version: 66.04
glider: 509
mission: 3
dive: 39
start: 3 25 110 20 23 17
data:
$ID,509
$MISSION,3
$DIVE,39
$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,-4140.2104
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,201803,4808.126,-12223.112,31,1.9,31,18.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.8
$GPS2,202238,4808.206,-12223.157,10,1.9,11,18.3
$SPEED_LIMITS,0.100,0.325
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.077,-0.316
$KALMAN_X,-1172.5,55.2,-789.6,1965.4,-16.0
$KALMAN_Y,1852.6,-1968.6,580.7,1171.6,180.4
$MHEAD_RNG_PITCHd_Wd,148.0,428,-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,-244.3,0.0,0.0,0,56,0.00,0.00,-43.83,0.000,2,0.000,0.000,69,2377,3017
$GC,58,-0.73,-244.3,3.5,-5.7,8,101,12.02,2.42,-23.30,0.000,4,0.277,0.098,2641,3760,3965
$GC,136,-0.73,-244.3,16.4,-20.6,23,143,0.00,2.25,0.00,0.000,6,0.000,0.048,2641,2363,3966
$GC,173,-0.73,-244.3,24.0,-20.7,30,180,0.00,2.22,0.00,0.000,4,0.000,0.045,2641,967,3966
$GC,188,-0.73,-244.3,27.1,-19.9,33,195,0.00,2.30,0.00,0.000,6,0.000,0.061,2636,2353,3966
$GC,225,-0.73,-244.3,34.3,-19.6,40,226,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2353,3965
$GC,257,-0.73,-244.3,40.8,-20.1,46,258,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2353,3966
$STATE,277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,277,begin apogee
$GC,280,-0.23,0.0,45.0,20.1,50,437,0.62,0.00,147.40,0.571,6,0.160,0.000,2818,2262,3212
$STATE,438,end apogee,CONTROL_FINISHED_OK
$STATE,438,begin climb
$GC,440,0.73,244.3,54.4,0.0,80,640,0.98,2.47,190.88,0.553,4,0.107,0.074,3126,3661,2215
$GC,670,0.73,244.3,34.5,14.4,124,677,0.00,2.33,0.00,0.000,6,0.000,0.038,3137,2236,2214
$GC,707,0.73,244.3,29.2,14.3,131,714,0.00,2.25,0.00,0.000,4,0.000,0.042,3147,848,2215
$GC,744,0.73,244.3,24.1,13.5,138,751,0.00,2.35,0.00,0.000,6,0.000,0.052,3147,2255,2214
$GC,781,0.73,244.3,18.9,14.3,145,782,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2255,2214
$GC,813,0.73,244.3,14.6,13.7,151,814,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,2255,2214
$GC,845,0.73,244.3,10.5,13.5,157,852,0.00,2.25,0.00,0.000,4,0.000,0.041,3156,850,2214
$GC,876,0.73,244.3,6.4,12.5,163,883,0.00,2.30,0.00,0.000,6,0.000,0.053,3156,2247,2214
$STATE,902,end climb,SURFACE_DEPTH_REACHED
$STATE,902,begin surface coast
$FINISH,0.5,1.019673
$STATE,923,end surface coast,CONTROL_FINISHED_OK
$STATE,923,begin surface
$SM_CCo,937,45.25,0.504,2,0,1887,325.02
$SM_GC,1.65,0.00,0.00,45.25,0.000,0.000,0.504,68,2378,1887,-8.85,0.23,325.02
$IRIDIUM_FIX,4751.72,-12221.84,190699,202054
$TT8_MAMPS,0.049855
$HUMID,1692
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.4,10.081
$10V_AH,10.7,2.709
$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,22.325,23.500,338.275,45.250,0.000,25.971,28.473,166.555,0.000,0.000,0.000,13.274,0.000,247.277,421.031,345.369,258.962,33.339,638.018,0.000,259.574,0.000,0.997,0.000
$DEVICE_MAMPS,276.887,98.176,571.415,503.919,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,107.360,59.614,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6489,172
$CAP_FILE_SIZE,29207,0
$CFSIZE,260165632,258224128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,250310,204038,4808.149,-12223.132,31,1.4,31,18.3