version: 66.06
glider: 140
mission: 8
dive: 514
start: 2 5 110 3 48 32
data:
$ID,140
$MISSION,8
$DIVE,514
$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,-440293.47
$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,80
$R_STBD_OVSHOOT,51
$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,2.82
$_SM_ANGLEo,-66.5
$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,-116.7,0.0,0.0,0,62,0.00,0.00,-43.55,0.000,2,0.000,0.000,220,2273,1417,0,0,0,0,0,0
$GC,66,-0.80,-116.7,3.1,-0.5,8,205,9.43,0.00,-121.00,0.000,6,0.245,0.000,2504,2274,3481,0,0,0,0,0,0
$GC,537,-0.44,-116.7,52.8,-16.5,92,545,0.38,2.25,0.00,0.000,4,0.199,0.039,2610,3702,3482,0,0,0,0,0,0
$GC,624,-0.29,-116.7,63.3,-10.8,107,630,0.20,2.03,0.00,0.000,6,0.188,0.023,2664,2283,3482,0,0,0,0,0,0
$GC,963,-0.29,-116.7,91.3,-8.3,168,971,0.00,2.20,0.00,0.000,4,0.000,0.040,2664,3700,3482,0,0,0,0,0,0
$GC,978,-0.29,-116.7,92.5,-8.4,170,984,0.00,2.00,0.00,0.000,6,0.000,0.023,2665,2311,3482,0,0,0,0,0,0
$GC,1325,-0.29,-116.7,121.6,-7.6,230,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2311,3482,0,0,0,0,0,0
$GC,1637,-0.29,-116.7,142.4,-5.9,245,1641,0.00,2.08,0.00,0.000,4,0.000,0.035,2665,909,3482,0,0,0,0,0,0
$GC,1659,-0.29,-116.7,144.2,-6.7,246,1663,0.00,2.05,0.00,0.000,6,0.000,0.028,2665,2307,3482,0,0,0,0,0,0
$GC,1981,-0.51,-116.7,164.9,-6.5,262,1985,0.20,2.08,0.00,0.000,4,0.110,0.037,2591,3702,3482,0,0,0,0,0,0
$GC,2059,-0.51,-116.7,171.4,-8.8,265,2064,0.00,2.00,0.00,0.000,6,0.000,0.023,2591,2291,3482,0,0,0,0,0,0
$GC,2376,-0.59,-116.7,198.3,-8.8,281,2380,0.00,2.12,0.00,0.000,4,0.000,0.038,2591,3708,3482,0,0,0,0,0,0
$GC,2444,-0.59,-116.7,204.1,-7.9,284,2448,0.00,2.00,0.00,0.000,6,0.000,0.023,2591,2304,3481,0,0,0,0,0,0
$GC,2771,-0.67,-116.7,229.3,-7.4,300,2776,0.12,2.15,0.00,0.000,4,0.127,0.039,2547,3705,3482,0,0,0,0,0,0
$GC,2827,-0.55,-116.7,233.6,-7.9,302,2833,0.15,2.00,0.00,0.000,6,0.187,0.022,2583,2279,3482,0,0,0,0,0,0
$GC,3143,-0.61,-116.7,256.1,-7.8,318,3147,0.00,2.12,0.00,0.000,4,0.000,0.039,2583,3698,3483,0,0,0,0,0,0
$GC,3200,-0.65,-116.7,260.3,-7.2,320,3206,0.00,1.98,0.00,0.000,6,0.000,0.022,2584,2302,3483,0,0,0,0,0,0
$STATE,3492,end dive,NO_VERTICAL_VELOCITY
$STATE,3492,begin apogee
$GC,3500,-0.24,0.0,266.3,0.0,335,3597,0.30,0.00,94.12,0.943,6,0.091,0.000,2694,2655,3006,0,0,0,0,0,0
$STATE,3598,end apogee,CONTROL_FINISHED_OK
$STATE,3598,begin climb
$GC,3601,0.80,116.7,266.4,0.0,340,3707,0.98,2.20,93.20,0.891,4,0.113,0.041,3010,4035,2529,0,0,0,0,0,0
$GC,3800,0.88,183.8,260.5,4.2,349,3861,0.00,2.03,54.42,0.877,6,0.000,0.022,3014,2644,2255,0,0,0,0,0,0
$GC,4171,1.03,191.1,237.5,6.6,367,4183,0.22,2.12,6.40,0.786,4,0.087,0.034,3101,1272,2227,0,0,0,0,0,0
$GC,4269,1.03,191.1,230.2,8.0,371,4274,0.00,2.05,0.00,0.000,6,0.000,0.029,3101,2647,2226,0,0,0,0,0,0
$GC,4586,1.03,191.1,206.2,7.5,386,4590,0.00,2.05,0.00,0.000,4,0.000,0.033,3101,1269,2225,0,0,0,0,0,0
$GC,4754,1.03,193.4,194.7,6.8,393,4759,0.00,2.05,0.00,0.000,6,0.000,0.029,3101,2654,2225,0,0,0,0,0,0
$GC,5072,1.03,193.4,172.7,7.1,409,5076,0.00,2.05,0.00,0.000,4,0.000,0.033,3101,1278,2225,0,0,0,0,0,0
$GC,5151,1.11,198.0,167.1,6.7,412,5163,0.00,2.08,7.32,0.810,6,0.000,0.029,3101,2654,2198,0,0,0,0,0,0
$FREEZE,161.11,8.637,-2.038,0,217,0
$STATE,5463,end climb,NO_VERTICAL_VELOCITY
$STATE,5463,begin surface
$SM_CCo,5467,328.58,0.811,0,0,550,602.46
$SM_GC,2.86,8.57,0.00,0.00,0.107,0.000,0.000,214,2273,541,-7.95,-0.76,604.66
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.026845
$HUMID,1078467732
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.90
$XPDR_PINGS,9
$24V_AH,23.4,82.792
$10V_AH,9.7,60.178
$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,20.550,46.700,255.475,328.575,0.000,167.518,141.379,0.000,2.250,0.000,904.069,920.040,4541.952,697.502,1865.660,532.247,0.000,1214.203,0.000,967.326,0.000,0.536,0.000
$DEVICE_MAMPS,244.673,41.418,942.643,810.719,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,290.829,372.951,326.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,25468,428
$CAP_FILE_SIZE,67890,0
$CFSIZE,260165632,212594688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,156.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7