version: 66.04
glider: 509
mission: 3
dive: 38
start: 3 25 110 20 0 10
data:
$ID,509
$MISSION,3
$DIVE,38
$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,325
$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,-4126.3062
$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,40
$R_STBD_OVSHOOT,26
$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
$GPS1,195507,4808.093,-12223.109,17,1.8,28,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.2
$GPS2,195931,4808.176,-12223.151,12,1.8,29,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.121,-0.302
$KALMAN_X,-1034.1,67.6,-833.5,1866.7,-26.1
$KALMAN_Y,1610.2,-2014.4,562.9,1420.8,128.3
$MHEAD_RNG_PITCHd_Wd,139.9,376,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.73,-244.3,0.0,0.0,0,51,0.00,0.00,-38.17,0.000,2,0.000,0.000,68,2389,2845
$GC,52,-0.73,-244.3,3.3,-8.8,7,101,12.10,2.40,-29.62,0.000,4,0.279,0.100,2641,3776,3964
$GC,157,-0.73,-244.3,18.4,-20.3,27,164,0.00,2.25,0.00,0.000,6,0.000,0.049,2641,2372,3965
$GC,194,-0.73,-244.3,25.8,-19.9,34,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2369,3966
$GC,226,-0.73,-244.3,32.1,-19.7,40,233,0.00,2.22,0.00,0.000,4,0.000,0.044,2641,969,3965
$GC,242,-0.73,-244.3,35.2,-19.5,43,249,0.00,2.30,0.00,0.000,6,0.000,0.061,2636,2355,3965
$GC,279,-0.73,-244.3,42.5,-19.7,50,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2355,3966
$STATE,294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,294,begin apogee
$GC,297,-0.23,0.0,45.6,19.1,53,448,0.62,0.00,144.98,0.578,6,0.162,0.000,2817,2259,3213
$STATE,449,end apogee,CONTROL_FINISHED_OK
$STATE,449,begin climb
$GC,450,0.73,244.3,54.9,0.0,82,646,1.00,0.00,190.90,0.555,6,0.111,0.000,3131,2259,2216
$GC,708,0.73,244.3,31.3,14.1,131,709,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2259,2214
$GC,740,0.73,244.3,27.0,13.3,137,741,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2259,2214
$GC,772,0.73,244.3,22.7,13.5,143,773,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2259,2213
$GC,804,0.73,244.3,18.6,13.6,149,805,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2259,2214
$GC,836,0.73,244.3,14.5,12.5,155,837,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2260,2213
$GC,868,0.73,244.3,10.6,12.1,161,875,0.00,2.28,0.00,0.000,4,0.000,0.043,3141,840,2213
$GC,900,0.73,244.3,7.1,11.3,167,907,0.00,2.33,0.00,0.000,6,0.000,0.053,3141,2250,2214
$STATE,936,end climb,SURFACE_DEPTH_REACHED
$STATE,936,begin surface coast
$FINISH,1.1,1.019811
$STATE,963,end surface coast,CONTROL_FINISHED_OK
$STATE,963,begin surface
$SM_CCo,976,43.12,0.519,1,0,1886,325.02
$SM_GC,1.54,0.00,0.00,43.12,0.000,0.000,0.519,69,2376,1886,-8.85,0.17,325.02
$IRIDIUM_FIX,4751.72,-12223.57,190699,191940
$TT8_MAMPS,0.049088
$HUMID,1693
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,24.4,10.008
$10V_AH,10.7,2.694
$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,22.700,14.125,335.875,43.125,0.000,30.630,33.064,113.434,0.500,0.000,0.000,31.895,0.000,295.681,393.397,375.763,229.233,33.333,609.894,0.000,269.592,0.000,0.998,0.000
$DEVICE_MAMPS,279.188,99.710,577.551,519.259,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,112.639,62.702,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6451,179
$CAP_FILE_SIZE,27949,0
$CFSIZE,260165632,258248704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250310,201803,4808.126,-12223.112,31,1.9,31,18.3