version: 66.06
glider: 140
mission: 8
dive: 519
start: 2 5 110 17 2 17
data:
$ID,140
$MISSION,8
$DIVE,519
$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,-449334.31
$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,90
$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,-60.9
$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,-33.15,0.000,2,0.000,0.000,223,2279,1213,0,0,0,0,0,0
$GC,55,-0.80,-116.7,3.0,-0.6,6,192,9.27,2.12,-118.30,0.000,4,0.240,0.049,2501,921,3482,0,0,0,0,0,0
$GC,218,-0.42,-116.7,8.8,-11.8,33,225,0.45,2.05,0.00,0.000,6,0.199,0.029,2622,2305,3483,0,0,0,0,0,0
$GC,554,-0.29,-116.7,43.4,-9.5,94,561,0.17,2.15,0.00,0.000,4,0.197,0.042,2669,3687,3484,0,0,0,0,0,0
$GC,630,-0.25,-116.7,49.2,-8.7,107,635,0.00,1.98,0.00,0.000,6,0.000,0.024,2670,2309,3484,0,0,0,0,0,0
$GC,969,-0.25,-116.7,74.8,-8.5,168,977,0.00,2.12,0.00,0.000,4,0.000,0.040,2670,3693,3483,0,0,0,0,0,0
$GC,984,-0.25,-116.7,75.9,-8.3,170,990,0.00,2.00,0.00,0.000,6,0.000,0.024,2670,2297,3484,0,0,0,0,0,0
$GC,1320,-0.25,-116.7,101.3,-6.6,231,1326,0.00,2.12,0.00,0.000,4,0.000,0.040,2670,3697,3484,0,0,0,0,0,0
$GC,1346,-0.25,-116.7,103.0,-6.9,235,1352,0.00,2.00,0.00,0.000,6,0.000,0.023,2670,2298,3484,0,0,0,0,0,0
$GC,1686,-0.25,-116.7,128.9,-6.5,280,1690,0.00,2.12,0.00,0.000,4,0.000,0.039,2670,3700,3484,0,0,0,0,0,0
$GC,1713,-0.25,-116.7,131.0,-7.8,281,1717,0.00,2.00,0.00,0.000,6,0.000,0.023,2669,2305,3483,0,0,0,0,0,0
$GC,2037,-0.48,-116.7,156.6,-5.9,297,2042,0.17,2.15,0.00,0.000,4,0.117,0.038,2608,3701,3483,0,0,0,0,0,0
$GC,2181,-0.48,-116.7,166.2,-7.8,303,2186,0.00,2.00,0.00,0.000,6,0.000,0.023,2608,2289,3483,0,0,0,0,0,0
$GC,2499,-0.58,-116.7,189.7,-6.8,319,2503,0.00,2.15,0.00,0.000,4,0.000,0.038,2608,3704,3483,0,0,0,0,0,0
$GC,2523,-0.66,-116.7,191.3,-6.2,320,2527,0.17,2.00,0.00,0.000,6,0.112,0.023,2549,2295,3483,0,0,0,0,0,0
$GC,2846,-0.78,-116.7,207.4,0.0,336,2851,0.10,2.15,0.00,0.000,4,0.146,0.040,2515,3697,3483,0,0,0,0,0,0
$STATE,2944,end dive,NO_VERTICAL_VELOCITY
$STATE,2944,begin apogee
$GC,2955,-0.24,0.0,207.5,0.0,340,3052,0.52,0.00,93.68,0.911,6,0.139,0.000,2681,2620,3006,0,0,0,0,0,0
$STATE,3053,end apogee,CONTROL_FINISHED_OK
$STATE,3053,begin climb
$GC,3056,0.80,116.7,207.5,0.0,345,3162,1.08,2.12,93.05,0.858,4,0.136,0.033,3014,1299,2529,0,0,0,0,0,0
$GC,3278,0.93,171.5,199.8,4.7,355,3330,0.15,2.05,44.40,0.845,6,0.104,0.030,3070,2653,2305,0,0,0,0,0,0
$GC,3654,0.96,197.4,172.6,5.8,373,3677,0.00,0.00,21.38,0.837,6,0.000,0.000,3070,2653,2201,0,0,0,0,0,0
$GC,3990,1.06,219.5,153.1,6.0,389,4015,0.10,2.12,19.30,0.831,4,0.130,0.034,3111,1301,2110,0,0,0,0,0,0
$GC,4177,1.09,219.5,140.5,8.3,397,4181,0.00,2.05,0.00,0.000,6,0.000,0.030,3109,2651,2108,0,0,0,0,0,0
$GC,4493,1.18,286.6,123.5,4.2,412,4558,0.10,2.15,55.47,0.819,4,0.129,0.033,3154,1309,1835,0,0,0,0,0,0
$GC,4669,1.19,295.8,112.8,6.5,435,4682,0.00,2.05,8.23,0.764,6,0.000,0.029,3154,2657,1800,0,0,0,0,0,0
$GC,5018,1.25,349.4,95.6,4.7,497,5068,0.00,2.22,44.47,0.802,4,0.000,0.041,3154,4044,1579,0,0,0,0,0,0
$GC,5160,1.25,349.4,88.8,8.7,522,5166,0.00,2.00,0.00,0.000,6,0.000,0.024,3154,2685,1574,0,0,0,0,0,0
$GC,5497,1.30,349.4,63.2,8.8,583,5503,0.00,2.12,0.00,0.000,4,0.000,0.035,3154,1256,1571,0,0,0,0,0,0
$GC,5579,1.41,388.8,58.9,5.3,597,5619,0.17,2.10,32.03,0.796,6,0.100,0.029,3218,2658,1420,0,0,0,0,0,0
$GC,5948,1.37,388.8,19.4,12.8,664,5956,0.00,2.12,0.00,0.000,4,0.000,0.042,3218,4033,1412,0,0,0,0,0,0
$GC,6030,1.30,388.8,6.1,15.7,678,6037,0.10,2.05,0.00,0.000,6,0.188,0.023,3192,2623,1412,0,0,0,0,0,0
$STATE,6048,end climb,SURFACE_DEPTH_REACHED
$STATE,6048,begin surface coast
$FINISH,2.2,1.011769
$STATE,6074,end surface coast,CONTROL_FINISHED_OK
$STATE,6074,begin surface
$SM_CCo,6096,171.32,0.742,0,0,549,602.46
$SM_GC,2.95,0.00,0.00,171.32,0.000,0.000,0.742,220,2313,549,-7.96,0.37,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078408377
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.20
$XPDR_PINGS,7
$24V_AH,23.5,83.509
$10V_AH,9.7,60.768
$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,21.275,58.200,412.000,171.325,0.000,165.322,141.100,0.000,1.750,0.000,905.120,1297.487,3063.023,654.029,2381.363,573.869,0.000,1347.771,0.000,1483.489,0.000,0.536,0.000
$DEVICE_MAMPS,240.071,49.088,911.196,741.689,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,467.286,537.671,636.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,41225,686
$CAP_FILE_SIZE,83643,0
$CFSIZE,260165632,212254720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,159.8,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7