version: 66.06
glider: 140
mission: 8
dive: 510
start: 2 4 110 15 57 14
data:
$ID,140
$MISSION,8
$DIVE,510
$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,-433062.06
$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,62
$R_STBD_OVSHOOT,46
$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,-65.3
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,63,0.00,0.00,-44.40,0.000,2,0.000,0.000,220,2313,1431,0,0,0,0,0,0
$GC,66,-0.80,-116.7,3.0,-0.4,8,199,9.57,2.17,-113.43,0.000,4,0.251,0.049,2500,893,3481,0,0,0,0,0,0
$GC,207,-0.50,-116.7,5.3,-5.4,32,214,0.32,2.12,0.00,0.000,6,0.185,0.029,2601,2302,3482,0,0,0,0,0,0
$GC,548,-0.33,-116.7,44.4,-11.0,93,555,0.20,2.12,0.00,0.000,4,0.196,0.033,2656,900,3483,0,0,0,0,0,0
$GC,601,-0.25,-116.7,49.8,-9.7,102,608,0.00,2.10,0.00,0.000,6,0.000,0.028,2657,2298,3482,0,0,0,0,0,0
$GC,946,-0.21,-116.7,77.7,-8.1,163,952,0.15,2.12,0.00,0.000,4,0.196,0.035,2697,894,3483,0,0,0,0,0,0
$GC,977,-0.21,-116.7,80.0,-7.8,168,983,0.00,2.10,0.00,0.000,6,0.000,0.028,2697,2296,3482,0,0,0,0,0,0
$GC,1323,-0.49,-116.7,105.1,-7.8,229,1330,0.25,2.10,0.00,0.000,4,0.107,0.032,2603,902,3482,0,0,0,0,0,0
$GC,1426,-0.49,-116.7,113.9,-8.6,247,1432,0.00,2.08,0.00,0.000,6,0.000,0.028,2602,2312,3482,0,0,0,0,0,0
$GC,1750,-0.56,-116.7,138.9,-7.5,272,1754,0.00,2.10,0.00,0.000,4,0.000,0.033,2602,903,3483,0,0,0,0,0,0
$GC,1769,-0.62,-116.7,140.6,-7.7,273,1774,0.12,2.05,0.00,0.000,6,0.133,0.028,2561,2306,3482,0,0,0,0,0,0
$GC,2099,-0.40,-116.7,175.1,-10.5,289,2101,0.28,0.00,0.00,0.000,6,0.186,0.000,2635,2306,3482,0,0,0,0,0,0
$GC,2406,-0.40,-116.7,193.2,-6.8,304,2410,0.00,2.12,0.00,0.000,4,0.000,0.034,2635,902,3482,0,0,0,0,0,0
$GC,2462,-0.40,-116.7,196.9,-5.9,306,2466,0.00,2.05,0.00,0.000,6,0.000,0.028,2635,2297,3482,0,0,0,0,0,0
$GC,2781,-0.57,-116.7,215.2,-6.7,321,2785,0.15,2.10,0.00,0.000,4,0.116,0.033,2579,903,3482,0,0,0,0,0,0
$GC,2808,-0.57,-116.7,217.6,-7.2,322,2811,0.00,2.05,0.00,0.000,6,0.000,0.027,2579,2304,3482,0,0,0,0,0,0
$STATE,3127,end dive,NO_VERTICAL_VELOCITY
$STATE,3127,begin apogee
$GC,3135,-0.24,0.0,226.7,0.0,338,3231,0.32,0.00,93.60,0.921,6,0.123,0.000,2685,2656,3006,0,0,0,0,0,0
$STATE,3232,end apogee,CONTROL_FINISHED_OK
$STATE,3232,begin climb
$GC,3235,0.80,116.7,226.7,0.0,343,3337,1.08,2.30,93.62,0.871,4,0.127,0.032,3018,1249,2529,0,0,0,0,0,0
$GC,3423,0.93,165.6,221.1,4.9,352,3469,0.12,2.12,39.97,0.854,6,0.112,0.030,3064,2650,2329,0,0,0,0,0,0
$GC,3786,0.97,173.3,197.6,6.6,370,3799,0.00,2.20,6.75,0.782,4,0.000,0.041,3064,4044,2298,0,0,0,0,0,0
$GC,4055,0.97,173.3,177.9,7.9,382,4059,0.00,2.05,0.00,0.000,6,0.000,0.023,3070,2627,2297,0,0,0,0,0,0
$GC,4384,1.05,205.8,158.6,5.6,398,4418,0.00,2.28,27.77,0.843,4,0.000,0.040,3070,4037,2166,0,0,0,0,0,0
$GC,4585,1.05,205.8,145.3,7.5,407,4589,0.00,2.03,0.00,0.000,6,0.000,0.022,3070,2641,2162,0,0,0,0,0,0
$GC,4920,1.13,212.4,125.1,6.6,423,4934,0.17,2.25,6.62,0.768,4,0.103,0.041,3138,4042,2138,0,0,0,0,0,0
$GC,5187,1.03,212.4,103.5,7.9,462,5194,0.15,2.03,0.00,0.000,6,0.194,0.023,3102,2629,2138,0,0,0,0,0,0
$GC,5530,1.04,220.2,82.4,6.6,523,5541,0.00,0.00,7.97,0.798,6,0.000,0.000,3102,2627,2108,0,0,0,0,0,0
$GC,5880,1.12,226.9,59.5,6.6,585,5892,0.00,2.20,7.07,0.772,4,0.000,0.039,3102,4041,2079,0,0,0,0,0,0
$GC,6018,1.12,226.9,50.2,6.9,609,6025,0.00,2.00,0.00,0.000,6,0.000,0.023,3101,2654,2078,0,0,0,0,0,0
$GC,6359,1.20,226.9,27.6,7.3,670,6366,0.15,2.10,0.00,0.000,4,0.109,0.035,3157,1268,2078,0,0,0,0,0,0
$GC,6436,1.14,226.9,22.1,7.3,683,6441,0.00,2.05,0.00,0.000,6,0.000,0.030,3157,2648,2078,0,0,0,0,0,0
$STATE,6681,end climb,SURFACE_DEPTH_REACHED
$STATE,6682,begin surface coast
$FINISH,2.1,1.026590
$STATE,6745,end surface coast,CONTROL_FINISHED_OK
$STATE,6745,begin surface
$SM_CCo,6766,299.40,0.735,0,0,549,602.46
$SM_GC,2.99,0.00,0.00,299.40,0.000,0.000,0.735,221,2283,549,-7.95,-0.51,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078363216
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,14.20
$XPDR_PINGS,6
$24V_AH,23.5,82.207
$10V_AH,9.7,59.704
$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,21.725,55.975,283.400,299.400,0.000,164.510,140.771,0.000,1.500,0.000,904.065,1400.624,3615.909,709.116,2468.257,559.485,0.000,1394.261,0.000,1571.596,0.000,0.537,0.000
$DEVICE_MAMPS,250.809,49.088,921.167,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,505.166,604.961,676.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,41310,739
$CAP_FILE_SIZE,85131,0
$CFSIZE,260165632,212832256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,120.0,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7