version: 66.05
glider: 70
mission: 3
dive: 19
start: 7 2 108 9 36 41
data:
$ID,70
$MISSION,3
$DIVE,19
$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,45
$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,-8111.1987
$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
$GPS1,093245,4806.767,-12222.457,15,1.1,15,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,093550,4806.743,-12222.424,33,1.1,33,18.0
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.244,0.092
$KALMAN_X,5509.6,838.9,-127.5,-4462.0,121.7
$KALMAN_Y,-7263.3,-1147.0,70.8,6355.8,47.5
$MHEAD_RNG_PITCHd_Wd,272.7,856,-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,-146.6,0.0,0.0,0,40,0.00,0.00,-22.60,0.000,6,0.000,0.000,418,1923,3122
$GC,42,-1.32,-146.6,0.3,-3.4,2,60,10.30,2.90,0.00,0.000,4,0.003,0.003,2454,3544,3119
$GC,363,-1.32,-146.6,38.4,-13.0,31,369,0.30,2.78,0.00,0.000,6,0.003,0.003,2377,1905,3118
$GC,402,-1.32,-146.6,42.7,-12.0,34,407,0.30,2.90,0.00,0.000,4,0.003,0.003,2413,3542,3118
$GC,711,-1.32,-146.6,78.9,-11.7,61,716,0.00,2.78,0.00,0.000,6,0.000,0.003,2410,1909,3126
$GC,748,-1.32,-146.6,83.5,-12.7,64,753,0.00,2.60,0.00,0.000,4,0.000,0.003,2413,3554,3116
$STATE,800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,800,begin apogee
$GC,806,-0.31,0.0,90.4,12.3,68,854,1.30,0.00,42.95,0.004,6,0.003,0.000,2678,1894,2501
$STATE,855,end apogee,CONTROL_FINISHED_OK
$STATE,855,begin climb
$GC,856,1.32,146.6,93.2,0.0,73,910,1.80,2.45,41.62,0.004,4,0.003,0.003,3010,441,1895
$GC,1214,1.32,146.6,68.0,12.1,105,1220,0.30,2.90,0.00,0.000,6,0.002,0.003,2934,2176,1904
$GC,1251,1.32,146.6,63.8,11.7,108,1253,0.43,0.00,0.00,0.000,6,0.003,0.000,3009,2173,1900
$GC,1283,1.32,146.6,60.1,11.5,111,1285,0.30,0.00,0.00,0.000,6,0.003,0.000,2934,2175,1901
$GC,1314,1.32,146.6,56.4,11.5,114,1317,0.35,0.00,0.00,0.000,6,0.003,0.000,3007,2175,1901
$GC,1346,1.32,146.6,52.7,11.7,117,1349,0.40,0.00,0.00,0.000,6,0.003,0.000,2928,2177,1902
$GC,1378,1.32,146.6,49.1,11.4,120,1381,0.45,0.00,0.00,0.000,6,0.003,0.000,3006,2177,1896
$GC,1410,1.32,146.6,45.3,11.5,123,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2173,1900
$GC,1442,1.32,146.6,41.9,11.4,126,1444,0.43,0.00,0.00,0.000,6,0.003,0.000,2928,2176,1894
$GC,1474,1.32,146.6,38.3,10.9,129,1476,0.55,0.00,0.00,0.000,6,0.003,0.000,3041,2178,1897
$GC,1506,1.32,146.6,34.8,10.9,132,1508,0.43,0.00,0.00,0.000,6,0.003,0.000,2964,2172,1896
$GC,1538,1.32,146.6,31.4,10.9,135,1540,0.43,0.00,0.00,0.000,6,0.003,0.000,3037,2175,1897
$GC,1570,1.32,146.6,27.6,11.6,138,1572,0.57,0.00,0.00,0.000,6,0.003,0.000,2931,2172,1899
$GC,1601,1.32,146.6,24.1,11.3,141,1604,0.57,0.00,0.00,0.000,6,0.003,0.000,3042,2173,1893
$GC,1633,1.32,146.6,20.6,11.2,144,1635,0.38,0.00,0.00,0.000,6,0.003,0.000,2962,2175,1896
$GC,1665,1.32,146.6,17.1,11.2,147,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2176,1898
$GC,1697,1.32,146.6,13.7,10.7,150,1699,0.43,0.00,0.00,0.000,6,0.003,0.000,3038,2175,1899
$GC,1729,1.32,146.6,10.2,10.8,153,1731,0.43,0.00,0.00,0.000,6,0.003,0.000,2967,2176,1907
$GC,1761,1.32,146.6,6.7,10.8,156,1763,0.32,0.00,0.00,0.000,6,0.003,0.000,3003,2172,1904
$GC,1793,1.32,146.6,2.9,11.8,159,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2174,1900
$STATE,1802,end climb,SURFACE_DEPTH_REACHED
$STATE,1802,begin surface coast
$FINISH,0.4,NaN
$STATE,1813,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1833,44.40,0.004,0,0,1078,350.29
$SM_GC,0.02,0.00,0.00,44.40,0.000,0.000,0.004,416,1870,1078,-10.47,-4.33,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.055991
$HUMID,1692
$INTERNAL_PRESSURE,14.2779
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.5,40.4
$24V_AH,23.7,4.720
$10V_AH,9.8,0.513
$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,32.900,22.500,84.575,44.400,0.000,0.000,0.000,73.764,0.250,638.429,33.490,353.738,901.252,195.154,488.593,134.105,33.335,434.169,0.000,200.967,0.000,2.355,0.000
$DEVICE_MAMPS,3.068,3.068,3.835,3.835,0.000,103.000,0.000,223.000,420.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,GUMSTIX
$SENSOR_SECS,356.797,0.000,0.000,0.000,0.000,0.000,0.000,25.819
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3305,161
$CAP_FILE_SIZE,69261,0
$CFSIZE,260280320,258523136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,73,86,0,0
$GPS,020708,100828,4806.892,-12222.630,5,1.1,5,18.0