version: 66.06
glider: 140
mission: 8
dive: 513
start: 2 5 110 0 47 19
data:
$ID,140
$MISSION,8
$DIVE,513
$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,-438485.12
$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,64
$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,2.85
$_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,15,-0.80,-116.7,0.0,0.0,0,57,0.00,0.00,-39.90,0.000,2,0.000,0.000,217,2293,1347,0,0,0,0,0,0
$GC,61,-0.80,-116.7,3.0,-0.6,7,205,9.52,2.10,-123.82,0.000,4,0.247,0.048,2500,908,3480,0,0,0,0,0,0
$GC,246,-0.40,-116.7,8.1,-11.9,39,252,0.47,2.08,0.00,0.000,6,0.197,0.028,2628,2310,3481,0,0,0,0,0,0
$GC,582,-0.27,-116.7,41.3,-9.4,100,590,0.15,2.12,0.00,0.000,4,0.198,0.041,2668,3686,3481,0,0,0,0,0,0
$GC,662,-0.27,-116.7,47.8,-7.7,114,669,0.00,2.05,0.00,0.000,6,0.000,0.023,2668,2287,3482,0,0,0,0,0,0
$GC,1000,-0.27,-116.7,72.7,-7.2,175,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2286,3482,0,0,0,0,0,0
$GC,1338,-0.27,-116.7,98.3,-7.7,236,1346,0.00,2.08,0.00,0.000,4,0.000,0.035,2668,915,3482,0,0,0,0,0,0
$GC,1353,-0.27,-116.7,99.4,-7.8,238,1359,0.00,2.03,0.00,0.000,6,0.000,0.028,2668,2296,3481,0,0,0,0,0,0
$GC,1686,-0.27,-116.7,124.6,-7.2,290,1690,0.00,2.08,0.00,0.000,4,0.000,0.034,2668,907,3481,0,0,0,0,0,0
$GC,1708,-0.27,-116.7,126.3,-7.4,291,1712,0.00,2.05,0.00,0.000,6,0.000,0.027,2668,2305,3481,0,0,0,0,0,0
$GC,2032,-0.50,-116.7,149.5,-7.0,307,2036,0.20,2.08,0.00,0.000,4,0.110,0.038,2596,3700,3481,0,0,0,0,0,0
$GC,2132,-0.50,-116.7,157.3,-7.7,311,2138,0.00,2.00,0.00,0.000,6,0.000,0.023,2596,2287,3482,0,0,0,0,0,0
$GC,2450,-0.57,-116.7,180.2,-6.9,327,2453,0.00,2.00,0.00,0.000,4,0.000,0.034,2595,927,3481,0,0,0,0,0,0
$GC,2490,-0.57,-116.7,183.6,-7.8,328,2498,0.00,2.08,0.00,0.000,6,0.000,0.028,2596,2301,3481,0,0,0,0,0,0
$GC,2808,-0.65,-116.7,206.2,-7.2,344,2813,0.12,2.12,0.00,0.000,4,0.125,0.040,2553,3709,3481,0,0,0,0,0,0
$GC,2893,-0.55,-116.7,213.5,-8.7,348,2898,0.12,2.00,0.00,0.000,6,0.192,0.023,2582,2291,3481,0,0,0,0,0,0
$GC,3229,-0.61,-116.7,240.0,-7.6,364,3232,0.00,2.00,0.00,0.000,4,0.000,0.034,2583,929,3482,0,0,0,0,0,0
$GC,3258,-0.61,-116.7,242.5,-8.1,365,3261,0.00,2.03,0.00,0.000,6,0.000,0.027,2583,2312,3481,0,0,0,0,0,0
$GC,3586,-0.71,-116.7,266.6,-7.2,381,3591,0.15,2.08,0.00,0.000,4,0.119,0.039,2531,3698,3482,0,0,0,0,0,0
$STATE,3729,end dive,NO_VERTICAL_VELOCITY
$STATE,3729,begin apogee
$GC,3737,-0.24,0.0,266.6,0.0,387,3834,0.45,0.00,93.93,0.942,6,0.117,0.000,2682,2619,3006,0,0,0,0,0,0
$STATE,3835,end apogee,CONTROL_FINISHED_OK
$STATE,3835,begin climb
$GC,3838,0.80,116.7,266.7,0.0,392,3944,1.02,2.08,93.43,0.891,4,0.118,0.033,3014,1300,2529,0,0,0,0,0,0
$GC,4093,0.94,180.0,259.2,4.3,403,4150,0.15,2.05,51.03,0.879,6,0.104,0.030,3070,2655,2272,0,0,0,0,0,0
$GC,4473,0.98,180.0,234.1,7.4,422,4476,0.00,2.03,0.00,0.000,4,0.000,0.033,3070,1310,2266,0,0,0,0,0,0
$GC,4587,0.99,185.7,226.2,6.6,427,4597,0.00,2.00,5.38,0.732,6,0.000,0.030,3070,2652,2248,0,0,0,0,0,0
$GC,4915,1.04,185.7,201.9,7.3,443,4919,0.00,2.08,0.00,0.000,4,0.000,0.041,3070,4039,2247,0,0,0,0,0,0
$GC,5173,1.00,185.7,182.9,7.0,454,5180,0.00,1.98,0.00,0.000,6,0.000,0.023,3070,2679,2247,0,0,0,0,0,0
$GC,5489,1.02,204.8,161.7,6.1,470,5511,0.00,2.12,17.62,0.853,4,0.000,0.039,3070,4046,2168,0,0,0,0,0,0
$GC,5763,1.02,204.8,141.3,7.1,482,5767,0.00,2.00,0.00,0.000,6,0.000,0.023,3070,2656,2166,0,0,0,0,0,0
$GC,6091,1.11,204.8,120.0,6.9,498,6097,0.15,2.15,0.00,0.000,4,0.108,0.041,3128,4045,2165,0,0,0,0,0,0
$GC,6346,1.02,204.8,99.7,8.1,544,6354,0.10,2.05,0.00,0.000,6,0.168,0.023,3097,2632,2165,0,0,0,0,0,0
$GC,6688,1.07,204.8,79.6,6.9,605,6693,0.00,2.15,0.00,0.000,4,0.000,0.041,3093,4046,2165,0,0,0,0,0,0
$GC,6943,1.05,222.4,63.2,6.2,651,6966,0.00,1.98,15.23,0.821,6,0.000,0.023,3097,2658,2098,0,0,0,0,0,0
$GC,7300,1.12,222.4,40.8,7.2,715,7306,0.00,2.12,0.00,0.000,4,0.000,0.041,3097,4039,2095,0,0,0,0,0,0
$GC,7515,1.09,222.4,25.3,7.4,753,7520,0.00,2.00,0.00,0.000,6,0.000,0.023,3098,2653,2095,0,0,0,0,0,0
$STATE,7821,end climb,SURFACE_DEPTH_REACHED
$STATE,7821,begin surface coast
$FINISH,2.2,1.014216
$STATE,7888,end surface coast,CONTROL_FINISHED_OK
$STATE,7888,begin surface
$SM_CCo,7908,302.62,0.734,0,0,549,602.46
$SM_GC,2.89,0.00,0.00,302.62,0.000,0.000,0.734,221,2274,549,-7.96,-0.76,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078356764
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,14.00
$XPDR_PINGS,5
$24V_AH,23.4,82.641
$10V_AH,9.7,60.082
$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,21.150,65.700,276.600,302.625,0.000,168.057,141.058,0.000,1.250,0.000,904.066,1559.842,4321.294,705.467,2728.577,598.323,0.000,1512.923,0.000,1827.605,0.000,0.535,0.000
$DEVICE_MAMPS,246.974,47.554,941.876,734.019,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,561.324,683.524,715.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,47460,821
$CAP_FILE_SIZE,95909,0
$CFSIZE,260165632,212615168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,112.6,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7