version: 66.06
glider: 147
mission: 5
dive: 83
start: 7 17 110 10 10 30
data:
$ID,147
$MISSION,5
$DIVE,83
$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,-20430.744
$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,2680
$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,2320
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,24
$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
$GPS1,095940,2151.550,-15815.407,29,2.9,48,9.9
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.1
$GPS2,100937,2151.560,-15815.437,35,1.5,35,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.154,0.165
$KALMAN_X,-7050.9,297.7,133.2,13082.4,-4438.4
$KALMAN_Y,-6028.1,380.5,239.6,14403.0,-3813.4
$MHEAD_RNG_PITCHd_Wd,33.2,1804,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.51,-107.5,0.0,0.0,0,91,0.00,0.00,-72.00,0.000,2,0.000,0.000,472,2287,3572,0,0,0,0,0,0
$GC,96,-1.51,-107.5,5.4,-6.1,5,126,10.73,2.40,-6.05,0.000,4,0.179,0.051,2341,3728,3952,0,0,0,0,0,0
$GC,176,-1.51,-107.5,45.6,-31.1,10,192,0.00,2.30,0.00,0.000,6,0.000,0.033,2341,2325,3953,0,0,0,0,0,0
$GC,491,-1.51,-107.5,132.5,-25.2,35,495,0.00,2.35,0.00,0.000,4,0.000,0.050,2341,905,3953,0,0,0,0,0,0
$GC,536,-1.51,-107.5,146.8,-26.6,37,549,0.00,2.28,0.00,0.000,6,0.000,0.031,2341,2317,3954,0,0,0,0,0,0
$GC,836,-1.51,-107.5,220.3,-22.8,58,840,0.00,2.33,0.00,0.000,4,0.000,0.047,2341,3731,3954,0,0,0,0,0,0
$GC,875,-1.51,-107.5,228.3,-19.5,59,879,0.00,2.28,0.00,0.000,6,0.000,0.029,2341,2309,3954,0,0,0,0,0,0
$GC,1167,-1.51,-107.5,281.6,-18.7,66,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2309,3955,0,0,0,0,0,0
$GC,1401,-1.51,-107.5,324.6,-17.8,72,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2310,3955,0,0,0,0,0,0
$GC,1645,-1.51,-107.5,369.8,-18.6,78,1649,0.00,2.50,0.00,0.000,4,0.000,0.079,2341,3722,3955,0,0,0,0,0,0
$GC,1689,-1.51,-107.5,378.4,-19.4,79,1693,0.00,2.30,0.00,0.000,6,0.000,0.048,2341,2334,3956,0,0,0,0,0,0
$GC,1974,-1.51,-107.5,428.1,-17.5,86,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2334,3955,0,0,0,0,0,0
$GC,2210,-1.51,-107.5,467.3,-15.8,92,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2334,3954,0,0,0,0,0,0
$GC,2454,-1.51,-107.5,505.0,-15.3,98,2459,0.00,2.62,0.00,0.000,4,0.000,0.110,2341,912,3952,0,0,0,0,0,0
$GC,2481,-1.51,-107.5,509.5,-15.8,98,2485,0.00,2.40,0.00,0.000,6,0.000,0.066,2341,2312,3952,0,0,0,0,0,0
$GC,2731,-1.51,-107.5,546.7,-14.7,104,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2312,3950,0,0,0,0,0,0
$GC,2975,-1.51,-107.5,583.5,-15.2,110,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2311,3947,0,0,0,0,0,0
$GC,3228,-1.51,-107.5,619.3,-14.7,116,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2311,3946,0,0,0,0,0,0
$GC,3462,-1.51,-107.5,655.9,-14.8,122,3467,0.00,2.97,0.00,0.000,4,0.000,0.170,2341,3725,3943,0,0,0,0,0,0
$GC,3483,-1.51,-107.5,659.5,-16.4,122,3488,0.00,2.67,0.00,0.000,6,0.000,0.115,2341,2328,3943,0,0,0,0,0,0
$GC,3745,-1.51,-107.5,698.8,-15.1,129,3746,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2327,3941,0,0,0,0,0,0
$GC,3988,-1.51,-107.5,734.2,-14.4,135,3993,0.00,3.10,0.00,0.000,4,0.000,0.186,2341,904,3939,0,0,0,0,0,0
$GC,4016,-1.51,-107.5,738.3,-14.7,135,4021,0.00,3.00,0.00,0.000,6,0.000,0.173,2341,2312,3939,0,0,0,0,0,0
$GC,4274,-1.51,-107.5,775.6,-15.1,141,4280,0.00,3.50,0.00,0.000,4,0.000,0.235,2341,3730,3937,0,0,0,0,0,0
$GC,4296,-1.51,-107.5,780.5,-15.6,141,4301,0.00,3.12,0.00,0.000,6,0.000,0.184,2341,2322,3937,0,0,1,0,0,0
$GC,4551,-1.51,-107.5,818.9,-15.2,148,4556,0.00,3.45,0.00,0.000,4,0.000,0.234,2341,907,3934,0,0,0,0,0,0
$GC,4573,-1.51,-107.5,822.5,-16.1,148,4579,0.00,3.47,0.00,0.000,6,0.000,0.228,2341,2318,3934,0,0,1,0,0,0
$GC,4828,-1.51,-107.5,859.5,-14.6,155,4836,0.00,4.18,0.00,0.000,4,0.000,0.298,2341,3733,3932,0,0,0,0,0,0
$GC,4865,-1.51,-107.5,865.3,-15.7,155,4879,0.00,3.65,0.00,0.000,6,0.000,0.245,2341,2327,3932,0,0,1,0,0,0
$STATE,5113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5113,begin apogee
$GC,5121,-0.33,0.0,901.4,14.4,162,5214,1.27,0.00,89.53,1.230,6,0.100,0.000,2605,2600,3519,0,0,0,0,0,0
$STATE,5215,end apogee,CONTROL_FINISHED_OK
$STATE,5215,begin climb
$GC,5217,1.51,107.5,905.6,0.0,164,5326,1.73,4.88,93.50,1.212,4,0.035,0.342,3017,3938,3079,0,0,15,0,0,0
$GC,5451,1.85,385.9,923.8,-7.4,169,5711,0.28,3.92,248.32,1.217,6,0.054,0.284,3088,2600,1945,0,0,1,0,0,0
$GC,5978,1.85,385.9,852.7,20.0,182,5984,0.00,3.65,0.00,0.000,4,0.000,0.247,3088,1184,1936,0,0,0,0,0,0
$GC,6136,1.85,385.9,821.9,19.1,185,6142,0.00,3.50,0.00,0.000,6,0.000,0.225,3088,2599,1933,0,0,1,0,0,0
$GC,6392,1.85,385.9,774.9,18.3,192,6397,0.00,3.20,0.00,0.000,4,0.000,0.191,3088,1183,1932,0,0,0,0,0,0
$GC,6458,1.85,385.9,762.3,18.2,193,6463,0.00,3.15,0.00,0.000,6,0.000,0.183,3088,2603,1932,0,0,0,0,0,0
$GC,6713,1.85,385.9,714.0,19.0,200,6718,0.00,2.95,0.00,0.000,4,0.000,0.153,3087,1182,1931,0,0,0,0,0,0
$GC,6774,1.85,385.9,702.9,18.4,201,6778,0.00,2.90,0.00,0.000,6,0.000,0.142,3088,2603,1931,0,0,0,0,0,0
$GC,7039,1.85,385.9,654.7,18.3,208,7044,0.00,2.75,0.00,0.000,4,0.000,0.122,3088,1181,1930,0,0,0,0,0,0
$GC,7060,1.85,385.9,650.3,19.9,208,7065,0.00,2.72,0.00,0.000,6,0.000,0.110,3088,2608,1930,0,0,0,0,0,0
$GC,7316,1.85,385.9,600.7,19.7,215,7320,0.00,2.62,0.00,0.000,4,0.000,0.097,3088,1179,1929,0,0,0,0,0,0
$GC,7375,1.85,385.9,588.6,19.4,216,7380,0.00,2.55,0.00,0.000,6,0.000,0.076,3088,2608,1929,0,0,0,0,0,0
$GC,7642,1.85,385.9,537.6,19.2,223,7646,0.00,2.53,0.00,0.000,4,0.000,0.079,3088,1174,1929,0,0,0,0,0,0
$GC,7704,1.85,385.9,526.1,18.7,224,7708,0.00,2.45,0.00,0.000,6,0.000,0.055,3088,2608,1928,0,0,0,0,0,0
$GC,7972,1.85,385.9,478.9,18.1,231,7976,0.00,2.47,0.00,0.000,4,0.000,0.066,3088,1176,1928,0,0,0,0,0,0
$GC,8005,1.85,385.9,471.9,17.0,231,8011,0.00,2.38,0.00,0.000,6,0.000,0.046,3088,2607,1928,0,0,0,0,0,0
$GC,8256,1.85,385.9,428.5,17.1,238,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2607,1927,0,0,0,0,0,0
$GC,8499,1.85,385.9,387.6,16.6,244,8503,0.00,2.42,0.00,0.000,4,0.000,0.058,3088,1175,1927,0,0,0,0,0,0
$GC,8591,1.85,385.9,373.9,16.3,246,8595,0.00,2.35,0.00,0.000,6,0.000,0.040,3088,2601,1927,0,0,0,0,0,0
$GC,8874,1.85,385.9,327.2,16.0,253,8875,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2601,1926,0,0,0,0,0,0
$GC,9118,1.85,385.9,288.4,16.1,259,9122,0.00,2.40,0.00,0.000,4,0.000,0.053,3088,1174,1926,0,0,0,0,0,0
$GC,9156,1.85,385.9,282.4,15.4,260,9161,0.00,2.33,0.00,0.000,6,0.000,0.036,3088,2608,1926,0,0,0,0,0,0
$GC,9440,1.85,385.9,242.0,14.1,267,9445,0.00,2.40,0.00,0.000,4,0.000,0.053,3088,1174,1926,0,0,0,0,0,0
$GC,9484,1.85,385.9,235.4,14.9,268,9488,0.00,2.33,0.00,0.000,6,0.000,0.035,3088,2603,1925,0,0,0,0,0,0
$GC,9769,1.85,385.9,198.1,12.9,275,9773,0.00,2.40,0.00,0.000,4,0.000,0.053,3088,1173,1925,0,0,0,0,0,0
$GC,9896,1.85,385.9,181.1,13.0,282,9901,0.00,2.30,0.00,0.000,6,0.000,0.032,3088,2604,1925,0,0,0,0,0,0
$GC,10190,1.85,385.9,143.4,12.8,306,10194,0.00,2.38,0.00,0.000,4,0.000,0.048,3088,1166,1926,0,0,0,0,0,0
$GC,10389,1.85,385.9,112.4,15.6,317,10403,0.00,2.33,0.00,0.000,6,0.000,0.035,3088,2594,1927,0,0,0,0,0,0
$GC,10692,1.86,391.1,80.5,9.7,342,10696,0.00,2.25,0.00,0.000,4,0.000,0.058,3088,3941,1928,0,0,0,0,0,0
$GC,10734,1.86,391.1,75.3,11.1,344,10749,0.00,2.20,0.00,0.000,6,0.000,0.028,3088,2574,1928,0,0,0,0,0,0
$GC,11067,1.86,391.1,43.9,10.8,369,11071,0.00,2.33,0.00,0.000,4,0.000,0.059,3088,1184,1930,0,0,0,0,0,0
$STATE,11428,end climb,SURFACE_DEPTH_REACHED
$STATE,11428,begin surface coast
$FINISH,1.1,1.010285
$STATE,11520,end surface coast,CONTROL_FINISHED_OK
$STATE,11520,begin surface
$SM_CCo,11544,27.58,0.495,0,0,1805,420.19
$SM_GC,2.08,0.00,0.00,27.58,0.000,0.000,0.495,476,2329,1805,-10.14,0.25,420.19
$IRIDIUM_FIX,2143.45,-15814.07,111099,101028
$TT8_MAMPS,0.027612
$HUMID,38.42
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,23.6,10.312
$10V_AH,10.2,9.450
$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,24.900,138.625,431.350,27.575,0.000,58.284,64.204,261.685,0.000,0.000,36.825,894.187,7121.114,478.851,2985.754,682.420,33.342,1253.236,0.000,3007.742,0.000,0.538,0.000
$DEVICE_MAMPS,179.478,342.082,1229.501,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,275.992,162.523,1994.238,1100.855,1341.096,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355912
$DATA_FILE_SIZE,28965,400
$CAP_FILE_SIZE,153881,124
$CFSIZE,260165632,214298624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,21,0,0
$GPS,170710,132434,2152.479,-15814.120,12,2.4,31,9.9