version: 66.05
glider: 70
mission: 3
dive: 16
start: 7 2 108 7 50 33
data:
$ID,70
$MISSION,3
$DIVE,16
$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,-8030.8135
$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
$GPS1,074655,4806.305,-12222.160,34,1.1,35,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,074942,4806.284,-12222.138,27,1.1,27,18.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.165,0.201
$KALMAN_X,4460.1,1140.2,16.1,-3503.8,64.0
$KALMAN_Y,-6550.4,-1532.7,-125.1,5376.3,-39.7
$MHEAD_RNG_PITCHd_Wd,302.6,3924,-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,14,begin dive
$GC,15,-1.32,-146.6,0.0,0.0,0,43,0.00,0.00,-22.60,0.000,6,0.000,0.000,416,1849,3124
$GC,45,-1.32,-146.6,0.7,-3.3,3,58,10.10,0.00,0.00,0.000,6,0.003,0.000,2465,1852,3126
$GC,86,-1.32,-146.6,1.3,-1.5,7,97,0.38,2.97,0.00,0.000,4,0.003,0.003,2394,3623,3128
$GC,120,-1.32,-146.6,7.0,-20.0,10,127,0.30,2.85,0.00,0.000,6,0.003,0.003,2467,1862,3132
$GC,157,-1.32,-146.6,11.7,-12.3,13,160,0.60,0.00,0.00,0.000,6,0.004,0.000,2396,1867,3123
$GC,189,-1.32,-146.6,15.7,-12.7,16,191,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,1862,3125
$GC,222,-1.32,-146.6,19.6,-12.3,19,227,0.00,2.95,0.00,0.000,4,0.000,0.003,2397,3623,3125
$GC,328,-1.32,-146.6,33.3,-13.0,28,333,0.00,3.03,0.00,0.000,6,0.000,0.003,2391,1871,3124
$GC,365,-1.32,-146.6,38.0,-12.8,31,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,1870,3128
$GC,397,-1.32,-146.6,42.0,-12.5,34,399,0.40,0.00,0.00,0.000,6,0.003,0.000,2468,1870,3126
$GC,428,-1.32,-146.6,46.1,-12.5,37,431,0.57,0.00,0.00,0.000,6,0.003,0.000,2359,1872,3122
$GC,460,-1.32,-146.6,50.0,-12.4,40,463,0.45,0.00,0.00,0.000,6,0.003,0.000,2475,1873,3122
$GC,493,-1.32,-146.6,53.8,-12.3,43,498,0.55,2.30,0.00,0.000,4,0.003,0.003,2364,418,3124
$GC,625,-1.32,-146.6,70.3,-12.8,54,634,0.30,3.10,0.00,0.000,6,0.004,0.003,2401,2175,3135
$GC,664,-1.32,-146.6,74.6,-11.8,58,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2174,3130
$GC,696,-1.32,-146.6,78.7,-12.7,61,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2174,3129
$GC,728,-1.32,-146.6,82.6,-12.5,64,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2174,3124
$GC,760,-1.32,-146.6,86.5,-12.2,67,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2173,3121
$STATE,791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,791,begin apogee
$GC,795,-0.31,0.0,90.3,11.9,70,843,1.27,0.00,43.03,0.004,6,0.003,0.000,2668,1884,2500
$STATE,844,end apogee,CONTROL_FINISHED_OK
$STATE,845,begin climb
$GC,846,1.32,146.6,92.3,0.0,75,896,1.62,2.42,41.38,0.004,4,0.003,0.003,3008,429,1902
$GC,1065,1.32,146.6,82.8,11.5,95,1070,0.28,2.78,0.00,0.000,6,0.003,0.003,2936,2121,1898
$GC,1102,1.32,146.6,78.5,11.8,98,1104,0.40,0.00,0.00,0.000,6,0.003,0.000,3007,2123,1896
$GC,1134,1.32,146.6,74.8,11.6,101,1136,0.38,0.00,0.00,0.000,6,0.003,0.000,2924,2120,1899
$GC,1165,1.32,146.6,71.0,11.8,104,1168,0.55,0.00,0.00,0.000,6,0.003,0.000,3040,2120,1902
$GC,1197,1.32,146.6,67.1,12.2,107,1203,0.65,2.30,0.00,0.000,4,0.003,0.003,2929,3551,1901
$GC,1506,1.32,146.6,31.5,11.3,134,1512,0.47,2.60,0.00,0.000,6,0.003,0.003,3031,1912,1900
$GC,1543,1.32,146.6,27.4,11.1,137,1545,0.35,0.00,0.00,0.000,6,0.003,0.000,2956,1911,1905
$GC,1577,1.32,146.6,23.8,11.2,140,1579,0.38,0.00,0.00,0.000,6,0.003,0.000,3028,1910,1903
$GC,1607,1.32,146.6,20.4,10.7,143,1609,0.28,0.00,0.00,0.000,6,0.003,0.000,2955,1909,1904
$GC,1639,1.32,146.6,17.1,10.4,146,1641,0.30,0.00,0.00,0.000,6,0.003,0.000,3032,1905,1905
$GC,1672,1.32,146.6,13.7,10.6,149,1678,0.35,2.85,0.00,0.000,4,0.003,0.003,2959,3528,1892
$GC,1768,1.32,146.6,2.5,11.7,157,1771,0.00,1.33,0.00,0.000,3,0.000,0.003,2963,2808,1902
$STATE,1772,end climb,SURFACE_DEPTH_REACHED
$STATE,1772,begin surface coast
$FINISH,0.8,NaN
$STATE,1781,end surface coast,CONTROL_FINISHED_OK
$STATE,1781,begin surface
$SM_CCo,1803,44.50,0.004,0,0,1077,350.53
$SM_GC,0.02,0.00,0.00,44.50,0.000,0.000,0.004,420,1873,1077,-10.47,-4.38,350.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.065195
$HUMID,1661
$INTERNAL_PRESSURE,14.2681
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.3,41.8
$24V_AH,23.7,3.999
$10V_AH,9.8,0.439
$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,32.900,33.775,84.400,44.500,0.000,0.000,0.000,61.203,0.250,627.343,27.100,370.148,859.966,211.845,467.423,122.331,33.351,453.428,0.000,193.145,0.000,2.352,0.000
$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,351.138,0.000,0.000,0.000,0.000,0.000,0.000,25.498
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3298,158
$CAP_FILE_SIZE,71512,0
$CFSIZE,260280320,258699264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,74,138,0,0
$GPS,020708,082204,4806.455,-12222.266,12,1.1,12,18.0