version: 66.06
glider: 140
mission: 8
dive: 495
start: 2 2 110 19 30 10
data:
$ID,140
$MISSION,8
$DIVE,495
$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,-405932.91
$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,81
$R_STBD_OVSHOOT,52
$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,2.68
$_SM_ANGLEo,-61.2
$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,-116.7,0.0,0.0,0,103,0.00,0.00,-85.18,0.000,2,0.000,0.000,220,2273,2181,0,0,0,0,0,0
$GC,107,-0.80,-116.7,3.0,-0.4,15,194,9.43,2.12,-72.20,0.000,4,0.249,0.052,2500,929,3483,0,0,0,0,0,0
$GC,372,-0.39,-116.7,33.0,-16.5,61,378,0.50,2.03,0.00,0.000,6,0.196,0.028,2636,2308,3484,0,0,0,0,0,0
$GC,711,-0.32,-116.7,62.0,-9.0,122,715,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2308,3484,0,0,0,0,0,0
$GC,1051,-0.25,-116.7,90.4,-7.4,183,1058,0.15,2.12,0.00,0.000,4,0.189,0.041,2677,3704,3483,0,0,0,0,0,0
$GC,1077,-0.25,-116.7,92.1,-7.0,187,1084,0.00,2.03,0.00,0.000,6,0.000,0.023,2677,2290,3484,0,0,0,0,0,0
$GC,1422,-0.50,-116.7,114.6,-6.6,248,1429,0.22,2.08,0.00,0.000,4,0.107,0.033,2597,919,3484,0,0,0,0,0,0
$GC,1516,-0.35,-116.7,122.4,-9.0,261,1521,0.20,2.03,0.00,0.000,6,0.188,0.028,2650,2305,3484,0,0,0,0,0,0
$GC,1850,-0.35,-116.7,144.6,-6.3,277,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2305,3484,0,0,0,0,0,0
$GC,2160,-0.54,-116.7,163.3,-6.2,292,2164,0.17,2.10,0.00,0.000,4,0.106,0.040,2584,3694,3484,0,0,0,0,0,0
$GC,2268,-0.54,-116.7,170.8,-7.5,297,2272,0.00,2.00,0.00,0.000,6,0.000,0.022,2584,2296,3484,0,0,0,0,0,0
$GC,2602,-0.61,-116.7,195.8,-7.5,313,2606,0.00,2.12,0.00,0.000,4,0.000,0.038,2584,3695,3484,0,0,0,0,0,0
$GC,2648,-0.61,-116.7,199.2,-7.3,315,2651,0.00,2.00,0.00,0.000,6,0.000,0.022,2585,2298,3484,0,0,0,0,0,0
$GC,2976,-0.69,-116.7,222.8,-7.3,331,2980,0.12,2.05,0.00,0.000,4,0.127,0.035,2541,913,3485,0,0,0,0,0,0
$GC,3234,-0.44,-116.7,247.6,-9.8,342,3240,0.28,2.05,0.00,0.000,6,0.186,0.028,2614,2308,3485,0,0,0,0,0,0
$GC,3551,-0.63,-116.7,263.4,-0.6,358,3553,0.15,0.00,0.00,0.000,6,0.114,0.000,2559,2311,3485,0,0,0,0,0,0
$STATE,3671,end dive,NO_VERTICAL_VELOCITY
$STATE,3671,begin apogee
$GC,3678,-0.24,0.0,263.4,0.0,364,3775,0.40,0.00,94.43,0.934,6,0.121,0.000,2690,2651,3006,0,0,0,0,0,0
$STATE,3776,end apogee,CONTROL_FINISHED_OK
$STATE,3776,begin climb
$GC,3779,0.80,116.7,263.6,0.0,369,3883,1.02,2.20,93.10,0.885,4,0.127,0.033,3014,1271,2530,0,0,0,0,0,0
$GC,4045,0.89,164.9,256.3,5.0,381,4090,0.10,2.08,39.30,0.872,6,0.125,0.030,3053,2649,2333,0,0,0,0,0,0
$GC,4418,0.94,164.9,233.2,7.0,399,4422,0.00,2.15,0.00,0.000,4,0.000,0.042,3053,4048,2327,0,0,0,0,0,0
$GC,4675,0.93,191.7,216.1,5.8,410,4708,0.00,2.03,22.17,0.869,6,0.000,0.023,3057,2638,2223,0,0,0,0,0,0
$GC,5021,1.01,193.7,194.5,6.8,427,5024,0.00,2.03,0.00,0.000,4,0.000,0.035,3057,1269,2220,0,0,0,0,0,0
$GC,5112,1.04,219.4,188.3,5.8,431,5143,0.12,2.08,23.80,0.853,6,0.119,0.030,3102,2657,2110,0,0,0,0,0,0
$GC,5465,1.04,219.4,162.9,7.3,448,5469,0.00,2.08,0.00,0.000,4,0.000,0.041,3102,4039,2106,0,0,0,0,0,0
$GC,5723,0.99,219.4,140.9,8.5,459,5730,0.00,1.98,0.00,0.000,6,0.000,0.023,3104,2650,2106,0,0,0,0,0,0
$GC,6041,1.00,230.8,119.4,6.4,475,6058,0.00,2.17,10.07,0.820,4,0.000,0.041,3104,4033,2064,0,0,0,0,0,0
$GC,6311,0.94,230.8,99.5,7.2,523,6318,0.15,2.00,0.00,0.000,6,0.185,0.022,3072,2624,2063,0,0,0,0,0,0
$GC,6655,1.07,230.8,77.9,7.5,584,6662,0.12,2.22,0.00,0.000,4,0.119,0.041,3118,4036,2062,0,0,0,0,0,0
$GC,6914,1.02,230.8,56.3,8.0,630,6922,0.08,2.00,0.00,0.000,6,0.168,0.022,3100,2656,2061,0,0,0,0,0,0
$GC,7254,1.07,230.8,32.7,7.5,691,7261,0.00,2.10,0.00,0.000,4,0.000,0.041,3100,4040,2061,0,0,0,0,0,0
$GC,7435,1.07,230.8,19.2,8.5,723,7441,0.00,1.98,0.00,0.000,6,0.000,0.023,3100,2660,2061,0,0,0,0,0,0
$STATE,7669,end climb,SURFACE_DEPTH_REACHED
$STATE,7669,begin surface coast
$FINISH,1.9,1.012520
$STATE,7751,end surface coast,CONTROL_FINISHED_OK
$STATE,7751,begin surface
$SM_CCo,7771,296.50,0.727,0,0,550,602.46
$SM_GC,2.82,0.00,0.00,296.50,0.000,0.000,0.727,221,2296,550,-7.95,-0.08,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078343861
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.60
$XPDR_PINGS,6
$24V_AH,23.5,80.036
$10V_AH,9.7,57.859
$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,21.625,54.750,282.875,296.500,0.000,167.045,140.950,0.000,1.500,0.000,904.900,1478.802,4351.705,694.654,2660.083,568.022,0.000,1468.077,0.000,1757.229,0.000,0.537,0.000
$DEVICE_MAMPS,248.508,52.156,934.206,727.116,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,533.215,650.062,674.940,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44495,780
$CAP_FILE_SIZE,92056,0
$CFSIZE,260165632,213893120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,108.0,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7