version: 66.06
glider: 140
mission: 8
dive: 476
start: 2 1 110 3 40 37
data:
$ID,140
$MISSION,8
$DIVE,476
$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,-371576.47
$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,70
$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,2.66
$_SM_ANGLEo,-65.9
$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,15,-0.80,-116.7,0.0,0.0,0,129,0.00,0.00,-111.25,0.000,2,0.000,0.000,219,2281,2658,0,0,0,0,0,0
$GC,135,-0.80,-116.7,3.1,-0.4,20,187,9.45,2.25,-34.62,0.000,4,0.252,0.054,2501,3701,3482,0,0,0,0,0,0
$GC,260,-0.37,-116.7,16.0,-17.1,42,267,0.45,2.08,0.00,0.000,6,0.183,0.024,2633,2279,3483,0,0,0,0,0,0
$GC,602,-0.29,-116.7,46.7,-8.2,103,608,0.12,0.00,0.00,0.000,6,0.208,0.000,2666,2276,3483,0,0,0,0,0,0
$GC,943,-0.29,-116.7,69.4,-5.9,164,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2276,3484,0,0,0,0,0,0
$GC,1290,-0.52,-116.7,91.5,-7.2,225,1297,0.20,2.03,0.00,0.000,4,0.107,0.032,2591,921,3483,0,0,0,0,0,0
$GC,1321,-0.61,-116.7,94.0,-7.5,230,1327,0.00,2.05,0.00,0.000,6,0.000,0.028,2590,2315,3483,0,0,0,0,0,0
$GC,1674,-0.65,-116.7,122.1,-8.1,290,1678,0.10,2.10,0.00,0.000,4,0.142,0.033,2555,922,3483,0,0,0,0,0,0
$GC,1840,-0.41,-116.7,138.5,-10.8,297,1848,0.28,2.05,0.00,0.000,6,0.193,0.028,2628,2314,3483,0,0,0,0,0,0
$GC,2157,-0.56,-116.7,160.3,-7.0,313,2162,0.12,2.10,0.00,0.000,4,0.128,0.040,2582,3704,3484,0,0,0,0,0,0
$GC,2190,-0.59,-116.7,162.8,-7.5,314,2197,0.00,2.03,0.00,0.000,6,0.000,0.022,2582,2299,3484,0,0,0,0,0,0
$STATE,2379,end dive,NO_VERTICAL_VELOCITY
$STATE,2379,begin apogee
$GC,2386,-0.24,0.0,163.4,0.0,324,2483,0.32,0.00,92.85,0.872,6,0.130,0.000,2689,2655,3006,0,0,0,0,0,0
$STATE,2484,end apogee,CONTROL_FINISHED_OK
$STATE,2484,begin climb
$GC,2488,0.80,116.7,163.5,0.0,329,2590,1.05,2.25,92.40,0.825,4,0.124,0.042,3017,4039,2528,0,0,0,0,0,0
$GC,2795,0.85,159.1,152.5,5.2,343,2835,0.00,2.00,34.12,0.816,6,0.000,0.022,3017,2650,2356,0,0,0,0,0,0
$GC,3165,1.00,199.2,132.0,5.3,361,3208,0.20,2.25,32.72,0.809,4,0.087,0.041,3096,4045,2191,0,0,0,0,0,0
$GC,3411,0.94,199.2,112.1,8.4,384,3419,0.08,2.05,0.00,0.000,6,0.176,0.023,3074,2656,2188,0,0,0,0,0,0
$GC,3761,1.01,199.2,90.2,7.0,445,3767,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2656,2187,0,0,0,0,0,0
$GC,4103,1.12,219.8,66.9,6.1,506,4126,0.15,0.00,17.38,0.795,6,0.107,0.000,3132,2650,2110,0,0,0,0,0,0
$GC,4461,1.12,219.8,40.9,7.7,570,4467,0.00,2.17,0.00,0.000,4,0.000,0.042,3131,4029,2105,0,0,0,0,0,0
$GC,4548,1.03,219.8,33.6,8.4,585,4556,0.15,2.00,0.00,0.000,6,0.190,0.023,3099,2643,2105,0,0,0,0,0,0
$GC,4891,1.10,241.8,11.5,6.0,646,4915,0.00,2.12,18.83,0.769,4,0.000,0.035,3099,1270,2020,0,0,0,0,0,0
$GC,5003,1.15,241.8,4.4,7.1,665,5010,0.12,2.08,0.00,0.000,6,0.116,0.029,3139,2651,2016,0,0,0,0,0,0
$STATE,5015,end climb,SURFACE_DEPTH_REACHED
$STATE,5015,begin surface coast
$FINISH,1.9,1.026178
$STATE,5082,end surface coast,CONTROL_FINISHED_OK
$STATE,5085,begin surface
$SM_CCo,5105,284.85,0.718,0,0,550,602.46
$SM_GC,2.72,0.00,0.00,284.85,0.000,0.000,0.718,215,2276,550,-7.97,-0.68,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078327087
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,14.30
$XPDR_PINGS,8
$24V_AH,23.7,77.428
$10V_AH,9.7,55.799
$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,21.375,34.625,288.300,284.850,0.000,164.998,141.007,0.000,2.000,0.000,904.880,1244.173,2257.953,665.069,2356.782,528.094,0.000,1304.721,0.000,1460.453,0.000,0.537,0.000
$DEVICE_MAMPS,251.576,53.690,872.079,717.912,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,463.010,536.713,669.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,38180,679
$CAP_FILE_SIZE,73042,0
$CFSIZE,260165632,214978560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,130.9,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7