version: 66.06
glider: 140
mission: 8
dive: 512
start: 2 4 110 21 41 24
data:
$ID,140
$MISSION,8
$DIVE,512
$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,-436676.78
$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,57
$R_STBD_OVSHOOT,48
$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,-66.4
$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,16,-0.80,-116.7,0.0,0.0,0,51,0.00,0.00,-33.42,0.000,2,0.000,0.000,220,2310,1217,0,0,0,0,0,0
$GC,55,-0.80,-116.7,3.0,-0.7,6,206,9.40,2.15,-131.68,0.000,4,0.245,0.049,2500,895,3482,0,0,0,0,0,0
$GC,280,-0.46,-116.7,6.2,-8.9,45,287,0.40,2.10,0.00,0.000,6,0.199,0.029,2606,2307,3482,0,0,0,0,0,0
$GC,616,-0.29,-116.7,44.0,-11.3,106,623,0.22,0.00,0.00,0.000,6,0.197,0.000,2669,2307,3482,0,0,0,0,0,0
$GC,956,-0.29,-116.7,70.5,-7.8,167,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2307,3482,0,0,0,0,0,0
$GC,1296,-0.29,-116.7,96.4,-7.3,228,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2308,3482,0,0,0,0,0,0
$GC,1654,-0.29,-116.7,121.5,-6.4,289,1658,0.00,2.12,0.00,0.000,4,0.000,0.034,2669,901,3482,0,0,0,0,0,0
$GC,1682,-0.34,-116.7,123.6,-6.5,290,1686,0.00,2.08,0.00,0.000,6,0.000,0.027,2669,2305,3482,0,0,0,0,0,0
$GC,2001,-0.58,-116.7,144.9,-6.7,305,2006,0.25,2.12,0.00,0.000,4,0.100,0.038,2572,3705,3482,0,0,0,0,0,0
$GC,2091,-0.53,-116.7,152.4,-8.3,309,2095,0.00,2.05,0.00,0.000,6,0.000,0.022,2571,2270,3482,0,0,0,0,0,0
$GC,2415,-0.53,-116.7,178.2,-7.6,325,2419,0.00,2.17,0.00,0.000,4,0.000,0.039,2571,3703,3482,0,0,0,0,0,0
$GC,2432,-0.53,-116.7,179.8,-7.9,326,2436,0.00,2.00,0.00,0.000,6,0.000,0.023,2571,2308,3481,0,0,0,0,0,0
$GC,2765,-0.56,-116.7,205.7,-7.5,342,2768,0.00,2.12,0.00,0.000,4,0.000,0.039,2571,3704,3482,0,0,0,0,0,0
$GC,2783,-0.56,-116.7,207.1,-7.8,343,2787,0.00,2.03,0.00,0.000,6,0.000,0.023,2571,2292,3481,0,0,0,0,0,0
$GC,3117,-0.59,-116.7,233.0,-7.8,359,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2292,3482,0,0,0,0,0,0
$GC,3425,-0.63,-116.7,257.6,-7.9,374,3429,0.00,2.15,0.00,0.000,4,0.000,0.039,2571,3705,3483,0,0,0,0,0,0
$GC,3436,-0.66,-116.7,258.5,-7.8,374,3440,0.00,2.00,0.00,0.000,6,0.000,0.022,2571,2300,3483,0,0,0,0,0,0
$GC,3758,-0.66,-116.7,280.7,-2.9,390,3761,0.00,2.03,0.00,0.000,4,0.000,0.035,2571,923,3484,0,0,0,0,0,0
$STATE,3891,end dive,NO_VERTICAL_VELOCITY
$STATE,3891,begin apogee
$GC,3901,-0.24,0.0,280.8,0.0,396,3999,0.35,0.00,94.38,0.950,6,0.111,0.000,2690,2651,3006,0,0,0,0,0,0
$STATE,3999,end apogee,CONTROL_FINISHED_OK
$STATE,4000,begin climb
$GC,4003,0.80,116.7,280.8,0.0,401,4109,1.00,2.25,93.53,0.901,4,0.110,0.041,3015,4035,2529,0,0,0,0,0,0
$GC,4345,0.88,184.9,271.8,4.2,416,4405,0.00,2.00,54.95,0.895,6,0.000,0.022,3016,2642,2252,0,0,0,0,0,0
$GC,4729,1.08,194.1,247.2,6.5,435,4744,0.25,2.22,8.43,0.841,4,0.081,0.042,3122,4046,2213,0,0,0,0,0,0
$GC,4999,0.98,194.1,224.6,7.7,447,5004,0.17,2.00,0.00,0.000,6,0.187,0.023,3081,2651,2211,0,0,0,0,0,0
$GC,5328,1.05,194.1,202.1,7.2,463,5332,0.00,2.15,0.00,0.000,4,0.000,0.041,3079,4044,2211,0,0,0,0,0,0
$GC,5422,1.01,207.5,195.5,6.3,467,5443,0.00,2.00,12.32,0.858,6,0.000,0.023,3084,2651,2160,0,0,0,0,0,0
$GC,5758,1.08,207.5,171.4,8.2,483,5762,0.00,2.05,0.00,0.000,4,0.000,0.035,3084,1261,2158,0,0,0,0,0,0
$GC,5793,1.16,215.0,168.8,6.6,484,5808,0.10,2.10,7.90,0.815,6,0.080,0.029,3132,2650,2129,0,0,0,0,0,0
$GC,6132,1.13,215.0,143.5,7.5,501,6136,0.00,2.08,0.00,0.000,4,0.000,0.041,3132,4038,2127,0,0,0,0,0,0
$GC,6300,1.03,215.0,129.3,8.0,508,6308,0.12,2.03,0.00,0.000,6,0.169,0.023,3100,2632,2127,0,0,0,0,0,0
$GC,6629,1.08,215.0,106.5,7.4,548,6637,0.00,2.00,0.00,0.000,4,0.000,0.034,3100,1291,2127,0,0,0,0,0,0
$GC,6700,1.14,224.4,101.7,6.5,560,6717,0.00,2.05,9.12,0.814,6,0.000,0.030,3100,2651,2091,0,0,0,0,0,0
$GC,7051,1.22,224.4,78.2,7.0,623,7058,0.15,2.10,0.00,0.000,4,0.104,0.041,3156,4044,2089,0,0,0,0,0,0
$GC,7312,1.10,224.4,57.0,8.2,669,7318,0.15,1.98,0.00,0.000,6,0.200,0.023,3118,2656,2089,0,0,0,0,0,0
$GC,7652,1.14,224.8,34.2,6.9,730,7658,0.00,2.15,0.00,0.000,4,0.000,0.041,3118,4047,2088,0,0,0,0,0,0
$GC,7869,1.08,224.8,18.0,7.0,769,7875,0.00,2.00,0.00,0.000,6,0.000,0.024,3118,2655,2088,0,0,0,0,0,0
$STATE,8088,end climb,SURFACE_DEPTH_REACHED
$STATE,8088,begin surface coast
$FINISH,2.2,1.006739
$STATE,8169,end surface coast,CONTROL_FINISHED_OK
$STATE,8169,begin surface
$SM_CCo,8190,301.38,0.733,0,0,550,602.46
$SM_GC,2.90,0.00,0.00,301.38,0.000,0.000,0.733,217,2294,550,-7.96,-0.17,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078364506
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,19.40
$XPDR_PINGS,12
$24V_AH,23.4,82.498
$10V_AH,9.7,59.954
$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,20.975,63.375,280.625,301.375,0.000,163.938,141.154,0.000,3.000,0.000,904.079,1569.173,4604.192,706.085,2710.232,592.564,0.000,1513.962,0.000,1810.706,0.000,0.535,0.000
$DEVICE_MAMPS,245.440,49.088,950.313,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,563.782,693.183,699.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,47580,824
$CAP_FILE_SIZE,97367,0
$CFSIZE,260165632,212688896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,128.9,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7