version: 66.04
glider: 515
mission: 2
dive: 108
start: 9 4 110 11 44 47
data:
$ID,515
$MISSION,2
$DIVE,108
$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,-29920.875
$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,30
$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,23
$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,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
$GPS1,113537,2835.969,-8825.886,33,0.9,33,-0.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.9
$GPS2,114408,2835.861,-8825.907,12,1.4,12,-0.4
$SPEED_LIMITS,0.104,0.229
$TGT_NAME,TARGET_CENTER2
$TGT_LATLONG,2839.000,-8820.800
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.074,0.217
$KALMAN_X,176476.4,337.5,-405.9,-172423.9,-953.9
$KALMAN_Y,-361121.2,641.9,1264.6,310524.3,-21370.7
$MHEAD_RNG_PITCHd_Wd,70.0,10134,-8.7,-6.000
$D_GRID,1690
$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,-0.50,-170.4,0.0,0.0,0,67,0.00,0.00,-52.85,0.000,2,0.000,0.000,195,2455,2154
$GC,70,-0.50,-170.4,3.3,-4.1,5,118,7.88,1.50,-34.60,0.000,4,0.239,0.045,2115,1508,3847
$GC,357,-0.50,-170.4,56.3,-11.9,31,364,0.00,1.60,0.00,0.000,6,0.000,0.046,2109,2446,3849
$GC,467,-0.50,-170.4,70.9,-14.0,42,470,0.00,1.50,0.00,0.000,4,0.000,0.038,2110,1542,3849
$GC,553,-0.50,-170.4,81.8,-11.9,50,556,0.00,1.58,0.00,0.000,6,0.000,0.046,2102,2455,3849
$GC,667,-0.50,-170.4,96.9,-13.6,61,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2455,3849
$GC,771,-0.50,-170.4,110.5,-12.6,71,774,0.00,1.52,0.00,0.000,4,0.000,0.038,2102,1539,3850
$GC,814,-0.50,-170.4,115.8,-12.7,75,816,0.00,1.55,0.00,0.000,6,0.000,0.048,2094,2448,3850
$GC,1134,-0.50,-170.4,157.3,-12.3,106,1137,0.00,1.50,0.00,0.000,4,0.000,0.038,2094,1536,3849
$GC,1177,-0.50,-170.4,162.3,-12.1,110,1180,0.00,1.55,0.00,0.000,6,0.000,0.048,2087,2449,3849
$GC,1500,-0.50,-170.4,201.9,-12.1,141,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2448,3849
$GC,1809,-0.50,-170.4,241.6,-12.8,171,1812,0.00,1.50,0.00,0.000,4,0.000,0.040,2087,1540,3846
$GC,1884,-0.50,-170.4,250.9,-12.2,178,1887,0.08,1.55,0.00,0.000,6,0.114,0.048,2117,2449,3846
$GC,2205,-0.50,-170.4,281.7,-9.9,209,2208,0.00,1.50,0.00,0.000,4,0.000,0.040,2117,1541,3844
$GC,2273,-0.50,-170.4,288.3,-9.1,215,2280,0.00,1.55,0.00,0.000,6,0.000,0.049,2111,2449,3844
$GC,2591,-0.50,-170.4,319.9,-9.3,246,2594,0.00,1.50,0.00,0.000,4,0.000,0.041,2111,1542,3841
$GC,2645,-0.50,-170.4,325.5,-10.1,251,2648,0.00,1.55,0.00,0.000,6,0.000,0.050,2105,2449,3841
$GC,2967,-0.50,-170.4,359.1,-10.4,282,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2448,3839
$GC,3277,-0.50,-170.4,391.3,-10.1,312,3280,0.00,1.50,0.00,0.000,4,0.000,0.041,2105,1545,3837
$GC,3323,-0.50,-170.4,396.3,-9.8,316,3331,0.00,1.52,0.00,0.000,6,0.000,0.051,2098,2443,3837
$GC,3642,-0.50,-170.4,429.3,-10.3,347,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2443,3834
$GC,3951,-0.50,-170.4,461.2,-10.1,377,3954,0.00,1.50,0.00,0.000,4,0.000,0.043,2098,1534,3833
$GC,4008,-0.50,-170.4,467.2,-10.4,382,4017,0.00,1.58,0.00,0.000,6,0.000,0.051,2090,2449,3832
$GC,4327,-0.50,-170.4,501.1,-10.8,413,4330,0.00,1.50,0.00,0.000,4,0.000,0.043,2090,1549,3830
$GC,4363,-0.50,-170.4,505.3,-11.3,416,4371,0.00,1.55,0.00,0.000,6,0.000,0.052,2083,2450,3829
$GC,4682,-0.50,-170.4,541.3,-11.2,447,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2450,3827
$GC,4991,-0.50,-170.4,577.1,-12.0,477,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2449,3826
$GC,5301,-0.50,-170.4,613.7,-11.6,507,5303,0.00,1.52,0.00,0.000,4,0.000,0.046,2083,1539,3824
$GC,5355,-0.50,-170.4,620.0,-10.4,512,5358,0.12,1.58,0.00,0.000,6,0.143,0.055,2110,2450,3823
$GC,5675,-0.50,-170.4,649.0,-8.6,543,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2450,3821
$GC,5986,-0.50,-170.4,676.3,-8.7,573,5989,0.00,1.52,0.00,0.000,4,0.000,0.047,2110,1537,3819
$GC,6061,-0.50,-170.4,682.8,-8.3,580,6064,0.00,1.58,0.00,0.000,6,0.000,0.056,2106,2449,3818
$GC,6384,-0.50,-170.4,711.6,-8.9,611,6387,0.00,1.52,0.00,0.000,4,0.000,0.046,2106,1539,3816
$GC,6409,-0.50,-170.4,714.2,-9.4,613,6417,0.00,1.58,0.00,0.000,6,0.000,0.055,2099,2448,3816
$GC,6728,-0.50,-170.4,742.5,-8.9,644,6731,0.00,1.52,0.00,0.000,4,0.000,0.046,2099,1537,3813
$GC,6782,-0.50,-170.4,747.4,-9.5,649,6784,0.00,1.58,0.00,0.000,6,0.000,0.056,2092,2448,3813
$GC,7104,-0.50,-170.4,778.8,-9.8,680,7105,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2448,3812
$GC,7413,-0.50,-170.4,808.6,-9.9,710,7416,0.00,1.52,0.00,0.000,4,0.000,0.048,2092,1541,3811
$GC,7449,-0.50,-170.4,812.3,-9.2,713,7457,0.00,1.58,0.00,0.000,6,0.000,0.056,2085,2449,3811
$GC,7768,-0.50,-170.4,844.0,-10.3,744,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2449,3810
$GC,8076,-0.50,-170.4,875.5,-10.2,774,8080,0.00,1.52,0.00,0.000,4,0.000,0.048,2085,1544,3809
$GC,8134,-0.50,-170.4,881.3,-9.0,779,8141,0.08,1.58,0.00,0.000,6,0.144,0.057,2104,2447,3808
$GC,8450,-0.50,-170.4,908.5,-8.6,810,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2446,3807
$GC,8761,-0.50,-170.4,935.1,-8.3,840,8763,0.00,1.52,0.00,0.000,4,0.000,0.048,2105,1542,3805
$GC,8803,-0.50,-170.4,938.9,-8.4,844,8806,0.00,1.58,0.00,0.000,6,0.000,0.058,2100,2448,3805
$GC,9125,-0.50,-170.4,967.4,-9.0,875,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2448,3804
$STATE,9392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9395,begin apogee
$GC,9400,-0.17,0.0,990.8,8.3,901,9530,0.35,0.00,127.82,1.254,6,0.122,0.000,2214,2377,3150
$STATE,9530,end apogee,CONTROL_FINISHED_OK
$STATE,9530,begin climb
$GC,9532,0.50,170.4,996.0,0.0,914,9680,0.65,1.55,141.55,1.220,4,0.084,0.049,2442,1484,2454
$GC,9716,0.50,170.4,987.3,10.0,929,9725,0.00,1.52,0.00,0.000,6,0.000,0.053,2442,2375,2450
$GC,10035,0.50,170.4,953.3,10.9,960,10038,0.00,1.60,0.00,0.000,4,0.000,0.065,2442,3296,2446
$GC,10103,0.50,170.4,944.9,12.0,966,10111,0.00,1.52,0.00,0.000,6,0.000,0.038,2449,2378,2445
$GC,10422,0.50,170.4,908.7,11.0,997,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2378,2443
$GC,10731,0.50,170.4,873.7,11.4,1027,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2378,2443
$GC,11041,0.50,170.4,838.4,11.3,1057,11044,0.00,1.55,0.00,0.000,4,0.000,0.066,2449,3271,2442
$GC,11073,0.50,170.4,834.6,12.2,1060,11076,0.00,1.48,0.00,0.000,6,0.000,0.041,2455,2374,2441
$GC,11396,0.50,170.4,798.0,11.6,1091,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2374,2441
$GC,11704,0.50,170.4,763.2,11.1,1121,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2374,2440
$GC,12015,0.50,170.4,726.8,11.4,1151,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2374,2440
$GC,12325,0.50,170.4,691.9,11.4,1181,12328,0.00,1.58,0.00,0.000,4,0.000,0.066,2455,3278,2439
$GC,12357,0.50,170.4,688.2,11.9,1184,12360,0.00,1.48,0.00,0.000,6,0.000,0.041,2461,2374,2439
$GC,12680,0.50,170.4,652.1,11.4,1215,12680,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2374,2438
$GC,12989,0.50,170.4,617.3,11.3,1245,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2374,2438
$GC,13299,0.50,170.4,583.4,10.6,1275,13300,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2374,2438
$GC,13610,0.50,170.4,549.6,10.7,1305,13610,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2374,2437
$GC,13920,0.50,170.4,516.1,11.1,1335,13923,0.00,1.55,0.00,0.000,4,0.000,0.065,2461,3268,2437
$GC,13962,0.50,170.4,510.9,11.5,1339,13966,0.08,1.45,0.00,0.000,6,0.163,0.041,2444,2377,2437
$GC,14284,0.50,170.4,479.0,9.8,1370,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2376,2437
$GC,14594,0.50,170.4,449.5,9.7,1400,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2376,2437
$GC,14904,0.50,170.4,418.6,9.8,1430,14907,0.00,1.38,0.00,0.000,4,0.000,0.044,2449,1474,2437
$GC,14951,0.50,170.4,414.0,9.5,1434,14959,0.00,1.45,0.00,0.000,6,0.000,0.051,2449,2379,2438
$GC,15270,0.50,170.4,381.6,9.5,1465,15270,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2379,2438
$GC,15579,0.50,170.4,350.2,10.3,1495,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2379,2438
$GC,15889,0.50,170.4,318.8,10.0,1525,15892,0.00,1.42,0.00,0.000,4,0.000,0.042,2456,1459,2439
$GC,15957,0.50,170.4,312.2,9.6,1531,15964,0.00,1.48,0.00,0.000,6,0.000,0.050,2456,2382,2439
$GC,16275,0.50,170.4,279.0,10.7,1562,16278,0.00,1.42,0.00,0.000,4,0.000,0.041,2462,1460,2440
$GC,16311,0.50,170.4,275.1,10.1,1565,16320,0.00,1.45,0.00,0.000,6,0.000,0.049,2462,2376,2440
$GC,16630,0.50,170.4,239.6,11.2,1596,16633,0.00,1.50,0.00,0.000,4,0.000,0.061,2462,3266,2440
$GC,16666,0.50,170.4,235.0,12.2,1599,16674,0.10,1.45,0.00,0.000,6,0.154,0.037,2438,2370,2440
$GC,16983,0.50,170.4,205.7,9.5,1630,16984,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2370,2441
$GC,17293,0.50,170.4,177.8,9.5,1660,17294,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2371,2442
$GC,17604,0.50,170.4,149.9,9.1,1690,17606,0.00,1.52,0.00,0.000,4,0.000,0.060,2438,3264,2442
$GC,17657,0.50,170.4,144.6,11.0,1695,17660,0.00,1.42,0.00,0.000,6,0.000,0.037,2443,2376,2442
$GC,17980,0.50,170.4,115.8,8.4,1726,17981,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2374,2443
$GC,18289,0.50,170.4,89.7,8.2,1756,18292,0.00,1.35,0.00,0.000,4,0.000,0.039,2450,1476,2444
$GC,18331,0.50,170.4,86.4,7.5,1760,18334,0.00,1.42,0.00,0.000,6,0.000,0.046,2449,2381,2444
$GC,18445,0.50,170.4,76.8,8.6,1771,18448,0.00,1.48,0.00,0.000,4,0.000,0.058,2450,3268,2444
$GC,18499,0.50,170.4,71.9,10.6,1776,18502,0.00,1.42,0.00,0.000,6,0.000,0.034,2457,2373,2445
$GC,18613,0.50,170.4,62.9,7.7,1787,18614,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2372,2445
$GC,18716,0.50,170.4,55.2,6.8,1797,18719,0.00,1.35,0.00,0.000,4,0.000,0.038,2464,1466,2445
$GC,18780,0.50,170.4,50.7,6.7,1803,18783,0.00,1.42,0.00,0.000,6,0.000,0.045,2464,2379,2446
$GC,18894,0.50,170.4,42.2,7.0,1814,18897,0.00,1.48,0.00,0.000,4,0.000,0.058,2464,3266,2446
$GC,18963,0.50,170.4,37.3,6.3,1820,18970,0.10,1.42,0.00,0.000,6,0.127,0.034,2437,2372,2446
$GC,19073,0.60,249.8,32.7,4.1,1831,19134,0.00,1.40,57.72,0.538,4,0.000,0.038,2442,1474,2130
$GC,19225,0.74,364.7,26.8,3.2,1844,19316,0.17,1.45,84.10,0.522,6,0.043,0.044,2540,2381,1663
$GC,19421,0.86,465.4,16.4,3.6,1862,19502,0.00,1.55,73.88,0.506,4,0.000,0.056,2540,3262,1250
$STATE,19736,end climb,SURFACE_DEPTH_REACHED
$STATE,19736,begin surface coast
$FINISH,0.8,1.004946
$STATE,19800,end surface coast,CONTROL_FINISHED_OK
$STATE,19800,begin surface
$SM_CCo,19815,93.00,0.485,0,0,601,625.01
$SM_GC,1.60,0.00,0.00,93.00,0.000,0.000,0.485,189,2447,601,-6.52,-0.08,625.01
$IRIDIUM_FIX,2828.55,-8826.71,291199,060612
$TT8_MAMPS,0.051389
$HUMID,2124
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,22.90
$XPDR_PINGS,0
$24V_AH,23.8,16.367
$10V_AH,10.6,26.880
$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,15.775,99.275,485.075,93.000,0.000,24.581,29.656,299.321,3.750,0.000,0.000,14.161,0.000,13229.055,620.631,5725.935,800.201,33.339,2246.049,0.000,5078.375,0.000,28.329,0.000
$DEVICE_MAMPS,239.304,65.962,1254.045,484.744,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,1304.989,1429.334,4262.532,4390.251,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132710,1897
$CAP_FILE_SIZE,183066,0
$CFSIZE,260165632,243703808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,268.3,1
$GPS,040910,171737,2837.044,-8823.871,39,0.8,39,-0.4