version: 66.06
glider: 147
mission: 5
dive: 79
start: 7 16 110 23 27 56
data:
$ID,147
$MISSION,5
$DIVE,79
$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,746.19043
$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,-20304.199
$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,21
$R_STBD_OVSHOOT,19
$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
$GPS1,230837,2148.990,-15817.112,35,1.6,35,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.4
$GPS2,232704,2149.021,-15817.300,9,99.0,28,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,0.169
$KALMAN_X,-1023.4,-428.8,4.2,4726.5,-346.2
$KALMAN_Y,-1043.2,-437.0,3.6,5787.7,-352.3
$MHEAD_RNG_PITCHd_Wd,31.6,7321,-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,-72.12,0.000,2,0.000,0.000,472,2227,3549,0,0,0,0,0,0
$GC,95,-1.51,-107.5,4.9,-4.9,5,126,10.85,2.38,-6.75,0.000,4,0.181,0.050,2352,3665,3954,0,0,0,0,0,0
$GC,233,-1.51,-107.5,56.2,-25.1,13,248,0.00,2.30,0.00,0.000,6,0.000,0.030,2352,2245,3955,0,0,0,0,0,0
$GC,545,-1.51,-107.5,133.1,-23.9,38,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2245,3956,0,0,0,0,0,0
$GC,842,-1.51,-107.5,194.7,-19.6,63,846,0.00,2.33,0.00,0.000,4,0.000,0.044,2352,3666,3957,0,0,0,0,0,0
$GC,901,-1.51,-107.5,206.4,-19.0,66,906,0.00,2.25,0.00,0.000,6,0.000,0.031,2352,2248,3957,0,0,0,0,0,0
$GC,1185,-1.51,-107.5,263.2,-19.2,73,1189,0.00,2.35,0.00,0.000,4,0.000,0.052,2352,3662,3957,0,0,0,0,0,0
$GC,1206,-1.51,-107.5,267.5,-19.4,73,1210,0.00,2.30,0.00,0.000,6,0.000,0.031,2352,2248,3957,0,0,0,0,0,0
$GC,1468,-1.51,-107.5,313.3,-18.0,80,1473,0.00,2.42,0.00,0.000,4,0.000,0.075,2352,847,3958,0,0,0,0,0,0
$GC,1501,-1.51,-107.5,319.8,-18.2,80,1515,0.00,2.33,0.00,0.000,6,0.000,0.040,2352,2255,3958,0,0,0,0,0,0
$GC,1751,-1.51,-107.5,363.6,-18.0,87,1755,0.00,2.47,0.00,0.000,4,0.000,0.080,2352,3661,3958,0,0,0,0,0,0
$GC,1791,-1.51,-107.5,370.4,-17.4,88,1795,0.00,2.33,0.00,0.000,6,0.000,0.044,2352,2249,3958,0,0,0,0,0,0
$GC,2073,-1.51,-107.5,420.1,-17.3,95,2078,0.00,2.45,0.00,0.000,4,0.000,0.074,2352,3658,3958,0,0,0,0,0,0
$GC,2100,-1.51,-107.5,424.8,-16.5,95,2105,0.00,2.35,0.00,0.000,6,0.000,0.048,2352,2253,3957,0,0,0,0,0,0
$GC,2357,-1.51,-107.5,465.4,-16.1,102,2361,0.00,2.60,0.00,0.000,4,0.000,0.105,2352,838,3955,0,0,0,0,0,0
$GC,2383,-1.51,-107.5,470.0,-16.0,102,2387,0.00,2.40,0.00,0.000,6,0.000,0.054,2352,2254,3955,0,0,0,0,0,0
$GC,2639,-1.51,-107.5,508.1,-14.8,109,2643,0.00,2.53,0.00,0.000,4,0.000,0.096,2352,3658,3953,0,0,0,0,0,0
$GC,2661,-1.51,-107.5,511.4,-15.6,109,2665,0.00,2.38,0.00,0.000,6,0.000,0.054,2352,2249,3953,0,0,0,0,0,0
$GC,2923,-1.51,-107.5,549.7,-15.0,116,2928,0.00,2.60,0.00,0.000,4,0.000,0.101,2352,3657,3951,0,0,0,0,0,0
$GC,2956,-1.51,-107.5,556.3,-16.2,116,2962,0.00,2.45,0.00,0.000,6,0.000,0.071,2352,2249,3950,0,0,0,0,0,0
$GC,3207,-1.51,-107.5,593.8,-14.8,123,3208,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2249,3947,0,0,0,0,0,0
$GC,3450,-1.51,-107.5,627.1,-13.2,129,3454,0.00,2.78,0.00,0.000,4,0.000,0.135,2351,3658,3946,0,0,0,0,0,0
$GC,3489,-1.51,-107.5,632.0,-12.2,130,3493,0.00,2.62,0.00,0.000,6,0.000,0.103,2352,2252,3946,0,0,0,0,0,0
$GC,3772,-1.51,-107.5,664.8,-11.4,137,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2253,3943,0,0,0,0,0,0
$GC,4015,-1.51,-107.5,690.9,-10.8,143,4020,0.00,3.03,0.00,0.000,4,0.000,0.173,2352,3657,3941,0,0,0,0,0,0
$GC,4042,-1.51,-107.5,694.0,-10.7,143,4046,0.00,2.80,0.00,0.000,6,0.000,0.135,2352,2253,3941,0,0,0,0,0,0
$GC,4292,-1.51,-107.5,721.3,-11.2,149,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2253,3939,0,0,0,0,0,0
$GC,4535,-1.51,-107.5,752.2,-12.9,155,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2251,3937,0,0,0,0,0,0
$GC,4788,-1.51,-107.5,786.6,-14.3,161,4793,0.00,3.50,0.00,0.000,4,0.000,0.237,2352,3652,3935,0,0,0,0,0,0
$GC,4844,-1.51,-107.5,796.5,-14.9,162,4849,0.00,3.17,0.00,0.000,6,0.000,0.196,2352,2252,3934,0,0,1,0,0,0
$GC,5110,-1.51,-107.5,835.7,-14.5,169,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2251,3932,0,0,0,0,0,0
$GC,5354,-1.51,-107.5,871.9,-14.7,175,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2251,3931,0,0,0,0,0,0
$STATE,5555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5555,begin apogee
$GC,5563,-0.33,0.0,902.0,14.8,180,5655,1.25,0.00,88.80,1.230,6,0.100,0.000,2613,2537,3519,0,0,0,0,0,0
$STATE,5656,end apogee,CONTROL_FINISHED_OK
$STATE,5656,begin climb
$GC,5658,1.51,107.5,907.0,0.0,182,5758,1.75,0.00,93.00,1.213,6,0.031,0.000,3029,2537,3080,0,0,0,0,0,0
$GC,6011,1.87,404.8,938.7,-8.6,191,6289,0.25,4.62,267.17,1.231,4,0.052,0.310,3102,1124,1867,0,0,1,0,0,0
$GC,6446,1.87,404.8,887.2,21.9,201,6454,0.00,4.12,0.00,0.000,6,0.000,0.281,3102,2549,1860,0,0,1,0,0,0
$GC,6728,1.87,404.8,824.0,22.5,208,6733,0.00,3.47,0.00,0.000,4,0.000,0.223,3102,1134,1857,0,0,0,0,0,0
$GC,6778,1.87,404.8,812.4,23.5,209,6783,0.00,3.45,0.00,0.000,6,0.000,0.222,3102,2550,1857,0,0,1,0,0,0
$GC,7058,1.87,404.8,753.2,21.7,216,7059,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2550,1855,0,0,0,0,0,0
$GC,7294,1.87,404.8,697.4,23.2,222,7298,0.00,2.90,0.00,0.000,4,0.000,0.148,3102,1132,1855,0,0,0,0,0,0
$GC,7371,1.87,404.8,678.7,24.3,223,7377,0.00,2.80,0.00,0.000,6,0.000,0.126,3102,2554,1855,0,0,0,0,0,0
$GC,7622,1.87,404.8,621.7,22.9,230,7626,0.00,2.67,0.00,0.000,4,0.000,0.108,3103,1128,1854,0,0,0,0,0,0
$GC,7654,1.87,404.8,614.1,22.5,230,7667,0.00,2.62,0.00,0.000,6,0.000,0.087,3102,2554,1853,0,0,0,0,0,0
$GC,7904,1.87,404.8,562.2,20.5,237,7908,0.00,2.58,0.00,0.000,4,0.000,0.085,3102,1122,1853,0,0,0,0,0,0
$GC,7931,1.87,404.8,556.2,21.2,237,7935,0.00,2.50,0.00,0.000,6,0.000,0.066,3102,2558,1853,0,0,0,0,0,0
$GC,8180,1.87,404.8,505.5,19.8,243,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2558,1852,0,0,0,0,0,0
$GC,8424,1.87,404.8,458.8,19.0,249,8428,0.00,2.47,0.00,0.000,4,0.000,0.067,3102,1127,1853,0,0,0,0,0,0
$GC,8434,1.87,404.8,456.7,19.2,249,8438,0.00,2.38,0.00,0.000,6,0.000,0.040,3102,2565,1852,0,0,0,0,0,0
$GC,8715,1.87,404.8,406.3,18.6,256,8719,0.00,2.45,0.00,0.000,4,0.000,0.059,3102,1126,1852,0,0,0,0,0,0
$GC,8769,1.87,404.8,393.5,19.1,257,8773,0.00,2.35,0.00,0.000,6,0.000,0.040,3102,2550,1851,0,0,0,0,0,0
$GC,9042,1.87,404.8,343.8,18.2,264,9046,0.00,2.42,0.00,0.000,4,0.000,0.055,3102,1117,1851,0,0,0,0,0,0
$GC,9054,1.87,404.8,341.7,18.3,264,9058,0.00,2.33,0.00,0.000,6,0.000,0.036,3102,2552,1851,0,0,0,0,0,0
$GC,9327,1.87,404.8,289.7,20.4,271,9332,0.00,2.42,0.00,0.000,4,0.000,0.056,3102,1120,1851,0,0,0,0,0,0
$GC,9462,1.87,404.8,260.7,19.6,274,9466,0.00,2.33,0.00,0.000,6,0.000,0.036,3102,2551,1850,0,0,0,0,0,0
$GC,9752,1.87,404.8,210.3,16.5,281,9756,0.00,2.38,0.00,0.000,4,0.000,0.054,3102,1124,1850,0,0,0,0,0,0
$GC,9826,1.87,404.8,198.4,15.2,282,9830,0.00,2.33,0.00,0.000,6,0.000,0.036,3102,2551,1850,0,0,0,0,0,0
$GC,10116,1.87,404.8,158.1,14.5,306,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2552,1850,0,0,0,0,0,0
$GC,10418,1.87,404.8,114.3,13.9,331,10422,0.00,2.38,0.00,0.000,4,0.000,0.053,3102,1120,1850,0,0,0,0,0,0
$GC,10548,1.87,404.8,95.2,14.0,338,10552,0.00,2.33,0.00,0.000,6,0.000,0.034,3102,2562,1850,0,0,0,0,0,0
$GC,10872,1.88,406.2,58.1,9.9,363,10876,0.00,2.38,0.00,0.000,4,0.000,0.048,3102,1122,1851,0,0,0,0,0,0
$GC,11070,1.88,410.5,37.6,9.7,373,11086,0.00,2.33,0.00,0.000,6,0.000,0.033,3102,2556,1852,0,0,0,0,0,0
$STATE,11401,end climb,SURFACE_DEPTH_REACHED
$STATE,11401,begin surface coast
$FINISH,1.1,1.013247
$STATE,11495,end surface coast,CONTROL_FINISHED_OK
$STATE,11495,begin surface
$SM_CCo,11516,278.40,0.497,0,0,477,746.19
$SM_GC,1.74,0.00,0.00,278.40,0.000,0.000,0.497,477,2204,477,-10.18,-1.30,746.19
$IRIDIUM_FIX,2141.13,-15816.23,101099,232329
$TT8_MAMPS,0.027612
$HUMID,35.94
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,24.20
$XPDR_PINGS,1
$24V_AH,23.5,9.720
$10V_AH,10.1,8.846
$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,24.925,127.575,448.975,278.400,0.000,146.629,224.352,327.192,0.250,0.000,30.305,893.775,7201.817,738.601,3048.005,1011.320,31.424,1529.550,0.000,3071.231,0.000,0.539,0.000
$DEVICE_MAMPS,181.012,309.868,1231.035,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,279.265,168.313,2058.494,1125.524,1372.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355952
$DATA_FILE_SIZE,28828,405
$CAP_FILE_SIZE,160634,126
$CFSIZE,260165632,214474752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,170710,024537,2150.109,-15815.989,26,1.1,26,9.9