version: 66.06
glider: 140
mission: 8
dive: 498
start: 2 3 110 4 54 6
data:
$ID,140
$MISSION,8
$DIVE,498
$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,-411358.66
$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,51
$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,2.69
$_SM_ANGLEo,-64.1
$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,-116.7,0.0,0.0,0,85,0.00,0.00,-66.72,0.000,2,0.000,0.000,218,2309,1845,0,0,0,0,0,0
$GC,89,-0.80,-116.7,3.0,-0.2,12,206,9.48,2.22,-97.12,0.000,4,0.249,0.050,2500,888,3482,0,0,0,0,0,0
$GC,247,-0.43,-116.7,8.5,-12.0,39,255,0.45,2.10,0.00,0.000,6,0.192,0.028,2623,2311,3483,0,0,0,0,0,0
$GC,587,-0.29,-116.7,42.4,-9.8,100,594,0.15,2.20,0.00,0.000,4,0.202,0.035,2662,898,3484,0,0,0,0,0,0
$GC,608,-0.18,-116.7,44.3,-9.5,103,615,0.15,2.08,0.00,0.000,6,0.192,0.028,2704,2307,3484,0,0,0,0,0,0
$GC,951,-0.48,-116.7,67.1,-6.7,164,958,0.25,2.17,0.00,0.000,4,0.104,0.032,2610,894,3484,0,0,0,0,0,0
$GC,994,-0.53,-116.7,70.4,-7.6,171,1001,0.00,2.08,0.00,0.000,6,0.000,0.028,2609,2306,3483,0,0,0,0,0,0
$GC,1339,-0.39,-116.7,101.5,-10.1,232,1346,0.00,2.15,0.00,0.000,4,0.000,0.034,2609,899,3484,0,0,0,0,0,0
$GC,1426,-0.22,-116.7,111.2,-10.7,247,1433,0.28,2.08,0.00,0.000,6,0.189,0.028,2684,2310,3483,0,0,0,0,0,0
$GC,1760,-0.50,-116.7,135.1,-7.2,279,1764,0.25,2.12,0.00,0.000,4,0.103,0.031,2589,894,3484,0,0,0,0,0,0
$GC,1833,-0.50,-116.7,141.2,-8.4,282,1837,0.00,2.08,0.00,0.000,6,0.000,0.028,2589,2305,3483,0,0,0,0,0,0
$GC,2151,-0.56,-116.7,165.6,-7.5,297,2155,0.00,2.12,0.00,0.000,4,0.000,0.034,2589,890,3483,0,0,0,0,0,0
$GC,2258,-0.56,-116.7,173.8,-7.5,302,2262,0.00,2.10,0.00,0.000,6,0.000,0.028,2589,2306,3483,0,0,0,0,0,0
$GC,2585,-0.64,-116.7,197.8,-7.5,318,2589,0.00,2.12,0.00,0.000,4,0.000,0.033,2589,886,3484,0,0,0,0,0,0
$GC,2686,-0.64,-116.7,205.6,-7.6,322,2691,0.00,2.08,0.00,0.000,6,0.000,0.027,2589,2301,3484,0,0,0,0,0,0
$GC,3002,-0.71,-116.7,228.7,-7.2,338,3007,0.15,2.12,0.00,0.000,4,0.117,0.034,2538,892,3484,0,0,0,0,0,0
$GC,3259,-0.45,-116.7,253.6,-10.5,349,3264,0.30,2.08,0.00,0.000,6,0.190,0.028,2617,2311,3484,0,0,0,0,0,0
$GC,3578,-0.60,-116.7,274.7,-6.8,364,3583,0.15,2.15,0.00,0.000,4,0.114,0.033,2562,886,3485,0,0,0,0,0,0
$GC,3673,-0.46,-116.7,282.7,-8.4,368,3678,0.20,2.08,0.00,0.000,6,0.189,0.027,2613,2301,3485,0,0,0,0,0,0
$GC,3994,-0.60,-116.7,304.7,-7.0,383,3999,0.12,2.10,0.00,0.000,4,0.125,0.041,2568,3694,3485,0,0,0,0,0,0
$GC,4016,-0.67,-116.7,306.4,-7.4,383,4023,0.00,2.03,0.00,0.000,6,0.000,0.022,2569,2267,3485,0,0,0,0,0,0
$GC,4330,-0.90,-116.7,317.7,0.0,394,4334,0.25,2.00,0.00,0.000,4,0.096,0.032,2468,918,3485,0,0,0,0,0,0
$STATE,4416,end dive,NO_VERTICAL_VELOCITY
$STATE,4416,begin apogee
$GC,4426,-0.24,0.0,317.7,0.0,396,4525,0.65,0.00,95.35,0.970,6,0.126,0.000,2680,2643,3006,0,0,0,0,0,0
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4526,begin climb
$GC,4529,0.80,116.7,317.7,0.0,400,4633,1.08,2.17,94.28,0.920,4,0.136,0.031,3013,1281,2528,0,0,0,0,0,0
$GC,4724,0.91,181.5,312.5,4.3,406,4782,0.15,2.10,52.60,0.904,6,0.102,0.030,3064,2658,2266,0,0,0,0,0,0
$GC,5099,0.95,181.5,286.9,7.1,421,5102,0.00,2.10,0.00,0.000,4,0.000,0.033,3070,1267,2258,0,0,0,0,0,0
$GC,5171,0.97,196.4,282.1,6.3,424,5190,0.00,2.10,12.77,0.884,6,0.000,0.030,3070,2654,2204,0,0,0,0,0,0
$GC,5518,1.02,196.4,257.7,7.7,441,5522,0.00,2.08,0.00,0.000,4,0.000,0.033,3070,1268,2201,0,0,0,0,0,0
$GC,5607,1.02,196.4,250.8,7.5,445,5611,0.00,2.08,0.00,0.000,6,0.000,0.030,3070,2653,2201,0,0,0,0,0,0
$GC,5935,1.08,196.4,226.1,7.5,461,5939,0.12,2.08,0.00,0.000,4,0.117,0.033,3126,1276,2201,0,0,0,0,0,0
$GC,6035,1.03,196.4,217.7,8.4,465,6041,0.00,2.05,0.00,0.000,6,0.000,0.030,3126,2649,2201,0,0,0,0,0,0
$GC,6353,0.97,196.4,192.3,7.9,481,6358,0.17,2.12,0.00,0.000,4,0.176,0.041,3076,4051,2201,0,0,0,0,0,0
$GC,6612,0.92,196.4,171.9,7.8,492,6619,0.00,2.03,0.00,0.000,6,0.000,0.023,3076,2656,2200,0,0,0,0,0,0
$GC,6929,0.99,203.9,151.2,6.6,508,6943,0.00,2.12,7.60,0.815,4,0.000,0.034,3076,1267,2174,0,0,0,0,0,0
$GC,7045,1.04,217.3,143.7,6.3,513,7066,0.00,2.08,12.82,0.823,6,0.000,0.029,3076,2660,2119,0,0,0,0,0,0
$GC,7380,1.14,217.3,117.5,8.2,532,7387,0.15,2.12,0.00,0.000,4,0.103,0.033,3140,1271,2116,0,0,0,0,0,0
$GC,7530,1.10,217.3,104.1,8.2,558,7535,0.00,2.05,0.00,0.000,6,0.000,0.030,3140,2650,2116,0,0,0,0,0,0
$GC,7872,1.06,217.3,78.0,7.2,619,7878,0.12,2.10,0.00,0.000,4,0.187,0.041,3106,4040,2115,0,0,0,0,0,0
$GC,8135,1.02,235.6,59.4,6.1,665,8158,0.00,2.00,16.17,0.806,6,0.000,0.023,3112,2639,2044,0,0,0,0,0,0
$GC,8495,1.03,241.5,35.4,6.6,729,8508,0.00,2.15,6.30,0.731,4,0.000,0.039,3112,4040,2020,0,0,0,0,0,0
$GC,8675,1.03,241.5,21.5,7.5,761,8680,0.00,2.00,0.00,0.000,6,0.000,0.023,3112,2656,2019,0,0,0,0,0,0
$STATE,8943,end climb,SURFACE_DEPTH_REACHED
$STATE,8943,begin surface coast
$FINISH,2.1,1.003238
$STATE,9019,end surface coast,CONTROL_FINISHED_OK
$STATE,9019,begin surface
$SM_CCo,9038,286.98,0.726,0,0,549,602.46
$SM_GC,2.78,0.00,0.00,286.98,0.000,0.000,0.726,219,2282,549,-7.96,-0.51,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078343861
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,14.40
$XPDR_PINGS,27
$24V_AH,23.4,80.475
$10V_AH,9.7,58.241
$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,23.150,84.875,297.900,286.975,0.000,166.955,141.208,0.000,6.750,0.000,904.984,1593.263,5311.570,722.063,2781.716,606.166,0.000,1579.938,0.000,1874.821,0.000,0.536,0.000
$DEVICE_MAMPS,248.508,49.855,970.255,725.582,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,562.577,708.359,682.568,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,47500,823
$CAP_FILE_SIZE,108323,0
$CFSIZE,260165632,213647360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000, 96.3,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7