version: 66.06
glider: 140
mission: 8
dive: 491
start: 2 2 110 9 12 52
data:
$ID,140
$MISSION,8
$DIVE,491
$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,-398698.12
$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,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,2.69
$_SM_ANGLEo,-68.3
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,83,0.00,0.00,-64.75,0.000,2,0.000,0.000,213,2281,1800,0,0,0,0,0,0
$GC,87,-0.80,-116.7,3.0,-0.4,11,207,9.50,2.10,-96.35,0.000,4,0.252,0.051,2499,926,3482,0,0,0,0,0,0
$GC,264,-0.38,-116.7,12.0,-14.1,41,271,0.50,2.05,0.00,0.000,6,0.190,0.029,2637,2304,3483,0,0,0,0,0,0
$GC,599,-0.30,-116.7,40.7,-7.2,102,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2305,3484,0,0,0,0,0,0
$GC,938,-0.25,-116.7,64.1,-7.6,163,943,0.15,0.00,0.00,0.000,6,0.188,0.000,2678,2305,3483,0,0,0,0,0,0
$GC,1280,-0.49,-116.7,88.6,-8.8,224,1287,0.20,2.15,0.00,0.000,4,0.107,0.038,2606,3696,3483,0,0,0,0,0,0
$GC,1317,-0.61,-116.7,92.2,-9.5,230,1324,0.12,2.00,0.00,0.000,6,0.124,0.023,2562,2287,3484,0,0,0,0,0,0
$GC,1662,-0.39,-116.7,129.5,-11.1,280,1666,0.25,2.03,0.00,0.000,4,0.189,0.032,2635,935,3483,0,0,0,0,0,0
$GC,1678,-0.21,-116.7,131.5,-11.5,280,1685,0.17,2.05,0.00,0.000,6,0.177,0.028,2689,2307,3483,0,0,0,0,0,0
$GC,1995,-0.50,-116.7,157.8,-8.7,296,1999,0.25,2.08,0.00,0.000,4,0.100,0.031,2594,922,3484,0,0,0,0,0,0
$GC,2005,-0.73,-116.7,158.9,-8.7,296,2012,0.15,2.08,0.00,0.000,6,0.091,0.028,2533,2311,3484,0,0,0,0,0,0
$GC,2322,-0.64,-116.7,186.2,-7.7,312,2326,0.00,2.08,0.00,0.000,4,0.000,0.033,2533,926,3484,0,0,0,0,0,0
$GC,2378,-0.39,-116.7,190.6,-7.6,314,2386,0.32,2.03,0.00,0.000,6,0.179,0.028,2629,2292,3484,0,0,0,0,0,0
$GC,2698,-0.45,-116.7,207.8,-5.3,330,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2292,3484,0,0,0,0,0,0
$STATE,2878,end dive,NO_VERTICAL_VELOCITY
$STATE,2878,begin apogee
$GC,2885,-0.24,0.0,207.9,0.0,339,2982,0.17,0.00,93.55,0.901,6,0.155,0.000,2682,2644,3006,0,0,0,0,0,0
$STATE,2983,end apogee,CONTROL_FINISHED_OK
$STATE,2983,begin climb
$GC,2985,0.80,116.7,207.9,0.0,344,3090,1.05,2.30,92.70,0.851,4,0.120,0.041,3014,4047,2528,0,0,0,0,0,0
$GC,3317,0.83,146.5,193.5,5.7,359,3350,0.00,2.00,24.52,0.841,6,0.000,0.023,3014,2661,2407,0,0,0,0,0,0
$GC,3660,0.93,146.5,168.3,7.8,376,3665,0.15,2.08,0.00,0.000,4,0.101,0.034,3073,1272,2404,0,0,0,0,0,0
$GC,3813,0.93,146.5,156.9,7.7,383,3817,0.00,2.05,0.00,0.000,6,0.000,0.030,3074,2648,2404,0,0,0,0,0,0
$GC,4148,0.99,225.7,139.5,3.7,399,4218,0.00,2.22,63.25,0.829,4,0.000,0.041,3074,4040,2085,0,0,0,0,0,0
$GC,4290,1.04,261.3,132.6,5.5,405,4326,0.00,2.03,30.20,0.798,6,0.000,0.022,3074,2638,1938,0,0,0,0,0,0
$GC,4654,1.13,261.3,103.9,8.7,448,4661,0.15,2.17,0.00,0.000,4,0.104,0.041,3133,4035,1929,0,0,0,0,0,0
$GC,4690,1.13,261.3,99.7,11.3,454,4697,0.00,2.00,0.00,0.000,6,0.000,0.023,3140,2653,1929,0,0,0,0,0,0
$GC,5034,1.13,261.3,68.1,9.0,515,5039,0.00,2.05,0.00,0.000,4,0.000,0.035,3141,1262,1928,0,0,0,0,0,0
$GC,5170,1.13,261.3,55.6,9.3,539,5176,0.00,2.08,0.00,0.000,6,0.000,0.029,3141,2659,1927,0,0,0,0,0,0
$GC,5507,1.13,261.3,27.0,8.1,600,5514,0.00,2.12,0.00,0.000,4,0.000,0.035,3141,1266,1927,0,0,0,0,0,0
$GC,5561,1.13,261.3,22.9,8.3,609,5566,0.00,2.08,0.00,0.000,6,0.000,0.030,3141,2658,1927,0,0,0,0,0,0
$STATE,5796,end climb,SURFACE_DEPTH_REACHED
$STATE,5796,begin surface coast
$FINISH,1.9,1.026565
$STATE,5859,end surface coast,CONTROL_FINISHED_OK
$STATE,5859,begin surface
$SM_CCo,5880,270.12,0.726,0,0,549,602.46
$SM_GC,2.81,0.00,0.00,270.12,0.000,0.000,0.726,219,2290,549,-7.96,-0.31,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078350313
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,14.80
$XPDR_PINGS,5
$24V_AH,23.6,79.469
$10V_AH,9.7,57.378
$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,21.625,46.800,304.225,270.125,0.000,165.119,140.937,0.000,1.250,0.000,903.927,1241.340,3013.166,687.559,2341.366,537.475,0.000,1335.234,0.000,1446.808,0.000,0.539,0.000
$DEVICE_MAMPS,251.576,50.622,901.225,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,452.236,556.103,648.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,38155,663
$CAP_FILE_SIZE,77313,0
$CFSIZE,260165632,214171648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,134.0,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7