version: 66.06
glider: 140
mission: 8
dive: 492
start: 2 2 110 11 39 13
data:
$ID,140
$MISSION,8
$DIVE,492
$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,-400507.31
$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,72
$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,2.67
$_SM_ANGLEo,-66.7
$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,-116.7,0.0,0.0,0,106,0.00,0.00,-87.82,0.000,2,0.000,0.000,219,2288,2227,0,0,0,0,0,0
$GC,109,-0.80,-116.7,3.0,-0.4,16,201,9.48,2.15,-71.62,0.000,4,0.252,0.051,2500,913,3482,0,0,0,0,0,0
$GC,272,-0.40,-116.7,14.2,-15.9,43,279,0.47,2.05,0.00,0.000,6,0.190,0.029,2631,2307,3483,0,0,0,0,0,0
$GC,607,-0.30,-116.7,43.9,-7.9,104,616,0.12,2.12,0.00,0.000,4,0.206,0.041,2663,3693,3483,0,0,0,0,0,0
$GC,629,-0.23,-116.7,45.6,-8.7,107,635,0.00,2.00,0.00,0.000,6,0.000,0.023,2664,2296,3483,0,0,0,0,0,0
$GC,969,-0.44,-116.7,67.0,-5.3,168,977,0.12,2.17,0.00,0.000,4,0.125,0.041,2617,3691,3483,0,0,0,0,0,0
$GC,1048,-0.51,-116.7,71.2,-5.4,181,1054,0.00,2.00,0.00,0.000,6,0.000,0.023,2617,2291,3483,0,0,0,0,0,0
$GC,1386,-0.61,-116.7,89.1,-5.0,242,1392,0.15,2.05,0.00,0.000,4,0.114,0.035,2562,918,3483,0,0,0,0,0,0
$GC,1475,-0.37,-116.7,97.1,-10.6,258,1481,0.30,2.05,0.00,0.000,6,0.193,0.028,2641,2307,3483,0,0,0,0,0,0
$GC,1824,-0.33,-116.7,127.6,-8.8,310,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2307,3483,0,0,0,0,0,0
$GC,2136,-0.39,-116.7,155.7,-9.2,325,2140,0.00,2.08,0.00,0.000,4,0.000,0.034,2642,916,3484,0,0,0,0,0,0
$GC,2169,-0.51,-116.7,159.3,-9.6,326,2176,0.10,2.08,0.00,0.000,6,0.094,0.028,2597,2305,3484,0,0,0,0,0,0
$GC,2485,-0.54,-116.7,187.3,-9.7,342,2489,0.00,2.05,0.00,0.000,4,0.000,0.033,2596,920,3484,0,0,0,0,0,0
$GC,2536,-0.49,-116.7,191.5,-8.8,344,2539,0.00,2.00,0.00,0.000,6,0.000,0.028,2596,2292,3484,0,0,0,0,0,0
$STATE,2712,end dive,NO_VERTICAL_VELOCITY
$STATE,2712,begin apogee
$GC,2719,-0.24,0.0,191.6,0.0,353,2815,0.28,0.00,93.30,0.891,6,0.135,0.000,2683,2649,3006,0,0,0,0,0,0
$STATE,2816,end apogee,CONTROL_FINISHED_OK
$STATE,2816,begin climb
$GC,2819,0.80,116.7,191.6,0.0,358,2926,1.02,2.28,92.65,0.841,4,0.114,0.041,3015,4043,2529,0,0,0,0,0,0
$GC,3112,0.99,273.0,184.9,0.6,371,3245,0.20,2.03,124.40,0.833,6,0.097,0.022,3089,2621,1892,0,0,0,0,0,0
$GC,3572,1.10,298.0,160.8,5.9,393,3597,0.00,2.00,20.45,0.817,4,0.000,0.031,3096,1297,1790,0,0,0,0,0,0
$GC,3694,1.22,298.0,151.0,8.1,398,3701,0.15,2.05,0.00,0.000,6,0.072,0.031,3157,2637,1787,0,0,0,0,0,0
$GC,4011,1.25,298.0,121.0,10.4,414,4015,0.00,2.03,0.00,0.000,4,0.000,0.034,3157,1302,1784,0,0,0,0,0,0
$GC,4139,1.25,298.0,108.1,10.4,434,4144,0.00,2.03,0.00,0.000,6,0.000,0.030,3158,2649,1784,0,0,0,0,0,0
$GC,4476,1.25,298.0,78.1,9.8,495,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2649,1783,0,0,0,0,0,0
$GC,4812,1.25,298.0,45.4,10.1,556,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2649,1783,0,0,0,0,0,0
$GC,5149,1.25,298.0,16.7,8.6,617,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2650,1782,0,0,0,0,0,0
$STATE,5294,end climb,SURFACE_DEPTH_REACHED
$STATE,5294,begin surface coast
$FINISH,1.9,1.012737
$STATE,5346,end surface coast,CONTROL_FINISHED_OK
$STATE,5346,begin surface
$SM_CCo,5367,243.52,0.729,0,0,550,602.46
$SM_GC,2.73,0.00,0.00,243.52,0.000,0.000,0.729,217,2313,550,-7.96,0.37,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078356764
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,14.10
$XPDR_PINGS,5
$24V_AH,23.6,79.609
$10V_AH,9.7,57.492
$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,21.100,38.150,330.800,243.525,0.000,164.934,140.978,0.000,1.250,0.000,904.911,1213.449,2574.065,661.182,2306.146,530.782,0.000,1297.566,0.000,1410.771,0.000,0.536,0.000
$DEVICE_MAMPS,251.576,50.622,891.254,728.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.478,526.496,659.103,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,38056,653
$CAP_FILE_SIZE,72619,0
$CFSIZE,260165632,214114304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,148.7,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7