version: 66.09
glider: 178
mission: 7
dive: 2
start: 10 21 110 17 41 57
data:
$ID,178
$MISSION,7
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,200
$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,15
$T_MISSION,30
$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,350
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51433
$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,-122.4
$TGT_DEFAULT_LON,48.080002
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-7194.4375
$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,3220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$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,39
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2280
$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,-47.084213
$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,130
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$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
$GPS1,211010,173756,4808.661,-12223.640,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-77.2
$GPS2,211010,174101,4808.686,-12223.642,11,1.5,16,18.4
$SPEED_LIMITS,0.119,0.374
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.142,-0.346
$KALMAN_X,-53.3,-53.3,-53.3,104.8,-89.0
$KALMAN_Y,150.4,150.4,150.4,-22.1,251.1
$MHEAD_RNG_PITCHd_Wd,139.3,1510,-10.5,-10.000
$D_GRID,92
$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,-0.80,-342.1,0.0,0.0,0,152,0.00,0.00,-131.75,0.000,6,0.000,0.000,164,2001,3675,0,0,0,0,0,0
$GC,154,-0.80,-342.1,3.8,-11.7,24,173,12.07,2.53,0.00,0.000,4,0.256,0.054,2942,3588,3678,0,0,0,0,0,0
$GC,343,-0.80,-342.1,14.2,-4.1,57,349,0.00,2.45,0.00,0.000,6,0.000,0.037,2942,1994,3679,0,0,0,0,0,0
$GC,417,-0.80,-342.1,17.6,-5.0,70,423,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,1994,3679,0,0,0,0,0,0
$GC,490,-0.80,-342.1,21.6,-5.8,81,494,0.00,2.58,0.00,0.000,4,0.000,0.060,2929,3594,3679,0,0,0,0,0,0
$GC,562,-0.80,-342.1,26.7,-7.4,87,567,0.12,2.45,0.00,0.000,6,0.177,0.037,2959,1995,3679,0,0,0,0,0,0
$GC,760,-0.80,-342.1,39.0,-6.0,105,764,0.00,2.58,0.00,0.000,4,0.000,0.061,2950,3595,3679,0,0,0,0,0,0
$STATE,842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,842,begin apogee
$GC,848,-0.18,0.0,45.1,7.7,112,1117,0.65,0.00,259.75,0.592,6,0.141,0.000,3152,2002,2279,0,0,0,0,0,0
$STATE,1117,end apogee,CONTROL_FINISHED_OK
$STATE,1117,begin climb
$GC,1119,0.80,342.1,34.1,0.0,137,1252,0.93,0.00,128.27,0.561,2,0.080,0.000,3475,2002,1617,0,0,0,0,0,0
$STATE,1253,end climb,SURFACE_DEPTH_REACHED
$STATE,1253,begin surface coast
$FINISH,-0.3,1.008175
$STATE,1264,end surface coast,CONTROL_FINISHED_OK
$STATE,1264,begin surface
$SM_CCo,1279,137.80,0.545,0,0,425,455.03
$SM_CCo,1419,0.00,0.000,0,0,424,455.28
$SM_CCo,1421,0.00,0.000,0,0,423,455.52
$SM_GC,0.58,0.00,0.00,0.00,0.000,0.000,0.000,167,2001,423,-9.55,-0.08,455.52
$IRIDIUM_FIX,4748.51,-12223.57,211010,171709
$TT8_MAMPS,0.026964
$HUMID,48.74
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,19.70
$XPDR_PINGS,4
$24V_AH,24.6,14.490
$10V_AH,10.4,7.183
$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,22.900,15.050,388.025,137.800,0.000,0.000,0.000,0.000,1.000,0.000,17.203,297.280,304.694,563.837,312.759,20.486,30.181,814.908,0.000,306.690,0.000,1.002,0.000
$DEVICE_MAMPS,255.510,61.200,592.110,545.445,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,100.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323836
$DATA_FILE_SIZE,3502,157
$CAP_FILE_SIZE,47669,0
$CFSIZE,260165632,253964288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,211010,180620,4808.662,-12223.600,8,1.9,8,18.3