version: 66.06
glider: 140
mission: 8
dive: 497
start: 2 3 110 1 31 44
data:
$ID,140
$MISSION,8
$DIVE,497
$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,-409549.41
$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,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,2.68
$_SM_ANGLEo,-64.8
$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,-116.7,0.0,0.0,0,99,0.00,0.00,-80.88,0.000,2,0.000,0.000,220,2292,2100,0,0,0,0,0,0
$GC,102,-0.80,-116.7,3.1,-0.2,14,204,9.40,2.15,-82.93,0.000,4,0.247,0.051,2499,909,3483,0,0,0,0,0,0
$GC,279,-0.38,-116.7,12.8,-16.1,44,287,0.45,2.12,0.00,0.000,6,0.186,0.029,2629,2306,3484,0,0,0,0,0,0
$GC,622,-0.27,-116.7,46.4,-10.3,105,629,0.15,2.12,0.00,0.000,4,0.197,0.035,2670,908,3484,0,0,0,0,0,0
$GC,660,-0.21,-116.7,50.0,-9.5,111,665,0.00,2.05,0.00,0.000,6,0.000,0.028,2670,2303,3484,0,0,0,0,0,0
$GC,1002,-0.42,-116.7,75.5,-8.2,172,1009,0.12,2.12,0.00,0.000,4,0.130,0.041,2625,3691,3484,0,0,0,0,0,0
$GC,1045,-0.54,-116.7,78.7,-7.3,179,1051,0.10,2.00,0.00,0.000,6,0.139,0.023,2587,2277,3484,0,0,0,0,0,0
$GC,1389,-0.54,-116.7,108.3,-8.2,240,1395,0.00,2.20,0.00,0.000,4,0.000,0.039,2587,3703,3484,0,0,0,0,0,0
$GC,1563,-0.39,-116.7,122.0,-7.9,268,1571,0.15,2.03,0.00,0.000,6,0.180,0.023,2631,2289,3483,0,0,0,0,0,0
$GC,1882,-0.35,-116.7,140.6,-5.9,284,1886,0.00,2.12,0.00,0.000,4,0.000,0.040,2632,3698,3483,0,0,0,0,0,0
$GC,1899,-0.32,-116.7,141.9,-6.5,284,1905,0.00,2.00,0.00,0.000,6,0.000,0.023,2632,2317,3483,0,0,0,0,0,0
$GC,2216,-0.49,-116.7,162.6,-6.7,300,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2317,3484,0,0,0,0,0,0
$GC,2525,-0.67,-116.7,184.1,-7.0,315,2530,0.25,2.08,0.00,0.000,4,0.095,0.032,2536,913,3483,0,0,0,0,0,0
$GC,2553,-0.59,-116.7,186.6,-9.0,316,2558,0.15,2.05,0.00,0.000,6,0.204,0.028,2571,2314,3483,0,0,0,0,0,0
$GC,2870,-0.43,-116.7,213.2,-8.3,331,2874,0.20,2.10,0.00,0.000,4,0.195,0.031,2625,913,3484,0,0,0,0,0,0
$GC,2882,-0.28,-116.7,214.4,-8.4,331,2888,0.15,2.05,0.00,0.000,6,0.190,0.028,2665,2309,3484,0,0,0,0,0,0
$GC,3201,-0.54,-116.7,232.9,-5.8,347,3206,0.22,2.08,0.00,0.000,4,0.104,0.036,2583,3701,3484,0,0,0,0,0,0
$GC,3274,-0.59,-116.7,237.4,-5.6,350,3278,0.00,2.03,0.00,0.000,6,0.000,0.022,2583,2267,3484,0,0,0,0,0,0
$GC,3596,-0.66,-116.7,258.5,-7.0,366,3599,0.00,1.98,0.00,0.000,4,0.000,0.034,2583,922,3485,0,0,0,0,0,0
$GC,3736,-0.66,-116.7,268.2,-7.3,372,3739,0.00,2.00,0.00,0.000,6,0.000,0.027,2583,2300,3485,0,0,0,0,0,0
$GC,4058,-0.74,-116.7,290.7,-6.9,388,4063,0.17,2.10,0.00,0.000,4,0.109,0.039,2521,3700,3485,0,0,0,0,0,0
$GC,4200,-0.49,-116.7,304.2,-11.2,394,4205,0.30,1.98,0.00,0.000,6,0.190,0.022,2601,2280,3485,0,0,0,0,0,0
$GC,4525,-0.70,-116.7,315.8,-0.0,405,4529,0.20,1.98,0.00,0.000,4,0.102,0.032,2529,949,3486,0,0,0,0,0,0
$STATE,4584,end dive,NO_VERTICAL_VELOCITY
$STATE,4584,begin apogee
$GC,4594,-0.24,0.0,315.8,0.0,407,4692,0.50,0.00,95.43,0.967,6,0.142,0.000,2684,2651,3006,0,0,0,0,0,0
$STATE,4693,end apogee,CONTROL_FINISHED_OK
$STATE,4693,begin climb
$GC,4697,0.80,116.7,315.9,0.0,410,4798,1.05,2.15,94.18,0.918,4,0.128,0.031,3014,1302,2529,0,0,0,0,0,0
$GC,4886,0.89,159.9,310.5,5.1,416,4927,0.12,2.08,35.70,0.897,6,0.112,0.030,3060,2654,2353,0,0,0,0,0,0
$GC,5254,0.90,163.0,285.3,6.8,431,5258,0.00,2.03,0.00,0.000,4,0.000,0.032,3070,1302,2348,0,0,0,0,0,0
$GC,5310,0.91,173.7,281.6,6.5,433,5326,0.00,2.03,11.65,0.883,6,0.000,0.030,3070,2650,2298,0,0,0,0,0,0
$GC,5652,0.91,173.7,258.7,7.3,450,5656,0.00,2.12,0.00,0.000,4,0.000,0.042,3070,4045,2296,0,0,0,0,0,0
$GC,5913,0.85,173.7,237.0,8.6,461,5919,0.00,1.95,0.00,0.000,6,0.000,0.023,3070,2673,2295,0,0,0,0,0,0
$GC,6229,0.87,187.3,215.7,6.3,477,6251,0.00,2.17,12.60,0.876,4,0.000,0.034,3070,1265,2241,0,0,0,0,0,0
$GC,6419,0.87,187.3,202.7,7.0,485,6423,0.00,2.08,0.00,0.000,6,0.000,0.029,3070,2655,2240,0,0,0,0,0,0
$GC,6742,0.87,187.3,181.1,6.9,501,6746,0.00,2.10,0.00,0.000,4,0.000,0.041,3070,4051,2239,0,0,0,0,0,0
$GC,6999,0.83,187.3,160.9,7.1,512,7007,0.10,2.03,0.00,0.000,6,0.173,0.023,3038,2645,2239,0,0,0,0,0,0
$GC,7316,0.95,206.8,140.9,6.1,528,7338,0.00,2.05,17.45,0.841,4,0.000,0.031,3042,1276,2162,0,0,0,0,0,0
$GC,7420,1.09,225.9,134.9,6.1,532,7444,0.20,2.08,16.95,0.811,6,0.091,0.029,3119,2662,2084,0,0,0,0,0,0
$GC,7766,1.09,225.9,108.5,7.8,566,7772,0.00,2.08,0.00,0.000,4,0.000,0.032,3126,1274,2080,0,0,0,0,0,0
$GC,7995,1.10,233.4,92.2,6.6,607,8007,0.00,2.05,7.30,0.773,6,0.000,0.029,3125,2652,2054,0,0,0,0,0,0
$GC,8343,1.10,233.4,66.2,7.2,669,8349,0.00,2.10,0.00,0.000,4,0.000,0.041,3125,4043,2053,0,0,0,0,0,0
$GC,8604,1.05,233.4,44.4,8.9,715,8610,0.00,1.98,0.00,0.000,6,0.000,0.023,3126,2662,2052,0,0,0,0,0,0
$GC,8943,1.05,233.4,20.6,7.3,776,8950,0.00,2.15,0.00,0.000,4,0.000,0.041,3126,4042,2051,0,0,0,0,0,0
$STATE,9159,end climb,SURFACE_DEPTH_REACHED
$STATE,9159,begin surface coast
$FINISH,2.3,1.026534
$STATE,9176,end surface coast,CONTROL_FINISHED_OK
$STATE,9176,begin surface
$SM_CCo,9197,293.85,0.726,0,0,550,602.46
$SM_GC,2.72,0.00,0.00,293.85,0.000,0.000,0.726,219,2309,550,-7.96,0.25,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078342571
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.60
$XPDR_PINGS,18
$24V_AH,23.4,80.328
$10V_AH,9.7,58.111
$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,22.525,83.725,291.250,293.850,0.000,166.711,140.779,0.000,4.500,0.000,904.009,1597.722,5499.277,732.256,2743.843,605.873,0.000,1572.437,0.000,1840.809,0.000,0.537,0.000
$DEVICE_MAMPS,246.974,51.389,967.187,725.582,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.515,698.426,659.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,47659,818
$CAP_FILE_SIZE,106876,0
$CFSIZE,260165632,213725184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000, 85.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7