version: 66.04
glider: 515
mission: 2
dive: 21
start: 8 15 110 4 36 14
data:
$ID,515
$MISSION,2
$DIVE,21
$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,75
$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,661.31799
$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,-28282.535
$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,14
$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,3100
$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
$GPS1,023756,2856.361,-8820.710,13,1.8,13,-0.5
$_CALLS,5
$_XMS_NAKs,44
$_XMS_TOUTs,2
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-79.5
$GPS2,043534,2855.890,-8820.668,48,2.7,67,-0.5
$SPEED_LIMITS,0.173,0.187
$TGT_NAME,TARGET_NW
$TGT_LATLONG,2839.000,-8829.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.101,-0.157
$KALMAN_X,34475.0,-1785.9,-775.1,-19404.0,21641.0
$KALMAN_Y,26608.0,-935.5,-905.6,-36277.5,24893.5
$MHEAD_RNG_PITCHd_Wd,160.4,34485,-27.2,-10.000
$D_GRID,1002
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-1.09,-63.0,0.0,0.0,0,41,0.00,0.00,-27.60,0.000,2,0.000,0.000,199,2501,1571
$GC,43,-1.10,-73.0,3.3,-4.6,3,95,7.25,1.35,-41.03,0.000,4,0.248,0.071,1930,3421,3399
$GC,336,-1.10,-73.0,64.0,-17.1,29,343,0.00,1.38,0.00,0.000,6,0.000,0.036,1934,2495,3400
$GC,446,-1.10,-73.0,81.2,-15.4,40,449,0.00,1.40,0.00,0.000,4,0.000,0.057,1929,3400,3400
$GC,644,-1.10,-73.0,117.7,-19.2,58,650,0.00,1.33,0.00,0.000,6,0.000,0.037,1934,2495,3400
$GC,959,-1.10,-73.0,173.6,-18.2,89,963,0.00,1.42,0.00,0.000,4,0.000,0.058,1929,3412,3399
$GC,1045,-1.10,-73.0,190.2,-18.7,97,1048,0.00,1.33,0.00,0.000,6,0.000,0.038,1932,2504,3399
$GC,1367,-1.10,-73.0,249.4,-18.5,128,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2504,3398
$GC,1676,-1.10,-73.0,305.0,-18.1,158,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2504,3395
$GC,1987,-1.10,-73.0,361.1,-17.9,188,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2504,3392
$GC,2297,-1.10,-73.0,417.4,-18.4,218,2300,0.00,1.45,0.00,0.000,4,0.000,0.052,1933,1594,3389
$GC,2312,-1.10,-73.0,420.3,-18.4,219,2319,0.00,1.50,0.00,0.000,6,0.000,0.054,1928,2502,3389
$GC,2630,-1.10,-73.0,478.4,-18.5,250,2633,0.00,1.48,0.00,0.000,4,0.000,0.053,1929,1594,3385
$GC,2673,-1.10,-73.0,486.3,-17.6,254,2675,0.00,1.48,0.00,0.000,6,0.000,0.054,1924,2495,3385
$GC,2995,-1.10,-73.0,546.9,-18.6,285,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2495,3382
$GC,3304,-1.10,-73.0,603.1,-17.3,315,3307,0.00,1.45,0.00,0.000,4,0.000,0.054,1924,1596,3379
$GC,3340,-1.10,-73.0,609.8,-17.6,318,3348,0.00,1.50,0.00,0.000,6,0.000,0.056,1918,2500,3378
$GC,3659,-1.10,-73.0,667.3,-18.0,349,3662,0.00,1.48,0.00,0.000,4,0.000,0.055,1924,1594,3375
$GC,3727,-1.10,-73.0,680.3,-18.3,355,3734,0.00,1.50,0.00,0.000,6,0.000,0.057,1919,2500,3374
$GC,4045,-1.10,-73.0,739.0,-18.5,386,4048,0.00,1.40,0.00,0.000,4,0.000,0.074,1912,3395,3371
$GC,4077,-1.10,-73.0,745.6,-20.2,389,4080,0.08,1.33,0.00,0.000,6,0.215,0.046,1936,2500,3371
$GC,4398,-1.10,-73.0,800.8,-16.6,420,4401,0.00,1.40,0.00,0.000,4,0.000,0.074,1931,3396,3367
$GC,4548,-1.10,-73.0,827.3,-17.0,434,4551,0.00,1.33,0.00,0.000,6,0.000,0.046,1931,2501,3365
$GC,4870,-1.10,-73.0,880.7,-16.4,465,4873,0.00,1.48,0.00,0.000,4,0.000,0.058,1937,1600,3363
$GC,5009,-1.10,-73.0,902.3,-15.5,478,5012,0.00,1.52,0.00,0.000,6,0.000,0.061,1932,2500,3362
$GC,5332,-1.10,-73.0,954.2,-15.8,509,5335,0.00,1.50,0.00,0.000,4,0.000,0.057,1932,1600,3359
$GC,5364,-1.10,-73.0,959.6,-15.7,512,5367,0.00,1.52,0.00,0.000,6,0.000,0.061,1925,2500,3359
$STATE,5548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5548,begin apogee
$GC,5553,-0.19,0.0,990.9,16.8,530,5605,1.08,0.00,49.30,1.216,6,0.189,0.000,2231,2500,3100
$STATE,5605,end apogee,CONTROL_FINISHED_OK
$STATE,5605,begin climb
$GC,5608,1.10,73.0,993.9,0.0,535,5674,1.20,0.00,59.58,1.195,6,0.075,0.000,2654,2500,2802
$GC,5983,1.10,73.0,944.6,15.0,572,5987,0.00,1.45,0.00,0.000,4,0.000,0.076,2654,3405,2795
$GC,6041,1.10,73.0,935.4,15.9,577,6048,0.00,1.35,0.00,0.000,6,0.000,0.041,2661,2506,2795
$GC,6359,1.10,73.0,888.5,14.6,608,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2507,2794
$GC,6668,1.10,73.0,844.7,13.9,638,6671,0.00,1.48,0.00,0.000,4,0.000,0.045,2668,1597,2792
$GC,6796,1.10,73.0,827.2,13.2,650,6799,0.00,1.52,0.00,0.000,6,0.000,0.058,2667,2497,2791
$GC,7119,1.10,73.0,784.3,13.4,681,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2497,2789
$GC,7428,1.10,73.0,744.2,12.1,711,7431,0.00,1.40,0.00,0.000,4,0.000,0.067,2668,3396,2788
$GC,7674,1.10,73.0,711.4,13.5,734,7677,0.00,1.33,0.00,0.000,6,0.000,0.045,2673,2500,2786
$GC,7996,1.10,73.0,670.9,12.5,765,7999,0.00,1.40,0.00,0.000,4,0.000,0.065,2668,3399,2786
$GC,8242,1.10,73.0,638.8,13.2,788,8245,0.00,1.33,0.00,0.000,6,0.000,0.044,2673,2502,2786
$GC,8565,1.10,73.0,599.6,12.3,819,8568,0.00,1.40,0.00,0.000,4,0.000,0.064,2668,3407,2785
$GC,8757,1.10,73.0,575.4,11.9,837,8760,0.00,1.33,0.00,0.000,6,0.000,0.044,2673,2503,2785
$GC,9079,1.10,73.0,539.5,10.4,868,9082,0.00,1.40,0.00,0.000,4,0.000,0.064,2668,3408,2784
$GC,9276,1.10,73.0,516.1,12.1,886,9283,0.00,1.33,0.00,0.000,6,0.000,0.042,2673,2502,2784
$GC,9594,1.10,73.0,481.2,10.5,917,9597,0.00,1.40,0.00,0.000,4,0.000,0.064,2668,3402,2784
$GC,9755,1.10,73.0,462.9,10.8,932,9758,0.00,1.33,0.00,0.000,6,0.000,0.043,2673,2502,2784
$GC,10077,1.10,73.0,427.6,10.9,963,10080,0.00,1.40,0.00,0.000,4,0.000,0.064,2669,3403,2784
$GC,10243,1.10,73.0,408.5,10.8,978,10249,0.00,1.35,0.00,0.000,6,0.000,0.042,2674,2493,2784
$GC,10560,1.10,73.0,375.0,10.4,1009,10561,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2494,2784
$GC,10869,1.10,73.0,344.0,10.2,1039,10872,0.00,1.42,0.00,0.000,4,0.000,0.064,2668,3400,2784
$GC,11023,1.10,73.0,326.5,10.7,1053,11031,0.00,1.33,0.00,0.000,6,0.000,0.042,2674,2500,2784
$GC,11342,1.10,73.0,294.0,10.4,1084,11344,0.00,1.40,0.00,0.000,4,0.000,0.063,2668,3405,2784
$GC,11538,1.11,81.4,273.4,9.1,1102,11546,0.00,1.33,4.80,0.548,6,0.000,0.041,2674,2501,2767
$GC,11854,1.11,81.4,240.1,11.1,1133,11857,0.00,1.40,0.00,0.000,4,0.000,0.061,2669,3403,2768
$GC,12078,1.11,81.4,214.7,11.2,1154,12081,0.00,1.35,0.00,0.000,6,0.000,0.040,2674,2491,2768
$GC,12399,1.11,83.3,180.0,9.8,1185,12411,0.00,1.48,3.50,0.407,4,0.000,0.060,2668,3415,2760
$GC,12582,1.11,83.3,158.9,12.8,1202,12585,0.00,1.33,0.00,0.000,6,0.000,0.041,2673,2508,2760
$GC,12903,1.12,89.2,125.3,9.4,1233,12914,0.00,1.38,6.00,0.506,4,0.000,0.059,2669,3399,2737
$GC,13154,1.12,89.2,98.5,10.4,1256,13163,0.00,1.33,0.00,0.000,6,0.000,0.039,2674,2498,2738
$GC,13264,1.14,109.1,89.2,7.9,1267,13288,0.00,1.45,16.35,0.571,4,0.000,0.041,2681,1595,2654
$GC,13310,1.14,109.1,84.8,10.7,1271,13313,0.00,1.52,0.00,0.000,6,0.000,0.052,2676,2503,2654
$GC,13424,1.14,109.1,71.5,12.3,1282,13427,0.00,1.38,0.00,0.000,4,0.000,0.060,2670,3404,2653
$GC,13670,1.20,152.0,48.9,5.4,1305,13706,0.00,1.33,32.33,0.552,6,0.000,0.038,2676,2501,2479
$GC,13807,1.22,172.5,38.8,7.8,1318,13830,0.00,1.42,16.27,0.516,4,0.000,0.058,2670,3403,2395
$GC,14069,1.32,252.2,26.7,1.5,1342,14137,0.10,1.33,58.47,0.524,6,0.074,0.036,2722,2501,2070
$GC,14241,1.32,252.2,9.8,13.2,1358,14243,0.00,1.48,0.00,0.000,4,0.000,0.041,2729,1595,2064
$STATE,14478,end climb,NO_VERTICAL_VELOCITY
$STATE,14478,begin surface
$SM_CCo,14480,375.98,0.397,49,0,403,661.32
$SM_GC,2.51,6.75,0.00,0.00,0.033,0.000,0.000,194,2496,402,-6.51,-0.11,661.56
$IRIDIUM_FIX,2843.29,-8821.52,091199,040449
$TT8_MAMPS,0.050622
$HUMID,2103
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.3,3.022
$10V_AH,10.7,2.095
$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,16.450,78.875,246.600,375.975,0.000,141.597,239.605,563.738,0.250,0.000,0.000,70.209,0.000,9703.124,948.335,4609.268,1323.341,33.322,2267.755,0.000,4039.628,0.000,1.777,0.000
$DEVICE_MAMPS,247.741,75.933,1216.462,397.306,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,AA4330,nil,nil,nil,nil
$SENSOR_SECS,949.202,1030.572,3102.212,3186.904,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98121,1380
$CAP_FILE_SIZE,155485,0
$CFSIZE,260165632,253423616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,49,0
$CURRENT,0.076,100.1,1
$GPS,150810,085102,2854.785,-8819.390,58,1.5,58,-0.5