version: 66.06
glider: 140
mission: 8
dive: 475
start: 2 1 110 1 33 21
data:
$ID,140
$MISSION,8
$DIVE,475
$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,-369767.31
$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,74
$R_STBD_OVSHOOT,49
$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,2.65
$_SM_ANGLEo,-63.4
$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,-116.7,0.0,0.0,0,108,0.00,0.00,-89.72,0.000,2,0.000,0.000,216,2315,2245,0,0,0,0,0,0
$GC,111,-0.80,-116.7,3.1,-0.3,16,202,9.52,2.12,-74.97,0.000,4,0.253,0.054,2502,3698,3481,0,0,0,0,0,0
$GC,331,-0.43,-116.7,21.1,-18.2,54,338,0.40,2.05,0.00,0.000,6,0.186,0.024,2618,2279,3481,0,0,0,0,0,0
$GC,672,-0.31,-116.7,51.7,-8.4,115,678,0.15,0.00,0.00,0.000,6,0.207,0.000,2659,2279,3482,0,0,0,0,0,0
$GC,1009,-0.50,-116.7,75.1,-7.3,176,1017,0.17,2.22,0.00,0.000,4,0.114,0.041,2595,3701,3482,0,0,0,0,0,0
$GC,1097,-0.50,-116.7,81.7,-7.8,191,1103,0.00,1.98,0.00,0.000,6,0.000,0.023,2596,2314,3481,0,0,0,0,0,0
$GC,1436,-0.54,-116.7,107.2,-7.5,252,1444,0.00,2.10,0.00,0.000,4,0.000,0.035,2596,919,3481,0,0,0,0,0,0
$GC,1604,-0.41,-116.7,120.2,-8.2,281,1609,0.12,2.05,0.00,0.000,6,0.207,0.028,2625,2312,3482,0,0,0,0,0,0
$GC,1930,-0.38,-116.7,142.4,-6.7,297,1934,0.00,2.08,0.00,0.000,4,0.000,0.034,2625,919,3482,0,0,0,0,0,0
$GC,2005,-0.35,-116.7,148.0,-7.4,300,2008,0.00,2.03,0.00,0.000,6,0.000,0.028,2625,2301,3482,0,0,0,0,0,0
$STATE,2214,end dive,NO_VERTICAL_VELOCITY
$STATE,2214,begin apogee
$GC,2222,-0.24,0.0,149.3,0.0,310,2318,0.20,0.00,92.38,0.862,6,0.142,0.000,2690,2648,3006,0,0,0,0,0,0
$STATE,2319,end apogee,CONTROL_FINISHED_OK
$STATE,2319,begin climb
$GC,2322,0.80,116.7,149.4,0.0,315,2423,1.02,2.25,92.43,0.815,4,0.120,0.041,3014,4034,2528,0,0,0,0,0,0
$GC,2588,0.86,173.0,139.3,4.6,327,2641,0.00,2.00,44.88,0.802,6,0.000,0.022,3014,2647,2300,0,0,0,0,0,0
$GC,2954,1.02,204.1,117.2,5.6,351,2990,0.22,2.12,25.95,0.797,4,0.087,0.035,3102,1280,2171,0,0,0,0,0,0
$GC,3214,1.02,204.1,98.6,7.0,397,3220,0.00,2.08,0.00,0.000,6,0.000,0.029,3102,2664,2168,0,0,0,0,0,0
$GC,3551,1.03,213.0,76.2,6.5,458,3569,0.00,2.12,8.10,0.772,4,0.000,0.041,3102,4035,2136,0,0,0,0,0,0
$GC,3785,0.98,213.0,59.0,7.8,500,3792,0.00,2.03,0.00,0.000,6,0.000,0.024,3102,2662,2135,0,0,0,0,0,0
$GC,4127,1.00,225.7,37.1,6.4,561,4144,0.00,2.20,12.00,0.778,4,0.000,0.041,3102,4042,2084,0,0,0,0,0,0
$GC,4178,1.00,225.7,33.1,7.8,570,4185,0.00,2.08,0.00,0.000,6,0.000,0.024,3102,2649,2083,0,0,0,0,0,0
$GC,4517,1.00,228.2,11.4,6.8,631,4523,0.00,2.08,0.00,0.000,4,0.000,0.035,3102,1249,2081,0,0,0,0,0,0
$GC,4568,1.02,246.8,8.3,6.1,640,4592,0.00,2.12,18.15,0.764,6,0.000,0.030,3102,2642,2000,0,0,0,0,0,0
$STATE,4642,end climb,SURFACE_DEPTH_REACHED
$STATE,4642,begin surface coast
$FINISH,2.1,1.024103
$STATE,4718,end surface coast,CONTROL_FINISHED_OK
$STATE,4719,begin surface
$SM_CCo,4738,281.23,0.719,0,0,549,602.46
$SM_GC,2.67,0.00,0.00,281.23,0.000,0.000,0.719,219,2281,549,-7.96,-0.54,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078333539
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,14.80
$XPDR_PINGS,3
$24V_AH,23.7,77.292
$10V_AH,9.6,55.684
$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,20.000,38.700,293.875,281.225,0.000,164.330,140.992,0.000,0.750,0.000,904.880,1195.211,2028.238,678.010,2265.134,512.901,0.000,1285.456,0.000,1373.463,0.000,0.538,0.000
$DEVICE_MAMPS,253.110,53.690,862.108,718.679,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,454.082,529.656,662.262,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,38171,667
$CAP_FILE_SIZE,68531,0
$CFSIZE,260165632,215040000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,144.9,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7