version: 66.06
glider: 140
mission: 8
dive: 490
start: 2 2 110 6 35 42
data:
$ID,140
$MISSION,8
$DIVE,490
$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,-396890.91
$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,68
$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,2.71
$_SM_ANGLEo,-65.6
$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,-116.7,0.0,0.0,0,105,0.00,0.00,-86.62,0.000,2,0.000,0.000,219,2287,2215,0,0,0,0,0,0
$GC,108,-0.80,-116.7,3.0,-0.4,16,199,9.45,2.15,-75.10,0.000,4,0.251,0.049,2504,910,3483,0,0,0,0,0,0
$GC,215,-0.69,-116.7,4.3,-4.7,34,223,0.10,2.10,0.00,0.000,6,0.206,0.029,2532,2307,3483,0,0,0,0,0,0
$GC,559,-0.41,-116.7,51.6,-14.4,95,565,0.32,2.08,0.00,0.000,4,0.192,0.038,2626,3697,3484,0,0,0,0,0,0
$GC,585,-0.19,-116.7,54.9,-13.4,99,591,0.25,2.03,0.00,0.000,6,0.178,0.023,2697,2265,3484,0,0,0,0,0,0
$GC,930,-0.45,-116.7,81.2,-7.0,160,937,0.22,2.22,0.00,0.000,4,0.105,0.037,2618,3698,3484,0,0,0,0,0,0
$GC,1013,-0.53,-116.7,87.2,-7.1,174,1019,0.00,1.98,0.00,0.000,6,0.000,0.023,2618,2309,3484,0,0,0,0,0,0
$GC,1356,-0.65,-116.7,111.7,-7.2,235,1362,0.17,2.08,0.00,0.000,4,0.111,0.035,2556,918,3484,0,0,0,0,0,0
$GC,1482,-0.40,-116.7,123.3,-10.6,253,1487,0.28,2.03,0.00,0.000,6,0.193,0.028,2629,2305,3483,0,0,0,0,0,0
$GC,1805,-0.50,-116.7,147.5,-6.9,269,1809,0.00,2.08,0.00,0.000,4,0.000,0.034,2630,914,3484,0,0,0,0,0,0
$GC,1833,-0.62,-116.7,149.9,-7.1,270,1838,0.20,2.05,0.00,0.000,6,0.110,0.028,2561,2303,3484,0,0,0,0,0,0
$GC,2151,-0.41,-116.7,174.5,-8.1,285,2156,0.25,2.10,0.00,0.000,4,0.191,0.039,2632,3695,3483,0,0,0,0,0,0
$GC,2224,-0.41,-116.7,179.5,-6.7,288,2227,0.00,2.00,0.00,0.000,6,0.000,0.023,2632,2296,3484,0,0,0,0,0,0
$GC,2545,-0.58,-116.7,204.2,-8.3,304,2550,0.17,2.05,0.00,0.000,4,0.110,0.035,2569,911,3484,0,0,0,0,0,0
$GC,2618,-0.52,-116.7,210.8,-8.9,307,2622,0.00,2.03,0.00,0.000,6,0.000,0.027,2569,2297,3484,0,0,0,0,0,0
$GC,2935,-0.55,-116.7,233.5,-6.0,322,2939,0.00,2.08,0.00,0.000,4,0.000,0.038,2569,3698,3484,0,0,0,0,0,0
$STATE,3083,end dive,NO_VERTICAL_VELOCITY
$STATE,3083,begin apogee
$GC,3091,-0.24,0.0,233.5,0.0,328,3188,0.35,0.00,94.12,0.917,6,0.145,0.000,2679,2599,3006,0,0,0,0,0,0
$STATE,3189,end apogee,CONTROL_FINISHED_OK
$STATE,3189,begin climb
$GC,3192,0.80,116.7,233.6,0.0,333,3298,1.08,2.33,93.35,0.867,4,0.140,0.041,3010,4036,2529,0,0,0,0,0,0
$GC,3394,0.85,160.4,226.9,5.1,342,3435,0.00,2.00,35.85,0.851,6,0.000,0.022,3013,2660,2352,0,0,0,0,0,0
$GC,3758,1.03,201.6,207.8,5.2,360,3797,0.22,0.00,33.80,0.850,6,0.086,0.000,3101,2655,2183,0,0,0,0,0,0
$GC,4107,0.99,201.6,182.9,7.5,377,4111,0.00,2.10,0.00,0.000,4,0.000,0.042,3101,4033,2178,0,0,0,0,0,0
$GC,4343,0.95,215.9,166.7,6.3,387,4363,0.12,1.98,12.82,0.838,6,0.203,0.023,3071,2649,2124,0,0,0,0,0,0
$GC,4680,1.03,232.3,147.4,6.2,404,4702,0.00,2.10,14.68,0.826,4,0.000,0.035,3070,1282,2057,0,0,0,0,0,0
$GC,4854,1.14,251.6,137.0,6.1,411,4881,0.17,2.03,17.12,0.816,6,0.099,0.029,3137,2651,1979,0,0,0,0,0,0
$GC,5199,1.15,265.4,108.9,6.3,446,5217,0.00,2.12,12.65,0.803,4,0.000,0.040,3138,4038,1923,0,0,0,0,0,0
$GC,5348,1.09,265.4,97.1,8.4,472,5355,0.00,2.03,0.00,0.000,6,0.000,0.023,3140,2663,1920,0,0,0,0,0,0
$GC,5695,1.09,265.4,67.6,8.5,533,5701,0.00,2.08,0.00,0.000,4,0.000,0.035,3141,1262,1919,0,0,0,0,0,0
$GC,5748,1.09,265.4,63.0,8.5,542,5753,0.00,2.05,0.00,0.000,6,0.000,0.030,3141,2646,1919,0,0,0,0,0,0
$GC,6090,1.09,265.4,31.0,8.6,603,6096,0.00,2.10,0.00,0.000,4,0.000,0.041,3141,4050,1918,0,0,0,0,0,0
$GC,6207,1.04,265.4,19.7,10.2,624,6214,0.12,2.05,0.00,0.000,6,0.161,0.024,3101,2645,1917,0,0,0,0,0,0
$STATE,6445,end climb,SURFACE_DEPTH_REACHED
$STATE,6445,begin surface coast
$FINISH,2.2,1.026450
$STATE,6512,end surface coast,CONTROL_FINISHED_OK
$STATE,6513,begin surface
$SM_CCo,6533,268.52,0.728,0,0,549,602.46
$SM_GC,2.71,0.00,0.00,268.52,0.000,0.000,0.728,213,2281,549,-7.97,-0.54,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078350313
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,14.00
$XPDR_PINGS,11
$24V_AH,23.6,79.329
$10V_AH,9.7,57.263
$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,21.900,57.950,314.400,268.525,0.000,164.835,140.961,0.000,2.750,0.000,904.914,1300.118,3529.229,701.909,2396.118,547.927,0.000,1382.261,0.000,1496.891,0.000,0.537,0.000
$DEVICE_MAMPS,250.809,49.088,916.565,727.883,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.030,557.082,610.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,38185,679
$CAP_FILE_SIZE,85141,0
$CFSIZE,260165632,214220800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,152.4,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7