version: 66.07
glider: 178
mission: 2
dive: 25
start: 5 5 110 9 33 41
data:
$ID,178
$MISSION,2
$DIVE,25
$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,-3830.2683
$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,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,050510,092931,4806.157,-12222.149,39,1.9,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-77.4
$GPS2,050510,093244,4806.155,-12222.155,11,2.0,11,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.140
$KALMAN_X,-3556.5,93.5,-63.4,4762.5,-67.6
$KALMAN_Y,7239.8,-188.6,271.8,-9321.4,18.5
$MHEAD_RNG_PITCHd_Wd,121.2,345,-25.6,-10.000
$D_GRID,108
$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,-0.80,-71.0,0.0,0.0,0,112,0.00,0.00,-92.32,0.000,6,0.000,0.000,169,2177,3728,0,0,0,0,0,0
$GC,114,-0.83,-94.2,2.9,-7.8,17,140,14.88,2.67,-2.08,0.000,4,0.323,0.083,2873,3773,3826,0,0,0,0,0,0
$GC,390,-0.83,-94.2,38.2,-11.8,52,398,0.00,2.55,0.00,0.000,6,0.000,0.047,2874,2172,3828,0,0,0,0,0,0
$GC,589,-0.83,-94.2,60.8,-10.9,71,593,0.00,2.60,0.00,0.000,4,0.000,0.070,2864,3768,3828,0,0,0,0,0,0
$GC,644,-0.83,-94.2,68.4,-14.6,75,651,0.00,2.50,0.00,0.000,6,0.000,0.047,2864,2168,3828,0,0,0,0,0,0
$STATE,967,end dive,TARGET_DEPTH_EXCEEDED
$STATE,967,begin apogee
$GC,971,-0.14,0.0,109.1,11.8,106,1050,0.98,0.00,72.80,0.648,6,0.241,0.000,3105,2166,3438,0,0,0,0,0,0
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1052,0.83,94.2,111.2,0.0,114,1132,1.00,2.65,72.68,0.630,4,0.133,0.054,3428,594,3052,0,0,0,0,0,0
$GC,1183,0.83,94.2,93.1,18.2,125,1190,0.00,2.67,0.00,0.000,6,0.000,0.057,3428,2191,3050,0,0,0,0,0,0
$GC,1507,0.83,94.2,32.7,17.3,156,1511,0.00,2.58,0.00,0.000,4,0.000,0.066,3428,3778,3051,0,0,0,0,0,0
$GC,1549,0.83,94.2,24.2,19.5,159,1557,0.00,2.53,0.00,0.000,6,0.000,0.049,3440,2185,3051,0,0,0,0,0,0
$STATE,1661,end climb,SURFACE_DEPTH_REACHED
$STATE,1661,begin surface coast
$FINISH,1.6,1.019864
$STATE,1729,end surface coast,CONTROL_FINISHED_OK
$STATE,1729,begin surface
$SM_CCo,1745,201.75,0.567,0,0,1397,500.17
$SM_GC,0.89,0.00,0.00,201.75,0.000,0.000,0.567,165,2183,1397,-9.36,0.08,500.17
$IRIDIUM_FIX,4748.51,-12128.22,291011,030301
$TT8_MAMPS,0.026964
$HUMID,1078099990
$INTERNAL_PRESSURE,8.36946
$TCM_TEMP,18.50
$XPDR_PINGS,10
$24V_AH,24.5,4.709
$10V_AH,10.4,3.255
$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,26.950,20.750,145.475,201.750,0.000,30.302,25.706,74.557,2.500,0.000,12.089,441.807,771.541,444.469,478.278,28.994,33.339,661.949,0.000,340.084,0.000,0.538,0.000
$DEVICE_MAMPS,322.830,83.385,647.955,566.865,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,126.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323884
$DATA_FILE_SIZE,6795,189
$CAP_FILE_SIZE,29558,0
$CFSIZE,260165632,254369792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050510,100650,4806.008,-12222.002,9,1.5,9,18.3