version: 66.06
glider: 140
mission: 8
dive: 516
start: 2 5 110 8 44 16
data:
$ID,140
$MISSION,8
$DIVE,516
$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,-443909.22
$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,75
$R_STBD_OVSHOOT,49
$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,2.84
$_SM_ANGLEo,-64.5
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,45,0.00,0.00,-28.00,0.000,2,0.000,0.000,221,2311,1103,0,0,0,0,0,0
$GC,49,-0.80,-116.7,3.0,-0.6,5,206,9.43,2.12,-139.00,0.000,4,0.245,0.049,2502,909,3481,0,0,0,0,0,0
$GC,349,-0.40,-116.7,18.4,-17.3,58,357,0.43,2.10,0.00,0.000,6,0.192,0.029,2623,2303,3482,0,0,0,0,0,0
$GC,693,-0.26,-116.7,54.1,-10.0,119,699,0.20,0.00,0.00,0.000,6,0.197,0.000,2677,2303,3482,0,0,0,0,0,0
$GC,1035,-0.26,-116.7,79.1,-7.2,180,1042,0.00,2.12,0.00,0.000,4,0.000,0.035,2677,917,3482,0,0,0,0,0,0
$GC,1050,-0.26,-116.7,80.2,-7.1,182,1055,0.00,2.05,0.00,0.000,6,0.000,0.028,2678,2307,3482,0,0,0,0,0,0
$GC,1392,-0.26,-116.7,103.3,-6.7,243,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2308,3482,0,0,0,0,0,0
$GC,1736,-0.48,-116.7,127.3,-6.9,291,1741,0.20,2.10,0.00,0.000,4,0.108,0.031,2605,909,3482,0,0,0,0,0,0
$GC,1769,-0.48,-116.7,130.2,-8.8,292,1776,0.00,2.08,0.00,0.000,6,0.000,0.028,2605,2302,3482,0,0,0,0,0,0
$GC,2086,-0.38,-116.7,157.3,-8.6,308,2088,0.12,0.00,0.00,0.000,6,0.208,0.000,2636,2302,3482,0,0,0,0,0,0
$GC,2396,-0.54,-116.7,180.3,-7.9,323,2401,0.15,2.10,0.00,0.000,4,0.116,0.034,2581,909,3482,0,0,0,0,0,0
$GC,2459,-0.51,-116.7,185.6,-8.2,326,2463,0.00,2.05,0.00,0.000,6,0.000,0.028,2580,2304,3482,0,0,0,0,0,0
$GC,2789,-0.55,-116.7,210.4,-7.1,342,2792,0.00,2.08,0.00,0.000,4,0.000,0.034,2580,910,3482,0,0,0,0,0,0
$GC,2875,-0.51,-116.7,216.8,-7.3,346,2879,0.00,2.05,0.00,0.000,6,0.000,0.028,2580,2308,3482,0,0,0,0,0,0
$STATE,3164,end dive,NO_VERTICAL_VELOCITY
$STATE,3164,begin apogee
$GC,3171,-0.24,0.0,223.8,0.0,360,3268,0.30,0.00,93.57,0.915,6,0.078,0.000,2694,2653,3006,0,0,0,0,0,0
$STATE,3269,end apogee,CONTROL_FINISHED_OK
$STATE,3269,begin climb
$GC,3272,0.80,116.7,223.8,0.0,365,3378,0.93,2.25,93.05,0.866,4,0.084,0.041,3014,4029,2529,0,0,0,0,0,0
$GC,3457,0.83,146.3,217.9,5.7,373,3489,0.00,2.05,24.62,0.847,6,0.000,0.023,3015,2633,2410,0,0,0,0,0,0
$GC,3803,0.97,178.2,198.3,5.6,390,3835,0.17,2.22,26.55,0.853,4,0.098,0.040,3083,4041,2277,0,0,0,0,0,0
$GC,4033,0.91,178.6,181.4,6.9,400,4037,0.00,2.03,0.00,0.000,6,0.000,0.023,3083,2643,2274,0,0,0,0,0,0
$GC,4350,0.97,226.2,161.8,5.0,415,4392,0.00,0.00,39.65,0.840,6,0.000,0.000,3083,2642,2084,0,0,0,0,0,0
$GC,4699,1.03,226.2,136.4,6.9,432,4700,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2642,2077,0,0,0,0,0,0
$GC,5013,1.14,234.8,115.5,6.5,456,5027,0.12,2.12,7.85,0.795,4,0.115,0.034,3137,1268,2047,0,0,0,0,0,0
$GC,5047,1.17,234.8,113.1,7.2,461,5054,0.00,2.05,0.00,0.000,6,0.000,0.029,3137,2642,2047,0,0,0,0,0,0
$GC,5392,1.17,234.8,84.7,8.3,522,5398,0.00,2.12,0.00,0.000,4,0.000,0.041,3137,4053,2046,0,0,0,0,0,0
$GC,5536,1.10,234.8,71.7,9.0,547,5541,0.00,2.03,0.00,0.000,6,0.000,0.023,3140,2641,2045,0,0,0,0,0,0
$GC,5877,1.10,240.4,47.7,6.7,608,5889,0.00,2.05,6.40,0.749,4,0.000,0.034,3140,1264,2024,0,0,0,0,0,0
$GC,5953,1.10,240.4,41.7,9.0,621,5959,0.00,2.08,0.00,0.000,6,0.000,0.030,3140,2657,2023,0,0,0,0,0,0
$GC,6293,1.10,240.4,17.3,7.0,682,6300,0.00,2.10,0.00,0.000,4,0.000,0.041,3140,4036,2022,0,0,0,0,0,0
$GC,6392,1.04,240.4,9.0,8.4,699,6398,0.15,2.00,0.00,0.000,6,0.192,0.024,3101,2640,2021,0,0,0,0,0,0
$STATE,6463,end climb,SURFACE_DEPTH_REACHED
$STATE,6463,begin surface coast
$FINISH,2.2,1.026624
$STATE,6539,end surface coast,CONTROL_FINISHED_OK
$STATE,6539,begin surface
$SM_CCo,6559,289.10,0.735,0,0,550,602.46
$SM_GC,2.88,0.00,0.00,289.10,0.000,0.000,0.735,221,2286,550,-7.96,-0.37,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078351603
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,14.20
$XPDR_PINGS,2
$24V_AH,23.5,83.074
$10V_AH,9.7,60.411
$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,20.675,46.875,291.700,289.100,0.000,164.261,141.066,0.000,0.500,0.000,904.079,1353.826,3525.706,694.930,2414.538,556.805,0.000,1368.684,0.000,1517.831,0.000,0.534,0.000
$DEVICE_MAMPS,244.673,49.088,915.031,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,495.254,595.717,674.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,41291,725
$CAP_FILE_SIZE,80645,0
$CFSIZE,260165632,212459520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,133.7,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7