version: 66.05
glider: 70
mission: 3
dive: 17
start: 7 2 108 8 25 28
data:
$ID,70
$MISSION,3
$DIVE,17
$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,-8040.8975
$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,0
$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
$GPS1,082204,4806.455,-12222.266,12,1.1,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,082437,4806.428,-12222.218,9,1.1,9,18.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.170,0.197
$KALMAN_X,4790.6,1052.0,-36.5,-3791.4,52.3
$KALMAN_Y,-6840.7,-1413.9,-45.8,5734.7,-18.8
$MHEAD_RNG_PITCHd_Wd,301.2,3651,-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,16,-1.32,-146.6,0.0,0.0,0,44,0.00,0.00,-22.50,0.000,6,0.000,0.000,420,1873,3116
$GC,46,-1.32,-146.6,0.6,-3.0,3,68,10.32,2.78,0.00,0.000,4,0.003,0.003,2463,3627,3112
$GC,138,-1.32,-146.6,10.3,-17.3,11,147,0.32,2.95,0.00,0.000,6,0.004,0.003,2418,1883,3107
$GC,177,-1.32,-146.6,15.2,-13.3,15,179,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1883,3109
$GC,210,-1.32,-146.6,19.2,-12.7,18,214,0.00,2.65,0.00,0.000,4,0.000,0.003,2423,3526,3105
$GC,251,-1.32,-146.6,25.0,-13.4,21,259,0.00,2.78,0.00,0.000,6,0.000,0.003,2425,1881,3118
$GC,291,-1.32,-146.6,30.1,-13.8,25,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1883,3111
$GC,322,-1.32,-146.6,34.2,-13.1,28,324,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1882,3109
$GC,354,-1.32,-146.6,38.3,-12.9,31,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,1881,3114
$GC,387,-1.32,-146.6,42.4,-13.0,34,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,1886,3112
$GC,418,-1.32,-146.6,46.5,-13.0,37,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1884,3113
$GC,450,-1.32,-146.6,50.6,-12.7,40,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1882,3110
$GC,482,-1.32,-146.6,54.6,-12.5,43,487,0.00,2.78,0.00,0.000,4,0.000,0.003,2424,3621,3108
$STATE,768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,768,begin apogee
$GC,775,-0.31,0.0,90.3,12.4,68,822,1.12,0.00,42.33,0.004,6,0.004,0.000,2645,1871,2503
$STATE,823,end apogee,CONTROL_FINISHED_OK
$STATE,823,begin climb
$GC,824,1.32,146.6,93.1,0.0,73,879,1.67,2.40,41.55,0.004,4,0.003,0.003,3024,430,1906
$GC,1072,1.32,146.6,80.2,11.8,95,1081,0.30,2.90,0.00,0.000,6,0.003,0.003,2941,2207,1908
$GC,1112,1.32,146.6,75.9,11.6,99,1114,0.40,0.00,0.00,0.000,6,0.003,0.000,3024,2203,1908
$GC,1144,1.32,146.6,72.2,11.6,102,1146,0.43,0.00,0.00,0.000,6,0.003,0.000,2947,2204,1901
$GC,1175,1.32,146.6,68.5,11.7,105,1178,0.30,0.00,0.00,0.000,6,0.003,0.000,3024,2205,1904
$GC,1208,1.32,146.6,64.8,11.9,108,1210,0.43,0.00,0.05,0.005,6,0.003,0.000,2948,2204,1902
$GC,1239,1.32,146.6,61.1,11.4,111,1242,0.45,0.00,0.00,0.000,6,0.003,0.000,3026,2205,1900
$GC,1271,1.32,146.6,57.5,11.6,114,1273,0.40,0.00,0.00,0.000,6,0.003,0.000,2950,2207,1907
$GC,1303,1.32,146.6,53.7,11.5,117,1305,0.28,0.00,0.00,0.000,6,0.003,0.000,3025,2209,1901
$GC,1335,1.32,146.6,50.0,11.5,120,1337,0.38,0.00,0.00,0.000,6,0.003,0.000,2955,2208,1899
$GC,1367,1.32,146.6,46.6,11.0,123,1369,0.32,0.00,0.00,0.000,6,0.003,0.000,2998,2206,1903
$GC,1399,1.32,146.6,43.0,11.2,126,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2208,1903
$GC,1430,1.32,146.6,39.4,11.6,129,1435,0.00,2.28,0.00,0.000,4,0.000,0.003,2999,3533,1904
$GC,1739,1.33,152.8,7.3,9.7,156,1751,0.00,2.85,3.45,0.004,6,0.000,0.003,2996,1856,1878
$GC,1782,1.33,156.9,3.2,9.8,160,1793,0.00,2.92,2.72,0.003,4,0.000,0.003,2997,3623,1855
$STATE,1795,end climb,SURFACE_DEPTH_REACHED
$STATE,1795,begin surface coast
$FINISH,0.3,NaN
$STATE,1807,end surface coast,CONTROL_FINISHED_OK
$STATE,1807,begin surface
$SM_CCo,1830,42.28,0.004,0,0,1072,350.04
$SM_GC,0.02,0.00,0.00,42.28,0.000,0.000,0.004,406,1862,1072,-10.55,-4.61,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.059826
$HUMID,1649
$INTERNAL_PRESSURE,14.2681
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.0,41.3
$24V_AH,23.7,4.238
$10V_AH,9.8,0.463
$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,29.525,33.225,90.100,42.275,0.000,0.000,0.000,65.470,0.250,629.054,9.453,351.107,875.671,217.420,463.969,126.345,33.338,468.255,0.000,200.728,0.000,2.355,0.000
$DEVICE_MAMPS,3.835,3.068,5.369,3.835,0.000,103.000,0.000,223.000,420.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,GUMSTIX
$SENSOR_SECS,358.757,0.000,0.000,0.000,0.000,0.000,0.000,25.440
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3299,162
$CAP_FILE_SIZE,69605,0
$CFSIZE,260280320,258641920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,61,127,0,0
$GPS,020708,085730,4806.603,-12222.349,25,1.1,26,18.0