version: 66.05
glider: 70
mission: 3
dive: 6
start: 7 2 108 1 57 39
data:
$ID,70
$MISSION,3
$DIVE,6
$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,-7739.3994
$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
$GPS1,015359,4807.031,-12223.292,20,1.1,20,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-50.0
$GPS2,015648,4807.008,-12223.294,29,1.1,29,18.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,0.248
$KALMAN_X,798.6,621.3,479.5,-1213.5,136.0
$KALMAN_Y,-1628.5,-868.3,-558.2,1568.0,-427.9
$MHEAD_RNG_PITCHd_Wd,324.0,2034,-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,13,begin dive
$GC,15,-1.32,-146.6,0.0,0.0,0,40,0.00,0.00,-22.62,0.000,6,0.000,0.000,398,1905,3119
$GC,42,-1.32,-146.6,0.3,-3.2,2,58,10.25,2.42,0.00,0.000,4,0.003,0.003,2454,484,3119
$GC,140,-1.32,-146.6,3.1,-8.6,10,149,0.30,2.78,0.00,0.000,6,0.004,0.003,2376,2163,3126
$GC,179,-1.32,-146.6,8.4,-14.5,14,184,0.25,2.53,0.00,0.000,4,0.003,0.003,2453,3577,3121
$GC,210,-1.32,-146.6,12.2,-11.7,16,219,0.30,2.90,0.00,0.000,6,0.004,0.003,2380,1911,3121
$GC,251,-1.32,-146.6,16.5,-11.6,20,257,0.35,2.83,0.00,0.000,4,0.004,0.003,2451,3572,3119
$GC,561,-1.32,-146.6,53.1,-12.0,47,567,0.30,2.67,0.00,0.000,6,0.003,0.003,2379,1893,3121
$GC,599,-1.32,-146.6,58.0,-12.6,50,604,0.40,2.83,0.00,0.000,4,0.004,0.003,2457,3617,3124
$STATE,865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,865,begin apogee
$GC,871,-0.31,0.0,90.6,11.8,73,919,1.20,0.00,42.88,0.004,6,0.004,0.000,2683,1846,2496
$STATE,920,end apogee,CONTROL_FINISHED_OK
$STATE,920,begin climb
$GC,921,1.32,146.6,92.4,0.0,78,975,1.62,2.17,41.33,0.004,4,0.004,0.003,3024,491,1903
$GC,1278,1.32,146.6,67.2,10.7,110,1284,0.28,2.78,0.00,0.000,6,0.003,0.003,2955,2119,1911
$GC,1315,1.32,146.6,63.1,11.3,113,1321,0.30,2.85,0.00,0.000,4,0.003,0.003,2986,452,1906
$GC,1624,1.32,146.6,29.8,10.6,140,1630,0.00,3.15,0.00,0.000,6,0.000,0.003,2991,2192,1907
$GC,1661,1.32,146.6,25.9,11.0,143,1667,0.00,3.17,0.00,0.000,4,0.000,0.003,2986,434,1895
$STATE,1890,end climb,SURFACE_DEPTH_REACHED
$STATE,1890,begin surface coast
$FINISH,1.2,NaN
$STATE,1903,end surface coast,CONTROL_FINISHED_OK
$STATE,1903,begin surface
$SM_CCo,1926,44.60,0.004,0,0,1069,350.29
$SM_GC,0.02,0.00,0.00,44.60,0.000,0.000,0.004,409,2159,1069,-10.52,3.84,350.29
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.055224
$HUMID,1511
$INTERNAL_PRESSURE,14.2584
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,65.2,37.3
$24V_AH,23.7,1.620
$10V_AH,9.8,0.191
$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,28.075,38.900,84.200,44.600,0.000,0.000,0.000,62.319,0.250,659.234,30.342,346.772,957.248,199.809,532.926,113.901,33.323,462.479,0.000,243.185,0.000,2.356,0.000
$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,361.235,0.000,0.000,0.000,0.000,0.000,0.000,26.780
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,1000.000
$DATA_FILE_SIZE,3316,164
$CAP_FILE_SIZE,62953,0
$CFSIZE,260280320,259325952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,42,155,0,0
$GPS,020708,023114,4807.072,-12222.979,19,1.1,20,18.0