version: 66.06
glider: 140
mission: 8
dive: 474
start: 1 31 110 23 26 11
data:
$ID,140
$MISSION,8
$DIVE,474
$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,-367958.16
$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,83
$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,2.67
$_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,16,-0.80,-116.7,0.0,0.0,0,131,0.00,0.00,-112.53,0.000,2,0.000,0.000,220,2262,2661,0,0,0,0,0,0
$GC,136,-0.80,-116.7,3.1,-0.5,20,191,9.62,2.30,-34.28,0.000,4,0.258,0.056,2500,3704,3483,0,0,0,0,0,0
$GC,423,-0.43,-116.7,43.0,-16.9,71,430,0.43,2.03,0.00,0.000,6,0.195,0.024,2618,2283,3484,0,0,0,0,0,0
$GC,760,-0.33,-116.7,74.8,-7.7,132,768,0.12,0.00,0.00,0.000,6,0.202,0.000,2651,2282,3484,0,0,0,0,0,0
$GC,1101,-0.52,-116.7,98.3,-7.4,193,1107,0.17,2.03,0.00,0.000,4,0.114,0.035,2588,931,3484,0,0,0,0,0,0
$GC,1296,-0.35,-116.7,117.9,-9.7,228,1304,0.17,2.08,0.00,0.000,6,0.173,0.029,2640,2304,3484,0,0,0,0,0,0
$GC,1636,-0.53,-116.7,141.4,-6.8,247,1641,0.15,2.12,0.00,0.000,4,0.120,0.041,2585,3706,3484,0,0,0,0,0,0
$GC,1692,-0.56,-116.7,145.6,-6.8,249,1697,0.00,2.00,0.00,0.000,6,0.000,0.023,2585,2310,3484,0,0,0,0,0,0
$GC,2010,-0.71,-116.7,164.1,-2.0,265,2014,0.15,2.08,0.00,0.000,4,0.117,0.034,2530,917,3485,0,0,0,0,0,0
$STATE,2140,end dive,NO_VERTICAL_VELOCITY
$STATE,2140,begin apogee
$GC,2149,-0.24,0.0,164.0,0.0,271,2245,0.50,0.00,92.93,0.873,6,0.137,0.000,2689,2657,3006,0,0,0,0,0,0
$STATE,2246,end apogee,CONTROL_FINISHED_OK
$STATE,2246,begin climb
$GC,2249,0.80,116.7,164.0,0.0,276,2357,1.02,2.28,92.15,0.825,4,0.130,0.041,3011,4047,2528,0,0,0,0,0,0
$GC,2564,0.87,173.6,151.9,4.6,290,2614,0.00,2.03,45.20,0.815,6,0.000,0.022,3012,2640,2298,0,0,0,0,0,0
$GC,2927,1.06,222.4,133.5,4.9,307,2974,0.25,2.25,39.80,0.809,4,0.084,0.042,3115,4034,2098,0,0,0,0,0,0
$GC,3229,1.00,222.4,106.9,9.6,337,3234,0.00,2.00,0.00,0.000,6,0.000,0.024,3116,2665,2092,0,0,0,0,0,0
$GC,3565,1.00,222.4,80.3,7.7,398,3571,0.00,2.10,0.00,0.000,4,0.000,0.041,3116,4044,2090,0,0,0,0,0,0
$GC,3820,0.94,222.4,60.3,8.8,444,3827,0.15,2.05,0.00,0.000,6,0.166,0.023,3069,2641,2090,0,0,0,0,0,0
$GC,4160,1.04,222.4,35.2,7.9,505,4166,0.00,2.15,0.00,0.000,4,0.000,0.040,3069,4053,2090,0,0,0,0,0,0
$GC,4265,1.05,227.5,27.6,6.7,524,4277,0.00,2.05,4.45,0.617,6,0.000,0.023,3070,2654,2077,0,0,0,0,0,0
$GC,4609,1.15,240.6,4.9,6.4,586,4628,0.17,2.10,11.93,0.769,4,0.096,0.034,3141,1259,2023,0,0,0,0,0,0
$STATE,4632,end climb,SURFACE_DEPTH_REACHED
$STATE,4633,begin surface coast
$FINISH,2.0,1.012575
$STATE,4710,end surface coast,CONTROL_FINISHED_OK
$STATE,4710,begin surface
$SM_CCo,4730,286.05,0.722,0,0,550,602.46
$SM_GC,2.73,0.00,0.00,286.05,0.000,0.000,0.722,216,2315,550,-7.96,0.42,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078324506
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.90
$XPDR_PINGS,7
$24V_AH,23.7,77.157
$10V_AH,9.6,55.571
$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,21.400,37.875,286.450,286.050,0.000,164.267,140.770,0.000,1.750,0.000,903.808,1120.882,2162.266,663.307,2217.929,511.699,0.000,1250.083,0.000,1320.661,0.000,0.537,0.000
$DEVICE_MAMPS,257.712,55.991,872.846,721.747,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.888,483.501,602.048,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,34977,604
$CAP_FILE_SIZE,67177,0
$CFSIZE,260165632,215101440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,109.8,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7