version: 66.06
glider: 140
mission: 8
dive: 505
start: 2 4 110 2 28 51
data:
$ID,140
$MISSION,8
$DIVE,505
$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,-424019.41
$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,79
$R_STBD_OVSHOOT,47
$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,2.81
$_SM_ANGLEo,-63.5
$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,-116.7,0.0,0.0,0,45,0.00,0.00,-27.48,0.000,2,0.000,0.000,221,2279,1103,0,0,0,0,0,0
$GC,49,-0.80,-116.7,3.0,-0.7,5,191,9.23,0.00,-125.12,0.000,6,0.239,0.000,2503,2279,3482,0,0,0,0,0,0
$GC,526,-0.45,-116.7,61.4,-17.0,90,532,0.38,2.08,0.00,0.000,4,0.203,0.034,2610,913,3483,0,0,0,0,0,0
$GC,622,-0.28,-116.7,74.2,-11.8,107,629,0.22,2.08,0.00,0.000,6,0.187,0.029,2673,2316,3484,0,0,0,0,0,0
$GC,967,-0.28,-116.7,98.1,-6.9,168,973,0.00,2.10,0.00,0.000,4,0.000,0.041,2673,3690,3484,0,0,0,0,0,0
$GC,999,-0.28,-116.7,100.3,-7.2,173,1005,0.00,1.98,0.00,0.000,6,0.000,0.024,2673,2302,3484,0,0,0,0,0,0
$GC,1339,-0.52,-116.7,124.5,-6.9,225,1344,0.22,2.15,0.00,0.000,4,0.109,0.037,2592,3708,3484,0,0,0,0,0,0
$GC,1359,-0.69,-116.7,125.9,-6.6,226,1363,0.15,2.03,0.00,0.000,6,0.126,0.024,2543,2294,3483,0,0,0,0,0,0
$GC,1688,-0.43,-116.7,163.1,-12.5,242,1693,0.25,2.05,0.00,0.000,4,0.197,0.033,2614,916,3483,0,0,0,0,0,0
$GC,1807,-0.30,-116.7,175.5,-9.7,247,1812,0.17,2.05,0.00,0.000,6,0.195,0.028,2661,2308,3483,0,0,0,0,0,0
$GC,2126,-0.52,-116.7,197.9,-6.6,262,2131,0.20,2.08,0.00,0.000,4,0.106,0.038,2588,3697,3484,0,0,0,0,0,0
$GC,2177,-0.57,-116.7,201.8,-7.2,264,2181,0.00,2.00,0.00,0.000,6,0.000,0.022,2588,2295,3483,0,0,0,0,0,0
$GC,2499,-0.65,-116.7,225.9,-7.4,280,2503,0.00,2.12,0.00,0.000,4,0.000,0.038,2587,3697,3484,0,0,0,0,0,0
$GC,2543,-0.65,-116.7,229.3,-7.6,282,2546,0.00,2.00,0.00,0.000,6,0.000,0.022,2587,2295,3484,0,0,0,0,0,0
$GC,2871,-0.72,-116.7,252.2,-7.0,298,2876,0.15,2.05,0.00,0.000,4,0.120,0.035,2536,909,3485,0,0,0,0,0,0
$STATE,3081,end dive,NO_VERTICAL_VELOCITY
$STATE,3082,begin apogee
$GC,3092,-0.24,0.0,257.9,0.0,307,3189,0.45,0.00,94.20,0.941,6,0.142,0.000,2679,2646,3006,0,0,0,0,0,0
$STATE,3190,end apogee,CONTROL_FINISHED_OK
$STATE,3190,begin climb
$GC,3193,0.80,116.7,257.9,0.0,312,3296,1.08,0.00,93.22,0.890,6,0.133,0.000,3012,2646,2529,0,0,0,0,0,0
$GC,3606,0.93,170.8,241.8,4.7,332,3652,0.15,0.00,43.95,0.878,6,0.107,0.000,3069,2646,2309,0,0,0,0,0,0
$GC,3959,0.97,177.5,218.4,6.6,349,3970,0.00,2.12,6.25,0.778,4,0.000,0.040,3069,4042,2281,0,0,0,0,0,0
$GC,4086,0.93,183.0,209.6,6.7,354,4097,0.00,2.00,6.07,0.762,6,0.000,0.023,3070,2653,2260,0,0,0,0,0,0
$GC,4423,0.93,183.0,187.8,6.9,371,4427,0.00,2.05,0.00,0.000,4,0.000,0.035,3070,1260,2259,0,0,0,0,0,0
$GC,4491,0.95,201.2,182.9,6.1,374,4512,0.00,2.08,16.67,0.852,6,0.000,0.029,3070,2660,2185,0,0,0,0,0,0
$GC,4838,1.02,204.4,159.6,6.7,391,4844,0.00,0.00,3.92,0.605,6,0.000,0.000,3070,2661,2172,0,0,0,0,0,0
$GC,5145,1.12,215.0,139.4,6.5,406,5161,0.15,2.12,10.75,0.830,4,0.106,0.041,3128,4049,2128,0,0,0,0,0,0
$GC,5348,1.03,215.0,122.0,8.7,414,5353,0.12,2.03,0.00,0.000,6,0.203,0.023,3098,2644,2126,0,0,0,0,0,0
$GC,5688,1.04,221.5,98.2,6.6,471,5700,0.00,2.05,6.90,0.780,4,0.000,0.032,3098,1269,2102,0,0,0,0,0,0
$GC,5811,1.10,244.2,90.8,6.0,492,5839,0.00,2.10,20.20,0.808,6,0.000,0.029,3090,2651,2009,0,0,0,0,0,0
$GC,6179,1.22,244.2,64.4,7.8,557,6186,0.17,2.10,0.00,0.000,4,0.100,0.034,3157,1264,2004,0,0,0,0,0,0
$GC,6266,1.18,244.2,57.1,7.8,572,6272,0.00,2.10,0.00,0.000,6,0.000,0.030,3157,2644,2004,0,0,0,0,0,0
$GC,6607,1.13,244.2,27.0,8.3,633,6614,0.00,2.12,0.00,0.000,4,0.000,0.041,3157,4053,2002,0,0,0,0,0,0
$GC,6681,1.02,244.2,18.8,10.8,646,6688,0.17,2.05,0.00,0.000,6,0.168,0.024,3101,2654,2002,0,0,0,0,0,0
$STATE,6921,end climb,SURFACE_DEPTH_REACHED
$STATE,6921,begin surface coast
$FINISH,2.1,1.017392
$STATE,6981,end surface coast,CONTROL_FINISHED_OK
$STATE,6981,begin surface
$SM_CCo,7001,284.73,0.734,0,0,549,602.46
$SM_GC,2.80,0.00,0.00,284.73,0.000,0.000,0.734,218,2288,549,-7.96,-0.34,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078364506
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,19.50
$XPDR_PINGS,9
$24V_AH,23.5,81.490
$10V_AH,9.7,59.104
$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,21.725,54.750,302.150,284.725,0.000,166.857,140.956,0.000,2.250,0.000,904.933,1350.976,3951.236,687.785,2407.579,584.094,0.000,1377.812,0.000,1513.789,0.000,0.535,0.000
$DEVICE_MAMPS,239.304,40.651,941.109,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,478.059,571.284,585.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,41318,700
$CAP_FILE_SIZE,87269,0
$CFSIZE,260165632,213151744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,138.3,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7