version: 66.06
glider: 139
mission: 7
dive: 169
start: 5 1 110 16 57 36
data:
$ID,139
$MISSION,7
$DIVE,169
$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,-2124249.2
$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
$GPS1,165214,2107.629,-15800.600,28,1.7,47,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.4
$GPS2,165644,2107.677,-15800.680,16,1.9,16,9.8
$SPEED_LIMITS,0.139,0.184
$TGT_NAME,C_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.016
$KALMAN_X,-26882.0,137.5,-457.5,31889.1,-2698.7
$KALMAN_Y,1766.0,-165.3,193.5,-1971.5,250.1
$MHEAD_RNG_PITCHd_Wd,85.1,30882,-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,-59.22,0.000,6,0.000,0.000,430,1874,3370,0,0,0,0,0,0
$GC,81,-1.40,-77.9,4.0,-6.7,11,99,10.75,2.40,0.00,0.000,4,0.140,0.038,2406,490,3371,0,0,0,0,0,0
$GC,123,-0.83,-77.9,19.6,-32.9,19,130,0.55,2.38,0.00,0.000,6,0.087,0.021,2530,1933,3372,0,0,0,0,0,0
$GC,332,-1.03,-77.9,41.1,-8.0,45,337,0.17,2.50,0.00,0.000,4,0.050,0.044,2475,492,3373,0,0,0,0,0,0
$GC,375,-1.07,-77.9,45.4,-10.5,49,379,0.00,2.28,0.00,0.000,6,0.000,0.020,2474,1910,3373,0,0,0,0,0,0
$GC,642,-1.14,-77.9,71.8,-9.3,74,647,0.00,2.45,0.00,0.000,4,0.000,0.044,2475,494,3374,0,0,0,0,0,0
$GC,711,-1.20,-77.9,78.8,-9.7,81,715,0.00,2.25,0.00,0.000,6,0.000,0.020,2474,1903,3374,0,0,0,0,0,0
$GC,977,-1.32,-77.9,99.1,-6.7,106,979,0.20,0.00,0.00,0.000,6,0.048,0.000,2414,1908,3376,0,0,0,0,0,0
$GC,1231,-1.32,-77.9,125.5,-12.6,130,1236,0.00,2.42,0.00,0.000,4,0.000,0.044,2415,484,3376,0,0,0,0,0,0
$GC,1267,-1.27,-77.9,130.5,-13.3,133,1274,0.12,2.28,0.00,0.000,6,0.100,0.021,2439,1896,3377,0,0,0,0,0,0
$GC,1528,-1.33,-77.9,160.2,-11.8,158,1530,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,1901,3377,0,0,0,0,0,0
$GC,1783,-1.40,-77.9,189.9,-10.9,182,1788,0.15,2.42,0.00,0.000,4,0.059,0.045,2394,488,3378,0,0,0,0,0,0
$STATE,1856,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1856,begin apogee
$GC,1863,-0.31,0.0,200.3,15.7,189,1934,1.25,0.00,64.38,0.650,6,0.085,0.000,2648,2035,3049,0,0,0,0,0,0
$STATE,1935,end apogee,CONTROL_FINISHED_OK
$STATE,1935,begin climb
$GC,1937,1.40,77.9,205.7,0.0,193,2009,1.62,2.42,61.88,0.641,4,0.044,0.031,3022,3428,2732,0,0,0,0,0,0
$GC,2048,1.46,269.5,211.5,-5.2,198,2212,0.00,2.35,156.02,0.647,6,0.000,0.027,3020,2015,1951,0,0,0,0,0,0
$GC,2535,1.37,269.5,155.0,17.9,234,2540,0.00,2.40,0.00,0.000,4,0.000,0.048,3021,637,1943,0,0,0,0,0,0
$GC,2786,1.24,269.5,102.7,19.8,261,2791,0.20,2.30,0.00,0.000,6,0.106,0.021,2985,2044,1939,0,0,0,0,0,0
$GC,3048,1.24,269.5,66.7,12.4,285,3052,0.00,2.42,0.00,0.000,4,0.000,0.044,2982,637,1938,0,0,0,0,0,0
$GC,3090,1.21,269.5,61.4,13.4,289,3094,0.00,2.28,0.00,0.000,6,0.000,0.021,2982,2045,1937,0,0,0,0,0,0
$GC,3355,1.24,269.5,30.9,12.1,313,3359,0.00,2.45,0.00,0.000,4,0.000,0.044,2984,628,1937,0,0,0,0,0,0
$GC,3446,1.24,269.5,18.2,13.3,333,3452,0.00,2.30,0.00,0.000,6,0.000,0.021,2983,2033,1936,0,0,0,0,0,0
$STATE,3570,end climb,SURFACE_DEPTH_REACHED
$STATE,3570,begin surface coast
$FINISH,0.4,1.006168
$STATE,3598,end surface coast,CONTROL_FINISHED_OK
$STATE,3598,begin surface
$SM_CCo,3617,16.33,0.495,0,0,1827,300.00
$SM_GC,1.13,0.00,0.00,16.33,0.000,0.000,0.495,428,1885,1827,-10.52,-0.42,300.00
$IRIDIUM_FIX,2101.76,-15758.18,260799,141423
$TT8_MAMPS,0.029146
$HUMID,43.97
$INTERNAL_PRESSURE,9.70394
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.3,7.6
$24V_AH,23.5,15.672
$10V_AH,10.1,14.678
$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,26.100,43.050,282.275,16.325,0.000,24.336,29.224,119.522,1.750,0.000,16.940,646.409,1659.083,293.537,1043.164,265.830,33.349,742.126,0.000,1032.791,0.000,13.289,0.000
$DEVICE_MAMPS,140.361,50.622,649.649,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.055,261.630,662.423,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,19247,361
$CAP_FILE_SIZE,56163,0
$CFSIZE,260165632,248987648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010510,175924,2107.786,-15801.045,22,2.0,39,9.8