version: 66.06
glider: 147
mission: 5
dive: 87
start: 7 17 110 20 31 22
data:
$ID,147
$MISSION,5
$DIVE,87
$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,-20498.543
$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,23
$R_STBD_OVSHOOT,21
$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
$GPS1,202354,2151.790,-15815.039,40,1.0,40,9.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.1
$GPS2,203032,2151.806,-15815.100,18,2.0,18,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT2
$TGT_LATLONG,2202.500,-15811.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.218
$KALMAN_X,-251.4,-251.4,-251.4,-3244.1,235.2
$KALMAN_Y,-87.7,-87.7,-87.7,-1034.4,82.0
$MHEAD_RNG_PITCHd_Wd,4.6,20747,-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,15,-1.51,-107.5,0.0,0.0,0,89,0.00,0.00,-71.50,0.000,2,0.000,0.000,474,2326,3524,0,0,0,0,0,0
$GC,94,-1.51,-107.5,4.8,-4.6,5,125,10.95,2.35,-7.25,0.000,4,0.187,0.048,2341,902,3955,0,0,0,0,0,0
$GC,157,-1.51,-107.5,37.3,-39.5,9,173,0.00,2.30,0.00,0.000,6,0.000,0.030,2341,2327,3956,0,0,0,0,0,0
$GC,473,-1.51,-107.5,123.9,-25.4,34,477,0.00,2.28,0.00,0.000,4,0.000,0.044,2341,3726,3957,0,0,0,0,0,0
$GC,601,-1.51,-107.5,153.5,-19.9,41,615,0.00,2.28,0.00,0.000,6,0.000,0.029,2341,2317,3957,0,0,0,0,0,0
$GC,885,-1.51,-107.5,210.7,-22.4,63,889,0.00,2.30,0.00,0.000,4,0.000,0.049,2341,909,3958,0,0,0,0,0,0
$GC,920,-1.51,-107.5,218.5,-21.5,63,925,0.00,2.25,0.00,0.000,6,0.000,0.031,2341,2317,3958,0,0,0,0,0,0
$GC,1169,-1.51,-107.5,271.8,-21.2,70,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2317,3959,0,0,0,0,0,0
$GC,1423,-1.51,-107.5,317.2,-17.8,76,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2317,3960,0,0,0,0,0,0
$GC,1657,-1.51,-107.5,357.0,-16.2,82,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2317,3960,0,0,0,0,0,0
$GC,1900,-1.51,-107.5,396.3,-16.0,88,1904,0.00,2.45,0.00,0.000,4,0.000,0.077,2341,3725,3960,0,0,0,0,0,0
$GC,1916,-1.51,-107.5,398.9,-15.5,88,1920,0.00,2.33,0.00,0.000,6,0.000,0.042,2341,2334,3959,0,0,0,0,0,0
$GC,2184,-1.51,-107.5,441.6,-16.1,95,2188,0.00,2.58,0.00,0.000,4,0.000,0.098,2341,912,3958,0,0,0,0,0,0
$GC,2204,-1.51,-107.5,445.4,-16.7,95,2209,0.00,2.35,0.00,0.000,6,0.000,0.052,2340,2318,3958,0,0,0,0,0,0
$GC,2466,-1.51,-107.5,487.5,-15.9,102,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2318,3957,0,0,0,0,0,0
$GC,2709,-1.51,-107.5,527.8,-16.8,108,2714,0.00,2.60,0.00,0.000,4,0.000,0.107,2341,3732,3954,0,0,0,0,0,0
$GC,2730,-1.51,-107.5,531.6,-17.1,108,2734,0.00,2.40,0.00,0.000,6,0.000,0.058,2341,2318,3954,0,0,0,0,0,0
$GC,2991,-1.51,-107.5,573.9,-16.3,115,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2318,3952,0,0,0,0,0,0
$GC,3243,-1.51,-107.5,609.5,-14.3,121,3248,0.00,2.75,0.00,0.000,4,0.000,0.133,2341,907,3950,0,0,0,0,0,0
$GC,3270,-1.51,-107.5,614.9,-15.0,121,3274,0.00,2.62,0.00,0.000,6,0.000,0.103,2341,2314,3949,0,0,0,0,0,0
$GC,3520,-1.51,-107.5,650.9,-14.4,127,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2314,3947,0,0,0,0,0,0
$GC,3764,-1.51,-107.5,687.6,-15.1,133,3769,0.00,3.05,0.00,0.000,4,0.000,0.181,2341,3731,3945,0,0,0,0,0,0
$GC,3785,-1.51,-107.5,691.1,-15.3,133,3790,0.00,2.78,0.00,0.000,6,0.000,0.131,2341,2323,3945,0,0,0,0,0,0
$GC,4040,-1.51,-107.5,729.5,-15.1,140,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2323,3943,0,0,0,0,0,0
$GC,4292,-1.51,-107.5,765.2,-14.5,146,4293,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2323,3941,0,0,0,0,0,0
$GC,4528,-1.51,-107.5,800.9,-14.8,152,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2323,3939,0,0,0,0,0,0
$GC,4772,-1.51,-107.5,837.7,-15.1,158,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2323,3938,0,0,0,0,0,0
$GC,5015,-1.51,-107.5,873.0,-14.3,164,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2323,3936,0,0,0,0,0,0
$STATE,5216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5216,begin apogee
$GC,5223,-0.33,0.0,901.2,13.8,169,5318,1.27,0.00,91.57,1.226,6,0.102,0.000,2604,2595,3519,0,0,0,0,0,0
$STATE,5319,end apogee,CONTROL_FINISHED_OK
$STATE,5319,begin climb
$GC,5321,1.51,107.5,905.4,0.0,171,5431,1.73,4.93,95.95,1.206,4,0.035,0.345,3015,3939,3079,0,0,12,0,0,0
$GC,5476,1.85,382.7,918.5,-7.2,174,5746,0.28,3.90,251.02,1.207,6,0.054,0.280,3086,2604,1955,0,0,1,0,0,0
$GC,5978,1.85,382.7,859.0,18.9,187,5984,0.00,3.72,0.00,0.000,4,0.000,0.256,3086,1184,1949,0,0,0,0,0,0
$GC,6126,1.85,382.7,830.8,18.4,190,6131,0.00,3.60,0.00,0.000,6,0.000,0.237,3086,2602,1947,0,0,1,0,0,0
$GC,6392,1.85,382.7,780.8,18.8,197,6397,0.00,3.22,0.00,0.000,4,0.000,0.193,3086,1183,1946,0,0,0,0,0,0
$GC,6425,1.85,382.7,774.6,18.4,197,6431,0.00,3.20,0.00,0.000,6,0.000,0.191,3086,2602,1945,0,0,0,0,0,0
$GC,6675,1.85,382.7,731.3,17.2,204,6680,0.00,3.00,0.00,0.000,4,0.000,0.163,3086,1182,1944,0,0,0,0,0,0
$GC,6718,1.85,382.7,723.3,18.1,205,6723,0.00,2.92,0.00,0.000,6,0.000,0.151,3086,2600,1943,0,0,0,0,0,0
$GC,6997,1.85,382.7,674.6,17.5,212,7001,0.00,2.83,0.00,0.000,4,0.000,0.133,3086,1177,1943,0,0,0,0,0,0
$GC,7023,1.85,382.7,669.4,18.7,212,7028,0.00,2.80,0.00,0.000,6,0.000,0.122,3086,2607,1942,0,0,0,0,0,0
$GC,7273,1.85,382.7,625.3,17.4,218,7278,0.00,2.70,0.00,0.000,4,0.000,0.109,3086,1176,1942,0,0,0,0,0,0
$GC,7351,1.85,382.7,611.7,18.6,219,7357,0.00,2.62,0.00,0.000,6,0.000,0.089,3086,2608,1942,0,0,0,0,0,0
$GC,7608,1.85,382.7,568.4,17.6,226,7613,0.00,2.58,0.00,0.000,4,0.000,0.085,3086,1177,1941,0,0,0,0,0,0
$GC,7658,1.85,382.7,557.7,19.0,227,7662,0.00,2.47,0.00,0.000,6,0.000,0.064,3086,2610,1941,0,0,0,0,0,0
$GC,7930,1.85,382.7,508.7,17.6,234,7935,0.00,2.50,0.00,0.000,4,0.000,0.070,3086,1177,1941,0,0,0,0,0,0
$GC,7969,1.85,382.7,501.4,18.7,235,7974,0.00,2.45,0.00,0.000,6,0.000,0.054,3086,2611,1940,0,0,0,0,0,0
$GC,8253,1.85,382.7,453.6,16.3,242,8258,0.00,2.47,0.00,0.000,4,0.000,0.064,3086,1175,1940,0,0,0,0,0,0
$GC,8320,1.85,382.7,442.2,16.4,243,8324,0.00,2.35,0.00,0.000,6,0.000,0.042,3086,2604,1939,0,0,0,0,0,0
$GC,8581,1.85,382.7,399.6,16.7,250,8585,0.00,2.40,0.00,0.000,4,0.000,0.058,3086,1175,1940,0,0,0,0,0,0
$GC,8641,1.85,382.7,389.1,17.5,251,8645,0.00,2.38,0.00,0.000,6,0.000,0.040,3086,2609,1939,0,0,0,0,0,0
$GC,8907,1.85,382.7,345.6,16.2,258,8911,0.00,2.42,0.00,0.000,4,0.000,0.057,3087,1175,1939,0,0,0,0,0,0
$GC,8973,1.85,382.7,334.7,16.0,259,8977,0.00,2.35,0.00,0.000,6,0.000,0.038,3085,2605,1939,0,0,0,0,0,0
$GC,9242,1.85,382.7,295.1,15.0,266,9247,0.00,2.42,0.00,0.000,4,0.000,0.056,3086,1173,1939,0,0,0,0,0,0
$GC,9314,1.85,382.7,284.0,14.1,267,9318,0.00,2.33,0.00,0.000,6,0.000,0.036,3086,2604,1938,0,0,0,0,0,0
$GC,9571,1.85,382.7,249.9,13.4,274,9575,0.00,2.42,0.00,0.000,4,0.000,0.054,3086,1165,1938,0,0,0,0,0,0
$GC,9669,1.85,382.7,236.1,14.0,276,9674,0.00,2.35,0.00,0.000,6,0.000,0.035,3086,2596,1938,0,0,0,0,0,0
$GC,9947,1.85,382.7,196.7,14.8,283,9951,0.00,2.40,0.00,0.000,4,0.000,0.053,3086,1169,1938,0,0,0,0,0,0
$GC,10026,1.85,382.7,187.1,14.3,287,10030,0.00,2.33,0.00,0.000,6,0.000,0.035,3086,2602,1938,0,0,0,0,0,0
$GC,10319,1.85,382.7,146.8,14.0,311,10323,0.00,2.38,0.00,0.000,4,0.000,0.050,3086,1172,1939,0,0,0,0,0,0
$GC,10344,1.85,382.7,143.1,13.8,312,10348,0.00,2.30,0.00,0.000,6,0.000,0.034,3086,2608,1939,0,0,0,0,0,0
$GC,10645,1.85,382.7,106.3,11.9,336,10649,0.00,2.40,0.00,0.000,4,0.000,0.051,3086,1167,1939,0,0,0,0,0,0
$GC,10739,1.85,382.7,93.6,12.3,341,10752,0.00,2.33,0.00,0.000,6,0.000,0.035,3086,2591,1940,0,0,0,0,0,0
$GC,11059,1.87,400.7,63.1,8.9,366,11080,0.00,2.33,14.80,0.542,4,0.000,0.049,3086,1166,1885,0,0,0,0,0,0
$GC,11177,1.87,400.7,49.8,10.8,372,11193,0.00,2.35,0.00,0.000,6,0.000,0.034,3086,2605,1884,0,0,0,0,0,0
$STATE,11613,end climb,SURFACE_DEPTH_REACHED
$STATE,11613,begin surface coast
$FINISH,1.3,1.023070
$STATE,11693,end surface coast,CONTROL_FINISHED_OK
$STATE,11693,begin surface
$SM_CCo,11714,16.75,0.486,0,0,1805,420.19
$SM_GC,1.82,0.00,0.00,16.75,0.000,0.000,0.486,473,2269,1805,-10.15,-1.44,420.19
$IRIDIUM_FIX,2145.77,-15813.21,111099,171715
$TT8_MAMPS,0.027612
$HUMID,38.69
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.6,10.800
$10V_AH,10.1,9.937
$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,24.975,133.200,453.350,16.750,0.000,22.771,37.859,194.258,0.000,0.000,20.104,905.267,7135.330,472.365,3046.955,557.320,30.190,1257.739,0.000,3087.767,0.000,0.539,0.000
$DEVICE_MAMPS,187.148,345.150,1225.666,486.278,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,283.290,169.467,2085.106,1147.437,1397.674,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,31975,411
$CAP_FILE_SIZE,154315,131
$CFSIZE,260165632,214134784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
$GPS,170710,234852,2153.547,-15814.295,58,99.0,77,9.9