version: 66.05
glider: 70
mission: 3
dive: 7
start: 7 2 108 2 35 3
data:
$ID,70
$MISSION,3
$DIVE,7
$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,-7777.604
$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
$GPS1,023114,4807.072,-12222.979,19,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,023412,4807.050,-12222.989,36,1.1,37,18.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.224
$KALMAN_X,1159.6,782.4,440.3,-1326.5,187.1
$KALMAN_Y,-1917.2,-960.1,-557.7,2018.6,-327.9
$MHEAD_RNG_PITCHd_Wd,311.2,2158,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.32,-146.6,0.0,0.0,0,39,0.00,0.00,-22.70,0.000,6,0.000,0.000,410,2162,3118
$GC,41,-1.32,-146.6,0.5,-5.1,2,57,10.20,2.28,0.00,0.000,4,0.003,0.003,2470,3595,3118
$GC,361,-1.32,-146.6,37.1,-13.0,30,367,0.50,2.90,0.00,0.000,6,0.003,0.003,2365,1860,3116
$GC,398,-1.32,-146.6,41.8,-12.7,33,404,0.38,2.95,0.00,0.000,4,0.004,0.003,2397,3609,3115
$GC,707,-1.32,-146.6,81.1,-13.2,60,712,0.00,3.15,0.00,0.000,6,0.000,0.003,2397,1857,3124
$GC,744,-1.32,-146.6,85.7,-12.4,63,749,0.00,2.78,0.00,0.000,4,0.000,0.003,2393,3539,3115
$GC,771,-1.32,-146.6,89.2,-12.7,65,776,0.00,2.65,0.00,0.000,6,0.000,0.003,2398,1875,3123
$STATE,786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,786,begin apogee
$GC,790,-0.31,0.0,90.9,11.6,66,839,1.27,0.00,42.78,0.004,6,0.003,0.000,2662,2179,2501
$STATE,840,end apogee,CONTROL_FINISHED_OK
$STATE,840,begin climb
$GC,841,1.32,146.6,92.6,0.0,71,896,1.77,2.40,41.47,0.004,4,0.003,0.003,3037,3606,1898
$GC,1008,1.37,186.7,88.9,8.2,86,1031,0.30,3.05,12.62,0.004,6,0.003,0.003,2965,1857,1742
$GC,1061,1.37,186.7,83.4,11.0,91,1066,0.32,2.33,0.00,0.000,4,0.003,0.003,3038,426,1744
$GC,1371,1.37,186.7,49.1,10.6,118,1377,0.30,3.03,0.00,0.000,6,0.003,0.003,2960,2195,1737
$GC,1408,1.37,186.7,44.9,10.9,121,1414,0.40,3.00,0.00,0.000,4,0.003,0.003,3038,456,1742
$GC,1719,1.37,188.9,12.2,9.9,148,1731,0.30,3.17,2.85,0.004,6,0.003,0.003,2961,2220,1722
$GC,1761,1.37,188.9,7.7,10.2,152,1767,0.32,3.15,0.00,0.000,4,0.003,0.003,3029,482,1726
$STATE,1811,end climb,SURFACE_DEPTH_REACHED
$STATE,1811,begin surface coast
$FINISH,1.3,NaN
$STATE,1822,end surface coast,CONTROL_FINISHED_OK
$STATE,1823,begin surface
$SM_CCo,1846,35.53,0.004,0,0,1074,350.04
$SM_GC,0.02,0.00,0.00,35.53,0.000,0.000,0.004,416,2202,1074,-10.50,4.98,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.058292
$HUMID,1501
$INTERNAL_PRESSURE,14.2584
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.5,39.7
$24V_AH,23.7,1.866
$10V_AH,9.8,0.216
$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,29.025,40.425,99.725,35.525,0.000,0.000,0.000,62.941,0.250,641.112,37.575,337.035,895.862,205.868,519.348,112.295,33.324,463.543,0.000,232.603,0.000,2.357,0.000
$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,344.528,0.000,0.000,0.000,0.000,0.000,0.000,25.949
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3313,157
$CAP_FILE_SIZE,62859,0
$CFSIZE,260280320,259260416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,54,165,0,0
$GPS,020708,030705,4806.925,-12222.674,15,1.1,15,18.0