version: 66.06
glider: 140
mission: 8
dive: 506
start: 2 4 110 5 14 21
data:
$ID,140
$MISSION,8
$DIVE,506
$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,-425827.72
$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,80
$R_STBD_OVSHOOT,46
$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,2.82
$_SM_ANGLEo,-63.1
$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,-116.7,0.0,0.0,0,86,0.00,0.00,-67.62,0.000,2,0.000,0.000,217,2288,1880,0,0,0,0,0,0
$GC,89,-0.80,-116.7,3.1,-0.5,12,198,9.40,2.10,-90.22,0.000,4,0.245,0.049,2500,921,3481,0,0,0,0,0,0
$GC,235,-0.46,-116.7,9.4,-13.6,37,242,0.43,2.05,0.00,0.000,6,0.199,0.028,2613,2317,3482,0,0,0,0,0,0
$GC,576,-0.30,-116.7,50.2,-11.4,98,583,0.17,2.17,0.00,0.000,4,0.198,0.035,2662,917,3483,0,0,0,0,0,0
$GC,597,-0.15,-116.7,52.8,-12.1,101,604,0.17,2.03,0.00,0.000,6,0.189,0.028,2709,2301,3483,0,0,0,0,0,0
$GC,942,-0.45,-116.7,72.4,-4.9,162,948,0.25,0.00,0.00,0.000,6,0.105,0.000,2617,2302,3483,0,0,0,0,0,0
$GC,1285,-0.57,-116.7,96.1,-6.9,223,1291,0.10,2.10,0.00,0.000,4,0.142,0.034,2580,916,3482,0,0,0,0,0,0
$GC,1368,-0.44,-116.7,102.6,-8.2,237,1375,0.15,2.05,0.00,0.000,6,0.211,0.028,2616,2312,3482,0,0,0,0,0,0
$GC,1701,-0.32,-116.7,135.7,-11.0,277,1706,0.15,2.12,0.00,0.000,4,0.202,0.034,2656,912,3482,0,0,0,0,0,0
$GC,1736,-0.27,-116.7,139.4,-9.7,278,1743,0.00,2.08,0.00,0.000,6,0.000,0.028,2656,2297,3482,0,0,0,0,0,0
$GC,2053,-0.27,-116.7,162.6,-6.4,294,2056,0.00,2.05,0.00,0.000,4,0.000,0.034,2656,923,3482,0,0,0,0,0,0
$GC,2076,-0.27,-116.7,164.1,-6.3,295,2079,0.00,2.03,0.00,0.000,6,0.000,0.028,2656,2303,3482,0,0,0,0,0,0
$GC,2400,-0.49,-116.7,187.1,-7.6,311,2404,0.15,2.10,0.00,0.000,4,0.123,0.034,2603,913,3482,0,0,0,0,0,0
$GC,2466,-0.49,-116.7,192.7,-8.0,314,2470,0.00,2.05,0.00,0.000,6,0.000,0.027,2602,2314,3482,0,0,0,0,0,0
$GC,2794,-0.59,-116.7,215.6,-7.0,330,2798,0.00,2.05,0.00,0.000,4,0.000,0.039,2602,3697,3482,0,0,0,0,0,0
$GC,2851,-0.65,-116.7,219.8,-7.0,332,2855,0.15,2.00,0.00,0.000,6,0.121,0.022,2554,2284,3483,0,0,0,0,0,0
$GC,3173,-0.65,-116.7,245.3,-8.1,348,3177,0.00,1.98,0.00,0.000,4,0.000,0.034,2553,937,3483,0,0,0,0,0,0
$GC,3214,-0.52,-116.7,248.8,-8.0,349,3222,0.17,2.00,0.00,0.000,6,0.193,0.028,2597,2314,3483,0,0,0,0,0,0
$STATE,3486,end dive,NO_VERTICAL_VELOCITY
$STATE,3486,begin apogee
$GC,3494,-0.24,0.0,253.9,0.0,363,3591,0.28,0.00,93.95,0.940,6,0.121,0.000,2690,2653,3005,0,0,0,0,0,0
$STATE,3592,end apogee,CONTROL_FINISHED_OK
$STATE,3592,begin climb
$GC,3595,0.80,116.7,254.0,0.0,368,3699,1.00,2.17,93.22,0.887,4,0.122,0.032,3014,1291,2530,0,0,0,0,0,0
$GC,3769,0.92,177.0,249.6,4.5,376,3825,0.12,2.05,49.28,0.869,6,0.110,0.029,3060,2645,2283,0,0,0,0,0,0
$GC,4143,0.97,179.8,224.7,6.8,394,4147,0.00,2.05,0.00,0.000,4,0.000,0.033,3062,1283,2276,0,0,0,0,0,0
$GC,4291,0.98,191.9,214.7,6.4,400,4310,0.00,2.05,12.65,0.854,6,0.000,0.030,3062,2651,2222,0,0,0,0,0,0
$GC,4637,1.05,219.9,193.2,5.8,417,4668,0.12,2.17,24.23,0.855,4,0.111,0.042,3109,4035,2108,0,0,0,0,0,0
$GC,4921,0.99,219.9,171.1,7.5,429,4927,0.00,1.98,0.00,0.000,6,0.000,0.023,3111,2659,2104,0,0,0,0,0,0
$GC,5238,0.99,219.9,149.8,7.0,445,5241,0.00,2.12,0.00,0.000,4,0.000,0.041,3111,4043,2104,0,0,0,0,0,0
$GC,5496,0.93,219.9,126.2,10.0,456,5504,0.15,2.03,0.00,0.000,6,0.167,0.023,3065,2643,2103,0,0,0,0,0,0
$GC,5832,1.04,219.9,101.2,7.3,505,5839,0.10,2.15,0.00,0.000,4,0.131,0.041,3101,4040,2103,0,0,0,0,0,0
$GC,6091,1.00,219.9,80.5,7.8,551,6097,0.00,1.98,0.00,0.000,6,0.000,0.023,3101,2660,2103,0,0,0,0,0,0
$GC,6433,1.02,235.9,58.3,6.2,612,6451,0.00,2.20,13.90,0.819,4,0.000,0.041,3101,4040,2043,0,0,0,0,0,0
$GC,6580,1.02,235.9,47.1,8.2,638,6587,0.00,2.03,0.00,0.000,6,0.000,0.023,3101,2662,2042,0,0,0,0,0,0
$GC,6923,1.07,235.9,23.7,7.2,699,6929,0.00,2.05,0.00,0.000,4,0.000,0.035,3101,1269,2040,0,0,0,0,0,0
$GC,6963,1.16,271.9,21.4,5.4,706,7004,0.08,2.10,30.77,0.781,6,0.085,0.030,3141,2651,1895,0,0,0,0,0,0
$STATE,7218,end climb,SURFACE_DEPTH_REACHED
$STATE,7218,begin surface coast
$FINISH,2.2,1.013492
$STATE,7303,end surface coast,CONTROL_FINISHED_OK
$STATE,7303,begin surface
$SM_CCo,7324,262.27,0.732,0,0,549,602.46
$SM_GC,2.95,0.00,0.00,262.27,0.000,0.000,0.732,219,2286,549,-7.96,-0.42,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078360635
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,14.10
$XPDR_PINGS,7
$24V_AH,23.5,81.634
$10V_AH,9.7,59.227
$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,21.575,63.050,318.000,262.275,0.000,164.427,140.992,0.000,1.750,0.000,905.016,1450.009,3981.219,686.122,2581.527,573.997,0.000,1448.820,0.000,1681.454,0.000,0.536,0.000
$DEVICE_MAMPS,244.673,49.088,939.575,731.718,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.535,632.777,671.548,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44390,767
$CAP_FILE_SIZE,92527,0
$CFSIZE,260165632,213086208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,114.9,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7