version: 66.06
glider: 140
mission: 8
dive: 500
start: 2 3 110 11 24 32
data:
$ID,140
$MISSION,8
$DIVE,500
$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,-414975.19
$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,95
$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,2.77
$_SM_ANGLEo,-65.4
$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,16,-0.80,-116.7,0.0,0.0,0,109,0.00,0.00,-90.53,0.000,2,0.000,0.000,220,2282,2293,0,0,0,0,0,0
$GC,113,-0.80,-116.7,3.0,-0.3,16,196,9.48,2.22,-67.15,0.000,4,0.248,0.055,2502,3704,3483,0,0,0,0,0,0
$GC,218,-0.48,-116.7,6.3,-8.6,33,225,0.38,2.00,0.00,0.000,6,0.199,0.023,2602,2292,3483,0,0,0,0,0,0
$GC,556,-0.32,-116.7,43.6,-10.9,94,564,0.20,2.20,0.00,0.000,4,0.193,0.038,2658,3698,3484,0,0,0,0,0,0
$GC,571,-0.17,-116.7,45.2,-10.9,96,578,0.12,2.03,0.00,0.000,6,0.170,0.023,2699,2305,3484,0,0,0,0,0,0
$GC,915,-0.45,-116.7,68.4,-6.6,157,922,0.22,2.12,0.00,0.000,4,0.104,0.036,2619,3702,3485,0,0,0,0,0,0
$GC,1025,-0.52,-116.7,76.6,-7.8,176,1032,0.00,2.05,0.00,0.000,6,0.000,0.023,2619,2302,3484,0,0,0,0,0,0
$GC,1373,-0.65,-116.7,103.1,-7.5,237,1379,0.17,2.08,0.00,0.000,4,0.111,0.035,2557,915,3484,0,0,0,0,0,0
$GC,1421,-0.53,-116.7,107.5,-9.0,245,1427,0.15,2.05,0.00,0.000,6,0.201,0.028,2593,2314,3484,0,0,0,0,0,0
$GC,1749,-0.36,-116.7,139.1,-10.6,279,1751,0.17,0.00,0.00,0.000,6,0.202,0.000,2640,2314,3484,0,0,0,0,0,0
$GC,2056,-0.36,-116.7,162.3,-6.9,294,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2314,3484,0,0,0,0,0,0
$GC,2368,-0.55,-116.7,182.4,-6.4,309,2373,0.15,2.12,0.00,0.000,4,0.118,0.033,2585,911,3484,0,0,0,0,0,0
$GC,2446,-0.47,-116.7,188.2,-7.2,312,2454,0.00,2.08,0.00,0.000,6,0.000,0.027,2584,2298,3484,0,0,0,0,0,0
$GC,2763,-0.54,-116.7,210.1,-7.1,328,2766,0.00,2.08,0.00,0.000,4,0.000,0.039,2585,3698,3485,0,0,0,0,0,0
$GC,2803,-0.57,-116.7,212.9,-6.6,330,2807,0.00,2.00,0.00,0.000,6,0.000,0.022,2584,2294,3484,0,0,0,0,0,0
$GC,3136,-0.65,-116.7,237.3,-7.4,346,3140,0.00,2.15,0.00,0.000,4,0.000,0.038,2584,3708,3485,0,0,0,0,0,0
$GC,3214,-0.65,-116.7,243.0,-7.4,349,3218,0.00,2.00,0.00,0.000,6,0.000,0.022,2584,2302,3484,0,0,0,0,0,0
$GC,3536,-0.72,-116.7,266.6,-7.2,365,3541,0.15,2.15,0.00,0.000,4,0.119,0.039,2531,3698,3485,0,0,0,0,0,0
$GC,3602,-0.58,-116.7,271.5,-8.3,368,3606,0.15,2.00,0.00,0.000,6,0.189,0.022,2569,2273,3485,0,0,0,0,0,0
$STATE,3885,end dive,NO_VERTICAL_VELOCITY
$STATE,3885,begin apogee
$GC,3893,-0.24,0.0,277.6,0.0,382,3991,0.35,0.00,95.00,0.943,6,0.130,0.000,2682,2655,3006,0,0,0,0,0,0
$STATE,3991,end apogee,CONTROL_FINISHED_OK
$STATE,3992,begin climb
$GC,3995,0.80,116.7,277.7,0.0,387,4097,1.08,2.20,94.05,0.894,4,0.125,0.033,3017,1302,2529,0,0,0,0,0,0
$GC,4147,0.90,169.1,272.8,4.8,394,4198,0.10,2.08,43.03,0.871,6,0.123,0.030,3055,2646,2316,0,0,0,0,0,0
$GC,4527,0.97,185.9,249.6,6.2,413,4548,0.00,2.17,14.25,0.864,4,0.000,0.042,3056,4053,2247,0,0,0,0,0,0
$GC,4802,0.99,200.0,230.8,6.3,425,4821,0.00,2.00,13.15,0.856,6,0.000,0.022,3056,2662,2189,0,0,0,0,0,0
$GC,5153,1.08,225.9,210.5,5.8,442,5182,0.15,2.22,22.45,0.865,4,0.105,0.041,3115,4043,2083,0,0,0,0,0,0
$GC,5435,1.01,225.9,184.3,10.3,454,5443,0.00,2.05,0.00,0.000,6,0.000,0.022,3115,2652,2080,0,0,0,0,0,0
$GC,5752,1.01,225.9,159.8,7.4,470,5755,0.00,2.15,0.00,0.000,4,0.000,0.041,3115,4049,2079,0,0,0,0,0,0
$GC,6009,0.93,225.9,136.8,8.6,481,6016,0.17,2.03,0.00,0.000,6,0.181,0.023,3067,2632,2078,0,0,0,0,0,0
$GC,6332,1.05,229.6,115.5,6.7,503,6338,0.10,2.17,0.00,0.000,4,0.127,0.041,3106,4045,2078,0,0,0,0,0,0
$GC,6530,1.02,229.6,99.5,8.0,538,6536,0.00,2.00,0.00,0.000,6,0.000,0.023,3111,2646,2078,0,0,0,0,0,0
$GC,6873,1.02,229.6,76.0,7.1,599,6879,0.00,2.03,0.00,0.000,4,0.000,0.035,3112,1271,2078,0,0,0,0,0,0
$GC,6919,1.02,229.6,72.8,7.0,607,6924,0.00,2.08,0.00,0.000,6,0.000,0.030,3112,2660,2078,0,0,0,0,0,0
$GC,7258,1.04,243.9,50.8,6.3,668,7277,0.00,0.00,15.62,0.813,6,0.000,0.000,3112,2660,2011,0,0,0,0,0,0
$GC,7610,1.07,243.9,28.4,7.5,731,7616,0.00,2.10,0.00,0.000,4,0.000,0.034,3112,1266,2007,0,0,0,0,0,0
$GC,7680,1.11,243.9,23.6,7.1,743,7685,0.00,2.08,0.00,0.000,6,0.000,0.029,3112,2655,2007,0,0,0,0,0,0
$STATE,7932,end climb,SURFACE_DEPTH_REACHED
$STATE,7932,begin surface coast
$FINISH,2.2,1.026416
$STATE,7999,end surface coast,CONTROL_FINISHED_OK
$STATE,7999,begin surface
$SM_CCo,8019,286.12,0.729,0,0,550,602.46
$SM_GC,2.81,0.00,0.00,286.12,0.000,0.000,0.729,222,2250,550,-7.95,-1.41,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078355474
$INTERNAL_PRESSURE,8.19367
$TCM_TEMP,14.50
$XPDR_PINGS,11
$24V_AH,23.5,80.765
$10V_AH,9.7,58.492
$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,21.825,63.750,297.550,286.125,0.000,167.085,140.885,0.000,2.750,0.000,904.989,1523.722,4516.165,718.974,2655.005,581.193,0.000,1493.891,0.000,1751.259,0.000,0.537,0.000
$DEVICE_MAMPS,247.741,55.224,943.410,728.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.355,672.323,682.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,47584,801
$CAP_FILE_SIZE,96579,0
$CFSIZE,260165632,213508096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,132.7,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7