version: 66.06
glider: 147
mission: 5
dive: 96
start: 7 18 110 17 36 23
data:
$ID,147
$MISSION,5
$DIVE,96
$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,-20665.824
$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,72
$R_STBD_OVSHOOT,27
$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
$GPS1,172641,2201.427,-15812.634,12,3.9,32,9.9
$_CALLS,1
$_XMS_NAKs,43
$_XMS_TOUTs,3
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-67.2
$GPS2,173534,2201.420,-15812.601,11,99.0,30,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT3
$TGT_LATLONG,2210.500,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.058,0.218
$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,5.0,17396,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.51,-107.5,0.0,0.0,0,89,0.00,0.00,-72.30,0.000,2,0.000,0.000,475,2386,3573,0,0,0,0,0,0
$GC,94,-1.51,-107.5,5.2,-5.5,5,124,10.93,0.00,-6.22,0.000,6,0.186,0.000,2343,2386,3953,0,0,0,0,0,0
$GC,443,-1.51,-107.5,124.1,-25.9,32,447,0.00,2.20,0.00,0.000,4,0.000,0.044,2344,3730,3955,0,0,0,0,0,0
$GC,480,-1.51,-107.5,133.0,-23.3,34,484,0.00,2.17,0.00,0.000,6,0.000,0.028,2344,2358,3956,0,0,0,0,0,0
$GC,778,-1.51,-107.5,195.0,-19.4,59,781,0.00,2.38,0.00,0.000,4,0.000,0.051,2344,920,3956,0,0,0,0,0,0
$GC,816,-1.51,-107.5,205.4,-22.0,61,820,0.00,2.22,0.00,0.000,6,0.000,0.031,2344,2324,3957,0,0,0,0,0,0
$GC,1078,-1.51,-107.5,256.7,-19.2,68,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2324,3957,0,0,0,0,0,0
$GC,1322,-1.51,-107.5,301.8,-18.4,74,1326,0.00,2.35,0.00,0.000,4,0.000,0.061,2344,3721,3958,0,0,0,0,0,0
$GC,1365,-1.51,-107.5,310.3,-19.0,75,1369,0.00,2.28,0.00,0.000,6,0.000,0.038,2343,2329,3958,0,0,0,0,0,0
$GC,1650,-1.51,-107.5,366.7,-19.9,82,1654,0.00,2.50,0.00,0.000,4,0.000,0.088,2343,915,3958,0,0,0,0,0,0
$GC,1671,-1.51,-107.5,371.4,-20.4,82,1675,0.00,2.28,0.00,0.000,6,0.000,0.042,2344,2310,3958,0,0,0,0,0,0
$GC,1926,-1.51,-107.5,422.2,-19.9,89,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2310,3958,0,0,0,0,0,0
$GC,2169,-1.51,-107.5,466.7,-18.0,95,2174,0.00,2.55,0.00,0.000,4,0.000,0.095,2344,3728,3956,0,0,0,0,0,0
$GC,2203,-1.51,-107.5,472.9,-18.2,95,2216,0.00,2.40,0.00,0.000,6,0.000,0.052,2344,2322,3956,0,0,0,0,0,0
$GC,2452,-1.51,-107.5,515.0,-16.7,102,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2322,3955,0,0,0,0,0,0
$GC,2696,-1.51,-107.5,555.8,-16.8,108,2700,0.00,2.62,0.00,0.000,4,0.000,0.109,2344,3730,3952,0,0,0,0,0,0
$GC,2723,-1.51,-107.5,560.6,-17.4,108,2728,0.00,2.47,0.00,0.000,6,0.000,0.073,2344,2316,3952,0,0,0,0,0,0
$GC,2973,-1.51,-107.5,602.9,-16.9,114,2977,0.00,2.78,0.00,0.000,4,0.000,0.139,2344,909,3950,0,0,0,0,0,0
$GC,3005,-1.51,-107.5,608.5,-17.5,114,3011,0.00,2.58,0.00,0.000,6,0.000,0.100,2344,2311,3949,0,0,0,0,0,0
$GC,3265,-1.51,-107.5,648.0,-15.6,121,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2312,3948,0,0,0,0,0,0
$GC,3499,-1.51,-107.5,684.5,-14.8,127,3503,0.00,3.05,0.00,0.000,4,0.000,0.178,2344,3731,3945,0,0,0,0,0,0
$GC,3531,-1.51,-107.5,689.6,-15.8,127,3537,0.00,2.80,0.00,0.000,6,0.000,0.133,2344,2325,3945,0,0,0,0,0,0
$GC,3782,-1.51,-107.5,725.6,-14.2,134,3786,0.00,3.08,0.00,0.000,4,0.000,0.185,2344,904,3943,0,0,0,0,0,0
$GC,3808,-1.51,-107.5,729.7,-14.8,134,3813,0.00,2.97,0.00,0.000,6,0.000,0.162,2344,2317,3942,0,0,0,0,0,0
$GC,4058,-1.51,-107.5,763.5,-13.4,140,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2317,3940,0,0,0,0,0,0
$GC,4310,-1.51,-107.5,795.0,-12.8,146,4315,0.00,3.53,0.00,0.000,4,0.000,0.242,2344,3732,3939,0,0,0,0,0,0
$GC,4337,-1.51,-107.5,799.7,-13.5,146,4343,0.00,3.22,0.00,0.000,6,0.000,0.201,2344,2323,3939,0,0,1,0,0,0
$GC,4587,-1.51,-107.5,831.8,-13.0,152,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2323,3937,0,0,0,0,0,0
$GC,4831,-1.51,-107.5,861.7,-12.1,158,4839,0.00,4.12,0.00,0.000,4,0.000,0.295,2344,3731,3935,0,0,1,0,0,0
$GC,4858,-1.51,-107.5,865.0,-12.6,158,4863,0.00,3.70,0.00,0.000,6,0.000,0.252,2344,2318,3935,0,0,1,0,0,0
$GC,5113,-1.51,-107.5,895.9,-12.1,165,5121,0.00,4.12,0.00,0.000,4,0.000,0.300,2344,907,3933,0,0,0,0,0,0
$GC,5144,-1.51,-107.5,900.0,-13.4,165,5149,0.00,2.45,0.00,0.000,3,0.000,0.280,2344,1776,3933,0,0,1,0,0,0
$STATE,5149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5149,begin apogee
$GC,5158,-0.33,0.0,900.5,13.1,165,5253,1.25,0.00,90.88,1.228,6,0.105,0.000,2602,2398,3519,0,0,0,0,0,0
$STATE,5253,end apogee,CONTROL_FINISHED_OK
$STATE,5253,begin climb
$GC,5256,1.51,107.5,904.2,0.0,168,5375,1.77,5.00,94.90,1.211,4,0.038,0.334,3017,3812,3080,0,0,3,0,0,0
$GC,5557,1.83,366.0,922.9,-6.2,175,5803,0.25,4.25,233.27,1.220,6,0.060,0.291,3080,2401,2025,0,0,1,0,0,0
$GC,6053,1.83,366.0,858.2,19.7,187,6059,0.00,3.75,0.00,0.000,4,0.000,0.259,3079,987,2016,0,0,0,0,0,0
$GC,6070,1.83,366.0,854.6,20.0,187,6076,0.00,3.72,0.00,0.000,6,0.000,0.249,3080,2399,2015,0,0,1,0,0,0
$GC,6331,1.83,366.0,803.8,19.4,194,6337,0.00,3.55,0.00,0.000,4,0.000,0.239,3080,3814,2013,0,0,0,0,0,0
$GC,6347,1.83,366.0,800.5,19.7,194,6352,0.00,3.22,0.00,0.000,6,0.000,0.193,3080,2399,2013,0,0,1,0,0,0
$GC,6616,1.83,366.0,748.4,20.0,201,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2399,2012,0,0,0,0,0,0
$GC,6852,1.83,366.0,702.6,18.5,207,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2399,2011,0,0,0,0,0,0
$GC,7095,1.83,366.0,659.7,17.4,213,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2398,2010,0,0,0,0,0,0
$GC,7340,1.83,366.0,618.6,16.8,219,7344,0.00,2.67,0.00,0.000,4,0.000,0.112,3080,979,2010,0,0,0,0,0,0
$GC,7355,1.83,366.0,615.7,16.2,219,7360,0.00,2.58,0.00,0.000,6,0.000,0.083,3080,2407,2009,0,0,0,0,0,0
$GC,7624,1.83,366.0,572.8,16.4,226,7628,0.00,2.58,0.00,0.000,4,0.000,0.092,3080,981,2009,0,0,0,0,0,0
$GC,7639,1.83,366.0,569.0,15.6,226,7643,0.00,2.45,0.00,0.000,6,0.000,0.061,3080,2406,2008,0,0,0,0,0,0
$GC,7901,1.83,366.0,526.6,16.4,233,7905,0.00,2.50,0.00,0.000,4,0.000,0.077,3080,980,2008,0,0,0,0,0,0
$GC,7916,1.83,366.0,523.7,16.2,233,7920,0.00,2.42,0.00,0.000,6,0.000,0.052,3080,2419,2008,0,0,0,0,0,0
$GC,8183,1.83,366.0,479.9,16.7,240,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2419,2008,0,0,0,0,0,0
$GC,8436,1.83,366.0,438.8,16.8,246,8441,0.00,2.45,0.00,0.000,4,0.000,0.077,3080,3816,2007,0,0,0,0,0,0
$GC,8469,1.83,366.0,431.3,17.6,246,8475,0.00,2.35,0.00,0.000,6,0.000,0.035,3080,2383,2007,0,0,0,0,0,0
$GC,8719,1.83,366.0,389.9,16.0,253,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2383,2007,0,0,0,0,0,0
$GC,8963,1.83,366.0,352.9,14.9,259,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2383,2007,0,0,0,0,0,0
$GC,9207,1.83,366.0,318.1,14.1,265,9211,0.00,2.40,0.00,0.000,4,0.000,0.074,3080,992,2006,0,0,0,0,0,0
$GC,9254,1.83,366.0,312.6,14.3,266,9258,0.00,2.33,0.00,0.000,6,0.000,0.035,3081,2417,2006,0,0,0,0,0,0
$GC,9537,1.83,366.0,274.0,12.9,273,9541,0.00,2.35,0.00,0.000,4,0.000,0.059,3080,3808,2006,0,0,0,0,0,0
$GC,9558,1.83,366.0,270.9,13.4,273,9562,0.00,2.30,0.00,0.000,6,0.000,0.029,3080,2394,2006,0,0,0,0,0,0
$GC,9819,1.83,366.0,237.1,12.7,280,9823,0.00,2.38,0.00,0.000,4,0.000,0.056,3080,3813,2006,0,0,0,0,0,0
$GC,9846,1.83,366.0,233.3,14.5,280,9851,0.00,2.28,0.00,0.000,6,0.000,0.033,3080,2403,2006,0,0,0,0,0,0
$GC,10103,1.83,366.0,200.6,13.2,286,10107,0.00,2.38,0.00,0.000,4,0.000,0.055,3080,3809,2005,0,0,0,0,0,0
$GC,10119,1.83,366.0,197.1,14.0,286,10123,0.00,2.30,0.00,0.000,6,0.000,0.037,3080,2393,2006,0,0,0,0,0,0
$GC,10417,1.83,366.0,157.5,13.6,310,10422,0.00,2.42,0.00,0.000,4,0.000,0.074,3081,987,2006,0,0,0,0,0,0
$GC,10444,1.83,366.0,152.3,13.7,311,10457,0.00,2.30,0.00,0.000,6,0.000,0.031,3080,2399,2006,0,0,0,0,0,0
$GC,10746,1.83,366.0,109.7,12.1,336,10750,0.00,2.33,0.00,0.000,4,0.000,0.054,3080,3810,2006,0,0,0,0,0,0
$GC,10805,1.83,366.0,101.4,12.7,339,10818,0.00,2.30,0.00,0.000,6,0.000,0.033,3080,2402,2007,0,0,0,0,0,0
$GC,11116,1.84,373.6,71.5,9.5,364,11137,0.00,2.45,4.85,0.454,4,0.000,0.068,3080,998,1994,0,0,0,0,0,0
$GC,11256,1.86,393.6,57.3,8.8,371,11291,0.00,2.28,19.58,0.560,6,0.000,0.031,3080,2402,1913,0,0,0,0,0,0
$GC,11661,1.88,411.6,19.0,8.9,401,11691,0.00,0.00,18.27,0.515,6,0.000,0.000,3080,2402,1839,0,0,0,0,0,0
$STATE,11784,end climb,SURFACE_DEPTH_REACHED
$STATE,11784,begin surface coast
$FINISH,1.2,1.015243
$STATE,11864,end surface coast,CONTROL_FINISHED_OK
$STATE,11864,begin surface
$SM_CCo,11885,6.55,0.430,0,0,1805,420.19
$SM_GC,2.95,0.00,0.00,6.55,0.000,0.000,0.430,476,2250,1805,-10.14,-1.98,420.19
$IRIDIUM_FIX,2150.42,-15815.37,121099,141424
$TT8_MAMPS,0.027612
$HUMID,38.69
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,23.6,11.880
$10V_AH,10.1,10.904
$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,25.075,145.150,461.750,6.550,0.000,31.485,35.797,327.056,0.000,0.000,32.484,902.027,7356.636,481.006,2990.694,690.708,29.236,1272.293,0.000,3023.362,0.000,0.541,0.000
$DEVICE_MAMPS,186.381,333.645,1227.967,430.287,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,286.637,170.860,2092.599,1137.557,1386.829,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,31872,416
$CAP_FILE_SIZE,158277,129
$CFSIZE,260165632,213815296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,180710,205625,2202.870,-15812.150,69,1.7,69,9.9