version: 66.06
glider: 139
mission: 7
dive: 133
start: 4 27 110 13 32 36
data:
$ID,139
$MISSION,7
$DIVE,133
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,550
$D_NO_BLEED,90
$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,187
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51995
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$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,-2123192.8
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,2714
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2035
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,-6.8056469e+38
$FG_AHR_24V,-6.8056469e+38
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.231706
$PRESSURE_SLOPE,0.000116328
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,132656,2059.794,-15758.568,48,1.8,48,9.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.6
$GPS2,133144,2059.789,-15758.640,14,1.4,14,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.135,0.125
$KALMAN_X,-45945.5,-180.3,217.9,23705.8,-3709.3
$KALMAN_Y,-23193.8,-445.5,141.3,15592.7,-900.4
$MHEAD_RNG_PITCHd_Wd,37.4,15573,-20.8,-8.021
$D_GRID,450
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.40,-77.9,0.0,0.0,0,78,0.00,0.00,-59.28,0.000,6,0.000,0.000,429,1894,3368,0,0,0,0,0,0
$GC,80,-1.40,-77.9,3.6,-5.6,11,99,10.68,2.42,0.00,0.000,4,0.138,0.028,2405,3325,3370,0,0,0,0,0,0
$GC,156,-1.40,-77.9,21.9,-14.0,27,162,0.00,2.45,0.00,0.000,6,0.000,0.032,2402,1896,3371,0,0,0,0,0,0
$GC,356,-1.27,-77.9,51.3,-14.6,51,361,0.15,2.42,0.00,0.000,4,0.104,0.045,2433,488,3372,0,0,0,0,0,0
$GC,382,-1.14,-77.9,54.9,-14.3,53,387,0.15,2.33,0.00,0.000,6,0.103,0.020,2464,1939,3372,0,0,0,0,0,0
$GC,646,-1.19,-77.9,79.1,-8.3,77,650,0.00,2.47,0.00,0.000,4,0.000,0.044,2463,494,3372,0,0,0,0,0,0
$GC,689,-1.22,-77.9,83.2,-9.0,81,693,0.00,2.25,0.00,0.000,6,0.000,0.020,2463,1899,3372,0,0,0,0,0,0
$GC,954,-1.29,-77.9,104.8,-6.8,105,959,0.15,2.45,0.00,0.000,4,0.058,0.044,2414,491,3373,0,0,0,0,0,0
$GC,1062,-1.22,-77.9,115.8,-10.3,116,1067,0.15,2.28,0.00,0.000,6,0.097,0.020,2447,1905,3373,0,0,0,0,0,0
$GC,1325,-1.28,-77.9,140.1,-9.6,140,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1910,3374,0,0,0,0,0,0
$STATE,1515,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1516,begin apogee
$GC,1521,-0.31,0.0,160.8,11.2,158,1588,0.88,0.00,62.97,0.612,6,0.070,0.000,2640,2082,3050,0,0,0,0,0,0
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1591,1.40,77.9,164.3,0.0,165,1664,1.65,2.28,61.30,0.603,4,0.035,0.030,3021,3392,2732,0,0,0,0,0,0
$GC,1716,1.43,238.5,168.6,-3.0,178,1855,0.00,2.33,129.70,0.607,6,0.000,0.025,3023,2016,2076,0,0,0,0,0,0
$GC,2109,1.36,238.5,119.4,16.9,218,2113,0.00,2.40,0.00,0.000,4,0.000,0.044,3022,628,2069,0,0,0,0,0,0
$GC,2156,1.21,238.5,111.3,17.5,222,2164,0.20,2.28,0.00,0.000,6,0.091,0.020,2981,2014,2066,0,0,0,0,0,0
$GC,2419,1.25,238.5,79.0,13.4,247,2423,0.00,2.38,0.00,0.000,4,0.000,0.044,2980,633,2066,0,0,0,0,0,0
$GC,2540,1.25,238.5,62.0,13.1,260,2545,0.00,2.25,0.00,0.000,6,0.000,0.021,2981,2028,2064,0,0,0,0,0,0
$GC,2803,1.29,238.5,32.8,9.2,284,2807,0.00,2.40,0.00,0.000,4,0.000,0.041,2981,630,2064,0,0,0,0,0,0
$GC,2837,1.26,238.5,29.3,10.8,287,2843,0.00,2.30,0.00,0.000,6,0.000,0.021,2981,2037,2062,0,0,0,0,0,0
$GC,3039,1.29,238.5,7.6,12.2,324,3045,0.00,2.42,0.00,0.000,4,0.000,0.044,2981,643,2062,0,0,0,0,0,0
$STATE,3077,end climb,SURFACE_DEPTH_REACHED
$STATE,3077,begin surface coast
$FINISH,0.8,1.023823
$STATE,3099,end surface coast,CONTROL_FINISHED_OK
$STATE,3099,begin surface
$SM_CCo,3120,30.30,0.494,0,0,1826,300.00
$SM_GC,1.67,0.00,0.00,30.30,0.000,0.000,0.494,430,1906,1826,-10.51,0.17,300.00
$IRIDIUM_FIX,2052.52,-15756.91,220799,111109
$TT8_MAMPS,0.029146
$HUMID,42.87
$INTERNAL_PRESSURE,9.73324
$TCM_TEMP,21.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,160.8,7.3
$24V_AH,23.6,12.736
$10V_AH,10.1,11.826
$FG_AHR_24Vo,-680564693277057719623408366969033850880.000
$FG_AHR_10Vo,-680564693277057719623408366969033850880.000
$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,24.925,42.350,253.975,30.300,0.000,24.688,28.372,143.681,1.250,0.000,14.918,579.755,1365.953,278.384,934.332,287.178,33.348,696.317,0.000,928.831,0.000,10.149,0.000
$DEVICE_MAMPS,138.060,47.554,612.066,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,223.491,240.452,632.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,19162,337
$CAP_FILE_SIZE,52107,0
$CFSIZE,260165632,250990592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,142610,2100.079,-15758.911,8,9.4,27,9.8