version: 66.06
glider: 147
mission: 5
dive: 92
start: 7 18 110 6 52 51
data:
$ID,147
$MISSION,5
$DIVE,92
$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,-20549.326
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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
$GPS1,063806,2156.551,-15813.124,54,1.2,54,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-65.8
$GPS2,065201,2156.492,-15813.254,9,1.3,9,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT2
$TGT_LATLONG,2202.500,-15811.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,0.218
$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,5.3,11527,-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,-72.18,0.000,2,0.000,0.000,482,2325,3588,0,0,0,0,0,0
$GC,96,-1.51,-107.5,5.4,-5.4,5,126,10.73,2.33,-6.03,0.000,4,0.180,0.051,2342,3727,3955,0,0,0,0,0,0
$GC,214,-1.51,-107.5,53.0,-28.3,12,229,0.00,2.25,0.00,0.000,6,0.000,0.029,2342,2335,3956,0,0,0,0,0,0
$GC,526,-1.51,-107.5,123.5,-20.7,37,531,0.00,2.38,0.00,0.000,4,0.000,0.052,2342,905,3957,0,0,0,0,0,0
$GC,608,-1.51,-107.5,142.6,-21.1,41,621,0.00,2.30,0.00,0.000,6,0.000,0.031,2342,2322,3958,0,0,0,0,0,0
$GC,913,-1.51,-107.5,211.5,-22.0,65,917,0.00,2.33,0.00,0.000,4,0.000,0.048,2342,3734,3958,0,0,0,0,0,0
$GC,959,-1.51,-107.5,220.1,-20.4,66,963,0.00,2.28,0.00,0.000,6,0.000,0.031,2342,2319,3958,0,0,0,0,0,0
$GC,1243,-1.51,-107.5,274.0,-17.5,73,1247,0.00,2.40,0.00,0.000,4,0.000,0.069,2342,910,3959,0,0,0,0,0,0
$GC,1264,-1.51,-107.5,277.9,-17.4,73,1268,0.00,2.28,0.00,0.000,6,0.000,0.034,2342,2328,3959,0,0,0,0,0,0
$GC,1526,-1.51,-107.5,319.7,-16.2,80,1530,0.00,2.42,0.00,0.000,4,0.000,0.077,2342,3721,3959,0,0,0,0,0,0
$GC,1558,-1.51,-107.5,325.2,-15.8,80,1562,0.00,2.28,0.00,0.000,6,0.000,0.038,2342,2324,3959,0,0,0,0,0,0
$GC,1814,-1.51,-107.5,367.1,-17.0,87,1819,0.00,2.53,0.00,0.000,4,0.000,0.088,2342,912,3959,0,0,0,0,0,0
$GC,1836,-1.51,-107.5,371.2,-17.5,87,1840,0.00,2.35,0.00,0.000,6,0.000,0.044,2342,2313,3959,0,0,0,0,0,0
$GC,2097,-1.51,-107.5,413.7,-16.0,94,2101,0.00,2.50,0.00,0.000,4,0.000,0.084,2342,3731,3958,0,0,0,0,0,0
$GC,2124,-1.51,-107.5,418.2,-16.2,94,2128,0.00,2.33,0.00,0.000,6,0.000,0.044,2342,2322,3958,0,0,0,0,0,0
$GC,2374,-1.51,-107.5,458.8,-16.2,100,2378,0.00,2.55,0.00,0.000,4,0.000,0.099,2342,913,3956,0,0,0,0,0,0
$GC,2400,-1.51,-107.5,463.6,-17.3,100,2404,0.00,2.38,0.00,0.000,6,0.000,0.055,2342,2319,3956,0,0,0,0,0,0
$GC,2657,-1.51,-107.5,502.7,-15.2,107,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2319,3954,0,0,0,0,0,0
$GC,2899,-1.51,-107.5,537.5,-14.2,113,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2319,3952,0,0,0,0,0,0
$GC,3143,-1.51,-107.5,572.3,-14.2,119,3148,0.00,2.72,0.00,0.000,4,0.000,0.125,2342,3731,3950,0,0,0,0,0,0
$GC,3170,-1.51,-107.5,576.2,-14.2,119,3174,0.00,2.47,0.00,0.000,6,0.000,0.074,2342,2326,3949,0,0,0,0,0,0
$GC,3420,-1.51,-107.5,608.4,-12.7,125,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2326,3947,0,0,0,0,0,0
$GC,3671,-1.51,-107.5,640.3,-13.2,131,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2326,3945,0,0,0,0,0,0
$GC,3907,-1.51,-107.5,674.2,-13.9,137,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2326,3943,0,0,0,0,0,0
$GC,4152,-1.51,-107.5,706.8,-13.5,143,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2326,3941,0,0,0,0,0,0
$GC,4395,-1.51,-107.5,740.3,-13.7,149,4400,0.00,3.17,0.00,0.000,4,0.000,0.200,2342,3722,3939,0,0,0,0,0,0
$GC,4421,-1.51,-107.5,744.3,-14.4,149,4426,0.00,2.92,0.00,0.000,6,0.000,0.160,2342,2326,3939,0,0,1,0,0,0
$GC,4672,-1.51,-107.5,778.0,-13.6,155,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2326,3937,0,0,0,0,0,0
$GC,4923,-1.51,-107.5,809.6,-12.8,161,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2326,3935,0,0,0,0,0,0
$GC,5159,-1.51,-107.5,841.1,-12.9,167,5164,0.00,3.72,0.00,0.000,4,0.000,0.259,2342,905,3934,0,0,0,0,0,0
$GC,5181,-1.51,-107.5,844.1,-13.4,167,5186,0.00,3.58,0.00,0.000,6,0.000,0.243,2342,2309,3934,0,0,1,0,0,0
$GC,5437,-1.51,-107.5,876.2,-12.6,174,5445,0.00,4.35,0.00,0.000,4,0.000,0.309,2342,3732,3932,0,0,0,0,0,0
$GC,5474,-1.51,-107.5,881.3,-12.9,174,5480,0.00,3.78,0.00,0.000,6,0.000,0.261,2342,2323,3932,0,0,1,0,0,0
$STATE,5640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5640,begin apogee
$GC,5647,-0.33,0.0,903.1,13.0,179,5740,1.25,0.00,89.38,1.239,6,0.100,0.000,2602,2399,3519,0,0,0,0,0,0
$STATE,5741,end apogee,CONTROL_FINISHED_OK
$STATE,5741,begin climb
$GC,5743,1.51,107.5,906.7,0.0,181,5850,1.73,4.95,94.15,1.218,4,0.037,0.335,3012,3807,3079,0,0,3,0,0,0
$GC,6014,1.85,382.5,925.2,-7.2,187,6274,0.30,4.25,247.95,1.221,6,0.054,0.292,3086,2399,1959,0,0,1,0,0,0
$GC,6541,1.85,382.5,855.4,19.9,200,6547,0.00,3.72,0.00,0.000,4,0.000,0.255,3087,985,1949,0,0,0,0,0,0
$GC,6569,1.85,382.5,849.5,20.4,200,6575,0.00,3.67,0.00,0.000,6,0.000,0.242,3087,2399,1949,0,0,1,0,0,0
$GC,6828,1.85,382.5,801.0,19.2,206,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,1947,0,0,0,0,0,0
$GC,7062,1.85,382.5,754.8,18.9,212,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,1946,0,0,0,0,0,0
$GC,7307,1.85,382.5,708.9,18.8,218,7312,0.00,2.97,0.00,0.000,4,0.000,0.164,3086,3814,1945,0,0,0,0,0,0
$GC,7328,1.85,382.5,704.6,19.1,218,7333,0.00,2.83,0.00,0.000,6,0.000,0.126,3087,2389,1945,0,0,0,0,0,0
$GC,7584,1.85,382.5,657.4,18.4,225,7588,0.00,2.85,0.00,0.000,4,0.000,0.131,3086,3822,1945,0,0,0,0,0,0
$GC,7600,1.85,382.5,654.2,18.4,225,7605,0.00,2.67,0.00,0.000,6,0.000,0.097,3086,2390,1944,0,0,0,0,0,0
$GC,7860,1.85,382.5,606.6,18.3,232,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2390,1944,0,0,0,0,0,0
$GC,8104,1.85,382.5,563.1,17.7,238,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2390,1943,0,0,0,0,0,0
$GC,8349,1.85,382.5,519.0,18.5,244,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2389,1943,0,0,0,0,0,0
$GC,8592,1.85,382.5,475.9,17.6,250,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2389,1943,0,0,0,0,0,0
$GC,8843,1.85,382.5,435.3,16.3,256,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2389,1942,0,0,0,0,0,0
$GC,9079,1.85,382.5,397.7,15.2,262,9083,0.00,2.50,0.00,0.000,4,0.000,0.066,3087,3829,1942,0,0,0,0,0,0
$GC,9112,1.85,382.5,392.3,16.2,262,9118,0.00,2.38,0.00,0.000,6,0.000,0.038,3087,2388,1941,0,0,0,0,0,0
$GC,9361,1.85,382.5,352.6,16.1,269,9366,0.00,2.47,0.00,0.000,4,0.000,0.061,3086,3830,1941,0,0,0,0,0,0
$GC,9377,1.85,382.5,349.6,16.8,269,9381,0.00,2.35,0.00,0.000,6,0.000,0.037,3087,2394,1941,0,0,0,0,0,0
$GC,9652,1.85,382.5,304.6,16.9,276,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2395,1940,0,0,0,0,0,0
$GC,9888,1.85,382.5,265.3,15.9,282,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2394,1940,0,0,0,0,0,0
$GC,10131,1.85,382.5,229.7,14.5,288,10136,0.00,2.42,0.00,0.000,4,0.000,0.057,3087,3826,1940,0,0,0,0,0,0
$GC,10159,1.85,382.5,224.8,17.4,288,10164,0.00,2.33,0.00,0.000,6,0.000,0.034,3087,2397,1940,0,0,0,0,0,0
$GC,10434,1.85,382.5,184.2,15.2,301,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2397,1940,0,0,0,0,0,0
$GC,10727,1.85,382.5,143.2,10.9,326,10731,0.00,2.40,0.00,0.000,4,0.000,0.067,3087,987,1940,0,0,0,0,0,0
$GC,10808,1.85,382.5,134.4,12.0,330,10812,0.00,2.30,0.00,0.000,6,0.000,0.034,3087,2423,1940,0,0,0,0,0,0
$GC,11108,1.85,382.5,99.0,10.0,354,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2423,1941,0,0,0,0,0,0
$GC,11423,1.86,392.0,64.9,9.4,379,11443,0.00,2.33,7.20,0.504,4,0.000,0.052,3087,3799,1919,0,0,0,0,0,0
$GC,11524,1.87,401.3,54.1,9.4,384,11541,0.00,2.28,10.45,0.522,6,0.000,0.030,3087,2393,1882,0,0,0,0,0,0
$GC,11950,1.87,401.3,10.1,10.7,416,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2393,1881,0,0,0,0,0,0
$STATE,12004,end climb,SURFACE_DEPTH_REACHED
$STATE,12004,begin surface coast
$FINISH,1.2,1.019904
$STATE,12072,end surface coast,CONTROL_FINISHED_OK
$STATE,12072,begin surface
$SM_CCo,12093,16.67,0.492,0,0,1805,420.19
$SM_GC,3.08,0.00,0.00,16.67,0.000,0.000,0.492,472,2276,1805,-10.16,-1.24,420.19
$IRIDIUM_FIX,2145.77,-15816.23,121099,060627
$TT8_MAMPS,0.027612
$HUMID,38.54
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,23.5,11.332
$10V_AH,10.1,10.416
$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,24.725,116.650,449.125,16.675,0.000,95.113,92.738,396.241,0.000,0.000,10.962,897.872,7685.863,465.720,3000.004,893.861,29.237,1217.156,0.000,3053.624,0.000,0.539,0.000
$DEVICE_MAMPS,180.245,335.179,1239.472,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.476,176.781,2150.557,1146.996,1400.007,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,32021,425
$CAP_FILE_SIZE,159603,130
$CFSIZE,260165632,213979136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,180710,101801,2158.138,-15813.387,160,1.3,160,9.9