version: 66.05
glider: 70
mission: 3
dive: 15
start: 7 2 108 7 15 30
data:
$ID,70
$MISSION,3
$DIVE,15
$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,-8003.084
$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
$GPS1,071138,4806.173,-12222.103,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,071439,4806.149,-12222.085,33,1.1,33,18.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.117,0.233
$KALMAN_X,4143.5,1241.1,102.5,-3305.8,-17.7
$KALMAN_Y,-6236.2,-1621.0,-191.4,4963.9,-87.4
$MHEAD_RNG_PITCHd_Wd,315.2,4166,-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,-22.52,0.000,6,0.000,0.000,423,1862,3120
$GC,41,-1.32,-146.6,0.4,-4.3,2,60,10.00,2.92,0.00,0.000,4,0.003,0.003,2439,3518,3121
$GC,150,-1.32,-146.6,12.2,-13.6,12,155,0.30,2.60,0.00,0.000,6,0.003,0.003,2368,1844,3117
$GC,187,-1.32,-146.6,17.2,-13.3,15,192,0.40,2.47,0.00,0.000,4,0.003,0.003,2448,479,3121
$GC,217,-1.32,-146.6,21.5,-12.6,17,226,0.30,2.72,0.00,0.000,6,0.003,0.003,2369,2146,3120
$GC,257,-1.32,-146.6,26.2,-13.0,21,259,0.35,0.00,0.00,0.000,6,0.003,0.000,2447,2147,3116
$GC,289,-1.32,-146.6,30.5,-13.2,24,294,0.35,2.65,0.00,0.000,4,0.003,0.003,2372,488,3114
$GC,331,-1.32,-146.6,36.6,-13.5,27,341,0.30,2.72,0.00,0.000,6,0.004,0.003,2409,2130,3122
$GC,371,-1.32,-146.6,41.4,-13.3,31,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2130,3124
$GC,403,-1.32,-146.6,45.5,-12.7,34,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2128,3121
$GC,436,-1.32,-146.6,49.5,-12.6,37,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2129,3112
$GC,467,-1.32,-146.6,53.5,-12.4,40,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2131,3119
$GC,498,-1.32,-146.6,57.4,-12.5,43,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2129,3122
$GC,532,-1.32,-146.6,61.3,-12.3,46,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2127,3115
$GC,563,-1.32,-146.6,65.4,-12.7,49,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2127,3117
$GC,594,-1.32,-146.6,69.3,-12.1,52,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2127,3118
$GC,626,-1.32,-146.6,73.2,-12.3,55,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2129,3116
$GC,658,-1.32,-146.6,77.2,-12.4,58,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2131,3117
$GC,690,-1.32,-146.6,81.1,-12.2,61,694,0.00,2.28,0.00,0.000,4,0.000,0.003,2410,3590,3118
$STATE,761,end dive,TARGET_DEPTH_EXCEEDED
$STATE,761,begin apogee
$GC,768,-0.31,0.0,90.1,12.6,67,815,1.27,0.00,42.78,0.004,6,0.004,0.000,2671,1854,2499
$STATE,816,end apogee,CONTROL_FINISHED_OK
$STATE,816,begin climb
$GC,817,1.32,146.6,92.3,0.0,72,867,1.67,2.22,41.50,0.004,4,0.003,0.003,3005,510,1906
$GC,1061,1.32,146.6,80.2,11.1,94,1070,0.30,2.80,0.00,0.000,6,0.004,0.003,2932,2138,1900
$GC,1100,1.32,146.6,75.8,11.9,98,1105,0.38,2.33,0.00,0.000,4,0.003,0.003,2999,3590,1896
$GC,1409,1.32,146.6,39.8,11.0,125,1414,0.00,2.95,0.00,0.000,6,0.000,0.003,3001,1845,1905
$GC,1447,1.32,146.6,35.5,11.8,128,1452,0.00,2.95,0.00,0.000,4,0.000,0.003,3007,3600,1900
$STATE,1747,end climb,SURFACE_DEPTH_REACHED
$STATE,1747,begin surface coast
$FINISH,0.9,NaN
$STATE,1758,end surface coast,CONTROL_FINISHED_OK
$STATE,1758,begin surface
$SM_CCo,1781,44.53,0.004,0,0,1071,350.29
$SM_GC,0.02,0.00,0.00,44.53,0.000,0.000,0.004,410,1854,1071,-10.55,-4.92,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.059826
$HUMID,1613
$INTERNAL_PRESSURE,14.2779
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.4,41.5
$24V_AH,23.7,3.760
$10V_AH,9.8,0.414
$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,27.875,37.325,84.275,44.525,0.000,0.000,0.000,67.782,0.250,625.453,34.594,340.150,862.894,206.418,479.803,128.008,33.349,447.116,0.000,200.797,0.000,2.761,0.000
$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,341.634,0.000,0.000,0.000,0.000,0.000,0.000,25.221
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3320,155
$CAP_FILE_SIZE,66037,0
$CFSIZE,260280320,258764800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,69,149,0,0
$GPS,020708,074655,4806.305,-12222.160,34,1.1,35,18.0