version: 66.06
glider: 147
mission: 5
dive: 86
start: 7 17 110 17 1 40
data:
$ID,147
$MISSION,5
$DIVE,86
$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,-20477.809
$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,39
$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
$GPS1,165536,2152.537,-15812.716,35,1.0,35,9.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-58.3
$GPS2,170050,2152.511,-15812.759,11,1.2,11,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.166,-0.053
$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,242.5,3139,-27.1,-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,16,-1.88,-63.9,0.0,0.0,0,149,0.00,0.00,-130.57,0.000,2,0.000,0.000,472,2304,3331,0,0,0,0,0,0
$GC,152,-1.94,-107.5,3.7,-2.7,9,183,10.30,2.30,-11.98,0.000,4,0.182,0.054,2250,925,3954,0,0,0,0,0,0
$GC,372,-1.94,-107.5,83.5,-29.1,22,388,0.00,2.25,0.00,0.000,6,0.000,0.031,2250,2316,3954,0,0,0,0,0,0
$GC,674,-1.94,-107.5,176.6,-29.6,47,678,0.00,2.28,0.00,0.000,4,0.000,0.044,2250,926,3955,0,0,0,0,0,0
$GC,693,-1.94,-107.5,181.8,-28.7,48,697,0.00,2.22,0.00,0.000,6,0.000,0.029,2250,2332,3955,0,0,0,0,0,0
$GC,964,-1.94,-107.5,258.9,-28.2,59,968,0.00,2.33,0.00,0.000,4,0.000,0.054,2250,3726,3955,0,0,0,0,0,0
$GC,985,-1.94,-107.5,264.9,-26.9,59,990,0.00,2.25,0.00,0.000,6,0.000,0.031,2250,2325,3955,0,0,0,0,0,0
$GC,1249,-1.94,-107.5,328.7,-24.6,66,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2324,3956,0,0,0,0,0,0
$GC,1484,-1.94,-107.5,386.0,-23.9,72,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2324,3956,0,0,0,0,0,0
$GC,1728,-1.94,-107.5,441.1,-21.9,78,1732,0.00,2.50,0.00,0.000,4,0.000,0.085,2250,3716,3956,0,0,0,0,0,0
$GC,1744,-1.94,-107.5,444.7,-21.8,78,1748,0.00,2.35,0.00,0.000,6,0.000,0.052,2250,2333,3956,0,0,0,0,0,0
$GC,2004,-1.94,-107.5,498.9,-20.6,85,2009,0.00,2.53,0.00,0.000,4,0.000,0.094,2250,3714,3954,0,0,0,0,0,0
$GC,2031,-1.94,-107.5,504.9,-21.0,85,2036,0.00,2.42,0.00,0.000,6,0.000,0.064,2250,2319,3954,0,0,0,0,0,0
$GC,2290,-1.94,-107.5,554.9,-19.5,91,2294,0.00,2.62,0.00,0.000,4,0.000,0.107,2250,3714,3951,0,0,0,0,0,0
$GC,2310,-1.94,-107.5,560.7,-19.3,91,2315,0.00,2.47,0.00,0.000,6,0.000,0.077,2250,2323,3951,0,0,0,0,0,0
$GC,2565,-1.94,-107.5,613.7,-21.2,98,2570,0.00,2.78,0.00,0.000,4,0.000,0.136,2250,3715,3948,0,0,0,0,0,0
$GC,2582,-1.94,-107.5,617.1,-20.7,98,2586,0.00,2.60,0.00,0.000,6,0.000,0.102,2250,2322,3948,0,0,0,0,0,0
$GC,2842,-1.94,-107.5,671.6,-21.1,105,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2322,3946,0,0,0,0,0,0
$GC,3093,-1.94,-107.5,719.3,-19.2,111,3098,0.00,3.17,0.00,0.000,4,0.000,0.199,2250,3709,3943,0,0,0,0,0,0
$GC,3115,-1.94,-107.5,724.9,-18.6,111,3120,0.00,2.92,0.00,0.000,6,0.000,0.159,2250,2318,3943,0,0,1,0,0,0
$GC,3370,-1.94,-107.5,771.2,-17.7,118,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2318,3940,0,0,0,0,0,0
$GC,3613,-1.94,-107.5,814.6,-17.9,124,3619,0.00,3.75,0.00,0.000,4,0.000,0.264,2250,3708,3938,0,0,1,0,0,0
$GC,3635,-1.94,-107.5,818.9,-18.6,124,3641,0.00,3.35,0.00,0.000,6,0.000,0.219,2250,2323,3938,0,0,1,0,0,0
$GC,3899,-1.94,-107.5,867.6,-19.5,131,3907,0.00,4.30,0.00,0.000,4,0.000,0.311,2250,3706,3936,0,0,1,0,0,0
$GC,3919,-1.94,-107.5,873.2,-19.1,131,3925,0.00,3.75,0.00,0.000,6,0.000,0.258,2250,2317,3935,0,0,1,0,0,0
$STATE,4104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4105,begin apogee
$GC,4112,-0.33,0.0,907.8,19.2,136,4207,1.75,0.00,90.38,1.220,6,0.118,0.000,2601,2573,3519,0,0,0,0,0,0
$STATE,4207,end apogee,CONTROL_FINISHED_OK
$STATE,4208,begin climb
$GC,4210,1.94,107.5,913.8,0.0,138,4319,2.17,5.25,95.18,1.200,4,0.037,0.357,3115,3939,3080,0,0,30,0,0,0
$GC,4438,2.15,283.6,935.0,-8.5,144,4608,0.15,4.18,158.20,1.210,6,0.073,0.301,3154,2601,2360,0,0,1,0,0,0
$GC,4854,2.15,283.6,890.1,18.1,154,4861,0.00,4.00,0.00,0.000,4,0.000,0.281,3154,1185,2352,0,0,0,0,0,0
$GC,4919,2.15,283.6,877.4,19.0,155,4924,0.00,4.00,0.00,0.000,6,0.000,0.275,3154,2601,2352,0,0,1,0,0,0
$GC,5181,2.15,283.6,829.4,18.2,162,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2601,2348,0,0,0,0,0,0
$GC,5425,2.15,283.6,787.1,17.2,168,5430,0.00,3.25,0.00,0.000,4,0.000,0.198,3154,1181,2347,0,0,0,0,0,0
$GC,5452,2.15,283.6,782.2,16.8,168,5457,0.00,3.28,0.00,0.000,6,0.000,0.199,3154,2602,2347,0,0,0,0,0,0
$GC,5702,2.15,283.6,740.8,16.5,174,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2602,2346,0,0,0,0,0,0
$GC,5945,2.15,283.6,700.2,16.6,180,5950,0.00,2.88,0.00,0.000,4,0.000,0.146,3154,1181,2344,0,0,0,0,0,0
$GC,5966,2.15,283.6,696.5,17.1,180,5971,0.00,2.83,0.00,0.000,6,0.000,0.133,3154,2601,2344,0,0,0,0,0,0
$GC,6222,2.15,283.6,655.4,16.2,187,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2602,2342,0,0,0,0,0,0
$GC,6465,2.15,283.6,616.4,16.0,193,6470,0.00,2.65,0.00,0.000,4,0.000,0.105,3154,1179,2341,0,0,0,0,0,0
$GC,6520,2.15,283.6,607.3,16.1,194,6524,0.00,2.58,0.00,0.000,6,0.000,0.085,3154,2605,2341,0,0,0,0,0,0
$GC,6795,2.15,283.6,566.5,15.2,201,6796,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2606,2340,0,0,0,0,0,0
$GC,7030,2.15,283.6,532.3,13.9,207,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2607,2340,0,0,0,0,0,0
$GC,7274,2.15,283.6,500.5,12.9,213,7279,0.00,2.50,0.00,0.000,4,0.000,0.074,3154,1177,2339,0,0,0,0,0,0
$GC,7324,2.15,283.6,494.2,13.1,214,7328,0.00,2.40,0.00,0.000,6,0.000,0.049,3154,2609,2339,0,0,0,0,0,0
$GC,7611,2.15,283.6,456.5,14.1,221,7615,0.00,2.33,0.00,0.000,4,0.000,0.077,3154,3941,2338,0,0,0,0,0,0
$GC,7695,2.15,283.6,442.3,15.7,223,7699,0.00,2.20,0.00,0.000,6,0.000,0.034,3154,2578,2338,0,0,0,0,0,0
$GC,7984,2.15,283.6,402.3,13.6,230,7989,0.00,2.40,0.00,0.000,4,0.000,0.074,3154,1195,2338,0,0,0,0,0,0
$GC,8067,2.15,283.6,390.6,13.9,231,8073,0.00,2.33,0.00,0.000,6,0.000,0.039,3154,2613,2338,0,0,0,0,0,0
$GC,8318,2.15,283.6,359.7,11.9,238,8319,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2613,2338,0,0,0,0,0,0
$GC,8561,2.15,283.6,331.1,11.6,244,8565,0.00,2.25,0.00,0.000,4,0.000,0.064,3154,3937,2338,0,0,0,0,0,0
$GC,8610,2.15,283.6,324.4,13.3,245,8614,0.00,2.12,0.00,0.000,6,0.000,0.029,3154,2595,2338,0,0,0,0,0,0
$GC,8890,2.15,283.6,293.2,10.3,252,8894,0.00,2.40,0.00,0.000,4,0.000,0.068,3154,1194,2338,0,0,0,0,0,0
$GC,8933,2.16,292.7,288.9,9.0,253,8943,0.00,2.30,4.72,0.611,6,0.000,0.037,3154,2609,2325,0,0,0,0,0,0
$GC,9216,2.16,292.7,261.7,10.5,260,9220,0.00,2.35,0.00,0.000,4,0.000,0.053,3154,1201,2323,0,0,0,0,0,0
$GC,9311,2.16,292.7,249.4,12.5,262,9315,0.00,2.28,0.00,0.000,6,0.000,0.035,3154,2603,2323,0,0,0,0,0,0
$GC,9601,2.17,294.4,219.0,9.8,269,9605,0.00,2.35,0.00,0.000,4,0.000,0.051,3154,1197,2323,0,0,0,0,0,0
$GC,9618,2.18,303.0,217.6,9.1,269,9634,0.00,2.28,10.85,0.691,6,0.000,0.034,3154,2605,2283,0,0,0,0,0,0
$GC,9891,2.18,303.0,190.1,11.5,278,9895,0.00,2.35,0.00,0.000,4,0.000,0.052,3154,1193,2281,0,0,0,0,0,0
$GC,9983,2.18,303.0,179.2,10.7,283,9996,0.00,2.30,0.00,0.000,6,0.000,0.034,3154,2599,2281,0,0,0,0,0,0
$GC,10277,2.19,309.9,154.1,9.3,308,10296,0.00,2.30,7.95,0.584,4,0.000,0.058,3154,3935,2253,0,0,0,0,0,0
$GC,10441,2.19,309.9,135.7,11.5,317,10454,0.00,2.17,0.00,0.000,6,0.000,0.030,3154,2600,2252,0,0,0,0,0,0
$GC,10744,2.22,337.3,112.8,7.1,342,10782,0.00,2.47,25.45,0.607,4,0.000,0.067,3154,1195,2141,0,0,0,0,0,0
$GC,11087,2.22,337.3,81.1,12.8,361,11100,0.00,2.30,0.00,0.000,6,0.000,0.034,3154,2604,2138,0,0,0,0,0,0
$GC,11420,2.25,358.7,52.3,7.8,386,11448,0.00,0.00,19.50,0.532,6,0.000,0.000,3154,2605,2054,0,0,0,0,0,0
$GC,11869,2.25,358.7,5.2,12.3,420,11885,0.00,2.38,0.00,0.000,4,0.000,0.048,3154,1187,2053,0,0,0,0,0,0
$STATE,11899,end climb,SURFACE_DEPTH_REACHED
$STATE,11899,begin surface coast
$FINISH,1.0,1.002669
$STATE,11979,end surface coast,CONTROL_FINISHED_OK
$STATE,11980,begin surface
$SM_CCo,12002,49.75,0.496,0,0,1805,420.19
$SM_GC,2.07,0.00,0.00,49.75,0.000,0.000,0.496,474,2327,1805,-10.15,0.17,420.19
$IRIDIUM_FIX,2143.45,-15814.07,111099,131318
$TT8_MAMPS,0.027612
$HUMID,37.08
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.6,10.630
$10V_AH,10.1,9.774
$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,25.550,141.500,412.225,49.750,0.000,29.181,28.292,138.089,0.000,0.000,13.494,932.147,7230.080,491.616,3207.141,503.842,29.235,1351.694,0.000,3277.683,0.000,0.539,0.000
$DEVICE_MAMPS,181.779,357.422,1219.530,496.249,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,294.511,181.107,2255.261,1252.501,1524.875,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,32057,428
$CAP_FILE_SIZE,160600,140
$CFSIZE,260165632,214188032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
$GPS,170710,202354,2151.790,-15815.039,40,1.0,40,9.9