version: 66.06
glider: 147
mission: 5
dive: 77
start: 7 16 110 16 22 35
data:
$ID,147
$MISSION,5
$DIVE,77
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1020
$D_NO_BLEED,80
$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,300
$T_MISSION,620
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20258.268
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3519
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.612097
$PRESSURE_SLOPE,0.000116148
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$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,0.0042834701
$SEABIRD_T_H,0.00062685186
$SEABIRD_T_I,2.2120101e-05
$SEABIRD_T_J,2.1369924e-06
$SEABIRD_C_G,-9.8335438
$SEABIRD_C_H,1.0998563
$SEABIRD_C_I,-0.0012027813
$SEABIRD_C_J,0.00017447164
$GPS1,161606,2146.732,-15819.112,106,1.0,106,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-66.4
$GPS2,162143,2146.699,-15819.199,8,1.5,13,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,0.174
$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,29.6,12713,-20.6,-10.000
$D_GRID,900
$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,-1.51,-107.5,0.0,0.0,0,89,0.00,0.00,-72.25,0.000,2,0.000,0.000,478,2241,3532,0,0,0,0,0,0
$GC,94,-1.51,-107.5,5.0,-4.9,5,122,11.07,2.33,-7.10,0.000,4,0.188,0.048,2362,3654,3954,0,0,0,0,0,0
$GC,153,-1.51,-107.5,36.2,-39.3,9,169,0.00,2.28,0.00,0.000,6,0.000,0.031,2362,2258,3955,0,0,0,0,0,0
$GC,471,-1.51,-107.5,114.1,-23.8,34,475,0.00,2.28,0.00,0.000,4,0.000,0.039,2362,3661,3956,0,0,0,0,0,0
$GC,508,-1.51,-107.5,123.1,-24.7,36,513,0.00,2.25,0.00,0.000,6,0.000,0.031,2362,2244,3956,0,0,0,0,0,0
$GC,807,-1.51,-107.5,183.5,-18.8,61,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2243,3958,0,0,0,0,0,0
$GC,1100,-1.51,-107.5,239.8,-18.8,74,1104,0.00,2.33,0.00,0.000,4,0.000,0.050,2362,3652,3959,0,0,0,0,0,0
$GC,1178,-1.51,-107.5,253.5,-16.3,75,1191,0.00,2.28,0.00,0.000,6,0.000,0.031,2362,2249,3959,0,0,0,0,0,0
$GC,1427,-1.51,-107.5,294.6,-16.4,82,1432,0.00,2.40,0.00,0.000,4,0.000,0.074,2362,849,3960,0,0,0,0,0,0
$GC,1449,-1.51,-107.5,298.1,-15.5,82,1453,0.00,2.25,0.00,0.000,6,0.000,0.038,2362,2244,3960,0,0,0,0,0,0
$GC,1711,-1.51,-107.5,337.4,-14.9,89,1715,0.00,2.45,0.00,0.000,4,0.000,0.078,2362,3656,3960,0,0,0,0,0,0
$GC,1754,-1.51,-107.5,344.1,-14.6,90,1758,0.00,2.28,0.00,0.000,6,0.000,0.041,2362,2260,3960,0,0,0,0,0,0
$GC,2038,-1.51,-107.5,386.5,-15.2,97,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2260,3960,0,0,0,0,0,0
$GC,2282,-1.51,-107.5,421.0,-14.1,103,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2260,3959,0,0,0,0,0,0
$GC,2525,-1.51,-107.5,456.1,-14.5,109,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2260,3957,0,0,0,0,0,0
$GC,2769,-1.51,-107.5,491.0,-14.4,115,2773,0.00,2.53,0.00,0.000,4,0.000,0.089,2362,3661,3955,0,0,0,0,0,0
$GC,2817,-1.51,-107.5,496.9,-15.3,116,2821,0.00,2.40,0.00,0.000,6,0.000,0.057,2362,2255,3955,0,0,0,0,0,0
$GC,3101,-1.51,-107.5,537.5,-13.9,123,3105,0.00,2.55,0.00,0.000,4,0.000,0.094,2362,3652,3953,0,0,0,0,0,0
$GC,3127,-1.51,-107.5,541.4,-14.3,123,3131,0.00,2.45,0.00,0.000,6,0.000,0.066,2362,2244,3953,0,0,0,0,0,0
$GC,3383,-1.51,-107.5,575.3,-13.4,130,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2244,3950,0,0,0,0,0,0
$GC,3636,-1.51,-107.5,607.2,-12.9,136,3641,0.00,2.75,0.00,0.000,4,0.000,0.137,2362,834,3948,0,0,0,0,0,0
$GC,3657,-1.51,-107.5,611.2,-12.5,136,3662,0.00,2.58,0.00,0.000,6,0.000,0.094,2362,2239,3948,0,0,0,0,0,0
$GC,3918,-1.51,-107.5,641.2,-11.5,143,3923,0.00,2.85,0.00,0.000,4,0.000,0.147,2362,3664,3946,0,0,0,0,0,0
$GC,3979,-1.51,-107.5,648.6,-12.3,144,3984,0.00,2.65,0.00,0.000,6,0.000,0.109,2362,2253,3946,0,0,0,0,0,0
$GC,4247,-1.51,-107.5,678.5,-11.4,151,4251,0.00,2.88,0.00,0.000,4,0.000,0.156,2362,837,3944,0,0,0,0,0,0
$GC,4268,-1.51,-107.5,682.1,-12.1,151,4272,0.00,2.78,0.00,0.000,6,0.000,0.130,2362,2249,3944,0,0,0,0,0,0
$GC,4523,-1.51,-107.5,711.1,-11.3,158,4528,0.00,3.10,0.00,0.000,4,0.000,0.186,2362,3659,3942,0,0,0,0,0,0
$GC,4578,-1.51,-107.5,717.5,-11.9,159,4583,0.00,2.83,0.00,0.000,6,0.000,0.145,2362,2252,3941,0,0,1,0,0,0
$GC,4853,-1.51,-107.5,746.7,-11.0,166,4858,0.00,3.25,0.00,0.000,4,0.000,0.202,2362,3662,3940,0,0,0,0,0,0
$GC,4886,-1.51,-107.5,751.4,-11.5,166,4893,0.00,2.95,0.00,0.000,6,0.000,0.164,2362,2249,3940,0,0,1,0,0,0
$GC,5136,-1.51,-107.5,779.7,-11.4,173,5141,0.00,3.42,0.00,0.000,4,0.000,0.226,2362,3660,3939,0,0,0,0,0,0
$GC,5163,-1.51,-107.5,783.1,-12.1,173,5168,0.00,3.10,0.00,0.000,6,0.000,0.184,2362,2251,3938,0,0,1,0,0,0
$GC,5414,-1.51,-107.5,813.3,-12.3,179,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2251,3936,0,0,0,0,0,0
$GC,5656,-1.51,-107.5,843.9,-12.8,185,5664,0.00,3.92,0.00,0.000,4,0.000,0.278,2362,3657,3935,0,0,1,0,0,0
$GC,5709,-1.51,-107.5,849.6,-13.5,186,5715,0.00,3.53,0.00,0.000,6,0.000,0.233,2362,2249,3935,0,0,1,0,0,0
$GC,5993,-1.51,-107.5,886.0,-12.4,193,5994,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2249,3933,0,0,0,0,0,0
$STATE,6120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6120,begin apogee
$GC,6127,-0.33,0.0,900.9,12.3,196,6218,1.25,0.00,87.32,1.255,6,0.098,0.000,2623,2494,3519,0,0,0,0,0,0
$STATE,6219,end apogee,CONTROL_FINISHED_OK
$STATE,6219,begin climb
$GC,6222,1.51,107.5,904.8,0.0,198,6318,1.73,0.00,91.28,1.235,6,0.029,0.000,3039,2494,3080,0,0,0,0,0,0
$GC,6556,1.84,375.9,928.6,-6.8,206,6802,0.25,4.43,234.15,1.245,4,0.054,0.299,3105,1087,1985,0,0,1,0,0,0
$GC,6926,1.84,375.9,889.7,20.7,213,6936,0.00,4.10,0.00,0.000,6,0.000,0.281,3105,2499,1978,0,0,1,0,0,0
$GC,7180,1.84,375.9,838.9,20.1,220,7185,0.00,3.58,0.00,0.000,4,0.000,0.234,3104,1084,1974,0,0,1,0,0,0
$GC,7190,1.84,375.9,836.6,20.3,220,7196,0.00,3.55,0.00,0.000,6,0.000,0.231,3105,2501,1974,0,0,1,0,0,0
$GC,7458,1.84,375.9,785.3,19.0,227,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2501,1973,0,0,0,0,0,0
$GC,7701,1.84,375.9,739.2,18.7,233,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2501,1971,0,0,0,0,0,0
$GC,7944,1.84,375.9,694.7,18.3,239,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2502,1971,0,0,0,0,0,0
$GC,8189,1.84,375.9,648.4,19.1,245,8193,0.00,2.75,0.00,0.000,4,0.000,0.123,3104,1082,1970,0,0,0,0,0,0
$GC,8215,1.84,375.9,642.8,19.1,245,8220,0.00,2.70,0.00,0.000,6,0.000,0.104,3104,2513,1970,0,0,0,0,0,0
$GC,8473,1.84,375.9,597.4,18.1,251,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2514,1970,0,0,0,0,0,0
$GC,8709,1.84,375.9,548.5,20.6,257,8713,0.00,2.58,0.00,0.000,4,0.000,0.087,3105,1076,1969,0,0,0,0,0,0
$GC,8764,1.84,375.9,536.8,21.1,258,8769,0.00,2.47,0.00,0.000,6,0.000,0.058,3104,2515,1969,0,0,0,0,0,0
$GC,9031,1.84,375.9,485.6,18.7,265,9035,0.00,2.50,0.00,0.000,4,0.000,0.070,3104,1070,1969,0,0,0,0,0,0
$GC,9052,1.84,375.9,481.8,17.6,265,9056,0.00,2.42,0.00,0.000,6,0.000,0.048,3104,2509,1969,0,0,0,0,0,0
$GC,9314,1.84,375.9,435.0,18.1,272,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2510,1968,0,0,0,0,0,0
$GC,9557,1.84,375.9,392.0,17.6,278,9561,0.00,2.42,0.00,0.000,4,0.000,0.060,3104,1075,1968,0,0,0,0,0,0
$GC,9622,1.84,375.9,380.4,17.0,279,9627,0.00,2.35,0.00,0.000,6,0.000,0.039,3104,2503,1968,0,0,0,0,0,0
$GC,9892,1.84,375.9,337.8,16.1,286,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2504,1968,0,0,0,0,0,0
$GC,10128,1.84,375.9,299.6,15.7,292,10132,0.00,2.42,0.00,0.000,4,0.000,0.057,3105,1071,1968,0,0,0,0,0,0
$GC,10194,1.84,375.9,287.6,17.7,293,10199,0.00,2.35,0.00,0.000,6,0.000,0.036,3105,2506,1967,0,0,0,0,0,0
$GC,10450,1.84,375.9,249.0,15.2,300,10454,0.00,2.38,0.00,0.000,4,0.000,0.065,3104,3909,1967,0,0,0,0,0,0
$GC,10498,1.84,375.9,242.6,17.1,301,10502,0.00,2.33,0.00,0.000,6,0.000,0.031,3104,2471,1967,0,0,0,0,0,0
$GC,10782,1.84,375.9,196.9,15.6,308,10786,0.00,2.42,0.00,0.000,4,0.000,0.056,3104,3906,1967,0,0,0,0,0,0
$GC,10806,1.84,375.9,193.9,16.0,309,10811,0.00,2.30,0.00,0.000,6,0.000,0.034,3105,2497,1967,0,0,0,0,0,0
$GC,11097,1.84,375.9,150.0,15.0,333,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2497,1967,0,0,0,0,0,0
$GC,11402,1.84,375.9,108.5,13.6,358,11406,0.00,2.40,0.00,0.000,4,0.000,0.070,3105,1091,1967,0,0,0,0,0,0
$GC,11464,1.84,375.9,99.5,12.6,361,11477,0.00,2.30,0.00,0.000,6,0.000,0.032,3105,2504,1967,0,0,0,0,0,0
$GC,11781,1.84,375.9,59.5,13.8,386,11785,0.00,2.35,0.00,0.000,4,0.000,0.050,3104,1087,1969,0,0,0,0,0,0
$GC,11828,1.84,375.9,52.0,12.6,388,11843,0.00,2.30,0.00,0.000,6,0.000,0.032,3105,2500,1969,0,0,0,0,0,0
$GC,12278,1.84,375.9,5.8,10.3,422,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2499,1972,0,0,0,0,0,0
$STATE,12306,end climb,SURFACE_DEPTH_REACHED
$STATE,12306,begin surface coast
$FINISH,1.2,1.017066
$STATE,12400,end surface coast,CONTROL_FINISHED_OK
$STATE,12400,begin surface
$SM_CCo,12422,35.75,0.516,0,0,1806,420.19
$SM_GC,2.35,0.00,0.00,35.75,0.000,0.000,0.516,473,2223,1806,-10.24,-0.76,420.19
$IRIDIUM_FIX,2136.49,-15820.10,101099,131349
$TT8_MAMPS,0.026845
$HUMID,39.17
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,23.5,9.317
$10V_AH,10.1,8.528
$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,25.075,136.200,412.750,35.750,0.000,25.493,42.159,147.661,0.000,0.000,14.798,940.114,7772.110,500.214,3064.850,518.673,29.237,1277.665,0.000,3115.538,0.000,0.538,0.000
$DEVICE_MAMPS,187.915,299.130,1254.812,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.818,173.932,2134.133,1145.181,1394.057,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,32084,431
$CAP_FILE_SIZE,157061,128
$CFSIZE,260165632,214601728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
$GPS,160710,195136,2147.702,-15818.352,32,1.1,42,9.9