version: 66.06
glider: 140
mission: 8
dive: 518
start: 2 5 110 14 22 16
data:
$ID,140
$MISSION,8
$DIVE,518
$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,-447524.91
$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,91
$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,2.84
$_SM_ANGLEo,-62.7
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-116.7,0.0,0.0,0,56,0.00,0.00,-37.97,0.000,2,0.000,0.000,220,2272,1308,0,0,0,0,0,0
$GC,60,-0.80,-116.7,3.1,-0.8,7,200,9.27,2.28,-117.40,0.000,4,0.239,0.054,2499,3708,3483,0,0,0,0,0,0
$GC,392,-0.38,-116.7,38.6,-21.1,65,398,0.52,2.00,0.00,0.000,6,0.207,0.022,2637,2283,3484,0,0,0,0,0,0
$GC,733,-0.27,-116.7,69.6,-9.4,126,739,0.12,2.20,0.00,0.000,4,0.212,0.041,2669,3704,3484,0,0,0,0,0,0
$GC,770,-0.22,-116.7,72.7,-8.6,132,777,0.00,2.00,0.00,0.000,6,0.000,0.024,2669,2332,3484,0,0,0,0,0,0
$GC,1114,-0.22,-116.7,99.0,-7.8,193,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2332,3484,0,0,0,0,0,0
$GC,1454,-0.43,-116.7,123.3,-7.4,248,1458,0.12,2.10,0.00,0.000,4,0.132,0.041,2624,3702,3484,0,0,0,0,0,0
$GC,1493,-0.53,-116.7,126.5,-7.6,249,1498,0.00,2.00,0.00,0.000,6,0.000,0.023,2624,2299,3484,0,0,0,0,0,0
$GC,1810,-0.66,-116.7,150.2,-7.7,265,1815,0.20,2.05,0.00,0.000,4,0.104,0.033,2553,918,3484,0,0,0,0,0,0
$GC,1897,-0.41,-116.7,158.4,-10.5,269,1902,0.28,2.05,0.00,0.000,6,0.193,0.028,2624,2308,3484,0,0,0,0,0,0
$GC,2233,-0.36,-116.7,185.1,-7.6,285,2237,0.00,2.08,0.00,0.000,4,0.000,0.034,2625,917,3484,0,0,0,0,0,0
$GC,2261,-0.29,-116.7,187.5,-7.2,286,2266,0.15,2.03,0.00,0.000,6,0.193,0.028,2664,2302,3483,0,0,0,0,0,0
$GC,2577,-0.51,-116.7,209.5,-7.0,301,2582,0.20,2.10,0.00,0.000,4,0.105,0.031,2591,913,3484,0,0,0,0,0,0
$GC,2601,-0.59,-116.7,211.4,-8.4,302,2605,0.00,2.05,0.00,0.000,6,0.000,0.028,2590,2307,3484,0,0,0,0,0,0
$GC,2929,-0.77,-116.7,234.4,-4.0,318,2933,0.22,2.05,0.00,0.000,4,0.107,0.028,2514,913,3485,0,0,0,0,0,0
$STATE,3094,end dive,NO_VERTICAL_VELOCITY
$STATE,3094,begin apogee
$GC,3104,-0.24,0.0,234.9,0.0,325,3202,0.50,0.00,94.40,0.923,6,0.112,0.000,2685,2647,3006,0,0,0,0,0,0
$STATE,3203,end apogee,CONTROL_FINISHED_OK
$STATE,3203,begin climb
$GC,3206,0.80,116.7,235.1,0.0,330,3306,1.00,2.17,93.72,0.873,4,0.093,0.031,3017,1272,2528,0,0,0,0,0,0
$GC,3411,0.98,200.3,231.4,3.5,340,3490,0.17,2.10,67.15,0.861,6,0.096,0.030,3084,2655,2188,0,0,0,0,0,0
$GC,3798,1.02,200.3,203.8,8.0,359,3802,0.00,2.10,0.00,0.000,4,0.000,0.034,3085,1264,2182,0,0,0,0,0,0
$GC,4055,1.03,210.8,187.1,6.5,370,4070,0.00,2.12,9.25,0.832,6,0.000,0.030,3085,2654,2146,0,0,0,0,0,0
$GC,4397,1.09,210.8,163.5,7.2,387,4401,0.00,2.08,0.00,0.000,4,0.000,0.033,3084,1268,2143,0,0,0,0,0,0
$GC,4498,1.17,218.0,156.3,6.6,391,4513,0.15,2.08,7.45,0.799,6,0.104,0.029,3143,2664,2117,0,0,0,0,0,0
$GC,4836,1.13,218.0,130.4,8.1,408,4840,0.00,2.10,0.00,0.000,4,0.000,0.034,3143,1263,2114,0,0,0,0,0,0
$GC,4900,1.09,218.0,125.7,7.6,411,4904,0.00,2.08,0.00,0.000,6,0.000,0.029,3143,2654,2115,0,0,0,0,0,0
$GC,5239,1.05,218.0,100.9,7.5,461,5245,0.15,2.10,0.00,0.000,4,0.182,0.034,3102,1264,2114,0,0,0,0,0,0
$GC,5320,1.06,220.3,95.5,6.8,475,5327,0.00,2.08,0.00,0.000,6,0.000,0.030,3102,2655,2114,0,0,0,0,0,0
$GC,5668,1.13,226.2,74.3,6.6,536,5685,0.00,2.17,8.38,0.807,4,0.000,0.033,3102,1260,2082,0,0,0,0,0,0
$GC,5731,1.19,226.2,69.7,7.0,547,5738,0.12,2.08,0.00,0.000,6,0.112,0.029,3150,2653,2080,0,0,0,0,0,0
$GC,6077,1.12,226.2,40.5,9.0,608,6083,0.00,2.12,0.00,0.000,4,0.000,0.041,3150,4037,2080,0,0,0,0,0,0
$GC,6120,1.01,226.2,36.1,9.9,615,6128,0.22,2.00,0.00,0.000,6,0.183,0.024,3091,2633,2080,0,0,0,0,0,0
$GC,6466,1.12,263.6,12.3,5.4,676,6505,0.00,2.08,31.58,0.782,4,0.000,0.035,3091,1287,1930,0,0,0,0,0,0
$GC,6532,1.23,263.6,7.2,7.6,687,6539,0.20,2.08,0.00,0.000,6,0.091,0.029,3167,2658,1927,0,0,0,0,0,0
$STATE,6593,end climb,SURFACE_DEPTH_REACHED
$STATE,6593,begin surface coast
$FINISH,2.1,1.014069
$STATE,6647,end surface coast,CONTROL_FINISHED_OK
$STATE,6647,begin surface
$SM_CCo,6669,269.62,0.729,0,0,549,602.46
$SM_GC,2.90,0.00,0.00,269.62,0.000,0.000,0.729,223,2280,549,-7.94,-0.57,602.46
$IRIDIUM_FIX,6322.64,221.33,260399,060628
$TT8_MAMPS,0.027612
$HUMID,1078355474
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,14.00
$XPDR_PINGS,4
$24V_AH,23.5,83.364
$10V_AH,9.7,60.652
$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,22.850,63.600,311.925,269.625,0.000,167.210,140.934,0.000,1.000,0.000,904.031,1364.666,3540.084,698.285,2451.668,592.645,0.000,1408.160,0.000,1559.576,0.000,0.536,0.000
$DEVICE_MAMPS,238.537,53.690,923.468,729.417,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,482.486,573.859,634.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,235324
$DATA_FILE_SIZE,41228,707
$CAP_FILE_SIZE,88966,0
$CFSIZE,260165632,212312064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.000,147.0,1
$GPS,301209,061850,6350.368,223.979,901,99.0,901,-3.7