version: 66.06
glider: 140
mission: 8
dive: 487
start: 2 2 110 0 31 48
data:
$ID,140
$MISSION,8
$DIVE,487
$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,-391465.38
$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,65
$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,2.70
$_SM_ANGLEo,-66.9
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,85,0.00,0.00,-66.88,0.000,2,0.000,0.000,211,2281,1838,0,0,0,0,0,0
$GC,88,-0.80,-116.7,3.0,-0.6,12,204,9.12,2.25,-94.85,0.000,4,0.237,0.054,2499,3701,3483,0,0,0,0,0,0
$GC,315,-0.42,-116.7,22.6,-18.3,52,323,0.40,2.08,0.00,0.000,6,0.186,0.023,2616,2263,3484,0,0,0,0,0,0
$GC,657,-0.29,-116.7,52.6,-7.9,113,664,0.17,2.25,0.00,0.000,4,0.196,0.045,2664,3709,3484,0,0,0,0,0,0
$GC,673,-0.18,-116.7,53.6,-7.5,115,679,0.15,2.00,0.00,0.000,6,0.179,0.024,2706,2308,3484,0,0,0,0,0,0
$GC,1017,-0.47,-116.7,75.4,-6.3,176,1024,0.25,2.15,0.00,0.000,4,0.106,0.037,2610,3698,3484,0,0,0,0,0,0
$GC,1043,-0.69,-116.7,77.0,-5.7,180,1050,0.17,2.03,0.00,0.000,6,0.087,0.023,2542,2298,3484,0,0,0,0,0,0
$GC,1391,-0.42,-116.7,105.1,-8.8,241,1398,0.28,2.05,0.00,0.000,4,0.197,0.035,2621,927,3484,0,0,0,0,0,0
$GC,1427,-0.23,-116.7,108.3,-8.1,247,1433,0.22,2.03,0.00,0.000,6,0.186,0.029,2683,2304,3484,0,0,0,0,0,0
$GC,1772,-0.48,-116.7,130.5,-8.3,292,1776,0.22,2.05,0.00,0.000,4,0.102,0.032,2602,929,3484,0,0,0,0,0,0
$GC,1856,-0.42,-116.7,138.9,-9.9,295,1861,0.00,2.03,0.00,0.000,6,0.000,0.027,2602,2315,3484,0,0,0,0,0,0
$GC,2173,-0.29,-116.7,166.0,-9.4,311,2175,0.22,0.00,0.00,0.000,6,0.190,0.000,2663,2315,3484,0,0,0,0,0,0
$GC,2482,-0.52,-116.7,181.6,-5.3,326,2486,0.20,2.05,0.00,0.000,4,0.099,0.038,2587,3697,3484,0,0,0,0,0,0
$GC,2740,-0.57,-116.7,189.6,0.1,337,2746,0.00,1.98,0.00,0.000,6,0.000,0.023,2587,2300,3484,0,0,0,0,0,0
$STATE,2766,end dive,NO_VERTICAL_VELOCITY
$STATE,2766,begin apogee
$GC,2773,-0.24,0.0,189.6,0.0,339,2870,0.32,0.00,93.50,0.888,6,0.163,0.000,2681,2653,3005,0,0,0,0,0,0
$STATE,2871,end apogee,CONTROL_FINISHED_OK
$STATE,2871,begin climb
$GC,2874,0.80,116.7,189.6,0.0,344,2977,1.08,2.25,93.20,0.838,4,0.143,0.041,3008,4035,2528,0,0,0,0,0,0
$GC,3233,0.87,177.5,173.4,4.4,360,3292,0.10,2.00,48.38,0.829,6,0.127,0.022,3046,2626,2281,0,0,0,0,0,0
$GC,3601,1.08,276.4,155.9,2.9,378,3690,0.17,2.10,79.57,0.820,4,0.100,0.035,3112,1304,1878,0,0,0,0,0,0
$GC,3736,1.14,328.7,150.3,4.8,384,3785,0.00,2.05,42.40,0.795,6,0.000,0.030,3112,2648,1665,0,0,0,0,0,0
$GC,4102,1.25,328.7,133.5,7.0,402,4107,0.15,2.10,0.00,0.000,4,0.104,0.042,3170,4043,1656,0,0,0,0,0,0
$GC,4277,1.20,328.7,111.1,15.2,416,4284,0.00,2.00,0.00,0.000,6,0.000,0.024,3170,2688,1655,0,0,0,0,0,0
$GC,4623,1.20,328.7,66.4,13.9,477,4630,0.00,2.08,0.00,0.000,4,0.000,0.041,3171,4050,1654,0,0,0,0,0,0
$GC,4683,1.16,328.7,57.6,15.1,487,4689,0.12,2.03,0.00,0.000,6,0.202,0.024,3139,2644,1653,0,0,0,0,0,0
$GC,5022,1.24,328.7,24.9,7.7,548,5029,0.00,2.08,0.00,0.000,4,0.000,0.035,3140,1266,1653,0,0,0,0,0,0
$GC,5143,1.31,328.7,15.6,8.6,569,5150,0.12,2.08,0.00,0.000,6,0.117,0.030,3187,2664,1653,0,0,0,0,0,0
$STATE,5259,end climb,SURFACE_DEPTH_REACHED
$STATE,5261,begin surface coast
$FINISH,2.1,1.013710
$STATE,5304,end surface coast,CONTROL_FINISHED_OK
$STATE,5305,begin surface
$SM_CCo,5325,218.95,0.732,0,0,550,602.46
$SM_GC,2.81,0.00,0.00,218.95,0.000,0.000,0.732,219,2281,550,-7.96,-0.54,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.026845
$HUMID,1078358055
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.70
$XPDR_PINGS,11
$24V_AH,23.6,78.917
$10V_AH,9.7,56.941
$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,22.350,46.725,357.050,218.950,0.000,164.362,140.959,0.000,2.750,0.000,904.879,1141.479,2589.425,671.023,2281.261,533.363,0.000,1308.716,0.000,1383.614,0.000,0.536,0.000
$DEVICE_MAMPS,237.003,54.457,888.186,731.718,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.250,495.801,618.304,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,34970,598
$CAP_FILE_SIZE,75843,0
$CFSIZE,260165632,214392832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,147.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7