version: 66.06
glider: 140
mission: 8
dive: 502
start: 2 3 110 17 33 13
data:
$ID,140
$MISSION,8
$DIVE,502
$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,-418592.69
$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,73
$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,2.79
$_SM_ANGLEo,-65.7
$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,-116.7,0.0,0.0,0,78,0.00,0.00,-60.47,0.000,2,0.000,0.000,213,2315,1734,0,0,0,0,0,0
$GC,82,-0.80,-116.7,3.1,-0.6,11,205,9.27,2.15,-102.35,0.000,4,0.239,0.048,2501,907,3481,0,0,0,0,0,0
$GC,226,-0.58,-116.7,5.5,-7.6,35,233,0.28,2.05,0.00,0.000,6,0.203,0.028,2572,2305,3482,0,0,0,0,0,0
$GC,566,-0.36,-116.7,48.3,-12.1,96,573,0.25,2.15,0.00,0.000,4,0.195,0.033,2647,916,3483,0,0,0,0,0,0
$GC,614,-0.26,-116.7,53.1,-9.7,104,621,0.08,2.10,0.00,0.000,6,0.191,0.028,2672,2300,3482,0,0,0,0,0,0
$GC,960,-0.46,-116.7,75.7,-6.5,165,966,0.17,2.12,0.00,0.000,4,0.112,0.040,2609,3700,3482,0,0,0,0,0,0
$GC,1019,-0.53,-116.7,80.2,-7.3,175,1026,0.00,2.03,0.00,0.000,6,0.000,0.023,2609,2285,3482,0,0,0,0,0,0
$GC,1363,-0.59,-116.7,106.4,-7.5,236,1370,0.10,2.08,0.00,0.000,4,0.143,0.035,2574,920,3482,0,0,0,0,0,0
$GC,1623,-0.36,-116.7,136.9,-12.7,265,1628,0.25,2.03,0.00,0.000,6,0.189,0.028,2639,2304,3482,0,0,0,0,0,0
$GC,1939,-0.32,-116.7,161.5,-7.4,280,1943,0.00,2.08,0.00,0.000,4,0.000,0.034,2640,919,3482,0,0,0,0,0,0
$GC,2040,-0.28,-116.7,168.6,-7.4,284,2047,0.08,2.08,0.00,0.000,6,0.176,0.028,2664,2293,3482,0,0,0,0,0,0
$GC,2359,-0.51,-116.7,189.0,-6.9,300,2364,0.20,2.08,0.00,0.000,4,0.107,0.031,2592,909,3482,0,0,0,0,0,0
$GC,2437,-0.51,-116.7,195.0,-7.5,303,2444,0.00,2.03,0.00,0.000,6,0.000,0.028,2591,2300,3482,0,0,0,0,0,0
$GC,2755,-0.60,-116.7,219.5,-7.7,319,2759,0.00,2.10,0.00,0.000,4,0.000,0.041,2591,3697,3483,0,0,0,0,0,0
$GC,2833,-0.64,-116.7,225.4,-7.4,322,2839,0.00,2.00,0.00,0.000,6,0.000,0.022,2591,2287,3483,0,0,0,0,0,0
$GC,3150,-0.74,-116.7,248.0,-7.1,338,3155,0.17,2.17,0.00,0.000,4,0.107,0.038,2528,3704,3483,0,0,0,0,0,0
$GC,3200,-0.60,-116.7,252.1,-8.0,340,3205,0.15,2.00,0.00,0.000,6,0.189,0.022,2566,2288,3483,0,0,0,0,0,0
$GC,3519,-0.82,-116.7,269.0,-0.1,355,3524,0.20,2.00,0.00,0.000,4,0.110,0.033,2500,940,3484,0,0,0,0,0,0
$STATE,3636,end dive,NO_VERTICAL_VELOCITY
$STATE,3636,begin apogee
$GC,3645,-0.24,0.0,269.0,0.0,360,3743,0.55,0.00,94.28,0.940,6,0.116,0.000,2686,2652,3006,0,0,0,0,0,0
$STATE,3744,end apogee,CONTROL_FINISHED_OK
$STATE,3744,begin climb
$GC,3747,0.80,116.7,269.0,0.0,365,3851,1.02,0.00,93.35,0.890,6,0.127,0.000,3009,2652,2529,0,0,0,0,0,0
$GC,4160,0.94,168.2,253.2,4.8,385,4209,0.17,2.25,41.50,0.882,4,0.101,0.041,3076,4046,2319,0,0,0,0,0,0
$GC,4465,0.87,168.2,231.2,7.2,398,4471,0.15,2.00,0.00,0.000,6,0.193,0.023,3045,2652,2316,0,0,0,0,0,0
$GC,4782,0.97,189.5,213.4,6.0,414,4806,0.00,2.10,18.08,0.868,4,0.000,0.033,3045,1285,2232,0,0,0,0,0,0
$GC,4916,1.08,210.0,205.1,6.1,420,4941,0.17,2.08,18.38,0.847,6,0.093,0.029,3113,2664,2149,0,0,0,0,0,0
$GC,5270,1.08,210.0,176.8,8.1,437,5273,0.00,2.10,0.00,0.000,4,0.000,0.041,3112,4047,2145,0,0,0,0,0,0
$GC,5527,1.00,210.0,154.1,8.1,448,5534,0.00,2.03,0.00,0.000,6,0.000,0.023,3113,2665,2143,0,0,0,0,0,0
$GC,5845,1.01,217.7,132.6,6.6,464,5858,0.00,2.15,7.32,0.798,4,0.000,0.034,3113,1265,2118,0,0,0,0,0,0
$GC,6086,1.02,225.2,117.1,6.6,480,6102,0.00,2.10,8.02,0.790,6,0.000,0.029,3113,2641,2086,0,0,0,0,0,0
$GC,6440,1.02,225.2,92.1,7.5,543,6446,0.00,2.12,0.00,0.000,4,0.000,0.041,3113,4051,2084,0,0,0,0,0,0
$GC,6702,0.97,225.2,70.4,8.4,589,6708,0.12,2.03,0.00,0.000,6,0.193,0.023,3081,2636,2083,0,0,0,0,0,0
$GC,7043,1.08,234.1,47.9,6.5,650,7061,0.00,2.22,8.80,0.796,4,0.000,0.041,3081,4049,2049,0,0,0,0,0,0
$GC,7296,1.08,234.1,30.4,7.3,695,7303,0.00,2.00,0.00,0.000,6,0.000,0.023,3083,2656,2048,0,0,0,0,0,0
$GC,7638,1.16,242.7,7.9,6.5,756,7656,0.15,2.10,8.52,0.776,4,0.106,0.035,3142,1280,2015,0,0,0,0,0,0
$STATE,7694,end climb,SURFACE_DEPTH_REACHED
$STATE,7694,begin surface coast
$FINISH,2.1,1.026541
$STATE,7719,end surface coast,CONTROL_FINISHED_OK
$STATE,7719,begin surface
$SM_CCo,7741,286.17,0.726,0,0,549,602.46
$SM_GC,2.88,0.00,0.00,286.17,0.000,0.000,0.726,217,2317,549,-7.96,0.48,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078341281
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.60
$XPDR_PINGS,8
$24V_AH,23.5,81.054
$10V_AH,9.7,58.742
$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,22.200,66.675,298.250,286.175,0.000,167.073,140.955,0.000,2.000,0.000,904.933,1481.138,4278.850,711.509,2657.570,590.103,0.000,1511.753,0.000,1754.544,0.000,0.536,0.000
$DEVICE_MAMPS,238.537,48.321,939.575,726.349,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.567,643.806,650.792,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44307,770
$CAP_FILE_SIZE,97107,0
$CFSIZE,260165632,213364736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000, 96.7,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7