version: 66.06
glider: 147
mission: 5
dive: 80
start: 7 17 110 2 53 54
data:
$ID,147
$MISSION,5
$DIVE,80
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,420
$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,-20317.764
$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,41
$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
$GPS1,024537,2150.109,-15815.989,26,1.1,26,9.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-57.7
$GPS2,025301,2150.106,-15816.093,11,1.1,11,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,0.176
$KALMAN_X,-2044.2,-14.4,3.8,7399.5,-752.0
$KALMAN_Y,-2375.3,-46.8,-46.0,8784.0,-915.1
$MHEAD_RNG_PITCHd_Wd,28.7,4449,-20.6,-10.000
$D_GRID,600
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.51,-107.5,0.0,0.0,0,150,0.00,0.00,-129.70,0.000,2,0.000,0.000,476,2204,3336,0,0,0,0,0,0
$GC,153,-1.51,-107.5,3.8,-2.9,9,184,10.80,2.47,-11.77,0.000,4,0.179,0.063,2350,3655,3953,0,0,0,0,0,0
$GC,243,-1.51,-107.5,37.2,-28.3,15,259,0.00,2.28,0.00,0.000,6,0.000,0.032,2350,2266,3953,0,0,0,0,0,0
$GC,558,-1.51,-107.5,118.7,-21.9,40,562,0.00,2.35,0.00,0.000,4,0.000,0.051,2350,842,3953,0,0,0,0,0,0
$GC,616,-1.51,-107.5,132.2,-20.4,43,629,0.00,2.30,0.00,0.000,6,0.000,0.034,2350,2255,3954,0,0,0,0,0,0
$GC,912,-1.51,-107.5,191.7,-21.7,68,916,0.00,2.30,0.00,0.000,4,0.000,0.046,2350,3658,3954,0,0,0,0,0,0
$GC,990,-1.51,-107.5,210.9,-19.9,72,994,0.00,2.22,0.00,0.000,6,0.000,0.029,2350,2246,3954,0,0,0,0,0,0
$GC,1256,-1.51,-107.5,259.8,-17.4,79,1260,0.00,2.35,0.00,0.000,4,0.000,0.063,2350,846,3954,0,0,0,0,0,0
$GC,1288,-1.51,-107.5,266.0,-18.2,79,1294,0.00,2.25,0.00,0.000,6,0.000,0.032,2350,2258,3954,0,0,0,0,0,0
$GC,1546,-1.51,-107.5,306.5,-15.7,86,1551,0.00,2.42,0.00,0.000,4,0.000,0.076,2350,3647,3955,0,0,0,0,0,0
$GC,1579,-1.51,-107.5,313.4,-16.3,86,1585,0.00,2.30,0.00,0.000,6,0.000,0.041,2350,2249,3955,0,0,0,0,0,0
$GC,1830,-1.51,-107.5,353.5,-16.4,93,1834,0.00,2.47,0.00,0.000,4,0.000,0.085,2350,846,3955,0,0,0,0,0,0
$GC,1851,-1.51,-107.5,357.1,-16.3,93,1855,0.00,2.30,0.00,0.000,6,0.000,0.041,2350,2242,3955,0,0,0,0,0,0
$GC,2106,-1.51,-107.5,397.2,-16.0,100,2111,0.00,2.50,0.00,0.000,4,0.000,0.084,2350,3656,3953,0,0,0,0,0,0
$GC,2190,-1.51,-107.5,411.1,-16.3,101,2195,0.00,2.33,0.00,0.000,6,0.000,0.046,2350,2255,3953,0,0,0,0,0,0
$GC,2439,-1.51,-107.5,449.2,-15.1,108,2444,0.00,2.58,0.00,0.000,4,0.000,0.099,2350,833,3950,0,0,0,0,0,0
$GC,2466,-1.51,-107.5,453.4,-15.2,108,2471,0.00,2.40,0.00,0.000,6,0.000,0.051,2350,2255,3950,0,0,0,0,0,0
$GC,2717,-1.51,-107.5,489.7,-14.4,114,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2255,3947,0,0,0,0,0,0
$GC,2960,-1.51,-107.5,523.6,-13.9,120,2964,0.00,2.58,0.00,0.000,4,0.000,0.104,2350,3658,3946,0,0,0,0,0,0
$GC,3008,-1.51,-107.5,529.5,-15.3,121,3012,0.00,2.40,0.00,0.000,6,0.000,0.058,2350,2248,3945,0,0,0,0,0,0
$GC,3291,-1.51,-107.5,571.9,-14.7,128,3296,0.00,2.65,0.00,0.000,4,0.000,0.108,2350,3657,3942,0,0,0,0,0,0
$GC,3334,-1.51,-107.5,578.8,-15.3,129,3339,0.00,2.47,0.00,0.000,6,0.000,0.077,2350,2254,3942,0,0,0,0,0,0
$STATE,3488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3488,begin apogee
$GC,3494,-0.33,0.0,601.6,14.7,133,3586,1.25,0.00,87.78,0.974,6,0.096,0.000,2612,2550,3519,0,0,0,0,0,0
$STATE,3586,end apogee,CONTROL_FINISHED_OK
$STATE,3587,begin climb
$GC,3590,1.51,107.5,605.8,0.0,135,3689,1.70,2.80,89.55,0.961,4,0.034,0.133,3024,3937,3079,0,0,0,0,0,0
$GC,3864,1.87,398.4,627.6,-8.2,141,4125,0.30,2.55,247.73,0.982,6,0.049,0.086,3103,2546,1894,0,0,0,0,0,0
$GC,4403,1.87,398.4,554.2,20.8,154,4407,0.00,2.58,0.00,0.000,4,0.000,0.093,3103,1135,1885,0,0,0,0,0,0
$GC,4418,1.87,398.4,550.6,20.5,154,4422,0.00,2.50,0.00,0.000,6,0.000,0.064,3103,2546,1884,0,0,0,0,0,0
$GC,4693,1.87,398.4,494.6,20.5,161,4698,0.00,2.47,0.00,0.000,4,0.000,0.086,3103,3938,1883,0,0,0,0,0,0
$GC,4715,1.87,398.4,488.1,20.6,161,4719,0.00,2.35,0.00,0.000,6,0.000,0.039,3103,2539,1883,0,0,0,0,0,0
$GC,4976,1.87,398.4,438.1,19.0,168,4980,0.00,2.47,0.00,0.000,4,0.000,0.081,3103,1143,1881,0,0,0,0,0,0
$GC,5016,1.87,398.4,430.5,19.5,169,5020,0.00,2.38,0.00,0.000,6,0.000,0.044,3103,2562,1880,0,0,0,0,0,0
$GC,5307,1.87,398.4,379.2,17.9,176,5311,0.00,2.42,0.00,0.000,4,0.000,0.060,3103,1142,1879,0,0,0,0,0,0
$GC,5408,1.87,398.4,359.8,18.3,178,5412,0.00,2.33,0.00,0.000,6,0.000,0.039,3103,2551,1879,0,0,0,0,0,0
$GC,5680,1.87,398.4,312.6,17.3,185,5684,0.00,2.40,0.00,0.000,4,0.000,0.058,3103,1141,1878,0,0,0,0,0,0
$GC,5726,1.87,398.4,305.6,17.7,186,5730,0.00,2.30,0.00,0.000,6,0.000,0.037,3103,2557,1878,0,0,0,0,0,0
$GC,6010,1.87,398.4,252.9,17.8,193,6014,0.00,2.40,0.00,0.000,4,0.000,0.057,3103,1141,1877,0,0,0,0,0,0
$GC,6088,1.87,398.4,237.6,19.0,194,6094,0.00,2.28,0.00,0.000,6,0.000,0.037,3104,2549,1877,0,0,0,0,0,0
$GC,6352,1.87,398.4,191.9,16.9,204,6356,0.00,2.35,0.00,0.000,4,0.000,0.054,3103,1141,1876,0,0,0,0,0,0
$GC,6394,1.87,398.4,184.6,16.1,206,6398,0.00,2.30,0.00,0.000,6,0.000,0.035,3104,2552,1875,0,0,0,0,0,0
$GC,6696,1.87,398.4,141.0,13.0,231,6700,0.00,2.35,0.00,0.000,4,0.000,0.052,3103,1138,1875,0,0,0,0,0,0
$GC,6741,1.87,398.4,132.6,15.5,233,6754,0.00,2.30,0.00,0.000,6,0.000,0.033,3103,2547,1875,0,0,0,0,0,0
$GC,7045,1.87,398.4,91.5,14.1,258,7049,0.00,2.33,0.00,0.000,4,0.000,0.051,3103,1139,1875,0,0,0,0,0,0
$GC,7139,1.87,398.4,77.8,11.9,263,7155,0.00,2.30,0.00,0.000,6,0.000,0.032,3103,2558,1875,0,0,0,0,0,0
$GC,7474,1.87,398.4,39.2,12.7,288,7478,0.00,2.28,0.00,0.000,4,0.000,0.057,3103,3934,1876,0,0,0,0,0,0
$GC,7540,1.87,398.4,28.5,14.0,291,7556,0.00,2.25,0.00,0.000,6,0.000,0.029,3103,2537,1876,0,0,0,0,0,0
$STATE,7740,end climb,SURFACE_DEPTH_REACHED
$STATE,7740,begin surface coast
$FINISH,1.0,1.001229
$STATE,7820,end surface coast,CONTROL_FINISHED_OK
$STATE,7820,begin surface
$SM_CCo,7842,15.35,0.487,0,0,1805,420.19
$SM_GC,2.35,0.00,0.00,15.35,0.000,0.000,0.487,477,2226,1805,-10.18,-0.68,420.19
$IRIDIUM_FIX,2141.13,-15816.23,101099,232329
$TT8_MAMPS,0.027612
$HUMID,39.01
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.20
$XPDR_PINGS,4
$24V_AH,23.7,9.857
$10V_AH,10.2,8.994
$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,24.950,101.625,425.050,15.350,0.000,30.928,43.331,235.467,1.000,0.000,12.933,697.228,3948.372,446.038,2634.837,565.081,32.359,1150.984,0.000,2687.331,0.000,0.539,0.000
$DEVICE_MAMPS,179.478,133.458,981.760,487.045,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,213.295,146.439,1857.834,1103.600,1344.997,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355972
$DATA_FILE_SIZE,22595,312
$CAP_FILE_SIZE,128076,126
$CFSIZE,260165632,214466560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170710,050604,2150.727,-15815.831,12,9.1,32,9.9