version: 66.06
glider: 140
mission: 8
dive: 493
start: 2 2 110 13 56 33
data:
$ID,140
$MISSION,8
$DIVE,493
$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,-402315.53
$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,77
$R_STBD_OVSHOOT,47
$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,-63.6
$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,16,-0.80,-116.7,0.0,0.0,0,90,0.00,0.00,-71.70,0.000,2,0.000,0.000,217,2313,1920,0,0,0,0,0,0
$GC,94,-0.80,-116.7,3.0,-0.4,13,207,9.45,2.17,-93.38,0.000,4,0.250,0.051,2499,926,3483,0,0,0,0,0,0
$GC,369,-0.41,-116.7,28.4,-17.0,61,375,0.47,2.05,0.00,0.000,6,0.194,0.028,2629,2317,3484,0,0,0,0,0,0
$GC,706,-0.33,-116.7,59.6,-9.1,122,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2316,3484,0,0,0,0,0,0
$GC,1048,-0.25,-116.7,85.0,-6.6,183,1054,0.17,2.12,0.00,0.000,4,0.190,0.035,2677,920,3484,0,0,0,0,0,0
$GC,1066,-0.18,-116.7,86.1,-6.9,185,1071,0.00,2.03,0.00,0.000,6,0.000,0.028,2677,2298,3484,0,0,0,0,0,0
$GC,1404,-0.44,-116.7,111.2,-8.1,246,1410,0.17,2.10,0.00,0.000,4,0.112,0.035,2615,913,3484,0,0,0,0,0,0
$GC,1478,-0.49,-116.7,117.7,-8.8,259,1483,0.00,2.05,0.00,0.000,6,0.000,0.028,2614,2308,3484,0,0,0,0,0,0
$GC,1796,-0.61,-116.7,142.1,-7.5,278,1800,0.15,2.10,0.00,0.000,4,0.115,0.034,2559,910,3484,0,0,0,0,0,0
$GC,1927,-0.38,-116.7,154.4,-11.4,284,1932,0.28,2.05,0.00,0.000,6,0.186,0.028,2633,2309,3484,0,0,0,0,0,0
$GC,2257,-0.56,-116.7,177.3,-6.5,300,2261,0.15,2.10,0.00,0.000,4,0.116,0.034,2577,911,3484,0,0,0,0,0,0
$GC,2331,-0.51,-116.7,182.6,-6.6,303,2335,0.00,2.05,0.00,0.000,6,0.000,0.028,2577,2307,3484,0,0,0,0,0,0
$GC,2652,-0.56,-116.7,202.8,-6.1,319,2656,0.00,2.08,0.00,0.000,4,0.000,0.033,2577,916,3484,0,0,0,0,0,0
$GC,2721,-0.52,-116.7,207.2,-6.8,322,2725,0.00,2.05,0.00,0.000,6,0.000,0.028,2577,2311,3484,0,0,0,0,0,0
$GC,3042,-0.56,-116.7,229.1,-7.5,338,3046,0.00,2.08,0.00,0.000,4,0.000,0.033,2577,917,3485,0,0,0,0,0,0
$GC,3099,-0.41,-116.7,233.8,-8.8,340,3107,0.20,2.03,0.00,0.000,6,0.188,0.028,2630,2305,3485,0,0,0,0,0,0
$STATE,3330,end dive,NO_VERTICAL_VELOCITY
$STATE,3330,begin apogee
$GC,3337,-0.24,0.0,236.6,0.0,352,3434,0.17,0.00,94.05,0.919,6,0.137,0.000,2687,2647,3006,0,0,0,0,0,0
$STATE,3434,end apogee,CONTROL_FINISHED_OK
$STATE,3435,begin climb
$GC,3438,0.80,116.7,236.7,0.0,357,3543,1.02,2.22,93.43,0.869,4,0.122,0.032,3014,1274,2529,0,0,0,0,0,0
$GC,3635,0.89,168.5,230.6,4.8,366,3684,0.12,2.10,41.97,0.853,6,0.110,0.030,3060,2644,2318,0,0,0,0,0,0
$GC,4006,0.93,168.5,205.2,7.0,384,4010,0.00,2.12,0.00,0.000,4,0.000,0.043,3060,4044,2312,0,0,0,0,0,0
$GC,4263,0.92,201.0,189.4,5.6,395,4297,0.00,2.00,26.75,0.851,6,0.000,0.022,3069,2645,2186,0,0,0,0,0,0
$GC,4608,1.02,249.9,173.0,4.9,412,4653,0.00,2.25,40.40,0.839,4,0.000,0.041,3069,4034,1986,0,0,0,0,0,0
$GC,4817,1.06,249.9,158.1,7.6,421,4821,0.10,2.00,0.00,0.000,6,0.130,0.022,3106,2635,1980,0,0,0,0,0,0
$GC,5136,1.12,272.1,137.4,6.0,436,5159,0.00,2.25,18.85,0.823,4,0.000,0.041,3106,4040,1896,0,0,0,0,0,0
$GC,5412,1.12,272.1,112.9,8.0,458,5417,0.00,1.98,0.00,0.000,6,0.000,0.022,3111,2662,1892,0,0,0,0,0,0
$GC,5749,1.16,272.1,84.5,7.3,519,5754,0.00,2.12,0.00,0.000,4,0.000,0.042,3111,4048,1890,0,0,0,0,0,0
$GC,5882,1.16,272.1,71.6,8.7,543,5887,0.00,2.00,0.00,0.000,6,0.000,0.024,3112,2657,1890,0,0,0,0,0,0
$GC,6219,1.22,272.1,41.7,8.8,604,6226,0.12,0.00,0.00,0.000,6,0.117,0.000,3159,2651,1889,0,0,0,0,0,0
$GC,6556,1.22,272.1,12.8,8.7,665,6562,0.00,2.05,0.00,0.000,4,0.000,0.034,3167,1264,1889,0,0,0,0,0,0
$GC,6648,1.22,272.1,5.6,8.2,681,6653,0.00,2.08,0.00,0.000,6,0.000,0.029,3167,2656,1889,0,0,0,0,0,0
$STATE,6672,end climb,SURFACE_DEPTH_REACHED
$STATE,6672,begin surface coast
$FINISH,2.0,1.023645
$STATE,6733,end surface coast,CONTROL_FINISHED_OK
$STATE,6733,begin surface
$SM_CCo,6754,262.52,0.727,0,0,549,602.46
$SM_GC,2.65,0.00,0.00,262.52,0.000,0.000,0.727,219,2293,549,-7.96,-0.20,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078372248
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.80
$XPDR_PINGS,8
$24V_AH,23.5,79.751
$10V_AH,9.7,57.611
$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,21.425,55.200,315.450,262.525,0.000,164.318,140.960,0.000,2.000,0.000,903.933,1334.614,3641.747,691.701,2475.806,547.991,0.000,1402.700,0.000,1573.074,0.000,0.537,0.000
$DEVICE_MAMPS,250.042,51.389,918.866,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,474.905,575.402,629.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,41297,696
$CAP_FILE_SIZE,86220,0
$CFSIZE,260165632,214032384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,114.3,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7