version: 66.06
glider: 140
mission: 8
dive: 524
start: 2 6 110 3 33 16
data:
$ID,140
$MISSION,8
$DIVE,524
$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,-458377.31
$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,74
$R_STBD_OVSHOOT,47
$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,2.93
$_SM_ANGLEo,-63.5
$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,16,-0.80,-116.7,0.0,0.0,0,24,0.00,0.00,-6.15,0.000,2,0.000,0.000,219,2305,664,0,0,0,0,0,0
$GC,27,-0.80,-116.7,3.0,-0.0,1,202,9.32,2.15,-156.90,0.000,4,0.242,0.051,2499,907,3481,0,0,0,0,0,0
$GC,452,-1.08,-116.7,8.4,1.4,76,459,0.20,2.10,0.00,0.000,6,0.083,0.028,2421,2314,3483,0,0,0,0,0,0
$GC,794,-1.00,-116.7,9.1,2.3,137,800,0.00,2.12,0.00,0.000,4,0.000,0.036,2420,909,3483,0,0,0,0,0,0
$GC,1054,-0.62,-116.7,9.7,-3.4,183,1060,0.50,2.05,0.00,0.000,6,0.179,0.031,2558,2292,3483,0,0,0,0,0,0
$GC,1398,-0.76,-116.7,8.9,-1.6,244,1405,0.12,2.12,0.00,0.000,4,0.131,0.035,2517,916,3481,0,0,0,0,0,0
$GC,1658,-0.42,-116.7,9.4,0.4,290,1667,0.35,2.08,0.00,0.000,6,0.172,0.027,2628,2296,3482,0,0,0,0,0,0
$GC,2002,-0.51,-116.7,8.8,-1.9,351,2010,0.00,2.08,0.00,0.000,4,0.000,0.035,2628,924,3482,0,0,0,0,0,0
$GC,2261,-0.51,-116.7,8.7,2.1,397,2267,0.00,2.03,0.00,0.000,6,0.000,0.027,2628,2301,3482,0,0,0,0,0,0
$GC,2599,-0.32,-116.7,9.4,-0.2,458,2606,0.12,2.12,0.00,0.000,4,0.212,0.034,2661,920,3481,0,0,0,0,0,0
$GC,2737,-0.32,-116.7,9.0,0.9,482,2744,0.00,2.08,0.00,0.000,6,0.000,0.028,2661,2302,3481,0,0,0,0,0,0
$GC,3078,-0.64,-116.7,9.2,0.5,543,3084,0.28,2.12,0.00,0.000,4,0.112,0.039,2561,3703,3481,0,0,0,0,0,0
$GC,3195,-0.96,-116.7,8.7,-0.2,563,3201,0.30,2.03,0.00,0.000,6,0.102,0.023,2457,2287,3481,0,0,0,0,0,0
$GC,3535,-0.47,-116.7,9.7,-1.3,624,3543,0.52,2.05,0.00,0.000,4,0.189,0.028,2605,922,3481,0,0,0,0,0,0
$GC,3791,-0.69,-116.7,8.5,1.0,670,3798,0.17,2.08,0.00,0.000,6,0.118,0.028,2544,2321,3480,0,0,0,0,0,0
$GC,4134,-0.58,-116.7,9.3,-0.4,731,4140,0.12,2.10,0.00,0.000,4,0.236,0.028,2570,911,3480,0,0,0,0,0,0
$GC,4393,-0.72,-116.7,9.1,0.4,777,4401,0.12,2.03,0.00,0.000,6,0.156,0.029,2534,2289,3480,0,0,0,0,0,0
$GC,4738,-0.58,-116.7,9.1,0.3,838,4745,0.15,2.10,0.00,0.000,4,0.209,0.031,2570,909,3480,0,0,0,0,0,0
$GC,4994,-0.14,-116.7,9.7,-0.1,884,5001,0.47,2.10,0.00,0.000,6,0.201,0.031,2710,2296,3480,0,0,0,0,0,0
$GC,5341,-0.83,-116.7,8.3,1.3,945,5347,0.68,2.10,0.00,0.000,4,0.161,0.035,2512,928,3481,0,0,0,0,0,0
$GC,5599,-0.51,-116.7,8.3,1.3,991,5607,0.32,2.05,0.00,0.000,6,0.268,0.028,2588,2313,3479,0,0,0,0,0,0
$GC,5943,-0.32,-116.7,9.1,1.3,1052,5950,0.22,2.12,0.00,0.000,4,0.143,0.039,2662,3698,3480,0,0,0,0,0,0
$GC,6200,-0.26,-116.7,9.7,-0.3,1098,6207,0.00,2.05,0.00,0.000,6,0.000,0.026,2662,2320,3480,0,0,0,0,0,0
$GC,6540,-0.05,-116.7,9.3,-0.7,1159,6547,0.28,2.12,0.00,0.000,4,0.219,0.038,2740,3706,3479,0,0,0,0,0,0
$GC,6801,-0.11,-116.7,8.5,1.9,1205,6806,0.00,2.05,0.00,0.000,6,0.000,0.024,2744,2268,3480,0,0,0,0,0,0
$GC,7138,-0.23,-116.7,9.5,-2.1,1266,7145,0.15,2.22,0.00,0.000,4,0.137,0.042,2695,3688,3479,0,0,0,0,0,0
$GC,7397,-0.09,-116.7,9.3,0.4,1312,7405,0.10,2.03,0.00,0.000,6,0.165,0.026,2726,2326,3479,0,0,0,0,0,0
$GC,7739,-0.27,-116.7,8.5,0.4,1373,7745,0.15,2.12,0.00,0.000,4,0.132,0.040,2679,3700,3479,0,0,0,0,0,0
$GC,7998,-0.35,-116.7,8.6,1.1,1419,8006,0.00,2.03,0.00,0.000,6,0.000,0.022,2679,2266,3479,0,0,0,0,0,0
$GC,8337,-0.35,-116.7,8.6,0.2,1480,8344,0.00,2.22,0.00,0.000,4,0.000,0.042,2679,3695,3479,0,0,0,0,0,0
$GC,8594,-0.47,-116.7,8.6,-0.9,1526,8600,0.15,2.00,0.00,0.000,6,0.087,0.025,2619,2317,3479,0,0,0,0,0,0
$GC,8935,-0.37,-116.7,7.5,-0.1,1587,8943,0.00,2.10,0.00,0.000,4,0.000,0.038,2617,3702,3477,0,0,0,0,0,0
$GC,9006,-0.30,-116.7,7.3,0.4,1599,9013,0.17,2.00,0.00,0.000,6,0.170,0.025,2666,2305,3479,0,0,0,0,0,0
$STATE,9124,end dive,NO_VERTICAL_VELOCITY
$STATE,9124,begin apogee
$GC,9132,-0.24,0.0,6.8,0.0,1620,9228,0.00,0.00,90.00,0.805,6,0.000,0.000,2666,2655,3006,0,0,0,0,0,0
$STATE,9231,end apogee,CONTROL_FINISHED_OK
$STATE,9231,begin climb
$GC,9234,0.80,116.7,7.1,0.0,1638,9336,1.25,2.20,91.30,0.749,4,0.186,0.041,3011,4038,2528,0,0,0,0,0,0
$GC,9403,1.16,328.5,7.0,-1.6,1668,9517,0.32,2.10,103.90,0.736,2,0.087,0.023,3141,2629,1988,0,0,0,0,0,0
$STATE,9518,end climb,SURFACE_DEPTH_REACHED
$STATE,9518,begin surface coast
$FINISH,2.4,1.013419
$STATE,9594,end surface coast,CONTROL_FINISHED_OK
$STATE,9594,begin surface
$SM_CCo,9615,279.65,0.718,0,0,549,602.46
$SM_GC,3.06,0.00,0.00,279.65,0.000,0.000,0.718,218,2323,549,-7.96,0.65,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078349023
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,19.10
$XPDR_PINGS,8
$24V_AH,23.6,84.195
$10V_AH,9.7,61.415
$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,25.450,72.000,285.200,279.650,0.000,164.318,140.945,0.000,2.000,0.000,905.126,2966.740,2802.198,670.847,4456.850,704.303,0.000,1955.520,0.000,3576.899,0.000,0.536,0.000
$DEVICE_MAMPS,267.683,50.622,804.583,717.912,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1170.324,1740.391,2166.552,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,101147,1702
$CAP_FILE_SIZE,135664,0
$CFSIZE,260165632,211857408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,302.8,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7