version: 66.06
glider: 140
mission: 8
dive: 509
start: 2 4 110 13 20 25
data:
$ID,140
$MISSION,8
$DIVE,509
$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,-431253.72
$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,63
$R_STBD_OVSHOOT,52
$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,2.85
$_SM_ANGLEo,-62.7
$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,16,-0.80,-116.7,0.0,0.0,0,51,0.00,0.00,-33.45,0.000,2,0.000,0.000,219,2305,1216,0,0,0,0,0,0
$GC,55,-0.80,-116.7,3.0,-0.4,6,197,9.38,2.12,-122.50,0.000,4,0.243,0.048,2500,906,3482,0,0,0,0,0,0
$GC,220,-0.46,-116.7,8.7,-12.0,34,228,0.38,2.10,0.00,0.000,6,0.189,0.028,2607,2302,3482,0,0,0,0,0,0
$GC,560,-0.30,-116.7,47.1,-11.5,95,566,0.20,0.00,0.00,0.000,6,0.199,0.000,2662,2303,3483,0,0,0,0,0,0
$GC,897,-0.30,-116.7,75.4,-6.9,156,904,0.00,2.12,0.00,0.000,4,0.000,0.035,2663,911,3483,0,0,0,0,0,0
$GC,930,-0.26,-116.7,77.8,-7.6,161,936,0.00,2.05,0.00,0.000,6,0.000,0.028,2662,2308,3483,0,0,0,0,0,0
$GC,1267,-0.26,-116.7,101.9,-7.3,222,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2307,3483,0,0,0,0,0,0
$GC,1607,-0.26,-116.7,127.9,-7.5,270,1611,0.00,2.10,0.00,0.000,4,0.000,0.034,2663,897,3483,0,0,0,0,0,0
$GC,1618,-0.26,-116.7,128.9,-7.6,270,1625,0.00,2.10,0.00,0.000,6,0.000,0.028,2662,2298,3483,0,0,0,0,0,0
$GC,1935,-0.26,-116.7,151.4,-6.8,286,1939,0.00,2.08,0.00,0.000,4,0.000,0.034,2663,905,3483,0,0,0,0,0,0
$GC,1960,-0.31,-116.7,153.1,-6.9,287,1964,0.00,2.05,0.00,0.000,6,0.000,0.028,2663,2305,3483,0,0,0,0,0,0
$GC,2289,-0.53,-116.7,174.0,-6.3,303,2293,0.20,2.08,0.00,0.000,4,0.107,0.038,2589,3704,3483,0,0,0,0,0,0
$GC,2301,-0.71,-116.7,174.9,-6.4,303,2307,0.15,2.03,0.00,0.000,6,0.127,0.023,2541,2267,3483,0,0,0,0,0,0
$GC,2618,-0.62,-116.7,201.4,-8.8,319,2622,0.00,2.17,0.00,0.000,4,0.000,0.038,2541,3707,3483,0,0,0,0,0,0
$GC,2871,-0.53,-116.7,228.1,-10.4,330,2876,0.17,2.00,0.00,0.000,6,0.120,0.023,2596,2281,3484,0,0,0,0,0,0
$STATE,3039,end dive,NO_VERTICAL_VELOCITY
$STATE,3039,begin apogee
$GC,3047,-0.24,0.0,228.2,0.0,338,3143,0.28,0.00,93.88,0.922,6,0.121,0.000,2690,2649,3006,0,0,0,0,0,0
$STATE,3144,end apogee,CONTROL_FINISHED_OK
$STATE,3144,begin climb
$GC,3148,0.80,116.7,228.2,0.0,343,3250,0.98,2.17,93.57,0.872,4,0.108,0.033,3013,1286,2529,0,0,0,0,0,0
$GC,3377,0.99,219.4,223.8,2.8,353,3472,0.20,2.08,82.60,0.861,6,0.097,0.030,3086,2651,2110,0,0,0,0,0,0
$GC,3782,1.06,219.4,194.0,8.5,373,3786,0.00,2.05,0.00,0.000,4,0.000,0.033,3087,1291,2102,0,0,0,0,0,0
$GC,3861,1.06,224.3,187.9,6.7,376,3870,0.00,2.05,4.10,0.615,6,0.000,0.030,3087,2640,2091,0,0,0,0,0,0
$GC,4176,1.07,232.2,166.6,6.6,392,4191,0.00,2.17,8.23,0.814,4,0.000,0.041,3087,4040,2058,0,0,0,0,0,0
$GC,4442,1.07,232.2,146.8,7.7,404,4446,0.00,1.98,0.00,0.000,6,0.000,0.023,3087,2660,2057,0,0,0,0,0,0
$GC,4776,1.17,232.2,124.6,7.4,420,4781,0.15,2.12,0.00,0.000,4,0.103,0.042,3146,4043,2056,0,0,0,0,0,0
$GC,5034,1.06,232.2,101.5,8.7,457,5040,0.17,2.00,0.00,0.000,6,0.193,0.023,3108,2631,2056,0,0,0,0,0,0
$GC,5372,1.06,234.2,80.0,6.8,518,5377,0.00,2.15,0.00,0.000,4,0.000,0.041,3106,4050,2056,0,0,0,0,0,0
$GC,5570,1.06,234.2,64.5,8.7,554,5575,0.00,2.00,0.00,0.000,6,0.000,0.023,3111,2652,2056,0,0,0,0,0,0
$GC,5909,1.06,234.2,40.8,7.0,615,5914,0.00,2.03,0.00,0.000,4,0.000,0.035,3112,1268,2056,0,0,0,0,0,0
$GC,5948,1.06,234.2,37.9,7.2,622,5955,0.00,2.10,0.00,0.000,6,0.000,0.030,3108,2655,2056,0,0,0,0,0,0
$GC,6286,1.11,234.2,13.5,7.6,683,6291,0.00,2.08,0.00,0.000,4,0.000,0.041,3108,4047,2055,0,0,0,0,0,0
$STATE,6408,end climb,SURFACE_DEPTH_REACHED
$STATE,6408,begin surface coast
$FINISH,2.3,1.026608
$STATE,6444,end surface coast,CONTROL_FINISHED_OK
$STATE,6445,begin surface
$SM_CCo,6467,295.83,0.736,0,0,550,602.46
$SM_GC,2.99,0.00,0.00,295.83,0.000,0.000,0.736,220,2313,550,-7.96,0.37,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078364506
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,14.20
$XPDR_PINGS,7
$24V_AH,23.5,82.065
$10V_AH,9.7,59.584
$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,20.500,55.100,282.375,295.825,0.000,164.932,141.063,0.000,1.750,0.000,905.048,1349.676,3388.308,700.680,2461.804,553.019,0.000,1384.965,0.000,1562.490,0.000,0.536,0.000
$DEVICE_MAMPS,243.139,48.321,921.934,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,485.867,580.345,662.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,41259,711
$CAP_FILE_SIZE,82272,0
$CFSIZE,260165632,212897792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,115.4,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7