version: 66.04
glider: 509
mission: 3
dive: 18
start: 3 25 110 8 2 23
data:
$ID,509
$MISSION,3
$DIVE,18
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,-3659.3308
$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,33
$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,2400
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,30
$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
$GPS1,075720,4804.925,-12220.859,8,1.4,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.2
$GPS2,080144,4804.915,-12220.861,14,1.2,14,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.059,-0.180
$KALMAN_X,-1641.2,-116.7,-318.0,4968.8,-345.3
$KALMAN_Y,4106.7,194.3,202.1,-8954.2,695.3
$MHEAD_RNG_PITCHd_Wd,143.6,233,-24.9,-10.000
$D_GRID,150
$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,-0.85,-75.2,0.0,0.0,0,82,0.00,0.00,-69.55,0.000,2,0.000,0.000,63,2412,3155
$GC,84,-0.93,-140.4,3.0,-4.2,13,117,11.95,2.22,-16.23,0.000,4,0.282,0.059,2589,1003,3788
$GC,355,-0.93,-140.4,59.7,-22.1,64,362,0.00,2.28,0.00,0.000,6,0.000,0.060,2581,2385,3789
$GC,424,-0.93,-140.4,75.2,-23.0,77,431,0.00,2.20,0.00,0.000,4,0.000,0.045,2581,995,3789
$GC,498,-0.93,-140.4,91.6,-21.3,91,505,0.00,2.30,0.00,0.000,6,0.000,0.060,2579,2395,3790
$STATE,604,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,604,begin apogee
$GC,607,-0.21,0.0,114.4,20.1,111,723,0.85,0.00,111.40,0.617,6,0.173,0.000,2824,2394,3212
$STATE,723,end apogee,CONTROL_FINISHED_OK
$STATE,723,begin climb
$GC,724,0.93,140.4,120.2,0.0,133,841,1.12,2.40,110.82,0.594,4,0.103,0.064,3190,3760,2639
$GC,924,0.93,140.4,94.1,19.3,171,931,0.00,2.25,0.00,0.000,6,0.000,0.035,3201,2349,2638
$GC,1186,0.93,140.4,50.8,16.1,220,1193,0.00,2.35,0.00,0.000,4,0.000,0.063,3200,3760,2638
$GC,1223,0.93,140.4,44.6,17.4,227,1230,0.00,2.20,0.00,0.000,6,0.000,0.034,3211,2340,2638
$GC,1292,0.93,140.4,33.7,15.5,240,1299,0.00,2.17,0.00,0.000,4,0.000,0.040,3221,948,2637
$GC,1355,0.93,140.4,23.8,14.9,252,1362,0.00,2.25,0.00,0.000,6,0.000,0.046,3222,2353,2637
$GC,1392,0.93,140.4,18.5,14.7,259,1399,0.00,2.30,0.00,0.000,4,0.000,0.063,3222,3756,2637
$GC,1408,0.93,140.4,16.2,14.1,262,1415,0.10,2.17,0.00,0.000,6,0.224,0.032,3206,2347,2637
$GC,1445,0.93,140.4,11.2,13.0,269,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2347,2637
$GC,1477,0.93,140.4,7.4,11.3,275,1484,0.00,2.30,0.00,0.000,4,0.000,0.061,3203,3753,2638
$GC,1525,0.95,162.6,3.3,8.0,284,1533,0.00,2.15,4.80,0.426,2,0.000,0.032,3212,2349,2608
$STATE,1534,end climb,SURFACE_DEPTH_REACHED
$STATE,1534,begin surface coast
$FINISH,2.4,1.020672
$STATE,1573,end surface coast,CONTROL_FINISHED_OK
$STATE,1573,begin surface
$SM_CCo,1587,148.88,0.535,0,0,1377,450.12
$SM_GC,1.78,0.00,0.00,148.88,0.000,0.000,0.535,71,2409,1377,-8.84,0.25,450.12
$IRIDIUM_FIX,4748.51,-12224.57,190699,070706
$TT8_MAMPS,0.050622
$HUMID,1679
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,44.1
$24V_AH,24.5,8.388
$10V_AH,10.7,2.290
$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,23.375,31.625,227.025,148.875,0.000,24.211,35.047,142.681,0.500,0.000,0.000,16.082,0.000,743.874,458.455,556.244,244.230,33.301,733.369,0.000,433.287,0.000,5.522,0.000
$DEVICE_MAMPS,282.256,96.642,617.435,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.616,92.521,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9616,293
$CAP_FILE_SIZE,36483,0
$CFSIZE,260165632,258756608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,083150,4804.804,-12220.728,13,1.6,13,18.3