version: 66.05
glider: 70
mission: 3
dive: 21
start: 7 2 108 10 48 7
data:
$ID,70
$MISSION,3
$DIVE,21
$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,-8142.6885
$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
$GPS1,104422,4806.966,-12222.792,11,1.1,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,104715,4806.928,-12222.742,20,1.1,20,18.0
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.215,0.147
$KALMAN_X,6134.7,636.7,-117.2,-5285.9,152.5
$KALMAN_Y,-7748.6,-817.5,167.0,6760.6,35.2
$MHEAD_RNG_PITCHd_Wd,286.3,2522,-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,-146.6,0.0,0.0,0,43,0.00,0.00,-24.92,0.000,6,0.000,0.000,424,1900,3126
$GC,45,-1.32,-146.6,0.6,-3.2,3,62,10.27,0.00,0.00,0.000,6,0.003,0.000,2435,1898,3117
$GC,94,-1.32,-146.6,1.6,-1.9,8,100,0.35,2.67,0.00,0.000,4,0.003,0.003,2363,3575,3125
$GC,148,-1.32,-146.6,12.2,-14.8,12,157,0.30,2.72,0.00,0.000,6,0.004,0.003,2403,1915,3121
$GC,187,-1.32,-146.6,17.1,-13.4,16,192,0.00,2.45,0.00,0.000,4,0.000,0.003,2401,468,3121
$GC,496,-1.32,-146.6,54.4,-11.7,43,501,0.00,2.92,0.00,0.000,6,0.000,0.003,2406,2207,3124
$GC,533,-1.32,-146.6,58.9,-11.9,46,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2205,3121
$GC,566,-1.32,-146.6,62.8,-12.0,49,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2206,3114
$GC,597,-1.32,-146.6,66.8,-12.4,52,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2209,3120
$GC,628,-1.32,-146.6,70.6,-12.2,55,633,0.00,2.42,0.00,0.000,4,0.000,0.003,2401,3544,3125
$STATE,790,end dive,TARGET_DEPTH_EXCEEDED
$STATE,790,begin apogee
$GC,797,-0.31,0.0,90.5,12.7,69,844,1.27,0.00,42.90,0.004,6,0.003,0.000,2667,1891,2498
$STATE,845,end apogee,CONTROL_FINISHED_OK
$STATE,845,begin climb
$GC,846,1.32,146.6,92.4,0.0,74,900,1.92,2.53,41.08,0.004,4,0.003,0.003,3043,445,1909
$GC,1049,1.32,146.6,81.9,11.1,92,1058,0.65,2.92,0.00,0.000,6,0.004,0.003,2933,2076,1902
$GC,1089,1.32,146.6,77.6,11.7,96,1094,0.38,2.53,0.00,0.000,4,0.003,0.003,3011,3544,1898
$GC,1398,1.32,146.6,42.8,10.1,123,1404,0.30,3.03,0.00,0.000,6,0.003,0.003,2937,1856,1898
$GC,1435,1.32,146.6,38.3,12.3,126,1441,0.32,2.88,0.00,0.000,4,0.003,0.003,2970,3612,1894
$GC,1745,1.35,170.2,4.3,8.9,153,1757,0.28,2.78,6.88,0.004,6,0.003,0.003,3043,1930,1810
$STATE,1776,end climb,SURFACE_DEPTH_REACHED
$STATE,1776,begin surface coast
$FINISH,1.2,NaN
$STATE,1797,end surface coast,CONTROL_FINISHED_OK
$STATE,1797,begin surface
$SM_CCo,1819,40.03,0.004,0,0,1070,350.53
$SM_GC,0.02,0.00,0.00,40.03,0.000,0.000,0.004,412,2132,1070,-10.53,3.05,350.53
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.075166
$HUMID,1625
$INTERNAL_PRESSURE,14.2877
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.4,38.6
$24V_AH,23.7,5.204
$10V_AH,9.8,0.562
$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,29.725,33.075,90.850,40.025,0.000,0.000,0.000,68.913,0.250,627.421,20.842,333.494,886.231,200.574,491.161,128.582,33.336,451.186,0.000,220.671,0.000,2.357,0.000
$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,346.560,0.000,0.000,0.000,0.000,0.000,0.000,25.645
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3315,158
$CAP_FILE_SIZE,62924,0
$CFSIZE,260280320,258396160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,52,126,0,0
$GPS,020708,111954,4807.037,-12222.957,24,1.1,24,18.0