version: 66.06
glider: 140
mission: 8
dive: 496
start: 2 2 110 22 28 46
data:
$ID,140
$MISSION,8
$DIVE,496
$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,-407742.12
$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,67
$R_STBD_OVSHOOT,50
$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,-65.3
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.80,-116.7,0.0,0.0,0,90,0.00,0.00,-72.12,0.000,2,0.000,0.000,221,2295,1936,0,0,0,0,0,0
$GC,94,-0.80,-116.7,3.0,-0.4,13,206,9.38,2.17,-90.07,0.000,4,0.246,0.052,2500,908,3483,0,0,0,0,0,0
$GC,280,-0.39,-116.7,15.0,-15.3,45,287,0.47,2.08,0.00,0.000,6,0.199,0.028,2628,2305,3483,0,0,0,0,0,0
$GC,620,-0.31,-116.7,46.4,-6.6,106,627,0.12,2.17,0.00,0.000,4,0.211,0.037,2661,910,3484,0,0,0,0,0,0
$GC,634,-0.23,-116.7,47.4,-6.9,108,641,0.00,2.08,0.00,0.000,6,0.000,0.028,2661,2295,3484,0,0,0,0,0,0
$GC,978,-0.42,-116.7,71.9,-7.1,169,984,0.00,2.08,0.00,0.000,4,0.000,0.035,2661,913,3484,0,0,0,0,0,0
$GC,1081,-0.55,-116.7,79.5,-7.1,187,1089,0.22,2.05,0.00,0.000,6,0.107,0.028,2583,2314,3483,0,0,0,0,0,0
$GC,1429,-0.36,-116.7,112.0,-9.2,248,1436,0.22,2.10,0.00,0.000,4,0.193,0.039,2641,3689,3483,0,0,0,0,0,0
$GC,1537,-0.36,-116.7,121.4,-7.4,264,1544,0.00,2.05,0.00,0.000,6,0.000,0.023,2642,2289,3483,0,0,0,0,0,0
$GC,1855,-0.51,-116.7,143.5,-6.9,280,1857,0.12,0.00,0.00,0.000,6,0.133,0.000,2596,2285,3484,0,0,0,0,0,0
$GC,2164,-0.61,-116.7,166.2,-6.9,295,2168,0.00,2.12,0.00,0.000,4,0.000,0.039,2596,3694,3484,0,0,0,0,0,0
$GC,2206,-0.65,-116.7,169.3,-7.3,297,2211,0.12,2.00,0.00,0.000,6,0.125,0.022,2555,2285,3484,0,0,0,0,0,0
$GC,2534,-0.65,-116.7,196.3,-8.2,313,2537,0.00,2.00,0.00,0.000,4,0.000,0.035,2554,926,3485,0,0,0,0,0,0
$GC,2589,-0.55,-116.7,201.4,-9.3,315,2594,0.12,2.03,0.00,0.000,6,0.200,0.028,2583,2308,3484,0,0,0,0,0,0
$GC,2906,-0.63,-116.7,226.7,-8.1,330,2910,0.00,2.05,0.00,0.000,4,0.000,0.039,2583,3695,3485,0,0,0,0,0,0
$GC,2933,-0.67,-116.7,229.0,-7.7,331,2938,0.12,1.98,0.00,0.000,6,0.130,0.022,2543,2290,3485,0,0,0,0,0,0
$GC,3250,-0.67,-116.7,254.9,-8.0,346,3253,0.00,2.00,0.00,0.000,4,0.000,0.034,2543,930,3485,0,0,0,0,0,0
$GC,3318,-0.51,-116.7,260.6,-8.4,349,3323,0.20,2.00,0.00,0.000,6,0.195,0.028,2594,2301,3485,0,0,0,0,0,0
$GC,3645,-0.51,-116.7,282.3,-5.8,365,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2301,3485,0,0,0,0,0,0
$STATE,3827,end dive,NO_VERTICAL_VELOCITY
$STATE,3827,begin apogee
$GC,3835,-0.24,0.0,282.4,0.0,374,3933,0.28,0.00,95.00,0.948,6,0.135,0.000,2683,2655,3006,0,0,0,0,0,0
$STATE,3934,end apogee,CONTROL_FINISHED_OK
$STATE,3934,begin climb
$GC,3937,0.80,116.7,282.4,0.0,379,4039,1.08,2.28,93.65,0.898,4,0.127,0.041,3015,4042,2529,0,0,0,0,0,0
$GC,4155,0.84,155.9,274.2,5.3,389,4194,0.00,2.03,32.35,0.878,6,0.000,0.022,3016,2654,2369,0,0,0,0,0,0
$GC,4517,0.97,173.0,252.7,6.2,407,4540,0.17,2.08,14.60,0.867,4,0.096,0.035,3084,1277,2300,0,0,0,0,0,0
$GC,4793,0.97,173.0,233.1,7.0,419,4797,0.00,2.05,0.00,0.000,6,0.000,0.030,3084,2647,2297,0,0,0,0,0,0
$GC,5114,0.97,173.0,210.2,7.1,435,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2647,2297,0,0,0,0,0,0
$GC,5424,0.97,173.0,188.8,6.9,450,5428,0.00,2.05,0.00,0.000,4,0.000,0.033,3084,1270,2297,0,0,0,0,0,0
$GC,5536,0.99,190.8,181.7,6.2,455,5556,0.00,2.05,15.48,0.857,6,0.000,0.029,3084,2657,2228,0,0,0,0,0,0
$GC,5881,1.00,198.0,158.4,6.6,472,5895,0.00,2.15,7.50,0.798,4,0.000,0.033,3084,1275,2198,0,0,0,0,0,0
$GC,5963,1.01,204.8,152.7,6.6,475,5976,0.00,2.05,7.50,0.772,6,0.000,0.029,3084,2648,2171,0,0,0,0,0,0
$GC,6300,1.05,204.8,127.4,7.8,492,6304,0.00,2.10,0.00,0.000,4,0.000,0.041,3084,4046,2169,0,0,0,0,0,0
$GC,6395,1.00,204.8,120.0,7.9,496,6398,0.00,2.00,0.00,0.000,6,0.000,0.023,3084,2652,2168,0,0,0,0,0,0
$GC,6736,1.07,259.9,100.8,4.7,556,6787,0.00,2.15,45.70,0.808,4,0.000,0.034,3084,1268,1945,0,0,0,0,0,0
$GC,6840,1.14,265.4,94.7,6.7,574,6853,0.12,2.10,5.65,0.677,6,0.109,0.029,3132,2659,1924,0,0,0,0,0,0
$GC,7193,1.14,265.4,68.2,7.5,636,7200,0.00,2.10,0.00,0.000,4,0.000,0.041,3132,4032,1919,0,0,0,0,0,0
$GC,7445,1.10,265.4,45.0,8.8,681,7451,0.00,2.00,0.00,0.000,6,0.000,0.023,3138,2641,1917,0,0,0,0,0,0
$GC,7784,1.10,265.4,20.1,7.5,742,7790,0.00,2.05,0.00,0.000,4,0.000,0.035,3140,1271,1917,0,0,0,0,0,0
$GC,7960,1.10,265.4,6.6,7.6,773,7966,0.00,2.08,0.00,0.000,6,0.000,0.031,3140,2653,1917,0,0,0,0,0,0
$STATE,7993,end climb,SURFACE_DEPTH_REACHED
$STATE,7993,begin surface coast
$FINISH,2.1,1.013385
$STATE,8042,end surface coast,CONTROL_FINISHED_OK
$STATE,8043,begin surface
$SM_CCo,8063,268.15,0.728,0,0,549,602.46
$SM_GC,2.72,0.00,0.00,268.15,0.000,0.000,0.728,220,2294,549,-7.96,-0.17,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078336119
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,19.70
$XPDR_PINGS,9
$24V_AH,23.5,80.181
$10V_AH,9.7,57.983
$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,21.325,67.250,317.425,268.150,0.000,167.311,140.953,0.000,2.250,0.000,904.952,1481.535,4661.312,703.040,2590.541,583.373,0.000,1473.070,0.000,1688.570,0.000,0.537,0.000
$DEVICE_MAMPS,246.207,52.156,948.012,727.883,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.802,663.243,662.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44464,788
$CAP_FILE_SIZE,95896,0
$CFSIZE,260165632,213815296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,140.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7