version: 66.06
glider: 140
mission: 8
dive: 451
start: 1 30 110 5 8 34
data:
$ID,140
$MISSION,8
$DIVE,451
$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,-326367.03
$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,73
$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,2.55
$_SM_ANGLEo,-64.3
$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,-116.7,0.0,0.0,0,141,0.00,0.00,-122.55,0.000,2,0.000,0.000,212,2306,2904,0,0,0,0,0,0
$GC,146,-0.80,-116.7,3.2,-0.7,21,181,9.00,2.12,-20.20,0.000,4,0.236,0.050,2504,913,3482,0,0,0,0,0,0
$GC,431,-0.42,-116.7,35.9,-12.4,72,439,0.38,2.08,0.00,0.000,6,0.179,0.028,2622,2306,3483,0,0,0,0,0,0
$GC,770,-0.36,-116.7,57.0,-4.7,133,776,0.00,2.08,0.00,0.000,4,0.000,0.035,2623,920,3483,0,0,0,0,0,0
$GC,849,-0.28,-116.7,61.9,-6.5,147,855,0.17,2.03,0.00,0.000,6,0.181,0.028,2672,2306,3483,0,0,0,0,0,0
$GC,1192,-0.50,-116.7,83.9,-6.6,208,1200,0.20,2.12,0.00,0.000,4,0.102,0.032,2598,913,3483,0,0,0,0,0,0
$GC,1219,-0.64,-116.7,85.5,-6.5,212,1228,0.10,2.08,0.00,0.000,6,0.099,0.035,2557,2303,3483,0,0,0,0,0,0
$STATE,1436,end dive,NO_VERTICAL_VELOCITY
$STATE,1436,begin apogee
$GC,1443,-0.24,0.0,91.1,0.0,251,1540,0.38,0.00,90.35,0.806,6,0.154,0.000,2677,2642,3005,0,0,0,0,0,0
$STATE,1544,end apogee,CONTROL_FINISHED_OK
$STATE,1544,begin climb
$GC,1546,0.80,116.7,90.9,0.0,269,1649,1.05,2.20,90.53,0.762,4,0.125,0.035,3013,1270,2529,0,0,0,0,0,0
$GC,1788,0.96,187.9,83.4,4.0,312,1851,0.12,2.10,55.83,0.756,6,0.071,0.029,3072,2650,2239,0,0,0,0,0,0
$GC,2186,1.02,187.9,56.5,7.5,383,2191,0.00,2.08,0.00,0.000,4,0.000,0.035,3072,1263,2232,0,0,0,0,0,0
$GC,2280,1.05,187.9,49.4,6.9,400,2288,0.00,2.10,0.00,0.000,6,0.000,0.030,3072,2649,2231,0,0,0,0,0,0
$GC,2621,1.10,187.9,23.7,7.8,461,2626,0.12,0.00,0.00,0.000,6,0.108,0.000,3122,2649,2231,0,0,0,0,0,0
$STATE,2873,end climb,SURFACE_DEPTH_REACHED
$STATE,2873,begin surface coast
$FINISH,2.0,1.002402
$STATE,2944,end surface coast,CONTROL_FINISHED_OK
$STATE,2944,begin surface
$SM_CCo,2963,323.70,0.706,0,0,549,602.46
$SM_GC,2.50,0.00,0.00,323.70,0.000,0.000,0.706,220,2260,549,-7.96,-1.13,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.026845
$HUMID,1078359345
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,19.90
$XPDR_PINGS,13
$24V_AH,23.9,74.131
$10V_AH,9.7,53.184
$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,19.900,21.950,236.700,323.700,0.000,164.508,141.196,0.000,3.250,0.000,903.700,887.871,1040.246,628.139,1904.622,463.491,0.000,1092.875,0.000,1018.928,0.000,0.539,0.000
$DEVICE_MAMPS,236.236,49.855,806.117,705.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.471,412.866,509.312,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235300
$DATA_FILE_SIZE,28704,520
$CAP_FILE_SIZE,51404,0
$CFSIZE,260165632,216367104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,122.1,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7