version: 66.06
glider: 140
mission: 8
dive: 511
start: 2 4 110 18 39 7
data:
$ID,140
$MISSION,8
$DIVE,511
$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,-434869.41
$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,83
$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,2.83
$_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,15,-0.80,-116.7,0.0,0.0,0,62,0.00,0.00,-44.75,0.000,2,0.000,0.000,221,2282,1441,0,0,0,0,0,0
$GC,66,-0.80,-116.7,3.1,-0.6,8,203,9.68,2.15,-117.50,0.000,4,0.255,0.051,2500,917,3482,0,0,0,0,0,0
$GC,211,-0.74,-116.7,4.5,-4.2,32,217,0.00,2.10,0.00,0.000,6,0.000,0.028,2500,2300,3483,0,0,0,0,0,0
$GC,551,-0.38,-116.7,59.6,-16.7,93,557,0.47,2.10,0.00,0.000,4,0.193,0.033,2635,920,3483,0,0,0,0,0,0
$GC,659,-0.26,-116.7,71.7,-10.0,112,666,0.12,2.08,0.00,0.000,6,0.177,0.028,2675,2305,3484,0,0,0,0,0,0
$GC,1004,-0.26,-116.7,96.9,-7.1,173,1010,0.00,2.08,0.00,0.000,4,0.000,0.035,2675,920,3484,0,0,0,0,0,0
$GC,1018,-0.26,-116.7,97.9,-6.9,175,1023,0.00,2.05,0.00,0.000,6,0.000,0.028,2675,2311,3483,0,0,0,0,0,0
$GC,1366,-0.26,-116.7,121.5,-6.2,234,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2311,3483,0,0,0,0,0,0
$GC,1676,-0.49,-116.7,141.3,-6.4,249,1681,0.20,2.08,0.00,0.000,4,0.110,0.038,2604,3697,3484,0,0,0,0,0,0
$GC,1770,-0.54,-116.7,148.4,-7.4,253,1774,0.00,2.00,0.00,0.000,6,0.000,0.023,2604,2295,3483,0,0,0,0,0,0
$GC,2095,-0.63,-116.7,171.9,-6.7,269,2099,0.12,2.17,0.00,0.000,4,0.130,0.039,2560,3701,3484,0,0,0,0,0,0
$GC,2189,-0.46,-116.7,179.6,-8.1,273,2194,0.20,2.00,0.00,0.000,6,0.196,0.022,2610,2280,3483,0,0,0,0,0,0
$GC,2506,-0.38,-116.7,202.5,-7.5,288,2511,0.12,2.17,0.00,0.000,4,0.209,0.040,2642,3697,3483,0,0,0,0,0,0
$GC,2517,-0.30,-116.7,203.4,-7.5,288,2522,0.00,1.98,0.00,0.000,6,0.000,0.023,2643,2313,3484,0,0,0,0,0,0
$GC,2834,-0.49,-116.7,223.4,-6.5,304,2839,0.12,2.12,0.00,0.000,4,0.133,0.039,2597,3704,3484,0,0,0,0,0,0
$GC,2919,-0.56,-116.7,229.6,-7.7,308,2923,0.00,2.00,0.00,0.000,6,0.000,0.023,2597,2296,3484,0,0,0,0,0,0
$GC,3252,-0.65,-116.7,253.9,-7.4,324,3257,0.12,2.15,0.00,0.000,4,0.130,0.039,2554,3704,3484,0,0,0,0,0,0
$GC,3319,-0.51,-116.7,259.2,-8.2,327,3324,0.17,1.98,0.00,0.000,6,0.199,0.022,2597,2289,3485,0,0,0,0,0,0
$GC,3645,-0.62,-116.7,279.9,-3.6,343,3646,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2286,3485,0,0,0,0,0,0
$STATE,3803,end dive,NO_VERTICAL_VELOCITY
$STATE,3803,begin apogee
$GC,3810,-0.24,0.0,279.9,0.0,351,3907,0.28,0.00,94.60,0.950,6,0.134,0.000,2688,2657,3006,0,0,0,0,0,0
$STATE,3908,end apogee,CONTROL_FINISHED_OK
$STATE,3908,begin climb
$GC,3911,0.80,116.7,279.9,0.0,356,4009,1.08,0.00,94.28,0.900,6,0.135,0.000,3014,2657,2530,0,0,0,0,0,0
$GC,4318,0.92,157.3,263.0,5.3,376,4360,0.12,2.15,32.95,0.888,4,0.116,0.033,3070,1291,2363,0,0,0,0,0,0
$GC,4466,0.96,192.4,253.4,5.5,382,4502,0.00,2.05,29.52,0.874,6,0.000,0.029,3070,2652,2220,0,0,0,0,0,0
$GC,4825,1.03,192.4,227.0,7.5,400,4829,0.00,2.10,0.00,0.000,4,0.000,0.041,3070,4047,2215,0,0,0,0,0,0
$GC,5083,1.00,192.4,205.8,8.6,411,5087,0.00,1.98,0.00,0.000,6,0.000,0.023,3070,2659,2215,0,0,0,0,0,0
$GC,5408,1.01,199.3,182.7,6.6,427,5416,0.00,0.00,6.25,0.778,6,0.000,0.000,3070,2659,2193,0,0,0,0,0,0
$GC,5715,1.05,201.7,160.4,6.8,442,5725,0.00,2.12,3.90,0.605,4,0.000,0.035,3070,1271,2183,0,0,0,0,0,0
$GC,5806,1.10,201.7,154.2,7.0,446,5811,0.15,2.05,0.00,0.000,6,0.106,0.029,3127,2657,2183,0,0,0,0,0,0
$GC,6136,1.06,201.7,129.4,7.8,462,6140,0.00,2.08,0.00,0.000,4,0.000,0.034,3128,1267,2183,0,0,0,0,0,0
$GC,6222,1.06,201.7,123.0,7.2,466,6225,0.00,2.05,0.00,0.000,6,0.000,0.029,3128,2649,2183,0,0,0,0,0,0
$GC,6562,1.03,207.0,100.8,6.7,519,6574,0.12,0.00,6.32,0.759,6,0.186,0.000,3094,2650,2161,0,0,0,0,0,0
$GC,6913,1.06,229.3,80.9,6.0,581,6941,0.00,2.12,19.65,0.814,4,0.000,0.034,3097,1282,2070,0,0,0,0,0,0
$GC,6984,1.11,241.0,76.7,6.4,593,7000,0.00,2.05,11.23,0.766,6,0.000,0.029,3093,2649,2023,0,0,0,0,0,0
$GC,7340,1.22,241.0,50.1,8.1,656,7347,0.17,2.17,0.00,0.000,4,0.100,0.041,3158,4046,2018,0,0,0,0,0,0
$GC,7596,1.12,241.0,27.2,9.0,702,7604,0.10,2.05,0.00,0.000,6,0.184,0.024,3128,2646,2017,0,0,0,0,0,0
$GC,7937,1.12,241.0,4.3,7.9,763,7942,0.00,2.15,0.00,0.000,4,0.000,0.046,3128,4049,2016,0,0,0,0,0,0
$STATE,7949,end climb,SURFACE_DEPTH_REACHED
$STATE,7949,begin surface coast
$FINISH,2.1,1.014934
$STATE,7976,end surface coast,CONTROL_FINISHED_OK
$STATE,7976,begin surface
$SM_CCo,7998,287.70,0.734,0,0,550,602.46
$SM_GC,2.88,0.00,0.00,287.70,0.000,0.000,0.734,221,2310,550,-7.96,0.28,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078355474
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.40
$XPDR_PINGS,9
$24V_AH,23.4,82.353
$10V_AH,9.7,59.826
$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,21.900,63.475,298.700,287.700,0.000,164.416,141.123,0.000,2.250,0.000,904.071,1477.793,4672.114,721.995,2524.585,579.562,0.000,1453.141,0.000,1625.906,0.000,0.536,0.000
$DEVICE_MAMPS,254.644,51.389,949.546,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.984,631.353,623.387,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44424,770
$CAP_FILE_SIZE,94873,0
$CFSIZE,260165632,212758528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,137.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7