version: 66.07
glider: 178
mission: 2
dive: 3
start: 5 4 110 18 59 50
data:
$ID,178
$MISSION,2
$DIVE,3
$D_SURF,5
$D_FLARE,3
$D_TGT,90
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$T_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,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51315
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,500
$N_FILEKB,8
$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,-3775.749
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,3105
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2004
$C_ROLL_CLIMB,2004
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3438
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.494179
$PRESSURE_SLOPE,0.0001161899
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,040510,185513,4807.899,-12223.605,11,1.7,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-68.2
$GPS2,040510,185856,4807.970,-12223.657,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.098,-0.213
$KALMAN_X,-299.2,-184.1,-181.4,46.3,-276.7
$KALMAN_Y,660.6,400.1,394.1,-98.5,604.7
$MHEAD_RNG_PITCHd_Wd,137.0,1971,-19.7,-10.000
$D_GRID,105
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.97,-117.3,0.0,0.0,0,135,0.00,0.00,-113.32,0.000,6,0.000,0.000,164,1989,3918,0,0,0,0,0,0
$GC,137,-0.97,-117.3,3.8,-9.0,21,156,12.20,2.62,0.00,0.000,4,0.287,0.063,2773,3606,3920,0,0,0,0,0,0
$GC,162,-0.97,-117.3,13.8,-35.5,25,169,0.00,2.53,0.00,0.000,6,0.000,0.047,2782,2005,3920,0,0,0,0,0,0
$GC,235,-0.97,-117.3,24.5,-13.1,35,236,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2004,3921,0,0,0,0,0,0
$GC,426,-0.97,-117.3,52.0,-17.2,53,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2004,3921,0,0,0,0,0,0
$STATE,626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,626,begin apogee
$GC,630,-0.21,0.0,90.5,20.4,72,723,1.00,0.00,89.72,0.643,6,0.237,0.000,3029,2004,3438,0,0,0,0,0,0
$STATE,724,end apogee,CONTROL_FINISHED_OK
$STATE,724,begin climb
$GC,725,0.97,117.3,97.0,0.0,81,824,1.30,2.67,89.80,0.621,4,0.170,0.059,3413,423,2958,0,0,0,0,0,0
$GC,914,0.97,117.3,71.4,17.6,98,919,0.00,2.60,0.00,0.000,6,0.000,0.055,3405,2005,2957,0,0,0,0,0,0
$GC,1239,0.97,117.3,16.9,15.6,129,1246,0.00,2.60,0.00,0.000,4,0.000,0.067,3405,3602,2957,0,0,0,0,0,0
$GC,1498,1.18,295.4,9.5,-0.2,175,1603,0.20,2.50,96.97,0.585,2,0.105,0.045,3484,1999,2433,0,0,0,0,0,0
$STATE,1604,end climb,SURFACE_DEPTH_REACHED
$STATE,1604,begin surface coast
$FINISH,1.5,1.017977
$STATE,1632,end surface coast,CONTROL_FINISHED_OK
$STATE,1632,begin surface
$SM_CCo,1647,118.57,0.561,0,0,1399,500.17
$SM_GC,0.91,0.00,0.00,118.57,0.000,0.000,0.561,167,1999,1399,-9.18,-0.14,500.17
$IRIDIUM_FIX,4751.72,-12226.29,281011,131301
$TT8_MAMPS,0.027713
$HUMID,1078147732
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,18.70
$XPDR_PINGS,4
$24V_AH,24.6,3.091
$10V_AH,10.5,2.850
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,24.700,15.525,276.500,118.575,0.000,0.000,0.000,0.000,1.000,0.000,15.829,401.300,629.072,461.921,327.164,18.253,31.412,690.476,0.000,324.233,0.000,0.536,0.000
$DEVICE_MAMPS,286.875,67.320,642.600,560.745,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,129.700,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323984
$DATA_FILE_SIZE,6821,198
$CAP_FILE_SIZE,36329,0
$CFSIZE,260165632,254820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,193001,4808.000,-12223.639,7,1.6,12,18.3