version: 66.07
glider: 178
mission: 3
dive: 21
start: 5 14 110 10 35 6
data:
$ID,178
$MISSION,3
$DIVE,21
$D_SURF,7
$D_FLARE,3
$D_TGT,120
$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,40
$T_MISSION,60
$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,575
$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,-5395.1577
$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,3140
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,2220
$C_ROLL_CLIMB,2220
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,23
$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,-48.395416
$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
$GPS1,140510,103114,4807.207,-12223.223,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-79.8
$GPS2,140510,103425,4807.188,-12223.200,10,2.0,16,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.193
$KALMAN_X,1941.1,64.5,144.8,-2799.9,84.8
$KALMAN_Y,-736.3,-5.6,-199.5,1672.2,-109.3
$MHEAD_RNG_PITCHd_Wd,307.1,1799,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.69,-117.3,0.0,0.0,0,110,0.00,0.00,-96.22,0.000,2,0.000,0.000,164,2223,3495,0,0,0,0,0,0
$GC,111,-0.69,-117.3,3.4,-9.3,17,147,15.32,2.60,-11.45,0.000,4,0.326,0.074,2907,642,3919,0,0,0,0,0,0
$GC,257,-0.69,-117.3,15.1,-7.6,44,265,0.00,2.60,0.00,0.000,6,0.000,0.065,2897,2214,3921,0,0,0,0,0,0
$GC,327,-0.69,-117.3,21.2,-8.6,56,327,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2214,3921,0,0,0,0,0,0
$GC,513,-0.69,-117.3,41.3,-12.0,74,517,0.00,2.58,0.00,0.000,4,0.000,0.069,2885,3780,3921,0,0,0,0,0,0
$GC,539,-0.69,-117.3,44.8,-13.5,76,547,0.10,2.47,0.00,0.000,6,0.256,0.043,2906,2216,3921,0,0,0,0,0,0
$GC,730,-0.69,-117.3,67.6,-11.8,95,736,0.00,2.58,0.00,0.000,4,0.000,0.067,2897,3782,3921,0,0,0,0,0,0
$GC,784,-0.69,-117.3,74.4,-12.8,100,788,0.00,2.45,0.00,0.000,6,0.000,0.043,2897,2218,3921,0,0,0,0,0,0
$STATE,1041,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1044,-0.14,0.0,105.9,11.9,125,1137,0.75,0.00,89.88,0.640,6,0.226,0.000,3086,2214,3438,0,0,0,0,0,0
$STATE,1137,end apogee,CONTROL_FINISHED_OK
$STATE,1137,begin climb
$GC,1138,0.69,117.3,108.2,0.0,134,1235,0.88,2.67,89.72,0.622,4,0.142,0.051,3364,642,2958,0,0,0,0,0,0
$GC,1249,0.69,117.3,97.1,12.8,144,1257,0.00,2.67,0.00,0.000,6,0.000,0.052,3364,2221,2958,0,0,0,0,0,0
$GC,1565,0.69,117.3,49.3,14.5,175,1570,0.00,2.55,0.00,0.000,4,0.000,0.062,3364,3772,2957,0,0,0,0,0,0
$GC,1644,0.69,117.3,35.9,16.7,182,1653,0.00,2.47,0.00,0.000,6,0.000,0.047,3376,2218,2957,0,0,0,0,0,0
$STATE,1839,end climb,SURFACE_DEPTH_REACHED
$STATE,1839,begin surface coast
$FINISH,2.1,1.019507
$STATE,1886,end surface coast,CONTROL_FINISHED_OK
$STATE,1886,begin surface
$SM_CCo,1900,214.70,0.563,0,0,1092,575.23
$SM_GC,0.88,0.00,0.00,214.70,0.000,0.000,0.563,170,2217,1092,-9.28,-0.08,575.23
$IRIDIUM_FIX,4748.51,-12226.29,071111,040439
$TT8_MAMPS,0.051681
$HUMID,1078121926
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.60
$XPDR_PINGS,11
$24V_AH,24.5,7.726
$10V_AH,10.4,5.524
$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,26.700,25.650,179.600,214.700,0.000,27.116,24.513,84.155,2.750,0.000,17.006,0.000,1149.925,505.740,624.284,30.677,33.344,731.686,0.000,359.767,0.000,0.536,0.000
$DEVICE_MAMPS,325.890,74.205,639.540,563.040,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,145.496,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323628
$DATA_FILE_SIZE,6807,218
$CAP_FILE_SIZE,33653,0
$CFSIZE,260165632,254263296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140510,111106,4807.347,-12223.318,12,1.0,28,18.3