version: 66.06
glider: 147
mission: 5
dive: 78
start: 7 16 110 19 59 29
data:
$ID,147
$MISSION,5
$DIVE,78
$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,-20273.264
$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,2690
$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,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,26
$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
$GPS1,195136,2147.702,-15818.352,32,1.1,42,9.9
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-67.6
$GPS2,195838,2147.689,-15818.441,12,1.6,12,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.145,0.173
$KALMAN_X,-311.4,-311.4,-311.4,2269.0,322.3
$KALMAN_Y,-317.1,-317.1,-317.1,2817.4,328.2
$MHEAD_RNG_PITCHd_Wd,29.9,10470,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.51,-107.5,0.0,0.0,0,90,0.00,0.00,-72.20,0.000,2,0.000,0.000,473,2222,3545,0,0,0,0,0,0
$GC,95,-1.51,-107.5,5.1,-4.9,5,126,10.90,2.28,-6.85,0.000,4,0.182,0.055,2353,861,3954,0,0,0,0,0,0
$GC,159,-1.51,-107.5,38.5,-40.2,9,175,0.00,2.25,0.00,0.000,6,0.000,0.028,2353,2252,3955,0,0,0,0,0,0
$GC,476,-1.51,-107.5,122.3,-26.9,34,480,0.00,2.30,0.00,0.000,4,0.000,0.044,2353,3661,3956,0,0,0,0,0,0
$GC,653,-1.51,-107.5,160.8,-20.8,44,657,0.00,2.22,0.00,0.000,6,0.000,0.029,2353,2263,3957,0,0,0,0,0,0
$GC,948,-1.51,-107.5,224.9,-20.1,62,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2263,3958,0,0,0,0,0,0
$GC,1191,-1.51,-107.5,269.5,-18.2,68,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2262,3959,0,0,0,0,0,0
$GC,1435,-1.51,-107.5,309.7,-16.4,74,1439,0.00,2.38,0.00,0.000,4,0.000,0.062,2353,3647,3959,0,0,0,0,0,0
$GC,1479,-1.51,-107.5,316.9,-15.9,75,1483,0.00,2.25,0.00,0.000,6,0.000,0.039,2353,2260,3959,0,0,0,0,0,0
$GC,1756,-1.51,-107.5,363.3,-16.8,82,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2260,3959,0,0,0,0,0,0
$GC,2000,-1.51,-107.5,402.4,-15.6,88,2004,0.00,2.40,0.00,0.000,4,0.000,0.069,2354,3654,3959,0,0,0,0,0,0
$GC,2021,-1.51,-107.5,405.8,-15.3,88,2026,0.00,2.33,0.00,0.000,6,0.000,0.047,2353,2248,3959,0,0,0,0,0,0
$GC,2276,-1.51,-107.5,442.0,-13.8,95,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2248,3959,0,0,0,0,0,0
$GC,2528,-1.51,-107.5,479.1,-15.4,101,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2248,3957,0,0,0,0,0,0
$GC,2765,-1.51,-107.5,517.5,-15.9,107,2769,0.00,2.53,0.00,0.000,4,0.000,0.095,2353,3644,3955,0,0,0,0,0,0
$GC,2825,-1.51,-107.5,527.3,-15.2,108,2829,0.00,2.40,0.00,0.000,6,0.000,0.065,2353,2249,3955,0,0,0,0,0,0
$GC,3092,-1.51,-107.5,567.7,-15.0,115,3096,0.00,2.70,0.00,0.000,4,0.000,0.123,2353,836,3952,0,0,0,0,0,0
$GC,3119,-1.51,-107.5,571.9,-15.6,115,3123,0.00,2.47,0.00,0.000,6,0.000,0.078,2353,2228,3952,0,0,0,0,0,0
$GC,3376,-1.51,-107.5,606.3,-13.8,121,3380,0.00,2.78,0.00,0.000,4,0.000,0.132,2354,3662,3950,0,0,0,0,0,0
$GC,3415,-1.51,-107.5,612.9,-14.3,122,3419,0.00,2.60,0.00,0.000,6,0.000,0.094,2353,2248,3950,0,0,0,0,0,0
$GC,3698,-1.51,-107.5,653.5,-14.1,129,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2248,3948,0,0,0,0,0,0
$GC,3941,-1.51,-107.5,685.0,-12.7,135,3946,0.00,2.97,0.00,0.000,4,0.000,0.166,2353,3658,3945,0,0,0,0,0,0
$GC,3975,-1.51,-107.5,689.2,-13.6,135,3988,0.00,2.80,0.00,0.000,6,0.000,0.131,2353,2260,3945,0,0,0,0,0,0
$GC,4225,-1.51,-107.5,720.8,-12.6,142,4230,0.00,3.08,0.00,0.000,4,0.000,0.180,2353,833,3944,0,0,0,0,0,0
$GC,4257,-1.51,-107.5,725.3,-13.0,142,4263,0.00,2.97,0.00,0.000,6,0.000,0.163,2354,2250,3944,0,0,0,0,0,0
$GC,4507,-1.51,-107.5,755.5,-12.1,149,4512,0.00,3.33,0.00,0.000,4,0.000,0.217,2353,3663,3941,0,0,0,0,0,0
$GC,4582,-1.51,-107.5,764.7,-12.9,150,4586,0.00,3.05,0.00,0.000,6,0.000,0.174,2353,2248,3941,0,0,1,0,0,0
$GC,4840,-1.51,-107.5,796.3,-12.7,156,4845,0.00,3.58,0.00,0.000,4,0.000,0.241,2353,3662,3940,0,0,0,0,0,0
$GC,4862,-1.51,-107.5,800.5,-13.5,156,4867,0.00,3.22,0.00,0.000,6,0.000,0.195,2353,2246,3939,0,0,1,0,0,0
$GC,5118,-1.51,-107.5,833.5,-12.9,163,5126,0.00,3.88,0.00,0.000,4,0.000,0.272,2353,3662,3937,0,0,1,0,0,0
$GC,5155,-1.51,-107.5,838.6,-13.2,163,5161,0.00,3.47,0.00,0.000,6,0.000,0.225,2353,2248,3937,0,0,1,0,0,0
$GC,5405,-1.51,-107.5,872.3,-13.9,170,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2248,3936,0,0,0,0,0,0
$STATE,5606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5606,begin apogee
$GC,5613,-0.33,0.0,900.3,13.8,175,5706,1.25,0.00,88.53,1.241,6,0.100,0.000,2613,2549,3519,0,0,0,0,0,0
$STATE,5706,end apogee,CONTROL_FINISHED_OK
$STATE,5706,begin climb
$GC,5709,1.51,107.5,904.6,0.0,177,5813,1.75,5.10,93.10,1.218,4,0.031,0.346,3030,3938,3080,0,0,20,0,0,0
$GC,5826,1.86,393.8,915.3,-7.9,180,6092,0.28,4.05,255.75,1.212,6,0.058,0.278,3097,2552,1913,0,0,1,0,0,0
$GC,6342,1.86,393.8,845.1,21.5,193,6347,0.00,3.62,0.00,0.000,4,0.000,0.242,3097,1132,1903,0,0,0,0,0,0
$GC,6431,1.86,393.8,824.7,22.5,195,6436,0.00,3.55,0.00,0.000,6,0.000,0.228,3097,2552,1902,0,0,1,0,0,0
$GC,6709,1.86,393.8,762.7,22.4,202,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2552,1901,0,0,0,0,0,0
$GC,6952,1.86,393.8,708.9,21.7,208,6957,0.00,2.95,0.00,0.000,4,0.000,0.154,3097,1132,1900,0,0,0,0,0,0
$GC,7008,1.86,393.8,696.8,21.4,209,7013,0.00,2.88,0.00,0.000,6,0.000,0.137,3097,2558,1900,0,0,0,0,0,0
$GC,7281,1.86,393.8,640.2,21.1,216,7286,0.00,2.75,0.00,0.000,4,0.000,0.116,3097,1123,1899,0,0,0,0,0,0
$GC,7308,1.86,393.8,632.7,20.9,216,7313,0.00,2.65,0.00,0.000,6,0.000,0.099,3097,2556,1898,0,0,0,0,0,0
$GC,7559,1.86,393.8,579.8,21.4,222,7563,0.00,2.60,0.00,0.000,4,0.000,0.091,3097,1129,1898,0,0,0,0,0,0
$GC,7587,1.86,393.8,573.8,21.0,222,7592,0.00,2.50,0.00,0.000,6,0.000,0.070,3097,2561,1898,0,0,0,0,0,0
$GC,7837,1.86,393.8,522.6,20.7,228,7841,0.00,2.55,0.00,0.000,4,0.000,0.077,3096,1122,1898,0,0,0,0,0,0
$GC,7881,1.86,393.8,513.8,19.7,229,7885,0.00,2.45,0.00,0.000,6,0.000,0.054,3097,2561,1898,0,0,0,0,0,0
$GC,8166,1.86,393.8,461.0,19.1,236,8170,0.00,2.50,0.00,0.000,4,0.000,0.067,3097,1119,1897,0,0,0,0,0,0
$GC,8243,1.86,393.8,444.1,19.1,237,8249,0.00,2.40,0.00,0.000,6,0.000,0.044,3097,2561,1897,0,0,0,0,0,0
$GC,8494,1.86,393.8,397.8,18.8,244,8498,0.00,2.45,0.00,0.000,4,0.000,0.060,3097,1125,1897,0,0,0,0,0,0
$GC,8543,1.86,393.8,388.8,18.2,245,8547,0.00,2.38,0.00,0.000,6,0.000,0.041,3096,2560,1896,0,0,0,0,0,0
$GC,8821,1.86,393.8,340.8,16.6,252,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2560,1896,0,0,0,0,0,0
$GC,9065,1.86,393.8,301.4,15.9,258,9069,0.00,2.42,0.00,0.000,4,0.000,0.056,3097,1124,1895,0,0,0,0,0,0
$GC,9104,1.86,393.8,295.2,15.5,259,9108,0.00,2.35,0.00,0.000,6,0.000,0.037,3097,2559,1895,0,0,0,0,0,0
$GC,9394,1.86,393.8,249.9,15.8,266,9399,0.00,2.42,0.00,0.000,4,0.000,0.054,3097,1118,1895,0,0,0,0,0,0
$GC,9435,1.86,393.8,242.2,16.3,267,9439,0.00,2.33,0.00,0.000,6,0.000,0.035,3097,2561,1895,0,0,0,0,0,0
$GC,9717,1.86,393.8,197.9,15.5,274,9721,0.00,2.42,0.00,0.000,4,0.000,0.054,3097,1124,1895,0,0,0,0,0,0
$GC,9759,1.86,393.8,192.3,17.2,276,9763,0.00,2.30,0.00,0.000,6,0.000,0.035,3097,2554,1895,0,0,0,0,0,0
$GC,10050,1.86,393.8,149.2,14.3,300,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2554,1895,0,0,0,0,0,0
$GC,10355,1.86,393.8,106.3,14.2,325,10359,0.00,2.40,0.00,0.000,4,0.000,0.052,3097,1116,1895,0,0,0,0,0,0
$GC,10506,1.86,393.8,81.6,13.9,333,10519,0.00,2.33,0.00,0.000,6,0.000,0.035,3097,2543,1896,0,0,0,0,0,0
$GC,10837,1.88,411.0,46.7,8.9,358,10858,0.00,2.35,14.88,0.536,4,0.000,0.056,3097,3938,1842,0,0,0,0,0,0
$STATE,11174,end climb,SURFACE_DEPTH_REACHED
$STATE,11174,begin surface coast
$FINISH,1.2,1.009568
$STATE,11240,end surface coast,CONTROL_FINISHED_OK
$STATE,11240,begin surface
$SM_CCo,11265,8.15,0.454,0,0,1805,420.19
$SM_GC,3.05,0.00,0.00,8.15,0.000,0.000,0.454,472,2228,1805,-10.20,-0.62,420.19
$IRIDIUM_FIX,2141.13,-15901.92,101099,161653
$TT8_MAMPS,0.027612
$HUMID,40.03
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.5,9.490
$10V_AH,10.1,8.677
$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,25.125,138.700,452.250,8.150,0.000,29.380,27.313,228.708,0.000,0.000,14.363,859.436,6979.950,478.228,2791.645,575.367,30.190,1225.434,0.000,2836.972,0.000,0.539,0.000
$DEVICE_MAMPS,181.779,345.917,1241.006,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,265.545,153.943,1893.292,1019.600,1242.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356144
$DATA_FILE_SIZE,28878,385
$CAP_FILE_SIZE,146260,114
$CFSIZE,260165632,214556672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
$GPS,160710,230837,2148.990,-15817.112,35,1.6,35,9.9