version: 66.06
glider: 139
mission: 7
dive: 135
start: 4 27 110 17 16 44
data:
$ID,139
$MISSION,7
$DIVE,135
$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,-2123269.5
$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
$GPS1,171058,2100.059,-15758.766,43,2.2,62,9.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.8
$GPS2,171551,2100.067,-15758.787,15,1.9,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.180,0.035
$KALMAN_X,-48535.9,-243.9,-141.6,26448.5,-2641.9
$KALMAN_Y,-23737.2,-185.1,-23.4,16554.4,-233.0
$MHEAD_RNG_PITCHd_Wd,69.3,15942,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.40,-77.9,0.0,0.0,0,72,0.00,0.00,-54.75,0.000,2,0.000,0.000,422,1890,3242,0,0,0,0,0,0
$GC,74,-1.40,-77.9,3.2,-5.0,10,94,10.77,2.38,-2.55,0.000,4,0.140,0.036,2407,3328,3369,0,0,0,0,0,0
$GC,177,-1.40,-77.9,24.6,-13.6,32,183,0.00,2.45,0.00,0.000,6,0.000,0.031,2407,1897,3371,0,0,0,0,0,0
$GC,377,-1.28,-77.9,55.8,-16.2,54,379,0.12,0.00,0.00,0.000,6,0.112,0.000,2433,1897,3371,0,0,0,0,0,0
$GC,630,-1.28,-77.9,90.1,-13.1,78,635,0.00,2.40,0.00,0.000,4,0.000,0.044,2433,488,3372,0,0,0,0,0,0
$GC,745,-1.23,-77.9,105.8,-14.0,90,749,0.00,2.30,0.00,0.000,6,0.000,0.020,2433,1929,3373,0,0,0,0,0,0
$GC,1012,-1.27,-77.9,135.1,-10.0,115,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,1936,3374,0,0,0,0,0,0
$GC,1267,-1.31,-77.9,161.5,-10.7,139,1271,0.00,2.47,0.00,0.000,4,0.000,0.045,2433,485,3375,0,0,0,0,0,0
$GC,1375,-1.31,-77.9,173.7,-9.6,150,1382,0.00,2.30,0.00,0.000,6,0.000,0.021,2432,1901,3375,0,0,0,0,0,0
$GC,1638,-1.37,-77.9,196.6,-9.2,175,1642,0.00,2.42,0.00,0.000,4,0.000,0.045,2432,494,3376,0,0,0,0,0,0
$STATE,1673,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1673,begin apogee
$GC,1680,-0.31,0.0,200.0,10.1,178,1751,0.98,0.00,63.92,0.644,6,0.069,0.000,2641,2040,3049,0,0,0,0,0,0
$STATE,1752,end apogee,CONTROL_FINISHED_OK
$STATE,1752,begin climb
$GC,1754,1.40,77.9,203.1,0.0,182,1827,1.65,2.38,62.12,0.637,4,0.034,0.031,3029,3432,2731,0,0,0,0,0,0
$GC,2089,1.31,163.0,204.9,2.2,196,2166,0.10,2.38,68.97,0.643,6,0.100,0.028,3007,2027,2384,0,0,0,0,0,0
$GC,2491,1.22,163.0,169.8,8.9,230,2495,0.12,2.38,0.00,0.000,4,0.124,0.032,2983,3430,2378,0,0,0,0,0,0
$GC,2669,1.22,163.0,155.4,8.1,249,2674,0.00,2.33,0.00,0.000,6,0.000,0.031,2983,2039,2378,0,0,0,0,0,0
$GC,2932,1.19,165.0,133.6,7.9,273,2937,0.00,2.40,0.00,0.000,4,0.000,0.044,2984,628,2377,0,0,0,0,0,0
$GC,3085,1.11,165.0,118.7,9.7,289,3090,0.15,2.33,0.00,0.000,6,0.117,0.022,2958,2046,2374,0,0,0,0,0,0
$GC,3348,1.21,210.6,103.7,4.9,313,3394,0.00,2.50,39.15,0.587,4,0.000,0.043,2957,632,2190,0,0,0,0,0,0
$GC,3407,1.27,223.3,100.1,7.1,319,3427,0.15,2.33,12.20,0.535,6,0.065,0.021,2997,2046,2138,0,0,0,0,0,0
$GC,3681,1.27,223.3,73.9,9.5,345,3685,0.00,2.45,0.00,0.000,4,0.000,0.042,2996,625,2134,0,0,0,0,0,0
$GC,3837,1.21,223.3,59.5,9.9,362,3841,0.00,2.30,0.00,0.000,6,0.000,0.021,2998,2041,2130,0,0,0,0,0,0
$GC,4104,1.21,223.3,33.4,9.9,387,4108,0.00,2.42,0.00,0.000,4,0.000,0.043,2997,630,2130,0,0,0,0,0,0
$GC,4129,1.16,223.3,30.4,11.8,389,4134,0.15,2.25,0.00,0.000,6,0.108,0.021,2969,2038,2129,0,0,0,0,0,0
$GC,4392,1.21,223.3,6.6,9.6,437,4398,0.00,2.45,0.00,0.000,4,0.000,0.043,2970,629,2129,0,0,0,0,0,0
$STATE,4425,end climb,SURFACE_DEPTH_REACHED
$STATE,4425,begin surface coast
$FINISH,0.5,1.013961
$STATE,4456,end surface coast,CONTROL_FINISHED_OK
$STATE,4456,begin surface
$SM_CCo,4477,37.45,0.507,0,0,1827,300.00
$SM_GC,1.31,0.00,0.00,37.45,0.000,0.000,0.507,425,1920,1827,-10.53,0.54,300.00
$IRIDIUM_FIX,2052.52,-15756.91,220799,141453
$TT8_MAMPS,0.029146
$HUMID,43.14
$INTERNAL_PRESSURE,9.72347
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.0,7.5
$24V_AH,23.6,12.885
$10V_AH,10.1,11.966
$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,25.075,52.225,246.375,37.450,0.000,22.984,27.768,147.427,1.750,0.000,16.669,803.770,2083.165,298.691,1323.597,304.010,33.372,835.854,0.000,1313.538,0.000,13.289,0.000
$DEVICE_MAMPS,140.361,45.253,643.513,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.996,327.665,792.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,25509,451
$CAP_FILE_SIZE,67085,0
$CFSIZE,260165632,250880000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270410,183325,2100.226,-15758.651,33,1.3,51,9.8