version: 66.06
glider: 140
mission: 8
dive: 433
start: 1 28 110 20 53 56
data:
$ID,140
$MISSION,8
$DIVE,433
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$D_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,480
$T_MISSION,540
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51390
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$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,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,602.45679
$N_FILEKB,4
$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,-293822.09
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,214
$PITCH_MAX,3926
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,174
$ROLL_MAX,4054
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,550
$VBD_MAX,3938
$C_VBD,3006
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.173029
$PRESSURE_SLOPE,0.0001158875
$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,8
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0044206623
$SEABIRD_T_H,0.00065338978
$SEABIRD_T_I,2.7511465e-05
$SEABIRD_T_J,3.0433071e-06
$SEABIRD_C_G,-10.080298
$SEABIRD_C_H,1.1283234
$SEABIRD_C_I,-0.0013448599
$SEABIRD_C_J,0.00017661104
$GPS1,061850,6350.368,223.979,901,99.0,901,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-64.7
$GPS2,061850,6350.368,223.979,901,99.0,901,-3.7
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,INSHORE
$TGT_LATLONG,6300.600,352.100
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,144.9,118241,-13.7,-6.875
$D_GRID,1488
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,106,0.00,0.00,-88.47,0.000,2,0.000,0.000,215,2322,2229,0,0,0,0,0,0
$GC,110,-0.80,-116.7,3.1,-0.6,16,203,9.45,2.17,-75.68,0.000,4,0.251,0.054,2502,3702,3482,0,0,0,0,0,0
$GC,213,-0.68,-116.7,3.3,-1.9,33,220,0.15,2.03,0.00,0.000,6,0.216,0.022,2539,2273,3482,0,0,0,0,0,0
$GC,551,-0.43,-116.7,45.1,-13.2,94,559,0.28,2.03,0.00,0.000,4,0.196,0.033,2620,939,3483,0,0,0,0,0,0
$GC,572,-0.22,-116.7,47.3,-12.4,97,579,0.25,2.00,0.00,0.000,6,0.183,0.028,2691,2306,3483,0,0,0,0,0,0
$GC,916,-0.49,-116.7,68.8,-6.7,158,922,0.25,2.08,0.00,0.000,4,0.100,0.031,2594,926,3483,0,0,0,0,0,0
$GC,1029,-0.46,-116.7,77.9,-8.6,178,1034,0.00,2.00,0.00,0.000,6,0.000,0.027,2594,2300,3482,0,0,0,0,0,0
$GC,1373,-0.53,-116.7,104.7,-6.5,239,1379,0.00,2.05,0.00,0.000,4,0.000,0.035,2594,933,3482,0,0,0,0,0,0
$GC,1481,-0.53,-116.7,112.5,-7.2,258,1487,0.00,2.00,0.00,0.000,6,0.000,0.028,2594,2303,3483,0,0,0,0,0,0
$GC,1807,-0.60,-116.7,132.8,-6.3,289,1811,0.00,2.08,0.00,0.000,4,0.000,0.040,2594,3701,3483,0,0,0,0,0,0
$GC,1903,-0.60,-116.7,138.9,-6.0,293,1907,0.00,1.98,0.00,0.000,6,0.000,0.022,2594,2305,3483,0,0,0,0,0,0
$GC,2227,-0.64,-116.7,158.6,-6.2,309,2232,0.12,2.05,0.00,0.000,4,0.125,0.035,2553,916,3483,0,0,0,0,0,0
$GC,2254,-0.64,-116.7,160.7,-6.9,310,2257,0.00,2.03,0.00,0.000,6,0.000,0.028,2552,2309,3483,0,0,0,0,0,0
$STATE,2408,end dive,NO_VERTICAL_VELOCITY
$STATE,2408,begin apogee
$GC,2415,-0.24,0.0,160.4,0.0,318,2512,0.43,0.00,92.10,0.851,6,0.137,0.000,2687,2644,3005,0,0,0,0,0,0
$STATE,2512,end apogee,CONTROL_FINISHED_OK
$STATE,2512,begin climb
$GC,2515,0.80,116.7,159.9,0.0,323,2621,1.05,2.28,92.00,0.806,4,0.133,0.041,3014,4040,2528,0,0,0,0,0,0
$GC,2874,0.85,161.8,145.2,5.1,339,2915,0.00,2.00,35.92,0.800,6,0.000,0.022,3015,2653,2346,0,0,0,0,0,0
$GC,3238,0.97,169.6,122.5,6.6,357,3253,0.17,2.22,7.22,0.756,4,0.095,0.041,3084,4049,2312,0,0,0,0,0,0
$GC,3505,0.90,169.6,102.7,7.3,399,3511,0.00,2.00,0.00,0.000,6,0.000,0.023,3084,2654,2311,0,0,0,0,0,0
$GC,3849,0.92,186.3,80.8,6.2,460,3870,0.00,0.00,14.73,0.791,6,0.000,0.000,3084,2654,2244,0,0,0,0,0,0
$GC,4206,0.93,198.1,57.2,6.4,524,4224,0.00,2.10,10.88,0.768,4,0.000,0.034,3084,1271,2197,0,0,0,0,0,0
$GC,4379,0.93,198.1,45.1,7.4,555,4385,0.00,2.08,0.00,0.000,6,0.000,0.029,3084,2661,2195,0,0,0,0,0,0
$GC,4719,0.94,204.9,22.7,6.6,616,4730,0.00,0.00,7.10,0.734,6,0.000,0.000,3084,2661,2169,0,0,0,0,0,0
$STATE,5012,end climb,SURFACE_DEPTH_REACHED
$STATE,5012,begin surface coast
$FINISH,2.0,1.026337
$STATE,5106,end surface coast,CONTROL_FINISHED_OK
$STATE,5106,begin surface
$SM_CCo,5126,310.90,0.706,0,0,549,602.46
$SM_GC,2.77,0.00,0.00,310.90,0.000,0.000,0.706,218,2260,549,-7.96,-1.13,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.026845
$HUMID,1078323216
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.90
$XPDR_PINGS,9
$24V_AH,23.8,71.823
$10V_AH,9.7,51.326
$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,20.375,38.150,259.950,310.900,0.000,164.579,141.159,0.000,2.250,0.000,903.604,1226.129,2322.379,675.151,2345.268,531.098,0.000,1306.260,0.000,1453.703,0.000,0.537,0.000
$DEVICE_MAMPS,250.809,54.457,851.370,705.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.915,546.997,680.076,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235300
$DATA_FILE_SIZE,38142,686
$CAP_FILE_SIZE,72320,0
$CFSIZE,260165632,217313280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,110.9,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7