version: 66.07
glider: 178
mission: 2
dive: 6
start: 5 4 110 21 1 30
data:
$ID,178
$MISSION,2
$DIVE,6
$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,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,-3805.6091
$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,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,21
$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
$GPS1,040510,205658,4808.143,-12223.726,9,2.9,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-71.0
$GPS2,040510,210034,4808.180,-12223.753,10,2.9,29,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,-0.218
$KALMAN_X,-675.4,-382.5,-291.4,609.5,-98.9
$KALMAN_Y,1614.0,861.2,638.6,-1360.0,263.5
$MHEAD_RNG_PITCHd_Wd,140.1,2376,-19.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-117.3,0.0,0.0,0,147,0.00,0.00,-129.07,0.000,2,0.000,0.000,163,2098,3823,0,0,0,0,0,0
$GC,149,-0.72,-117.3,4.1,-10.8,23,168,13.32,0.00,-1.73,0.000,6,0.293,0.000,2931,2098,3919,0,0,0,0,0,0
$GC,240,-0.72,-117.3,22.4,-10.3,37,245,0.00,2.65,0.00,0.000,4,0.000,0.074,2920,3695,3922,0,0,0,0,0,0
$GC,494,-0.72,-117.3,49.3,-11.2,59,498,0.00,2.50,0.00,0.000,6,0.000,0.047,2921,2090,3922,0,0,0,0,0,0
$GC,691,-0.72,-117.3,71.3,-11.3,77,696,0.00,2.62,0.00,0.000,4,0.000,0.071,2909,3687,3922,0,0,0,0,0,0
$GC,707,-0.72,-117.3,73.4,-11.4,78,712,0.00,2.50,0.00,0.000,6,0.000,0.046,2909,2089,3922,0,0,0,0,0,0
$STATE,966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,967,begin apogee
$GC,970,-0.15,0.0,104.2,11.8,102,1069,0.75,0.00,90.18,0.649,6,0.198,0.000,3114,2088,3437,0,0,0,0,0,0
$STATE,1070,end apogee,CONTROL_FINISHED_OK
$STATE,1070,begin climb
$GC,1071,0.72,117.3,106.1,0.0,112,1170,0.88,2.70,89.97,0.629,4,0.121,0.055,3404,517,2958,0,0,0,0,0,0
$GC,1286,0.72,117.3,76.0,17.2,131,1294,0.00,2.62,0.00,0.000,6,0.000,0.055,3404,2094,2957,0,0,0,0,0,0
$GC,1613,0.72,117.3,21.1,15.0,162,1617,0.00,2.60,0.00,0.000,4,0.000,0.066,3405,3690,2957,0,0,0,0,0,0
$STATE,1780,end climb,SURFACE_DEPTH_REACHED
$STATE,1780,begin surface coast
$FINISH,6.4,1.019626
$STATE,1871,end surface coast,CONTROL_FINISHED_OK
$STATE,1871,begin surface
$SM_CCo,1890,214.73,0.575,0,0,1398,500.17
$SM_GC,1.04,0.00,0.00,214.73,0.000,0.000,0.575,167,2095,1398,-9.39,-0.14,500.17
$IRIDIUM_FIX,4754.94,-12223.57,281011,141456
$TT8_MAMPS,0.027713
$HUMID,1078147732
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,18.50
$XPDR_PINGS,3
$24V_AH,24.5,3.342
$10V_AH,10.5,2.909
$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,24.725,20.725,180.150,214.725,0.000,28.650,27.738,79.114,0.750,0.000,31.675,467.119,804.109,502.603,541.861,27.414,33.330,743.982,0.000,378.612,0.000,0.537,0.000
$DEVICE_MAMPS,292.995,74.205,649.485,575.280,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,137.068,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323892
$DATA_FILE_SIZE,6845,206
$CAP_FILE_SIZE,31150,0
$CFSIZE,260165632,254758912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040510,213720,4808.090,-12223.720,12,1.8,12,18.3