version: 66.06
glider: 140
mission: 8
dive: 464
start: 1 31 110 2 52 54
data:
$ID,140
$MISSION,8
$DIVE,464
$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,-349875.25
$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,81
$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,2.53
$_SM_ANGLEo,-62.9
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,116,0.00,0.00,-97.72,0.000,2,0.000,0.000,219,2280,2399,0,0,0,0,0,0
$GC,120,-0.80,-116.7,3.0,-0.5,18,196,9.20,2.05,-59.05,0.000,4,0.244,0.050,2500,920,3482,0,0,0,0,0,0
$GC,375,-0.43,-116.7,28.3,-14.0,63,382,0.43,2.05,0.00,0.000,6,0.189,0.029,2618,2310,3483,0,0,0,0,0,0
$GC,714,-0.36,-116.7,54.8,-6.9,124,721,0.00,2.08,0.00,0.000,4,0.000,0.040,2618,3687,3483,0,0,0,0,0,0
$GC,729,-0.30,-116.7,55.8,-6.8,126,736,0.12,2.03,0.00,0.000,6,0.169,0.024,2660,2291,3483,0,0,0,0,0,0
$GC,1075,-0.51,-116.7,78.0,-6.6,187,1082,0.17,2.15,0.00,0.000,4,0.111,0.038,2596,3702,3483,0,0,0,0,0,0
$GC,1131,-0.54,-116.7,82.0,-7.3,196,1137,0.00,2.03,0.00,0.000,6,0.000,0.023,2596,2306,3483,0,0,0,0,0,0
$GC,1478,-0.62,-116.7,108.3,-7.7,257,1483,0.00,2.10,0.00,0.000,4,0.000,0.038,2595,3702,3483,0,0,0,0,0,0
$GC,1556,-0.68,-116.7,114.3,-7.4,271,1563,0.15,2.00,0.00,0.000,6,0.117,0.023,2544,2284,3483,0,0,0,0,0,0
$GC,1896,-0.45,-116.7,142.0,-8.7,296,1901,0.25,2.00,0.00,0.000,4,0.189,0.033,2617,933,3483,0,0,0,0,0,0
$GC,1981,-0.41,-116.7,148.7,-6.9,300,1985,0.00,2.00,0.00,0.000,6,0.000,0.028,2617,2298,3483,0,0,0,0,0,0
$GC,2314,-0.55,-116.7,170.5,-6.5,316,2318,0.00,2.03,0.00,0.000,4,0.000,0.033,2617,933,3483,0,0,0,0,0,0
$STATE,2471,end dive,NO_VERTICAL_VELOCITY
$STATE,2471,begin apogee
$GC,2480,-0.24,0.0,171.3,0.0,323,2577,0.22,0.00,92.20,0.865,6,0.141,0.000,2689,2659,3006,0,0,0,0,0,0
$STATE,2578,end apogee,CONTROL_FINISHED_OK
$STATE,2578,begin climb
$GC,2580,0.80,116.7,171.3,0.0,328,2682,1.00,2.20,91.72,0.821,4,0.123,0.039,3008,4049,2529,0,0,0,0,0,0
$GC,2767,0.85,164.3,165.4,5.0,335,2813,0.00,2.03,38.30,0.806,6,0.000,0.022,3008,2654,2335,0,0,0,0,0,0
$GC,3126,1.00,176.6,143.6,6.4,353,3142,0.22,2.15,10.60,0.792,4,0.086,0.040,3097,4042,2285,0,0,0,0,0,0
$GC,3395,0.91,176.6,121.2,7.8,364,3399,0.15,2.00,0.00,0.000,6,0.191,0.022,3059,2641,2282,0,0,0,0,0,0
$GC,3740,0.97,184.3,98.6,6.6,421,3757,0.00,2.22,7.72,0.774,4,0.000,0.041,3059,4043,2253,0,0,0,0,0,0
$GC,4013,0.96,204.1,80.4,6.1,469,4036,0.00,2.00,17.70,0.787,6,0.000,0.023,3059,2654,2173,0,0,0,0,0,0
$GC,4376,1.05,204.1,56.7,7.2,533,4382,0.12,2.08,0.00,0.000,4,0.111,0.034,3112,1262,2169,0,0,0,0,0,0
$GC,4518,1.05,204.1,46.0,7.6,558,4525,0.00,2.10,0.00,0.000,6,0.000,0.029,3112,2648,2169,0,0,0,0,0,0
$GC,4859,1.05,204.1,20.3,7.6,619,4865,0.00,2.08,0.00,0.000,4,0.000,0.034,3112,1262,2168,0,0,0,0,0,0
$GC,4907,1.05,204.1,16.6,7.7,627,4913,0.00,2.08,0.00,0.000,6,0.000,0.030,3112,2661,2168,0,0,0,0,0,0
$STATE,5097,end climb,SURFACE_DEPTH_REACHED
$STATE,5097,begin surface coast
$FINISH,2.1,1.026541
$STATE,5168,end surface coast,CONTROL_FINISHED_OK
$STATE,5168,begin surface
$SM_CCo,5187,313.02,0.715,0,0,549,602.46
$SM_GC,2.57,0.00,0.00,313.02,0.000,0.000,0.715,221,2269,549,-7.95,-0.88,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.026845
$HUMID,1078339990
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,20.00
$XPDR_PINGS,13
$24V_AH,23.7,75.813
$10V_AH,9.6,54.488
$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,20.550,46.550,258.250,313.025,0.000,164.447,140.972,0.000,3.250,0.000,903.757,1244.328,2349.015,678.983,2361.784,518.365,0.000,1319.003,0.000,1466.273,0.000,0.538,0.000
$DEVICE_MAMPS,243.906,49.855,865.176,714.844,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.726,534.694,662.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235300
$DATA_FILE_SIZE,38068,674
$CAP_FILE_SIZE,74892,0
$CFSIZE,260165632,215670784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,113.5,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7