version: 66.05
glider: 70
mission: 3
dive: 20
start: 7 2 108 10 12 2
data:
$ID,70
$MISSION,3
$DIVE,20
$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,-8121.2153
$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
$GPS1,100828,4806.892,-12222.630,5,1.1,5,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,101111,4806.827,-12222.564,8,1.1,9,18.0
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.220,0.139
$KALMAN_X,5882.4,733.5,-139.5,-4890.7,153.8
$KALMAN_Y,-7478.7,-987.7,122.2,6517.4,47.7
$MHEAD_RNG_PITCHd_Wd,284.2,2805,-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,-146.6,0.0,0.0,0,40,0.00,0.00,-22.40,0.000,6,0.000,0.000,420,1867,3125
$GC,42,-1.32,-146.6,0.4,-3.7,2,58,9.93,2.90,0.00,0.000,4,0.003,0.003,2467,3577,3125
$GC,140,-1.32,-146.6,10.6,-16.2,10,149,0.40,2.78,0.00,0.000,6,0.004,0.003,2430,1891,3125
$GC,179,-1.32,-146.6,15.5,-13.3,14,180,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1890,3127
$GC,211,-1.32,-146.6,19.5,-12.9,17,212,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,1893,3121
$GC,243,-1.32,-146.6,23.6,-12.5,20,244,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1890,3121
$GC,275,-1.32,-146.6,27.6,-12.3,23,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1893,3124
$GC,307,-1.32,-146.6,31.5,-12.2,26,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1893,3121
$GC,338,-1.32,-146.6,35.3,-12.1,29,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1891,3126
$GC,371,-1.32,-146.6,39.2,-12.3,32,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1894,3122
$GC,402,-1.32,-146.6,43.1,-12.3,35,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1893,3124
$GC,434,-1.32,-146.6,46.9,-12.0,38,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1891,3122
$GC,466,-1.32,-146.6,50.8,-11.9,41,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1892,3126
$GC,498,-1.32,-146.6,54.7,-12.1,44,503,0.00,2.85,0.00,0.000,4,0.000,0.003,2429,3544,3124
$GC,675,-1.32,-146.6,76.4,-12.3,59,683,0.00,3.03,0.00,0.000,6,0.000,0.003,2428,1921,3120
$GC,715,-1.32,-146.6,81.1,-13.1,63,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1919,3123
$GC,746,-1.32,-146.6,85.3,-12.8,66,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1918,3122
$GC,778,-1.32,-146.6,89.2,-12.3,69,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1917,3124
$STATE,787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,787,begin apogee
$GC,791,-0.31,0.0,90.5,12.3,70,840,1.15,0.00,42.95,0.004,6,0.003,0.000,2660,2121,2490
$STATE,841,end apogee,CONTROL_FINISHED_OK
$STATE,841,begin climb
$GC,842,1.32,146.6,92.5,0.0,75,890,1.70,0.00,41.28,0.004,6,0.003,0.000,2997,2122,1902
$GC,922,1.60,375.5,93.4,-0.5,83,992,0.38,0.00,63.60,0.004,6,0.003,0.000,3073,2119,972
$GC,1023,1.63,403.3,86.9,8.7,93,1034,0.00,0.00,9.32,0.004,6,0.000,0.000,3067,2123,849
$GC,1064,1.63,403.3,82.5,11.0,97,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2119,850
$GC,1096,1.63,403.3,78.6,11.7,100,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2119,853
$GC,1128,1.63,403.3,75.1,11.4,103,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2122,850
$GC,1160,1.63,403.3,71.4,11.5,106,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2124,855
$GC,1192,1.63,403.3,67.8,11.4,109,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2122,847
$GC,1224,1.63,403.3,64.2,11.3,112,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2122,860
$GC,1256,1.63,403.3,60.6,11.1,115,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2122,855
$GC,1288,1.63,403.3,57.1,11.3,118,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2118,849
$GC,1319,1.63,403.3,53.4,11.3,121,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2123,854
$GC,1351,1.63,403.3,50.0,10.9,124,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2119,853
$GC,1383,1.63,403.3,46.5,11.3,127,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2119,853
$GC,1415,1.63,403.3,43.0,10.8,130,1419,0.00,2.53,0.00,0.000,4,0.000,0.003,3068,3608,853
$GC,1723,1.64,404.6,11.0,9.9,157,1728,0.00,3.03,0.00,0.000,6,0.000,0.003,3067,1875,859
$GC,1760,1.64,404.6,7.2,10.3,160,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,1871,844
$GC,1792,1.64,404.6,3.9,10.5,163,1797,0.00,3.03,0.00,0.000,4,0.000,0.003,3074,3615,853
$STATE,1811,end climb,SURFACE_DEPTH_REACHED
$STATE,1811,begin surface coast
$FINISH,1.1,NaN
$STATE,1823,end surface coast,CONTROL_FINISHED_OK
$STATE,1823,begin surface
$SM_CCo,1907,0.00,0.000,0,0,847,404.25
$SM_GC,0.02,12.40,0.00,0.00,0.003,0.000,0.000,422,1899,847,-10.34,-3.56,404.25
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.111982
$HUMID,1657
$INTERNAL_PRESSURE,14.2779
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.4,41.9
$24V_AH,23.7,4.964
$10V_AH,9.8,0.537
$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,25.950,23.300,157.150,0.000,0.000,0.000,0.000,72.746,0.250,637.428,9.388,351.761,929.895,213.292,443.890,139.074,33.338,457.482,0.000,178.464,0.000,2.355,0.000
$DEVICE_MAMPS,3.835,3.068,3.835,0.000,0.000,103.000,0.000,223.000,420.000,1000.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,GUMSTIX
$SENSOR_SECS,364.989,0.000,0.000,0.000,0.000,0.000,0.000,25.575
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3316,165
$CAP_FILE_SIZE,70893,0
$CFSIZE,260280320,258449408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,57,100,0,0
$GPS,020708,104422,4806.966,-12222.792,11,1.1,11,18.0