version: 66.04
glider: 515
mission: 2
dive: 53
start: 8 21 110 15 30 13
data:
$ID,515
$MISSION,2
$DIVE,53
$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,-29009.713
$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,19
$R_STBD_OVSHOOT,25
$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
$GPS1,152037,2837.160,-8822.651,37,1.3,37,-0.4
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-75.7
$GPS2,152932,2837.211,-8822.668,14,1.4,14,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_SW
$TGT_LATLONG,2835.400,-8825.200
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.169,0.154
$KALMAN_X,149954.7,248.2,-485.7,-140440.9,8899.1
$KALMAN_Y,-66998.0,1206.3,1109.5,18521.8,-15233.0
$MHEAD_RNG_PITCHd_Wd,234.2,5311,-11.9,-6.000
$D_GRID,1763
$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,-0.58,-113.0,0.0,0.0,0,42,0.00,0.00,-27.60,0.000,2,0.000,0.000,188,2454,1274
$GC,44,-0.63,-149.6,3.0,-4.7,3,118,7.95,1.33,-58.50,0.000,4,0.249,0.072,2061,3338,3761
$GC,357,-0.63,-149.6,68.0,-17.9,31,364,0.00,1.30,0.00,0.000,6,0.000,0.031,2061,2445,3762
$GC,467,-0.63,-149.6,85.6,-16.2,42,470,0.00,1.40,0.00,0.000,4,0.000,0.056,2055,3339,3763
$GC,713,-0.63,-149.6,124.8,-15.9,65,716,0.00,1.27,0.00,0.000,6,0.000,0.033,2055,2450,3763
$GC,1036,-0.63,-149.6,173.6,-14.9,96,1039,0.00,1.45,0.00,0.000,4,0.000,0.042,2055,1551,3762
$GC,1100,-0.63,-149.6,183.0,-13.3,102,1102,0.00,1.48,0.00,0.000,6,0.000,0.048,2049,2436,3762
$GC,1423,-0.63,-149.6,231.5,-14.8,133,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2436,3760
$GC,1731,-0.63,-149.6,278.4,-14.9,163,1734,0.00,1.45,0.00,0.000,4,0.000,0.042,2049,1542,3757
$GC,1774,-0.63,-149.6,284.6,-14.1,167,1776,0.00,1.52,0.00,0.000,6,0.000,0.050,2042,2449,3757
$GC,2096,-0.63,-149.6,331.8,-14.8,198,2099,0.12,1.38,0.00,0.000,4,0.166,0.061,2070,3344,3754
$GC,2143,-0.63,-149.6,338.4,-12.8,202,2151,0.00,1.27,0.00,0.000,6,0.000,0.035,2070,2454,3753
$GC,2462,-0.63,-149.6,378.0,-12.4,233,2465,0.00,1.50,0.00,0.000,4,0.000,0.046,2070,1540,3751
$GC,2530,-0.63,-149.6,386.7,-11.9,239,2537,0.00,1.52,0.00,0.000,6,0.000,0.051,2063,2446,3750
$GC,2848,-0.63,-149.6,426.8,-12.2,270,2851,0.00,1.50,0.00,0.000,4,0.000,0.047,2063,1539,3748
$GC,2902,-0.63,-149.6,433.9,-11.7,275,2905,0.00,1.52,0.00,0.000,6,0.000,0.053,2055,2445,3746
$GC,3223,-0.63,-149.6,475.1,-12.6,306,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,2445,3744
$GC,3533,-0.63,-149.6,515.1,-12.8,336,3536,0.00,1.50,0.00,0.000,4,0.000,0.048,2055,1541,3741
$GC,3619,-0.63,-149.6,526.0,-12.7,344,3621,0.00,1.55,0.00,0.000,6,0.000,0.055,2048,2450,3740
$GC,3941,-0.63,-149.6,567.9,-12.9,375,3944,0.00,1.50,0.00,0.000,4,0.000,0.050,2048,1550,3737
$GC,3988,-0.63,-149.6,574.6,-13.3,379,3995,0.08,1.52,0.00,0.000,6,0.159,0.055,2066,2444,3737
$GC,4304,-0.63,-149.6,611.9,-11.8,410,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2443,3734
$GC,4615,-0.63,-149.6,649.4,-12.0,440,4616,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2443,3731
$GC,4925,-0.63,-149.6,685.9,-12.0,470,4929,0.00,1.50,0.00,0.000,4,0.000,0.051,2066,1544,3729
$GC,4990,-0.63,-149.6,693.0,-10.3,476,4992,0.00,1.55,0.00,0.000,6,0.000,0.059,2061,2448,3727
$GC,5312,-0.63,-149.6,731.1,-12.3,507,5315,0.00,1.50,0.00,0.000,4,0.000,0.052,2061,1554,3725
$GC,5344,-0.63,-149.6,735.2,-12.6,510,5347,0.00,1.55,0.00,0.000,6,0.000,0.059,2055,2450,3725
$GC,5667,-0.63,-149.6,775.0,-12.0,541,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2450,3722
$GC,5976,-0.63,-149.6,812.8,-12.0,571,5979,0.00,1.50,0.00,0.000,4,0.000,0.052,2054,1554,3720
$GC,6012,-0.63,-149.6,817.4,-12.8,574,6019,0.00,1.55,0.00,0.000,6,0.000,0.060,2047,2450,3719
$GC,6330,-0.63,-149.6,855.4,-11.9,605,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2450,3717
$GC,6639,-0.63,-149.6,893.2,-12.6,635,6642,0.00,1.52,0.00,0.000,4,0.000,0.054,2047,1542,3715
$GC,6735,-0.63,-149.6,905.3,-12.0,644,6738,0.05,1.55,0.00,0.000,6,0.144,0.060,2068,2446,3715
$GC,7057,-0.63,-149.6,940.4,-10.5,675,7060,0.00,1.50,0.00,0.000,4,0.000,0.052,2068,1553,3712
$GC,7093,-0.63,-149.6,944.5,-10.4,678,7101,0.00,1.55,0.00,0.000,6,0.000,0.061,2062,2448,3712
$GC,7410,-0.63,-149.6,978.6,-10.6,709,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2448,3711
$STATE,7523,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7523,begin apogee
$GC,7528,-0.19,0.0,990.6,10.6,720,7645,0.45,0.00,108.47,1.234,6,0.135,0.000,2208,2372,3149
$STATE,7645,end apogee,CONTROL_FINISHED_OK
$STATE,7645,begin climb
$GC,7647,0.63,149.6,994.7,0.0,732,7777,0.82,1.50,123.90,1.206,4,0.088,0.044,2485,1480,2539
$GC,7810,0.63,149.6,982.7,12.5,747,7813,0.00,1.55,0.00,0.000,6,0.000,0.055,2485,2388,2536
$GC,8133,0.63,149.6,937.3,14.3,778,8136,0.00,1.52,0.00,0.000,4,0.000,0.067,2486,3266,2529
$GC,8180,0.63,149.6,929.7,15.4,782,8187,0.00,1.48,0.00,0.000,6,0.000,0.041,2493,2377,2528
$GC,8498,0.63,149.6,884.7,13.9,813,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2378,2527
$GC,8807,0.63,149.6,841.4,13.1,843,8810,0.00,1.38,0.00,0.000,4,0.000,0.046,2499,1483,2525
$GC,8850,0.63,149.6,835.7,13.1,847,8852,0.00,1.45,0.00,0.000,6,0.000,0.056,2499,2384,2526
$GC,9172,0.63,149.6,791.9,13.8,878,9175,0.00,1.50,0.00,0.000,4,0.000,0.067,2499,3269,2524
$GC,9204,0.63,149.6,787.1,14.7,881,9207,0.00,1.45,0.00,0.000,6,0.000,0.042,2506,2377,2523
$GC,9526,0.63,149.6,741.9,14.2,912,9529,0.00,1.52,0.00,0.000,4,0.000,0.066,2507,3264,2523
$GC,9590,0.63,149.6,732.0,15.4,918,9593,0.10,1.45,0.00,0.000,6,0.179,0.042,2484,2373,2522
$GC,9911,0.63,149.6,690.8,13.4,949,9912,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2374,2521
$GC,10221,0.63,149.6,651.3,12.7,979,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2373,2521
$GC,10532,0.63,149.6,614.2,11.4,1009,10533,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2374,2521
$GC,10842,0.63,149.6,578.2,11.6,1039,10845,0.00,1.52,0.00,0.000,4,0.000,0.066,2484,3261,2520
$GC,10921,0.63,149.6,568.1,13.2,1046,10928,0.00,1.45,0.00,0.000,6,0.000,0.041,2489,2370,2519
$GC,11239,0.63,149.6,530.3,11.6,1077,11242,0.00,1.52,0.00,0.000,4,0.000,0.064,2489,3261,2520
$GC,11264,0.63,149.6,526.8,13.3,1079,11272,0.00,1.42,0.00,0.000,6,0.000,0.041,2496,2379,2519
$GC,11583,0.63,149.6,488.7,12.0,1110,11586,0.00,1.38,0.00,0.000,4,0.000,0.046,2502,1468,2519
$GC,11647,0.63,149.6,481.3,10.7,1116,11650,0.00,1.45,0.00,0.000,6,0.000,0.054,2502,2386,2519
$GC,11970,0.63,149.6,441.1,12.8,1147,11973,0.00,1.48,0.00,0.000,4,0.000,0.065,2502,3265,2519
$GC,12056,0.63,149.6,428.8,14.5,1155,12059,0.10,1.42,0.00,0.000,6,0.167,0.041,2479,2378,2520
$GC,12376,0.63,149.6,393.6,10.8,1186,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2378,2519
$GC,12687,0.63,149.6,359.0,11.1,1216,12690,0.00,1.38,0.00,0.000,4,0.000,0.044,2484,1463,2519
$GC,12719,0.63,149.6,355.6,11.1,1219,12722,0.00,1.45,0.00,0.000,6,0.000,0.054,2484,2381,2519
$GC,13040,0.63,149.6,319.3,11.1,1250,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2381,2520
$GC,13351,0.63,149.6,283.9,11.6,1280,13354,0.00,1.48,0.00,0.000,4,0.000,0.064,2484,3264,2520
$GC,13494,0.63,149.6,266.1,13.3,1293,13501,0.00,1.42,0.00,0.000,6,0.000,0.039,2491,2373,2520
$GC,13812,0.63,149.6,229.1,10.9,1324,13815,0.00,1.35,0.00,0.000,4,0.000,0.041,2497,1469,2521
$GC,13844,0.63,149.6,225.2,11.9,1327,13847,0.00,1.42,0.00,0.000,6,0.000,0.051,2498,2380,2521
$GC,14165,0.63,149.6,187.1,11.4,1358,14168,0.00,1.48,0.00,0.000,4,0.000,0.062,2498,3268,2521
$GC,14223,0.63,149.6,179.2,13.6,1363,14229,0.00,1.42,0.00,0.000,6,0.000,0.038,2504,2374,2522
$GC,14540,0.63,149.6,140.0,12.1,1394,14541,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2374,2522
$GC,14850,0.63,149.6,103.2,11.6,1424,14852,0.00,1.50,0.00,0.000,4,0.000,0.060,2504,3267,2524
$GC,14924,0.63,149.6,94.2,12.3,1431,14927,0.10,1.42,0.00,0.000,6,0.160,0.037,2481,2367,2524
$GC,15038,0.63,149.6,82.4,10.2,1442,15041,0.00,1.33,0.00,0.000,4,0.000,0.040,2485,1480,2524
$GC,15284,0.64,160.3,63.4,5.6,1465,15296,0.00,1.40,7.18,0.481,6,0.000,0.049,2486,2382,2495
$GC,15398,0.64,162.3,56.8,5.9,1476,15401,0.00,1.45,0.00,0.000,4,0.000,0.060,2485,3261,2495
$GC,15452,0.64,162.3,53.0,7.0,1481,15455,0.00,1.40,0.00,0.000,6,0.000,0.036,2492,2373,2495
$GC,15566,0.74,242.7,49.2,3.1,1492,15630,0.00,1.50,60.90,0.544,4,0.000,0.058,2492,3261,2158
$GC,15760,0.74,242.7,37.5,7.2,1509,15767,0.00,1.42,0.00,0.000,6,0.000,0.035,2500,2375,2151
$GC,15869,0.75,253.9,30.9,5.6,1520,15883,0.00,1.40,8.60,0.456,4,0.000,0.038,2506,1471,2114
$GC,15919,0.79,287.3,28.5,4.8,1524,15952,0.00,1.42,26.02,0.502,6,0.000,0.047,2505,2377,1977
$GC,16055,0.82,307.8,21.5,5.3,1537,16075,0.00,0.00,15.65,0.477,6,0.000,0.000,2505,2377,1895
$GC,16178,0.88,356.2,15.9,4.2,1549,16222,0.15,0.00,37.03,0.491,6,0.056,0.000,2577,2377,1695
$GC,16323,1.11,547.3,8.4,-0.9,1563,16467,0.17,1.42,137.00,0.486,4,0.058,0.038,2675,1463,918
$GC,16708,1.30,701.8,5.3,0.4,1597,16803,0.00,1.45,91.47,0.466,6,0.000,0.045,2669,2380,404
$STATE,16817,end climb,SURFACE_DEPTH_REACHED
$STATE,16817,begin surface coast
$FINISH,0.6,1.004054
$STATE,16871,end surface coast,CONTROL_FINISHED_OK
$STATE,16871,begin surface
$SM_CCo,16945,0.00,0.000,0,0,401,674.32
$SM_GC,2.88,6.57,0.00,0.00,0.032,0.000,0.000,189,2442,401,-6.44,-0.23,674.32
$IRIDIUM_FIX,2828.55,-8821.81,151199,101030
$TT8_MAMPS,0.049855
$HUMID,2042
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,23.9,8.149
$10V_AH,10.7,10.016
$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,16.675,96.600,616.225,0.000,0.000,31.130,32.341,316.781,4.000,0.000,0.000,16.348,0.000,11006.025,607.970,5034.133,789.588,33.347,2117.113,0.000,4462.847,0.000,30.100,0.000
$DEVICE_MAMPS,249.275,72.098,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1104.112,1209.002,3624.200,3738.357,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113888,1612
$CAP_FILE_SIZE,167881,0
$CFSIZE,260165632,250269696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,132.2,1
$GPS,210810,201451,2835.800,-8824.312,92,2.9,111,-0.4