version: 66.06
glider: 140
mission: 8
dive: 465
start: 1 31 110 5 8 4
data:
$ID,140
$MISSION,8
$DIVE,465
$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,-351683.28
$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,85
$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,-63.5
$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,-116.7,0.0,0.0,0,134,0.00,0.00,-116.22,0.000,2,0.000,0.000,221,2267,2757,0,0,0,0,0,0
$GC,138,-0.80,-116.7,3.2,-0.7,20,185,9.25,2.03,-30.95,0.000,4,0.245,0.051,2501,931,3482,0,0,0,0,0,0
$GC,371,-0.44,-116.7,30.4,-13.8,61,377,0.43,2.03,0.00,0.000,6,0.189,0.028,2618,2310,3483,0,0,0,0,0,0
$GC,708,-0.37,-116.7,57.1,-6.7,122,715,0.00,2.10,0.00,0.000,4,0.000,0.040,2619,3700,3482,0,0,0,0,0,0
$GC,723,-0.31,-116.7,58.1,-6.5,124,730,0.12,2.03,0.00,0.000,6,0.172,0.023,2659,2290,3483,0,0,0,0,0,0
$GC,1070,-0.50,-116.7,80.3,-6.6,185,1077,0.17,2.15,0.00,0.000,4,0.109,0.039,2595,3702,3482,0,0,0,0,0,0
$GC,1084,-0.68,-116.7,81.5,-6.9,187,1091,0.15,1.98,0.00,0.000,6,0.118,0.023,2544,2304,3483,0,0,0,0,0,0
$GC,1431,-0.65,-116.7,109.7,-7.9,248,1437,0.00,2.05,0.00,0.000,4,0.000,0.037,2544,935,3483,0,0,0,0,0,0
$GC,1511,-0.46,-116.7,116.8,-8.6,262,1518,0.25,2.00,0.00,0.000,6,0.189,0.028,2609,2310,3483,0,0,0,0,0,0
$GC,1846,-0.55,-116.7,141.0,-7.4,283,1850,0.00,2.05,0.00,0.000,4,0.000,0.034,2610,930,3483,0,0,0,0,0,0
$GC,1902,-0.60,-116.7,145.8,-7.7,285,1908,0.12,2.00,0.00,0.000,6,0.132,0.027,2569,2314,3483,0,0,0,0,0,0
$GC,2220,-0.60,-116.7,169.1,-6.7,301,2224,0.00,2.05,0.00,0.000,4,0.000,0.035,2569,930,3483,0,0,0,0,0,0
$GC,2292,-0.43,-116.7,174.9,-8.1,304,2297,0.20,2.00,0.00,0.000,6,0.189,0.028,2621,2297,3483,0,0,0,0,0,0
$STATE,2550,end dive,NO_VERTICAL_VELOCITY
$STATE,2550,begin apogee
$GC,2557,-0.24,0.0,178.2,0.0,317,2653,0.20,0.00,92.57,0.871,6,0.087,0.000,2702,2654,3006,0,0,0,0,0,0
$STATE,2654,end apogee,CONTROL_FINISHED_OK
$STATE,2654,begin climb
$GC,2656,0.80,116.7,178.3,0.0,322,2758,0.90,2.22,91.82,0.827,4,0.077,0.033,3029,1286,2529,0,0,0,0,0,0
$GC,2808,0.85,162.1,174.0,5.1,328,2850,0.00,2.08,36.58,0.806,6,0.000,0.030,3029,2641,2346,0,0,0,0,0,0
$GC,3172,0.95,172.4,151.5,6.5,346,3187,0.12,2.12,9.02,0.788,4,0.106,0.034,3084,1279,2303,0,0,0,0,0,0
$GC,3374,0.95,172.4,136.7,7.1,355,3378,0.00,2.08,0.00,0.000,6,0.000,0.030,3084,2664,2301,0,0,0,0,0,0
$GC,3698,0.96,177.2,114.7,6.7,380,3709,0.00,2.10,5.30,0.688,4,0.000,0.034,3083,1281,2283,0,0,0,0,0,0
$GC,3812,0.96,178.5,106.8,6.8,400,3819,0.00,2.08,0.00,0.000,6,0.000,0.029,3083,2648,2283,0,0,0,0,0,0
$GC,4157,0.96,178.5,82.7,6.9,461,4162,0.00,2.05,0.00,0.000,4,0.000,0.033,3084,1271,2283,0,0,0,0,0,0
$GC,4312,0.96,178.5,71.7,7.0,488,4319,0.00,2.08,0.00,0.000,6,0.000,0.029,3084,2646,2282,0,0,0,0,0,0
$GC,4653,0.96,178.5,47.6,7.5,549,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2645,2282,0,0,0,0,0,0
$GC,4988,0.96,178.5,23.5,6.9,610,4995,0.00,2.08,0.00,0.000,4,0.000,0.034,3083,1279,2282,0,0,0,0,0,0
$GC,5067,1.00,206.0,18.6,5.8,624,5097,0.00,2.08,24.98,0.766,6,0.000,0.030,3083,2651,2165,0,0,0,0,0,0
$STATE,5319,end climb,SURFACE_DEPTH_REACHED
$STATE,5319,begin surface coast
$FINISH,1.9,1.013289
$STATE,5404,end surface coast,CONTROL_FINISHED_OK
$STATE,5404,begin surface
$SM_CCo,5423,310.15,0.712,0,0,550,602.46
$SM_GC,2.59,0.00,0.00,310.15,0.000,0.000,0.712,212,2299,550,-7.98,-0.03,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078325797
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,20.10
$XPDR_PINGS,15
$24V_AH,23.7,75.947
$10V_AH,9.6,54.604
$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,20.225,46.375,260.275,310.150,0.000,164.957,141.126,0.000,3.750,0.000,903.764,1253.508,2598.490,668.048,2343.477,526.191,0.000,1300.577,0.000,1449.582,0.000,0.537,0.000
$DEVICE_MAMPS,245.440,50.622,870.545,711.776,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,466.828,550.929,687.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235300
$DATA_FILE_SIZE,37982,684
$CAP_FILE_SIZE,74869,0
$CFSIZE,260165632,215609344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,141.8,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7