version: 66.06
glider: 140
mission: 8
dive: 486
start: 2 1 110 22 6 15
data:
$ID,140
$MISSION,8
$DIVE,486
$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,-389656.22
$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,72
$R_STBD_OVSHOOT,48
$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,-64.4
$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,-116.7,0.0,0.0,0,94,0.00,0.00,-76.68,0.000,2,0.000,0.000,214,2279,2028,0,0,0,0,0,0
$GC,98,-0.80,-116.7,3.0,-0.3,14,195,9.18,2.17,-81.57,0.000,4,0.241,0.052,2499,3705,3480,0,0,0,0,0,0
$GC,450,-0.44,-116.7,45.1,-16.0,76,457,0.38,2.08,0.00,0.000,6,0.177,0.023,2611,2264,3481,0,0,0,0,0,0
$GC,796,-0.31,-116.7,72.1,-8.7,137,803,0.17,2.20,0.00,0.000,4,0.190,0.039,2660,3705,3481,0,0,0,0,0,0
$GC,906,-0.31,-116.7,80.2,-7.2,156,913,0.00,2.00,0.00,0.000,6,0.000,0.023,2660,2324,3482,0,0,0,0,0,0
$GC,1252,-0.31,-116.7,104.7,-6.2,217,1257,0.00,2.10,0.00,0.000,4,0.000,0.040,2660,3711,3481,0,0,0,0,0,0
$GC,1264,-0.31,-116.7,105.5,-6.1,219,1270,0.00,2.03,0.00,0.000,6,0.000,0.024,2660,2296,3481,0,0,0,0,0,0
$GC,1622,-0.49,-116.7,122.4,-4.9,277,1627,0.15,2.15,0.00,0.000,4,0.123,0.039,2605,3708,3482,0,0,0,0,0,0
$GC,1633,-0.66,-116.7,123.1,-5.2,277,1638,0.17,2.03,0.00,0.000,6,0.116,0.023,2545,2289,3481,0,0,0,0,0,0
$GC,1950,-0.41,-116.7,143.3,-8.4,292,1955,0.28,2.03,0.00,0.000,4,0.192,0.033,2625,920,3482,0,0,0,0,0,0
$GC,2092,-0.34,-116.7,154.4,-8.6,298,2096,0.00,2.03,0.00,0.000,6,0.000,0.027,2624,2306,3481,0,0,0,0,0,0
$GC,2415,-0.47,-116.7,188.9,-10.8,314,2419,0.00,2.05,0.00,0.000,4,0.000,0.034,2624,927,3482,0,0,0,0,0,0
$GC,2493,-0.50,-116.7,196.6,-8.7,317,2498,0.00,2.03,0.00,0.000,6,0.000,0.027,2624,2309,3481,0,0,0,0,0,0
$GC,2810,-0.62,-116.7,221.2,-6.5,333,2814,0.17,2.08,0.00,0.000,4,0.113,0.033,2563,923,3482,0,0,0,0,0,0
$GC,2878,-0.79,-116.7,223.3,0.6,336,2883,0.15,2.03,0.00,0.000,6,0.117,0.027,2509,2316,3482,0,0,0,0,0,0
$STATE,2990,end dive,NO_VERTICAL_VELOCITY
$STATE,2990,begin apogee
$GC,2998,-0.24,0.0,223.3,0.0,342,3094,0.55,0.00,93.28,0.910,6,0.123,0.000,2689,2650,3006,0,0,0,0,0,0
$STATE,3095,end apogee,CONTROL_FINISHED_OK
$STATE,3095,begin climb
$GC,3098,0.80,116.7,223.3,0.0,347,3203,1.05,2.22,93.00,0.861,4,0.138,0.044,3013,4035,2529,0,0,0,0,0,0
$GC,3456,1.24,298.0,223.2,-0.4,363,3609,0.40,2.00,144.55,0.857,6,0.077,0.024,3164,2650,1790,0,0,0,0,0,0
$GC,3928,1.45,472.4,223.1,-0.1,386,4075,0.20,2.22,139.73,0.848,4,0.099,0.041,3236,4039,1079,0,0,0,0,0,0
$GC,4329,1.39,472.4,201.7,18.4,404,4333,0.00,2.03,0.00,0.000,6,0.000,0.024,3237,2656,1070,0,0,0,0,0,0
$GC,4646,1.35,472.4,141.4,11.2,419,4650,0.12,2.10,0.00,0.000,4,0.209,0.040,3203,4042,1069,0,0,0,0,0,0
$GC,4740,1.35,472.4,133.6,8.4,423,4744,0.00,2.03,0.00,0.000,6,0.000,0.024,3206,2650,1068,0,0,0,0,0,0
$GC,5070,1.35,472.4,100.5,10.7,462,5075,0.00,2.08,0.00,0.000,4,0.000,0.038,3208,1246,1068,0,0,0,0,0,0
$GC,5133,1.35,472.4,94.6,9.8,473,5138,0.00,2.10,0.00,0.000,6,0.000,0.029,3208,2657,1068,0,0,0,0,0,0
$GC,5475,1.39,472.4,57.0,10.7,534,5481,0.00,2.10,0.00,0.000,4,0.000,0.043,3208,4035,1067,0,0,0,0,0,0
$GC,5540,1.39,472.4,49.9,11.5,545,5545,0.00,2.03,0.00,0.000,6,0.000,0.024,3208,2633,1067,0,0,0,0,0,0
$GC,5878,1.39,472.4,11.4,11.6,606,5885,0.00,2.08,0.00,0.000,4,0.000,0.038,3208,1260,1067,0,0,0,0,0,0
$GC,5910,1.43,472.4,7.5,13.0,611,5917,0.00,2.08,0.00,0.000,6,0.000,0.030,3208,2657,1067,0,0,0,0,0,0
$STATE,5938,end climb,SURFACE_DEPTH_REACHED
$STATE,5938,begin surface coast
$FINISH,2.2,1.014260
$STATE,5972,end surface coast,CONTROL_FINISHED_OK
$STATE,5972,begin surface
$SM_CCo,5992,107.70,0.736,1,0,550,602.46
$SM_GC,2.65,0.00,0.00,107.70,0.000,0.000,0.736,211,2283,550,-7.98,-0.48,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078392893
$INTERNAL_PRESSURE,8.20344
$TCM_TEMP,19.70
$XPDR_PINGS,8
$24V_AH,23.6,78.776
$10V_AH,9.7,56.829
$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,21.425,55.025,470.550,107.700,0.000,164.632,141.158,0.000,2.000,0.000,904.914,1188.525,3096.496,629.076,2329.992,535.296,0.000,1336.322,0.000,1428.001,0.000,0.536,0.000
$DEVICE_MAMPS,240.838,52.156,909.662,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,423.600,502.926,514.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,34996,622
$CAP_FILE_SIZE,80782,0
$CFSIZE,260165632,214450176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.000,132.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7