version: 66.06
glider: 140
mission: 8
dive: 517
start: 2 5 110 11 22 42
data:
$ID,140
$MISSION,8
$DIVE,517
$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,-445716.59
$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,71
$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,2.85
$_SM_ANGLEo,-64.8
$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,-116.7,0.0,0.0,0,49,0.00,0.00,-31.25,0.000,2,0.000,0.000,220,2286,1170,0,0,0,0,0,0
$GC,52,-0.80,-116.7,3.0,-0.0,5,204,9.32,2.10,-132.02,0.000,4,0.241,0.049,2502,913,3482,0,0,0,0,0,0
$GC,212,-0.57,-116.7,5.0,-5.3,32,220,0.22,2.10,0.00,0.000,6,0.196,0.029,2574,2305,3482,0,0,0,0,0,0
$GC,552,-0.33,-116.7,45.6,-11.3,93,558,0.25,2.10,0.00,0.000,4,0.193,0.038,2647,3702,3483,0,0,0,0,0,0
$GC,645,-0.27,-116.7,54.4,-9.0,109,650,0.00,2.03,0.00,0.000,6,0.000,0.023,2648,2291,3483,0,0,0,0,0,0
$GC,983,-0.19,-116.7,83.5,-8.6,170,988,0.17,0.00,0.00,0.000,6,0.195,0.000,2695,2285,3483,0,0,0,0,0,0
$GC,1319,-0.45,-116.7,107.3,-7.4,231,1325,0.22,2.17,0.00,0.000,4,0.106,0.037,2613,3707,3483,0,0,0,0,0,0
$GC,1428,-0.50,-116.7,115.8,-8.0,250,1434,0.00,2.03,0.00,0.000,6,0.000,0.023,2613,2291,3483,0,0,0,0,0,0
$GC,1757,-0.60,-116.7,139.9,-6.9,273,1762,0.12,2.17,0.00,0.000,4,0.129,0.039,2568,3704,3483,0,0,0,0,0,0
$GC,1768,-0.67,-116.7,141.0,-7.1,273,1772,0.00,2.00,0.00,0.000,6,0.000,0.023,2568,2305,3483,0,0,0,0,0,0
$GC,2092,-0.67,-116.7,166.0,-7.5,289,2095,0.00,2.05,0.00,0.000,4,0.000,0.035,2568,914,3483,0,0,0,0,0,0
$GC,2142,-0.48,-116.7,170.4,-9.0,291,2147,0.15,2.05,0.00,0.000,6,0.211,0.028,2605,2311,3483,0,0,0,0,0,0
$GC,2459,-0.40,-116.7,196.1,-8.1,306,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2311,3483,0,0,0,0,0,0
$GC,2768,-0.32,-116.7,219.3,-7.3,321,2770,0.20,0.00,0.00,0.000,6,0.194,0.000,2661,2311,3483,0,0,0,0,0,0
$GC,3078,-0.55,-116.7,238.7,-6.5,336,3083,0.22,2.10,0.00,0.000,4,0.102,0.037,2579,3708,3484,0,0,0,0,0,0
$GC,3195,-0.55,-116.7,247.1,-7.1,341,3200,0.00,2.03,0.00,0.000,6,0.000,0.022,2579,2284,3484,0,0,0,0,0,0
$GC,3519,-0.59,-116.7,269.5,-7.3,357,3522,0.00,2.15,0.00,0.000,4,0.000,0.038,2579,3704,3485,0,0,0,0,0,0
$GC,3587,-0.59,-116.7,274.4,-6.6,360,3591,0.00,2.00,0.00,0.000,6,0.000,0.022,2579,2300,3485,0,0,0,0,0,0
$STATE,3835,end dive,NO_VERTICAL_VELOCITY
$STATE,3836,begin apogee
$GC,3843,-0.24,0.0,277.6,0.0,372,3940,0.35,0.00,94.65,0.946,6,0.133,0.000,2690,2652,3006,0,0,0,0,0,0
$STATE,3941,end apogee,CONTROL_FINISHED_OK
$STATE,3941,begin climb
$GC,3944,0.80,116.7,277.7,0.0,377,4050,1.05,2.25,93.70,0.896,4,0.133,0.041,3014,4028,2529,0,0,0,0,0,0
$GC,4113,0.87,173.5,272.9,4.6,384,4164,0.00,2.03,46.42,0.878,6,0.000,0.022,3015,2642,2298,0,0,0,0,0,0
$GC,4489,1.04,197.0,250.4,5.9,403,4514,0.22,2.08,20.02,0.874,4,0.086,0.032,3110,1269,2200,0,0,0,0,0,0
$GC,4655,1.05,208.2,239.0,6.4,410,4670,0.00,2.08,10.50,0.841,6,0.000,0.029,3108,2654,2157,0,0,0,0,0,0
$GC,4990,1.07,227.7,219.3,6.1,427,5012,0.00,2.15,17.40,0.864,4,0.000,0.040,3108,4048,2076,0,0,0,0,0,0
$GC,5266,1.02,227.7,196.1,9.7,439,5270,0.00,2.00,0.00,0.000,6,0.000,0.023,3111,2664,2072,0,0,0,0,0,0
$GC,5595,1.05,245.9,172.0,6.1,455,5616,0.00,2.15,16.08,0.847,4,0.000,0.040,3111,4047,2002,0,0,0,0,0,0
$GC,5871,1.01,245.9,145.9,8.8,467,5875,0.00,2.03,0.00,0.000,6,0.000,0.023,3111,2649,1999,0,0,0,0,0,0
$GC,6199,1.06,245.9,122.4,7.1,483,6203,0.00,2.12,0.00,0.000,4,0.000,0.040,3111,4043,1998,0,0,0,0,0,0
$GC,6361,1.06,245.9,109.9,8.3,507,6366,0.00,2.03,0.00,0.000,6,0.000,0.023,3111,2633,1998,0,0,0,0,0,0
$GC,6698,1.11,260.8,88.8,6.3,568,6716,0.00,2.10,13.52,0.820,4,0.000,0.035,3111,1268,1941,0,0,0,0,0,0
$GC,6784,1.17,273.8,83.4,6.4,583,6803,0.00,2.08,12.45,0.779,6,0.000,0.029,3109,2658,1888,0,0,0,0,0,0
$GC,7138,1.31,277.9,60.1,6.7,646,7149,0.22,2.10,4.20,0.612,4,0.091,0.042,3193,4042,1873,0,0,0,0,0,0
$GC,7399,1.18,277.9,36.0,9.9,693,7405,0.17,2.00,0.00,0.000,6,0.200,0.024,3149,2649,1872,0,0,0,0,0,0
$GC,7736,1.18,277.9,9.3,9.5,754,7743,0.00,2.15,0.00,0.000,4,0.000,0.041,3149,4040,1871,0,0,0,0,0,0
$STATE,7809,end climb,SURFACE_DEPTH_REACHED
$STATE,7809,begin surface coast
$FINISH,2.5,1.026537
$STATE,7821,end surface coast,CONTROL_FINISHED_OK
$STATE,7821,begin surface
$SM_CCo,7844,259.12,0.735,0,0,549,602.46
$SM_GC,2.94,0.00,0.00,259.12,0.000,0.000,0.735,220,2273,549,-7.96,-0.76,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078368377
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,14.10
$XPDR_PINGS,10
$24V_AH,23.4,83.221
$10V_AH,9.7,60.534
$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,21.775,63.500,328.950,259.125,0.000,164.751,140.952,0.000,2.500,0.000,904.084,1476.350,4473.149,691.200,2578.924,584.760,0.000,1461.327,0.000,1677.195,0.000,0.535,0.000
$DEVICE_MAMPS,240.838,49.088,945.711,734.786,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.401,631.375,623.409,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,44487,769
$CAP_FILE_SIZE,94216,0
$CFSIZE,260165632,212377600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,128.4,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7