version: 66.05
glider: 70
mission: 3
dive: 4
start: 7 2 108 0 46 13
data:
$ID,70
$MISSION,3
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7683.7544
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,3
$R_STBD_OVSHOOT,1
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.19713593
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,2
$SMARTDEVICE1,-1
$SMARTDEVICE2,19
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043805656
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.5554549e-05
$SEABIRD_T_J,2.6681391e-06
$SEABIRD_C_G,-10.331019
$SEABIRD_C_H,1.1763502
$SEABIRD_C_I,-0.0012340198
$SEABIRD_C_J,0.00017379176
$GPS1,004229,4807.380,-12223.361,9,1.1,9,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,004523,4807.355,-12223.349,33,1.1,33,18.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.164,0.202
$KALMAN_X,537.1,406.5,373.4,-696.8,328.6
$KALMAN_Y,-730.5,-502.5,-439.5,829.9,-411.8
$MHEAD_RNG_PITCHd_Wd,302.9,1441,-18.2,-10.000
$D_GRID,100
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.32,-146.6,0.0,0.0,0,43,0.00,0.00,-22.35,0.000,6,0.000,0.000,396,1891,3119
$GC,45,-1.32,-146.6,0.7,-3.2,3,61,9.95,3.00,0.00,0.000,4,0.003,0.003,2439,3619,3116
$GC,76,-1.32,-146.6,1.3,-1.2,5,85,0.30,3.03,0.00,0.000,6,0.004,0.003,2359,1865,3118
$GC,115,-1.32,-146.6,5.6,-11.7,9,117,0.40,0.00,0.00,0.000,6,0.003,0.000,2435,1865,3125
$GC,147,-1.32,-146.6,9.1,-11.8,12,149,0.40,0.00,0.00,0.000,6,0.003,0.000,2359,1868,3117
$GC,179,-1.32,-146.6,13.5,-13.5,15,185,0.50,2.60,0.00,0.000,4,0.004,0.003,2473,520,3117
$GC,488,-1.32,-146.6,53.7,-12.1,42,494,0.47,2.60,0.00,0.000,6,0.003,0.003,2359,2158,3128
$GC,525,-1.32,-146.6,58.2,-12.3,45,531,0.45,2.85,0.00,0.000,4,0.004,0.003,2466,494,3125
$STATE,769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,769,begin apogee
$GC,776,-0.31,0.0,90.2,13.9,66,823,0.82,0.00,42.88,0.004,6,0.003,0.000,2655,2168,2501
$STATE,824,end apogee,CONTROL_FINISHED_OK
$STATE,824,begin climb
$GC,825,1.32,146.6,93.4,0.0,71,880,1.98,2.42,41.53,0.004,4,0.003,0.003,3031,3600,1900
$GC,1183,1.32,146.6,70.7,11.5,103,1189,0.30,2.78,0.00,0.000,6,0.003,0.003,2954,1845,1898
$GC,1220,1.32,146.6,66.7,10.9,106,1226,0.38,2.80,0.00,0.000,4,0.004,0.003,3026,3579,1905
$GC,1375,1.32,146.6,49.3,10.9,119,1384,0.25,2.97,0.00,0.000,6,0.004,0.003,2960,1941,1900
$GC,1415,1.32,146.6,45.3,11.0,123,1420,0.30,2.53,0.00,0.000,4,0.003,0.003,2998,493,1902
$GC,1679,1.32,146.6,17.3,11.0,146,1683,0.00,2.70,0.00,0.000,6,0.000,0.003,2995,2152,1902
$GC,1717,1.32,146.6,13.1,11.4,149,1721,0.00,2.45,0.00,0.000,4,0.000,0.003,3001,3563,1896
$STATE,1822,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,1.4,NaN
$STATE,1833,end surface coast,CONTROL_FINISHED_OK
$STATE,1833,begin surface
$SM_CCo,1857,44.33,0.004,0,0,1076,350.04
$SM_GC,0.02,0.00,0.00,44.33,0.000,0.000,0.004,407,1916,1076,-10.54,-3.08,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.055991
$HUMID,1474
$INTERNAL_PRESSURE,14.2584
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.2,37.5
$24V_AH,23.7,1.132
$10V_AH,9.8,0.140
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.175,38.150,84.400,44.325,0.000,0.000,0.000,65.732,0.250,635.183,33.406,339.245,913.010,202.648,515.459,115.983,32.335,458.223,0.000,230.560,0.000,2.363,0.000
$DEVICE_MAMPS,3.835,3.068,3.835,3.835,0.000,103.000,0.000,223.000,420.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,GUMSTIX
$SENSOR_SECS,350.289,0.000,0.000,0.000,0.000,0.000,0.000,25.882
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3315,159
$CAP_FILE_SIZE,63624,0
$CFSIZE,260280320,259448832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,63,156,0,0
$GPS,020708,011830,4807.213,-12223.370,11,1.1,11,18.0