version: 66.06
glider: 140
mission: 8
dive: 457
start: 1 30 110 14 42 4
data:
$ID,140
$MISSION,8
$DIVE,457
$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,-337217
$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,83
$R_STBD_OVSHOOT,48
$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,2.50
$_SM_ANGLEo,-63.7
$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,-116.7,0.0,0.0,0,139,0.00,0.00,-120.78,0.000,2,0.000,0.000,214,2259,2838,0,0,0,0,0,0
$GC,144,-0.80,-116.7,3.0,-0.5,21,184,8.90,2.22,-24.98,0.000,4,0.233,0.053,2501,3707,3482,0,0,0,0,0,0
$GC,390,-0.44,-116.7,35.6,-15.1,65,397,0.40,2.00,0.00,0.000,6,0.182,0.023,2614,2283,3483,0,0,0,0,0,0
$GC,726,-0.36,-116.7,62.3,-6.8,126,732,0.12,2.17,0.00,0.000,4,0.196,0.039,2648,3709,3483,0,0,0,0,0,0
$GC,772,-0.36,-116.7,64.7,-5.5,134,777,0.00,2.00,0.00,0.000,6,0.000,0.023,2648,2311,3483,0,0,0,0,0,0
$GC,1109,-0.75,-116.7,82.1,-0.0,195,1115,0.35,2.10,0.00,0.000,4,0.123,0.035,2529,3705,3483,0,0,0,0,0,0
$STATE,1202,end dive,NO_VERTICAL_VELOCITY
$STATE,1202,begin apogee
$GC,1210,-0.24,0.0,81.9,0.0,212,1307,0.45,0.00,90.07,0.805,6,0.133,0.000,2679,2609,3005,0,0,0,0,0,0
$STATE,1310,end apogee,CONTROL_FINISHED_OK
$STATE,1310,begin climb
$GC,1313,0.80,116.7,81.6,0.0,230,1419,1.02,2.35,90.15,0.763,4,0.124,0.041,3006,4040,2528,0,0,0,0,0,0
$GC,1667,0.91,184.8,69.4,4.2,294,1730,0.15,1.98,53.53,0.760,6,0.107,0.022,3061,2643,2251,0,0,0,0,0,0
$GC,2069,0.96,186.5,45.6,6.8,365,2074,0.00,2.12,0.00,0.000,4,0.000,0.041,3061,4040,2243,0,0,0,0,0,0
$GC,2097,0.96,186.5,43.6,6.9,370,2104,0.00,2.00,0.00,0.000,6,0.000,0.023,3064,2683,2243,0,0,0,0,0,0
$GC,2437,1.03,216.8,23.5,5.7,431,2472,0.00,2.20,25.67,0.753,4,0.000,0.036,3070,1266,2121,0,0,0,0,0,0
$GC,2497,1.08,216.8,19.1,7.7,441,2503,0.12,2.10,0.00,0.000,6,0.120,0.029,3114,2658,2119,0,0,0,0,0,0
$STATE,2765,end climb,SURFACE_DEPTH_REACHED
$STATE,2765,begin surface coast
$FINISH,1.8,1.017675
$STATE,2861,end surface coast,CONTROL_FINISHED_OK
$STATE,2861,begin surface
$SM_CCo,2880,300.67,0.707,0,0,550,602.46
$SM_GC,2.44,0.00,0.00,300.67,0.000,0.000,0.707,219,2289,550,-7.96,-0.31,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078330958
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,15.10
$XPDR_PINGS,12
$24V_AH,23.9,74.895
$10V_AH,9.6,53.764
$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,19.925,25.300,259.425,300.675,0.000,164.614,140.987,0.000,3.000,0.000,904.716,860.476,984.952,621.460,1891.434,467.456,0.000,1085.299,0.000,1004.652,0.000,0.537,0.000
$DEVICE_MAMPS,233.168,52.923,804.583,707.174,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.905,414.987,517.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235300
$DATA_FILE_SIZE,28607,507
$CAP_FILE_SIZE,50780,0
$CFSIZE,260165632,216068096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,147.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7