version: 66.04
glider: 515
mission: 5
dive: 327
start: 7 30 110 9 53 16
data:
$ID,515
$MISSION,5
$DIVE,327
$D_SURF,3
$D_FLARE,3
$D_TGT,124
$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,55
$T_MISSION,63
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51931
$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,575
$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,-25483.242
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,205
$PITCH_MAX,3967
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,159
$ROLL_MAX,3575
$ROLL_DEG,25
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,404
$VBD_MAX,3959
$C_VBD,2840
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-42.932224
$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,800
$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,-1
$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
$GPS1,094820,2844.189,-8832.525,7,1.8,7,-0.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-65.5
$GPS2,095237,2844.169,-8832.468,9,1.6,14,-0.4
$SPEED_LIMITS,0.130,0.265
$TGT_NAME,RECOVER
$TGT_LATLONG,2849.600,-8854.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.252,0.082
$KALMAN_X,97089.7,782.0,511.8,-69708.3,304.4
$KALMAN_Y,-537231.4,1246.9,1060.7,564198.5,-1370.5
$MHEAD_RNG_PITCHd_Wd,285.9,36355,-10.8,-7.515
$D_GRID,1185
$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,-0.63,-194.6,0.0,0.0,0,77,0.00,0.00,-63.20,0.000,2,0.000,0.000,196,2410,2254
$GC,79,-0.63,-194.6,3.3,-3.4,6,132,10.38,1.38,-38.33,0.000,4,0.249,0.064,2530,3243,3634
$GC,186,-0.63,-194.6,19.2,-24.2,15,189,0.00,1.40,0.00,0.000,6,0.000,0.026,2535,2357,3635
$GC,383,-0.63,-194.6,55.4,-14.0,34,386,0.00,1.20,0.00,0.000,4,0.000,0.034,2537,1492,3636
$GC,619,-0.63,-194.6,84.9,-12.7,56,622,0.00,1.20,0.00,0.000,6,0.000,0.033,2533,2349,3638
$GC,816,-0.63,-194.6,108.7,-11.7,75,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2348,3638
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,953,-0.25,0.0,124.8,11.8,88,1094,0.43,0.00,137.98,0.542,6,0.133,0.000,2661,2275,2839
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1097,0.63,194.6,131.8,0.0,102,1243,0.85,1.62,139.88,0.538,4,0.102,0.041,2942,3172,2045
$GC,1285,0.63,194.6,120.1,9.2,118,1288,0.00,1.48,0.00,0.000,6,0.000,0.025,2949,2282,2042
$GC,1608,0.63,194.6,90.4,9.4,149,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2283,2038
$GC,1792,0.63,194.6,74.5,8.0,167,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2284,2038
$GC,1979,0.63,199.6,60.5,7.4,185,1989,0.00,0.00,3.97,0.324,6,0.000,0.000,2949,2283,2025
$GC,2175,0.73,277.5,47.3,5.5,204,2238,0.00,1.20,58.35,0.492,4,0.000,0.031,2955,1373,1707
$GC,2282,0.86,385.3,41.9,4.7,213,2365,0.15,1.20,79.10,0.488,6,0.039,0.031,3047,2275,1269
$GC,2558,0.89,406.5,20.2,7.0,239,2582,0.00,1.23,16.17,0.445,4,0.000,0.031,3053,1360,1181
$GC,2646,0.96,463.2,14.7,6.0,247,2694,0.00,1.20,42.30,0.465,6,0.000,0.031,3053,2274,950
$STATE,2835,end climb,SURFACE_DEPTH_REACHED
$STATE,2835,begin surface coast
$FINISH,0.8,1.021244
$STATE,2887,end surface coast,CONTROL_FINISHED_OK
$STATE,2887,begin surface
$SM_CCo,2903,53.40,0.451,0,0,495,575.22
$SM_GC,1.66,0.00,0.00,53.40,0.000,0.000,0.451,193,2403,495,-7.98,0.76,575.22
$IRIDIUM_FIX,2831.00,-8834.01,241099,090954
$TT8_MAMPS,0.051389
$HUMID,1384
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.50
$XPDR_PINGS,1
$24V_AH,24.7,56.803
$10V_AH,10.7,77.889
$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,19.250,13.450,477.750,53.400,0.000,25.458,31.354,114.001,0.250,0.000,0.000,16.699,0.000,1524.559,492.966,922.540,271.245,33.332,880.056,0.000,794.633,0.000,1.321,0.000
$DEVICE_MAMPS,249.275,63.661,542.269,450.996,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,176.161,189.034,607.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12760,270
$CAP_FILE_SIZE,36490,0
$CFSIZE,260165632,226205696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,107.6,1
$GPS,300710,104308,2844.077,-8832.470,13,1.3,13,-0.4