version: 66.07
glider: 178
mission: 2
dive: 15
start: 5 5 110 3 5 52
data:
$ID,178
$MISSION,2
$DIVE,15
$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,-3817.0283
$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,3160
$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,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,19
$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
$GPS1,050510,030150,4807.421,-12223.368,14,1.8,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.1
$GPS2,050510,030455,4807.412,-12223.400,13,1.9,13,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.188
$KALMAN_X,-2502.4,-426.4,71.9,2554.2,-114.2
$KALMAN_Y,4831.3,914.9,-229.5,-5185.7,113.4
$MHEAD_RNG_PITCHd_Wd,124.7,910,-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,14,-0.69,-117.3,0.0,0.0,0,108,0.00,0.00,-90.80,0.000,2,0.000,0.000,167,2103,3818,0,0,0,0,0,0
$GC,110,-0.69,-117.3,3.3,-7.0,16,135,14.45,2.50,-2.15,0.000,4,0.311,0.079,2937,567,3920,0,0,0,0,0,0
$GC,209,-0.69,-117.3,18.4,-9.4,33,216,0.00,2.62,0.00,0.000,6,0.000,0.060,2928,2159,3921,0,0,0,0,0,0
$GC,282,-0.69,-117.3,25.0,-8.8,41,286,0.00,2.58,0.00,0.000,4,0.000,0.057,2927,564,3922,0,0,0,0,0,0
$GC,314,-0.69,-117.3,28.4,-10.5,43,321,0.00,2.60,0.00,0.000,6,0.000,0.062,2917,2152,3922,0,0,0,0,0,0
$GC,511,-0.69,-117.3,49.3,-11.6,62,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2152,3922,0,0,0,0,0,0
$GC,702,-0.69,-117.3,70.9,-10.9,80,707,0.00,2.58,0.00,0.000,4,0.000,0.078,2905,3738,3922,0,0,0,0,0,0
$GC,810,-0.69,-117.3,83.9,-12.1,89,815,0.12,2.50,0.00,0.000,6,0.239,0.047,2929,2137,3923,0,0,0,0,0,0
$STATE,995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,995,begin apogee
$GC,998,-0.14,0.0,103.3,9.9,106,1092,0.68,0.00,90.15,0.642,6,0.209,0.000,3109,2134,3438,0,0,0,0,0,0
$STATE,1092,end apogee,CONTROL_FINISHED_OK
$STATE,1092,begin climb
$GC,1094,0.69,117.3,104.8,0.0,115,1194,0.85,2.65,90.43,0.623,4,0.140,0.057,3381,573,2958,0,0,0,0,0,0
$GC,1231,0.69,117.3,88.7,14.7,128,1240,0.00,2.67,0.00,0.000,6,0.000,0.055,3381,2152,2957,0,0,0,0,0,0
$GC,1557,0.69,117.3,36.5,15.9,159,1561,0.00,2.60,0.00,0.000,4,0.000,0.067,3381,3749,2957,0,0,0,0,0,0
$GC,1652,0.69,117.3,20.1,17.1,167,1656,0.00,2.53,0.00,0.000,6,0.000,0.051,3392,2150,2957,0,0,0,0,0,0
$STATE,1768,end climb,SURFACE_DEPTH_REACHED
$STATE,1768,begin surface coast
$FINISH,3.4,1.020326
$STATE,1893,end surface coast,CONTROL_FINISHED_OK
$STATE,1893,begin surface
$SM_CCo,1909,193.48,0.572,0,0,1399,500.17
$SM_GC,0.93,0.00,0.00,193.48,0.000,0.000,0.572,163,2148,1399,-9.37,-0.06,500.17
$IRIDIUM_FIX,4751.72,-12226.29,281011,202016
$TT8_MAMPS,0.027713
$HUMID,1078109023
$INTERNAL_PRESSURE,8.36946
$TCM_TEMP,18.50
$XPDR_PINGS,12
$24V_AH,24.5,3.998
$10V_AH,10.5,3.078
$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,25.875,25.825,180.575,193.475,0.000,24.646,26.402,71.728,3.000,0.000,14.040,490.123,834.137,469.574,489.963,28.254,33.357,699.014,0.000,360.012,0.000,0.536,0.000
$DEVICE_MAMPS,311.355,78.795,641.835,572.220,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,139.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323888
$DATA_FILE_SIZE,6801,209
$CAP_FILE_SIZE,32893,0
$CFSIZE,260165632,254570496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,034158,4807.344,-12223.216,10,3.0,29,18.3