0.000,4,0.000,0.059,2666,3284,2830
$GC,16032,1.09,78.9,225.4,9.1,1528,16034,0.00,1.42,0.00,0.000,6,0.000,0.040,2672,2394,2831
$GC,16352,1.09,78.9,192.0,10.2,1559,16355,0.00,1.50,0.00,0.000,4,0.000,0.058,2666,3288,2831
$GC,16599,1.09,78.9,167.6,10.4,1582,16601,0.00,1.40,0.00,0.000,6,0.000,0.040,2672,2411,2832
$GC,16919,1.09,82.9,141.7,7.0,1613,16930,0.00,0.00,5.78,0.503,6,0.000,0.000,2672,2412,2810
$GC,17241,1.09,82.9,115.8,7.8,1644,17245,0.00,1.48,0.00,0.000,4,0.000,0.058,2666,3288,2812
$GC,17487,1.09,82.9,96.5,7.7,1667,17490,0.00,1.42,0.00,0.000,6,0.000,0.038,2672,2395,2813
$GC,17601,1.10,86.0,88.5,7.1,1678,17613,0.00,1.50,4.43,0.420,4,0.000,0.057,2666,3286,2799
$GC,17639,1.10,89.6,85.9,7.1,1681,17647,0.00,1.40,4.30,0.410,6,0.000,0.038,2672,2411,2783
$GC,17748,1.10,89.6,77.5,7.5,1692,17751,0.00,1.35,0.00,0.000,4,0.000,0.040,2679,1483,2783
$GC,17995,1.16,136.7,68.0,1.7,1715,18032,0.00,1.40,34.95,0.562,6,0.000,0.048,2675,2409,2592
$GC,18134,1.16,136.7,56.6,10.7,1728,18137,0.00,1.48,0.00,0.000,4,0.000,0.059,2674,3286,2589
$GC,18380,1.23,190.2,43.1,0.9,1751,18422,0.00,1.45,39.53,0.535,6,0.000,0.038,2680,2381,2373
$GC,18527,1.23,190.2,30.8,11.5,1764,18530,0.00,1.55,0.00,0.000,4,0.000,0.055,2675,3290,2370
$GC,18720,1.28,236.3,22.4,1.8,1782,18757,0.00,1.40,33.95,0.505,6,0.000,0.037,2680,2414,2186
$GC,18859,1.28,236.3,10.8,9.7,1795,18862,0.00,1.50,0.00,0.000,4,0.000,0.058,2675,3291,2181
$GC,18891,1.32,267.0,9.1,3.7,1798,18919,0.10,1.45,23.40,0.482,6,0.070,0.037,2728,2394,2061
$GC,19018,1.36,294.6,7.4,4.1,1810,19044,0.00,1.58,21.10,0.472,4,0.000,0.057,2729,3289,1948
$GC,19283,1.42,347.2,7.5,1.0,1834,19329,0.00,1.42,38.83,0.475,6,0.000,0.035,2735,2407,1733
$GC,19432,1.47,388.1,7.1,2.5,1848,19467,0.12,1.50,30.23,0.465,4,0.069,0.054,2790,3290,1568
$GC,19707,1.54,448.3,6.8,0.1,1873,19754,0.00,1.45,44.10,0.466,6,0.000,0.035,2797,2390,1321
$GC,19858,1.62,512.9,6.2,-0.4,1887,19909,0.00,1.60,46.85,0.463,4,0.000,0.054,2798,3299,1058
$STATE,19972,end climb,SURFACE_DEPTH_REACHED
$STATE,19972,begin surface coast
$FINISH,0.6,1.016205
$STATE,20036,end surface coast,CONTROL_FINISHED_OK
$STATE,20036,begin surface
$SM_CCo,20051,99.97,0.456,0,0,403,673.58
$SM_CCo,20154,0.00,0.000,0,0,402,674.07
$SM_CCo,20157,0.00,0.000,0,0,402,674.07
$SM_GC,2.11,0.00,0.00,0.00,0.000,0.000,0.000,195,2488,402,-6.58,0.34,674.07
$IRIDIUM_FIX,2828.55,-8853.71,111199,080848
$TT8_MAMPS,0.050622
$HUMID,1961
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,27.50
$XPDR_PINGS,0
$24V_AH,24.7,5.566
$10V_AH,10.7,5.022
$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,16.650,116.700,426.675,99.975,0.000,29.741,32.066,238.140,0.000,0.000,0.000,15.342,0.000,12746.244,595.022,6418.512,798.507,33.328,2483.703,0.000,5753.226,0.000,0.850,0.000
$DEVICE_MAMPS,236.236,73.632,1204.957,456.365,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1306.895,1429.287,4277.970,4419.517,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135961,1903
$CAP_FILE_SIZE,201453,0
$CFSIZE,260165632,252190720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,238.0,1
$GPS,170810,181054,2839.224,-8821.447,24,0.9,41,-0.5