version: 66.04
glider: 515
mission: 2
dive: 46
start: 8 19 110 21 37 41
data:
$ID,515
$MISSION,2
$DIVE,46
$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,550
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,625
$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,-28855.996
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2275
$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,2450
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,18
$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,850
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$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
$GPS1,212806,2840.185,-8813.648,39,1.7,39,-0.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-75.9
$GPS2,213702,2840.152,-8813.396,14,1.8,14,-0.6
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_SE
$TGT_LATLONG,2835.400,-8816.400
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.223,0.051
$KALMAN_X,136733.4,-608.4,-720.2,-111095.4,24691.9
$KALMAN_Y,-39534.5,599.2,800.5,-2583.2,-15534.0
$MHEAD_RNG_PITCHd_Wd,225.8,10066,-8.7,-6.000
$D_GRID,1851
$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,-0.53,-170.4,0.0,0.0,0,52,0.00,0.00,-37.78,0.000,2,0.000,0.000,188,2443,1636
$GC,55,-0.53,-170.4,3.8,-5.8,4,115,7.72,0.00,-48.38,0.000,6,0.233,0.000,2094,2443,3846
$GC,215,-0.53,-170.4,38.5,-25.5,19,218,0.00,1.42,0.00,0.000,4,0.000,0.038,2094,1553,3847
$GC,343,-0.53,-170.4,61.4,-14.4,31,346,0.00,1.48,0.00,0.000,6,0.000,0.046,2089,2446,3847
$GC,457,-0.53,-170.4,77.5,-14.9,42,460,0.00,1.42,0.00,0.000,4,0.000,0.059,2081,3352,3847
$GC,499,-0.53,-170.4,83.9,-14.5,46,502,0.00,1.30,0.00,0.000,6,0.000,0.033,2081,2453,3848
$GC,614,-0.53,-170.4,101.0,-14.7,57,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2454,3849
$GC,924,-0.53,-170.4,145.6,-14.5,87,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,2454,3848
$GC,1234,-0.53,-170.4,188.3,-13.3,117,1237,0.00,1.45,0.00,0.000,4,0.000,0.042,2081,1545,3847
$GC,1331,-0.53,-170.4,200.8,-12.5,126,1334,0.00,1.50,0.00,0.000,6,0.000,0.049,2075,2449,3846
$GC,1653,-0.53,-170.4,243.6,-13.4,157,1657,0.00,1.48,0.00,0.000,4,0.000,0.043,2075,1540,3844
$GC,1679,-0.53,-170.4,247.4,-13.2,159,1686,0.08,1.50,0.00,0.000,6,0.137,0.051,2095,2445,3844
$GC,1995,-0.53,-170.4,283.3,-11.5,190,1998,0.00,1.40,0.00,0.000,4,0.000,0.064,2089,3345,3842
$GC,2027,-0.53,-170.4,287.1,-12.1,193,2030,0.00,1.30,0.00,0.000,6,0.000,0.035,2089,2451,3841
$GC,2350,-0.53,-170.4,324.0,-11.7,224,2353,0.00,1.45,0.00,0.000,4,0.000,0.044,2089,1546,3838
$GC,2414,-0.53,-170.4,331.3,-10.4,230,2417,0.00,1.50,0.00,0.000,6,0.000,0.051,2082,2447,3838
$GC,2737,-0.53,-170.4,369.1,-12.0,261,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2447,3836
$GC,3045,-0.53,-170.4,405.2,-11.8,291,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2448,3833
$GC,3356,-0.53,-170.4,441.0,-11.6,321,3359,0.00,1.48,0.00,0.000,4,0.000,0.048,2082,1551,3829
$GC,3377,-0.53,-170.4,443.5,-11.7,323,3380,0.00,1.50,0.00,0.000,6,0.000,0.055,2077,2444,3829
$GC,3700,-0.53,-170.4,480.6,-11.9,354,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2444,3827
$GC,4009,-0.53,-170.4,516.3,-11.4,384,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2444,3825
$GC,4319,-0.53,-170.4,552.1,-11.3,414,4322,0.00,1.42,0.00,0.000,4,0.000,0.071,2070,3346,3821
$GC,4344,-0.53,-170.4,555.3,-11.7,416,4353,0.08,1.33,0.00,0.000,6,0.137,0.040,2097,2452,3820
$GC,4661,-0.53,-170.4,587.0,-9.9,447,4664,0.00,1.48,0.00,0.000,4,0.000,0.051,2097,1546,3818
$GC,4708,-0.53,-170.4,591.8,-9.7,451,4715,0.00,1.55,0.00,0.000,6,0.000,0.057,2092,2455,3817
$GC,5026,-0.53,-170.4,623.8,-10.5,482,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2456,3814
$GC,5335,-0.53,-170.4,655.7,-10.2,512,5338,0.00,1.50,0.00,0.000,4,0.000,0.051,2092,1552,3813
$GC,5367,-0.53,-170.4,659.1,-10.8,515,5370,0.00,1.52,0.00,0.000,6,0.000,0.059,2085,2450,3813
$GC,5689,-0.53,-170.4,693.2,-10.5,546,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2449,3812
$GC,5998,-0.53,-170.4,726.3,-10.9,576,6001,0.00,1.50,0.00,0.000,4,0.000,0.054,2085,1545,3809
$GC,6041,-0.53,-170.4,730.6,-10.0,580,6044,0.00,1.52,0.00,0.000,6,0.000,0.061,2078,2448,3808
$GC,6362,-0.53,-170.4,765.7,-11.0,611,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2447,3805
$GC,6673,-0.53,-170.4,799.3,-10.4,641,6676,0.00,1.48,0.00,0.000,4,0.000,0.052,2078,1556,3804
$GC,6705,-0.53,-170.4,802.8,-11.6,644,6708,0.08,1.52,0.00,0.000,6,0.143,0.061,2098,2448,3803
$GC,7026,-0.53,-170.4,833.0,-9.7,675,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2448,3801
$GC,7338,-0.53,-170.4,861.7,-9.4,705,7341,0.00,1.50,0.00,0.000,4,0.000,0.053,2098,1543,3799
$GC,7385,-0.53,-170.4,866.1,-9.0,709,7392,0.00,1.55,0.00,0.000,6,0.000,0.061,2093,2452,3799
$GC,7701,-0.53,-170.4,895.6,-9.5,740,7704,0.00,1.50,0.00,0.000,4,0.000,0.054,2093,1555,3798
$GC,7726,-0.53,-170.4,898.1,-9.5,742,7734,0.00,1.52,0.00,0.000,6,0.000,0.061,2086,2449,3798
$GC,8043,-0.53,-170.4,928.4,-9.2,773,8046,0.00,1.45,0.00,0.000,4,0.000,0.076,2080,3354,3796
$GC,8075,-0.53,-170.4,931.6,-10.4,776,8078,0.00,1.33,0.00,0.000,6,0.000,0.044,2080,2459,3796
$GC,8396,-0.53,-170.4,962.9,-10.1,807,8399,0.00,1.50,0.00,0.000,4,0.000,0.055,2080,1551,3795
$GC,8481,-0.53,-170.4,971.8,-9.4,815,8484,0.00,1.55,0.00,0.000,6,0.000,0.062,2072,2456,3794
$STATE,8635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8635,begin apogee
$GC,8640,-0.19,0.0,990.5,8.4,830,8769,0.45,0.00,125.03,1.239,6,0.130,0.000,2214,2345,3150
$STATE,8769,end apogee,CONTROL_FINISHED_OK
$STATE,8769,begin climb
$GC,8771,0.53,170.4,995.3,0.0,843,8917,0.68,1.42,140.88,1.210,4,0.084,0.044,2448,1500,2455
$GC,8939,0.53,170.4,986.5,10.1,857,8942,0.00,1.50,0.00,0.000,6,0.000,0.056,2448,2383,2452
$GC,9261,0.53,170.4,953.5,11.6,888,9264,0.00,1.55,0.00,0.000,4,0.000,0.067,2448,3268,2446
$GC,9319,0.53,170.4,945.9,12.7,893,9327,0.00,1.42,0.00,0.000,6,0.000,0.041,2455,2401,2444
$GC,9637,0.53,170.4,906.9,12.1,924,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2401,2443
$GC,9946,0.53,170.4,870.4,11.4,954,9947,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2402,2442
$GC,10256,0.53,170.4,833.9,11.4,984,10259,0.00,1.42,0.00,0.000,4,0.000,0.048,2461,1476,2441
$GC,10281,0.53,170.4,830.9,11.5,986,10289,0.00,1.45,0.00,0.000,6,0.000,0.057,2462,2388,2441
$GC,10600,0.53,170.4,792.6,12.0,1017,10603,0.00,1.50,0.00,0.000,4,0.000,0.068,2462,3266,2440
$GC,10632,0.53,170.4,788.3,13.7,1020,10635,0.00,1.48,0.00,0.000,6,0.000,0.044,2469,2364,2439
$GC,10953,0.53,170.4,749.1,11.8,1051,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2365,2439
$GC,11264,0.53,170.4,711.9,12.0,1081,11266,0.00,1.55,0.00,0.000,4,0.000,0.068,2469,3260,2438
$GC,11285,0.53,170.4,709.1,13.8,1083,11288,0.00,1.42,0.00,0.000,6,0.000,0.044,2475,2389,2438
$GC,11606,0.53,170.4,670.4,11.6,1114,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2390,2438
$GC,11916,0.53,170.4,632.9,12.0,1144,11917,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2390,2437
$GC,12227,0.53,170.4,595.2,12.5,1174,12230,0.00,1.50,0.00,0.000,4,0.000,0.068,2476,3259,2437
$GC,12270,0.53,170.4,589.4,13.3,1178,12273,0.10,1.45,0.00,0.000,6,0.160,0.044,2452,2368,2436
$GC,12590,0.53,170.4,555.7,10.1,1209,12591,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2369,2436
$GC,12901,0.53,170.4,524.2,10.3,1239,12904,0.00,1.52,0.00,0.000,4,0.000,0.067,2452,3254,2437
$GC,12959,0.53,170.4,517.9,10.0,1244,12966,0.00,1.42,0.00,0.000,6,0.000,0.042,2457,2381,2436
$GC,13277,0.53,170.4,483.9,10.6,1275,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2382,2436
$GC,13586,0.53,170.4,451.9,9.9,1305,13587,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2383,2436
$GC,13896,0.53,170.4,419.5,10.2,1335,13899,0.00,1.50,0.00,0.000,4,0.000,0.066,2454,3255,2436
$GC,13982,0.53,170.4,410.1,10.2,1343,13985,0.00,1.45,0.00,0.000,6,0.000,0.042,2459,2357,2436
$GC,14303,0.53,170.4,376.5,10.1,1374,14306,0.00,1.55,0.00,0.000,4,0.000,0.065,2460,3265,2436
$GC,14335,0.53,170.4,373.1,11.6,1377,14338,0.00,1.40,0.00,0.000,6,0.000,0.043,2467,2394,2437
$GC,14656,0.53,170.4,337.8,11.2,1408,14656,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2396,2437
$GC,14966,0.53,170.4,303.8,11.1,1438,14969,0.00,1.48,0.00,0.000,4,0.000,0.065,2467,3259,2438
$GC,15009,0.53,170.4,299.0,11.2,1442,15012,0.00,1.45,0.00,0.000,6,0.000,0.041,2473,2357,2438
$GC,15330,0.53,170.4,262.9,11.5,1473,15333,0.00,1.52,0.00,0.000,4,0.000,0.063,2473,3256,2438
$GC,15388,0.53,170.4,255.8,12.0,1478,15396,0.10,1.40,0.00,0.000,6,0.157,0.039,2449,2385,2438
$GC,15705,0.53,170.4,223.7,10.5,1509,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2386,2439
$GC,16015,0.53,170.4,192.0,10.1,1539,16016,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2386,2440
$GC,16325,0.53,170.4,161.8,9.8,1569,16328,0.00,1.48,0.00,0.000,4,0.000,0.061,2449,3257,2441
$GC,16351,0.53,170.4,159.3,10.3,1571,16358,0.00,1.42,0.00,0.000,6,0.000,0.038,2454,2365,2441
$GC,16669,0.53,170.4,130.2,9.0,1602,16672,0.00,1.30,0.00,0.000,4,0.000,0.041,2461,1483,2442
$GC,16701,0.53,170.4,127.4,9.5,1605,16704,0.00,1.40,0.00,0.000,6,0.000,0.051,2461,2389,2442
$GC,17022,0.53,170.4,98.4,9.1,1636,17025,0.00,1.45,0.00,0.000,4,0.000,0.061,2461,3260,2442
$GC,17075,0.53,170.4,92.9,8.7,1641,17078,0.00,1.38,0.00,0.000,6,0.000,0.037,2468,2388,2443
$GC,17189,0.53,170.4,83.1,8.6,1652,17190,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2389,2443
$GC,17293,0.53,170.4,74.8,7.8,1662,17296,0.00,1.45,0.00,0.000,4,0.000,0.060,2468,3252,2444
$GC,17539,0.53,170.4,55.0,6.7,1685,17542,0.00,1.40,0.00,0.000,6,0.000,0.036,2475,2367,2444
$GC,17653,0.53,170.4,47.2,6.7,1696,17656,0.00,1.30,0.00,0.000,4,0.000,0.040,2481,1480,2445
$GC,17674,0.54,173.6,45.9,5.9,1698,17677,0.10,1.38,0.00,0.000,6,0.127,0.049,2446,2375,2445
$GC,17788,0.64,258.6,41.0,3.9,1709,17855,0.12,1.35,62.95,0.537,4,0.070,0.038,2511,1469,2096
$GC,17940,0.67,283.5,32.2,5.4,1722,17962,0.00,1.42,19.12,0.499,6,0.000,0.047,2510,2381,1993
$GC,18073,0.70,309.5,25.5,5.4,1735,18097,0.00,1.52,19.98,0.493,4,0.000,0.058,2511,3260,1887
$GC,18162,0.70,309.5,20.3,6.1,1743,18165,0.00,1.42,0.00,0.000,6,0.000,0.035,2517,2382,1883
$GC,18276,0.73,333.8,13.9,5.4,1754,18299,0.00,1.33,18.38,0.479,4,0.000,0.037,2523,1470,1789
$GC,18353,0.88,449.2,10.9,3.2,1761,18443,0.08,1.42,84.80,0.494,6,0.057,0.046,2582,2379,1316
$GC,18553,1.10,632.2,4.7,1.6,1779,18690,0.15,1.45,131.40,0.480,4,0.095,0.043,2632,1484,572
$STATE,18710,end climb,SURFACE_DEPTH_REACHED
$STATE,18710,begin surface coast
$FINISH,0.6,1.014914
$STATE,18823,end surface coast,CONTROL_FINISHED_OK
$STATE,18823,begin surface
$SM_CCo,18898,0.00,0.000,0,0,568,633.35
$SM_GC,2.80,6.53,0.00,0.00,0.038,0.000,0.000,189,2438,568,-6.44,-0.34,633.35
$IRIDIUM_FIX,2831.00,-8814.37,131199,161617
$TT8_MAMPS,0.050622
$HUMID,2075
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,25.60
$XPDR_PINGS,1
$24V_AH,23.8,7.149
$10V_AH,10.6,7.910
$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,16.250,105.025,602.525,0.000,0.000,31.700,31.284,319.608,4.000,0.000,0.000,16.339,0.000,12497.483,580.234,5476.158,836.010,33.345,2185.506,0.000,4857.842,0.000,30.093,0.000
$DEVICE_MAMPS,233.168,75.933,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1237.873,1359.724,4053.147,4187.739,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126324,1803
$CAP_FILE_SIZE,183365,0
$CFSIZE,260165632,251072512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,153.1,1
$GPS,200810,025545,2837.261,-8814.729,163,1.8,166,-0.5