version: 66.04
glider: 509
mission: 3
dive: 34
start: 3 25 110 18 27 15
data:
$ID,509
$MISSION,3
$DIVE,34
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51513
$NAV_MODE,1
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4026.2935
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,66
$PITCH_MAX,3829
$C_PITCH,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,152
$ROLL_MAX,3866
$ROLL_DEG,40
$C_ROLL_DIVE,2370
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,427
$VBD_MAX,3960
$C_VBD,3213
$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,-53.861084
$PRESSURE_SLOPE,0.00011619828
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$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,0.0043848851
$SEABIRD_T_H,0.00062951574
$SEABIRD_T_I,2.5184547e-05
$SEABIRD_T_J,2.8240252e-06
$SEABIRD_C_G,-10.113074
$SEABIRD_C_H,1.152099
$SEABIRD_C_I,-0.0021905303
$SEABIRD_C_J,0.00025245731
$GPS1,181956,4807.589,-12223.414,8,2.0,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.1
$GPS2,182637,4807.636,-12223.427,11,1.7,16,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.074,0.316
$KALMAN_X,-722.1,149.0,-934.0,1232.8,123.6
$KALMAN_Y,1339.0,-1979.5,255.6,968.7,-40.2
$MHEAD_RNG_PITCHd_Wd,354.9,856,-13.0,-10.000
$D_GRID,45
$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,11,-0.73,-244.3,0.0,0.0,0,83,0.00,0.00,-69.72,0.000,2,0.000,0.000,69,2387,3085
$GC,85,-0.73,-244.3,3.3,-6.7,13,123,12.02,2.38,-20.67,0.000,4,0.278,0.097,2644,3765,3964
$STATE,312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,312,begin apogee
$GC,318,-0.23,0.0,45.6,17.3,56,469,0.57,0.00,144.98,0.578,6,0.155,0.000,2813,2235,3212
$STATE,469,end apogee,CONTROL_FINISHED_OK
$STATE,470,begin climb
$GC,471,0.73,244.3,55.0,0.0,85,671,1.00,2.28,190.73,0.555,4,0.114,0.041,3137,847,2216
$GC,701,0.73,244.3,35.9,12.8,129,707,0.00,2.35,0.00,0.000,6,0.000,0.051,3137,2243,2215
$GC,737,0.73,244.3,31.1,12.6,136,738,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2242,2214
$GC,769,0.73,244.3,26.6,13.7,142,770,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2243,2214
$GC,802,0.73,244.3,22.4,12.6,148,802,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2243,2214
$GC,834,0.73,244.3,18.2,12.8,154,835,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2243,2214
$GC,866,0.73,244.3,14.2,12.0,160,873,0.00,2.40,0.00,0.000,4,0.000,0.069,3137,3656,2214
$GC,881,0.73,244.3,12.0,13.9,163,888,0.00,2.22,0.00,0.000,6,0.000,0.036,3147,2251,2213
$GC,918,0.73,244.3,7.3,12.5,170,919,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2248,2213
$GC,950,0.77,273.9,3.9,9.2,176,969,0.00,0.00,17.35,0.519,2,0.000,0.000,3147,2248,2118
$STATE,969,end climb,SURFACE_DEPTH_REACHED
$STATE,969,begin surface coast
$FINISH,0.3,1.020927
$STATE,1014,end surface coast,CONTROL_FINISHED_OK
$STATE,1014,begin surface
$SM_CCo,1028,89.18,0.528,0,0,1377,450.12
$SM_GC,0.96,0.00,0.00,89.18,0.000,0.000,0.528,67,2380,1377,-8.86,0.28,450.12
$IRIDIUM_FIX,4748.51,-12221.84,190699,181836
$TT8_MAMPS,0.049855
$HUMID,1678
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.4,9.725
$10V_AH,10.7,2.633
$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,22.325,14.300,353.050,89.175,0.000,46.708,112.673,119.204,0.000,0.000,0.000,21.793,0.000,375.176,457.460,375.428,314.639,33.323,682.384,0.000,282.544,0.000,0.997,0.000
$DEVICE_MAMPS,277.654,97.409,577.551,528.463,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,118.435,65.187,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6459,188
$CAP_FILE_SIZE,27349,0
$CFSIZE,260165632,258330624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,184646,4807.746,-12223.362,13,2.2,32,18.3