version: 66.07
glider: 178
mission: 3
dive: 27
start: 5 14 110 14 37 25
data:
$ID,178
$MISSION,3
$DIVE,27
$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,-5402.6992
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,140510,143313,4807.949,-12223.146,8,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-77.1
$GPS2,140510,143644,4807.917,-12223.146,29,2.0,29,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.169,0.127
$KALMAN_X,2033.5,46.9,93.8,-2753.5,-169.5
$KALMAN_Y,-1727.4,-66.9,-79.0,3954.8,-108.7
$MHEAD_RNG_PITCHd_Wd,34.8,237,-22.2,-10.000
$D_GRID,103
$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,11,begin dive
$GC,12,-0.73,-93.6,0.0,0.0,0,116,0.00,0.00,-101.55,0.000,2,0.000,0.000,167,2209,3573,0,0,0,0,0,0
$GC,117,-0.76,-117.3,3.0,-6.7,18,147,15.15,2.58,-9.82,0.000,4,0.325,0.067,2885,642,3920,0,0,0,0,0,0
$GC,177,-0.76,-117.3,6.8,-7.5,29,185,0.00,2.60,0.00,0.000,6,0.000,0.059,2875,2215,3921,0,0,0,0,0,0
$GC,247,-0.76,-117.3,14.0,-11.0,42,255,0.00,2.58,0.00,0.000,4,0.000,0.067,2863,3771,3921,0,0,0,0,0,0
$GC,402,-0.76,-117.3,32.0,-12.1,62,410,0.10,2.45,0.00,0.000,6,0.261,0.050,2884,2219,3921,0,0,0,0,0,0
$GC,593,-0.76,-117.3,54.9,-12.9,81,598,0.00,2.58,0.00,0.000,4,0.000,0.074,2874,3771,3921,0,0,0,0,0,0
$GC,662,-0.76,-117.3,64.7,-13.9,87,670,0.00,2.45,0.00,0.000,6,0.000,0.044,2874,2213,3921,0,0,0,0,0,0
$STATE,957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,957,begin apogee
$GC,959,-0.14,0.0,103.7,12.9,116,1052,0.88,0.00,89.85,0.638,6,0.236,0.000,3089,2211,3438,0,0,0,0,0,0
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1053,0.76,117.3,105.8,0.0,125,1151,0.98,0.00,90.28,0.620,6,0.141,0.000,3381,2211,2958,0,0,0,0,0,0
$GC,1458,0.76,117.3,44.6,15.5,165,1463,0.00,2.60,0.00,0.000,4,0.000,0.064,3381,3774,2956,0,0,0,0,0,0
$GC,1506,0.76,117.3,36.3,17.4,169,1514,0.00,2.45,0.00,0.000,6,0.000,0.040,3392,2224,2956,0,0,0,0,0,0
$STATE,1700,end climb,SURFACE_DEPTH_REACHED
$STATE,1700,begin surface coast
$FINISH,1.3,1.018057
$STATE,1764,end surface coast,CONTROL_FINISHED_OK
$STATE,1764,begin surface
$SM_CCo,1778,209.07,0.563,0,0,1092,575.23
$SM_GC,0.75,0.00,0.00,209.07,0.000,0.000,0.563,170,2222,1092,-9.28,0.06,575.23
$IRIDIUM_FIX,4751.72,-12219.12,071111,080850
$TT8_MAMPS,0.050932
$HUMID,1078124506
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.60
$XPDR_PINGS,11
$24V_AH,24.5,8.176
$10V_AH,10.5,5.630
$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,26.800,20.275,180.125,209.075,0.000,27.184,31.522,83.726,2.750,0.000,30.189,0.000,1051.429,512.979,611.159,26.584,33.326,717.721,0.000,335.594,0.000,0.536,0.000
$DEVICE_MAMPS,325.125,74.205,638.010,563.040,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,138.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323640
$DATA_FILE_SIZE,6831,208
$CAP_FILE_SIZE,30934,0
$CFSIZE,260165632,254144512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,8
$GPS,140510,151102,4808.002,-12223.012,14,1.7,14,18.3