version: 66.04
glider: 509
mission: 3
dive: 40
start: 3 25 110 20 45 58
data:
$ID,509
$MISSION,3
$DIVE,40
$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,-4174.5703
$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,38
$R_STBD_OVSHOOT,29
$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
$GPS1,204038,4808.149,-12223.132,31,1.4,31,18.3
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-77.0
$GPS2,204519,4808.235,-12223.182,14,1.4,31,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.066,-0.318
$KALMAN_X,-1305.1,44.6,-736.8,2025.7,-3.3
$KALMAN_Y,2083.5,-1906.5,610.8,904.4,178.2
$MHEAD_RNG_PITCHd_Wd,150.0,490,-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,-38.72,0.000,2,0.000,0.000,68,2378,2885
$GC,52,-0.73,-244.3,3.3,-6.7,7,101,11.93,2.42,-28.25,0.000,4,0.274,0.098,2645,3763,3964
$GC,152,-0.73,-244.3,17.7,-20.0,26,159,0.00,2.22,0.00,0.000,6,0.000,0.048,2645,2375,3965
$GC,189,-0.73,-244.3,24.9,-19.4,33,196,0.00,2.22,0.00,0.000,4,0.000,0.045,2645,971,3965
$GC,205,-0.73,-244.3,27.9,-19.0,36,212,0.00,2.30,0.00,0.000,6,0.000,0.060,2636,2355,3965
$GC,242,-0.73,-244.3,34.9,-18.8,43,242,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2355,3965
$GC,274,-0.73,-244.3,41.4,-19.7,49,281,0.00,2.20,0.00,0.000,4,0.000,0.044,2636,970,3965
$GC,284,-0.73,-244.3,43.4,-19.7,51,291,0.10,2.33,0.00,0.000,6,0.170,0.059,2654,2376,3965
$STATE,293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,293,begin apogee
$GC,296,-0.23,0.0,45.5,20.7,53,448,0.55,0.00,145.35,0.576,6,0.160,0.000,2816,2257,3213
$STATE,448,end apogee,CONTROL_FINISHED_OK
$STATE,448,begin climb
$GC,450,0.73,244.3,54.4,0.0,82,651,0.98,2.47,191.02,0.554,4,0.113,0.070,3124,3668,2216
$GC,675,0.73,244.3,35.3,14.3,125,682,0.00,2.33,0.00,0.000,6,0.000,0.036,3134,2239,2215
$GC,712,0.73,244.3,30.0,14.4,132,719,0.00,2.25,0.00,0.000,4,0.000,0.041,3145,850,2214
$GC,749,0.73,244.3,25.0,13.3,139,756,0.00,2.33,0.00,0.000,6,0.000,0.050,3145,2248,2214
$GC,786,0.73,244.3,19.9,14.6,146,787,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2248,2214
$GC,818,0.73,244.3,15.8,13.1,152,819,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2248,2214
$GC,850,0.73,244.3,11.6,12.8,158,857,0.00,2.25,0.00,0.000,4,0.000,0.042,3153,847,2214
$GC,882,0.73,244.3,7.4,13.8,164,889,0.00,2.30,0.00,0.000,6,0.000,0.052,3153,2245,2214
$STATE,917,end climb,SURFACE_DEPTH_REACHED
$STATE,918,begin surface coast
$FINISH,1.5,1.019859
$STATE,939,end surface coast,CONTROL_FINISHED_OK
$STATE,939,begin surface
$SM_CCo,953,45.12,0.518,1,0,1887,325.02
$SM_GC,1.56,0.00,0.00,45.12,0.000,0.000,0.518,64,2388,1887,-8.86,0.51,325.02
$IRIDIUM_FIX,4751.72,-12226.29,190699,202046
$TT8_MAMPS,0.051389
$HUMID,1690
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.4,10.154
$10V_AH,10.7,2.725
$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,22.625,28.050,336.375,45.125,0.000,22.319,26.224,158.487,0.000,0.000,0.000,33.731,0.000,250.292,422.152,372.539,244.725,33.346,642.751,0.000,263.903,0.000,0.997,0.000
$DEVICE_MAMPS,273.819,98.176,576.017,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,109.304,61.273,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6460,175
$CAP_FILE_SIZE,30462,0
$CFSIZE,260165632,258203648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250310,210332,4808.192,-12223.169,33,1.5,33,18.3