version: 66.06
glider: 140
mission: 8
dive: 501
start: 2 3 110 14 27 7
data:
$ID,140
$MISSION,8
$DIVE,501
$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,-416783.47
$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,91
$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,2.72
$_SM_ANGLEo,-65.8
$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,-116.7,0.0,0.0,0,61,0.00,0.00,-43.10,0.000,2,0.000,0.000,221,2250,1406,0,0,0,0,0,0
$GC,64,-0.80,-116.7,3.0,-0.7,7,206,9.27,2.03,-120.07,0.000,4,0.241,0.051,2500,929,3481,0,0,0,0,0,0
$GC,224,-0.51,-116.7,6.1,-8.6,34,233,0.32,2.08,0.00,0.000,6,0.189,0.029,2592,2312,3482,0,0,0,0,0,0
$GC,566,-0.33,-116.7,45.3,-9.6,95,572,0.22,2.08,0.00,0.000,4,0.203,0.032,2653,934,3482,0,0,0,0,0,0
$GC,639,-0.24,-116.7,50.7,-6.8,108,646,0.08,2.05,0.00,0.000,6,0.182,0.028,2678,2300,3482,0,0,0,0,0,0
$GC,984,-0.48,-116.7,74.1,-6.7,169,990,0.20,2.05,0.00,0.000,4,0.109,0.031,2606,932,3483,0,0,0,0,0,0
$GC,1082,-0.39,-116.7,81.9,-8.3,186,1089,0.12,2.00,0.00,0.000,6,0.216,0.028,2635,2302,3482,0,0,0,0,0,0
$GC,1427,-0.44,-116.7,110.7,-7.6,247,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2302,3482,0,0,0,0,0,0
$GC,1755,-0.60,-116.7,134.6,-7.5,278,1759,0.20,2.05,0.00,0.000,4,0.104,0.031,2561,933,3482,0,0,0,0,0,0
$GC,1804,-0.39,-116.7,139.3,-9.4,280,1809,0.28,2.00,0.00,0.000,6,0.191,0.028,2634,2302,3482,0,0,0,0,0,0
$GC,2122,-0.33,-116.7,164.6,-8.2,295,2126,0.00,2.05,0.00,0.000,4,0.000,0.034,2635,934,3482,0,0,0,0,0,0
$GC,2165,-0.26,-116.7,168.1,-8.1,297,2169,0.15,2.00,0.00,0.000,6,0.199,0.028,2675,2300,3482,0,0,0,0,0,0
$GC,2496,-0.51,-116.7,187.9,-5.7,313,2500,0.22,2.08,0.00,0.000,4,0.104,0.037,2595,3697,3482,0,0,0,0,0,0
$GC,2605,-0.57,-116.7,194.9,-6.1,318,2609,0.00,1.98,0.00,0.000,6,0.000,0.022,2595,2298,3482,0,0,0,0,0,0
$GC,2937,-0.67,-116.7,219.1,-7.3,334,2942,0.12,2.15,0.00,0.000,4,0.120,0.039,2551,3699,3483,0,0,0,0,0,0
$GC,2959,-0.67,-116.7,220.9,-7.8,335,2963,0.00,1.98,0.00,0.000,6,0.000,0.022,2552,2308,3483,0,0,0,0,0,0
$GC,3287,-0.67,-116.7,246.5,-7.9,351,3290,0.00,2.03,0.00,0.000,4,0.000,0.034,2552,929,3483,0,0,0,0,0,0
$GC,3360,-0.51,-116.7,252.5,-8.2,354,3364,0.17,2.03,0.00,0.000,6,0.193,0.027,2595,2312,3483,0,0,0,0,0,0
$GC,3684,-0.46,-116.7,275.5,-6.7,370,3688,0.00,2.08,0.00,0.000,4,0.000,0.033,2596,915,3484,0,0,0,0,0,0
$GC,3702,-0.46,-116.7,276.9,-6.9,371,3706,0.00,2.03,0.00,0.000,6,0.000,0.028,2596,2301,3484,0,0,0,0,0,0
$STATE,3944,end dive,NO_VERTICAL_VELOCITY
$STATE,3944,begin apogee
$GC,3952,-0.24,0.0,279.6,0.0,383,4049,0.28,0.00,94.45,0.945,6,0.136,0.000,2684,2653,3006,0,0,0,0,0,0
$STATE,4050,end apogee,CONTROL_FINISHED_OK
$STATE,4050,begin climb
$GC,4053,0.80,116.7,279.6,0.0,388,4155,1.08,2.22,93.78,0.896,4,0.127,0.031,3016,1283,2530,0,0,0,0,0,0
$GC,4271,0.89,156.1,271.6,5.3,398,4311,0.10,2.10,32.35,0.879,6,0.124,0.030,3055,2658,2369,0,0,0,0,0,0
$GC,4634,0.93,164.8,248.2,6.5,416,4648,0.00,2.17,8.10,0.835,4,0.000,0.042,3055,4044,2334,0,0,0,0,0,0
$GC,4904,0.89,165.9,229.3,6.8,428,4908,0.00,2.00,0.00,0.000,6,0.000,0.022,3056,2656,2333,0,0,0,0,0,0
$GC,5237,0.95,173.0,209.6,6.6,444,5251,0.00,2.20,8.30,0.841,4,0.000,0.041,3056,4039,2299,0,0,0,0,0,0
$GC,5504,0.92,173.0,190.2,7.4,456,5508,0.00,2.00,0.00,0.000,6,0.000,0.022,3056,2646,2298,0,0,0,0,0,0
$GC,5837,0.99,207.7,170.1,5.5,472,5872,0.00,2.20,29.65,0.853,4,0.000,0.041,3056,4049,2158,0,0,0,0,0,0
$GC,5918,1.01,222.0,165.2,6.3,475,5938,0.10,2.05,13.40,0.805,6,0.127,0.023,3093,2628,2100,0,0,0,0,0,0
$GC,6255,1.09,232.2,145.0,6.5,492,6269,0.00,2.22,9.20,0.808,4,0.000,0.041,3093,4038,2059,0,0,0,0,0,0
$GC,6332,1.02,232.2,139.5,7.0,495,6335,0.00,2.00,0.00,0.000,6,0.000,0.022,3097,2656,2057,0,0,0,0,0,0
$GC,6651,1.05,232.2,118.7,6.9,513,6657,0.00,2.12,0.00,0.000,4,0.000,0.041,3097,4049,2056,0,0,0,0,0,0
$GC,6837,1.05,232.2,103.9,7.9,546,6843,0.00,2.03,0.00,0.000,6,0.000,0.023,3097,2636,2055,0,0,0,0,0,0
$GC,7182,1.11,250.0,82.4,6.2,607,7205,0.00,2.05,16.17,0.814,4,0.000,0.033,3097,1263,1985,0,0,0,0,0,0
$GC,7277,1.16,251.2,76.3,6.8,623,7283,0.12,2.08,0.00,0.000,6,0.114,0.029,3139,2654,1982,0,0,0,0,0,0
$GC,7615,1.16,251.2,51.4,7.8,684,7623,0.00,2.12,0.00,0.000,4,0.000,0.041,3140,4041,1980,0,0,0,0,0,0
$GC,7824,1.09,251.2,32.7,9.2,721,7829,0.00,2.00,0.00,0.000,6,0.000,0.023,3140,2649,1980,0,0,0,0,0,0
$GC,8157,1.09,251.2,7.2,8.0,782,8165,0.00,2.08,0.00,0.000,4,0.000,0.035,3140,1264,1979,0,0,0,0,0,0
$STATE,8201,end climb,SURFACE_DEPTH_REACHED
$STATE,8201,begin surface coast
$FINISH,3.6,1.026548
$STATE,8210,end surface coast,CONTROL_FINISHED_OK
$STATE,8210,begin surface
$SM_CCo,8232,280.80,0.729,0,0,549,602.46
$SM_GC,2.94,0.00,0.00,280.80,0.000,0.000,0.729,213,2315,549,-7.98,0.42,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078347732
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,14.40
$XPDR_PINGS,9
$24V_AH,23.5,80.910
$10V_AH,9.7,58.617
$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,21.900,74.425,305.400,280.800,0.000,166.582,141.163,0.000,2.250,0.000,904.005,1526.193,4725.051,715.484,2642.191,593.982,0.000,1508.600,0.000,1741.034,0.000,0.535,0.000
$DEVICE_MAMPS,240.838,50.622,944.944,728.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,540.736,661.194,657.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44261,791
$CAP_FILE_SIZE,101109,0
$CFSIZE,260165632,213434368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,124.2,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7