version: 66.06
glider: 147
mission: 5
dive: 97
start: 7 18 110 21 11 42
data:
$ID,147
$MISSION,5
$DIVE,97
$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,-20684.113
$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,23
$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
$GPS1,205625,2202.870,-15812.150,69,1.7,69,9.9
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-65.8
$GPS2,211049,2202.810,-15812.253,14,1.7,16,9.9
$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,-108.4,-108.4,-108.4,933.3,109.5
$KALMAN_Y,-329.5,-329.5,-329.5,3594.6,332.9
$MHEAD_RNG_PITCHd_Wd,5.0,14757,-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,16,-1.51,-107.5,0.0,0.0,0,90,0.00,0.00,-72.07,0.000,2,0.000,0.000,476,2249,3562,0,0,0,0,0,0
$GC,95,-1.51,-107.5,5.1,-5.2,5,125,10.90,2.47,-6.68,0.000,4,0.186,0.056,2341,3717,3954,0,0,0,0,0,0
$GC,177,-1.51,-107.5,42.5,-29.6,10,193,0.00,2.28,0.00,0.000,6,0.000,0.031,2341,2320,3955,0,0,0,0,0,0
$GC,495,-1.51,-107.5,119.5,-22.1,35,499,0.00,2.30,0.00,0.000,4,0.000,0.048,2341,908,3956,0,0,0,0,0,0
$GC,519,-1.51,-107.5,125.4,-22.1,36,524,0.00,2.22,0.00,0.000,6,0.000,0.028,2341,2325,3956,0,0,0,0,0,0
$GC,811,-1.51,-107.5,185.0,-20.2,60,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2325,3957,0,0,0,0,0,0
$GC,1090,-1.51,-107.5,243.8,-20.8,72,1094,0.00,2.30,0.00,0.000,4,0.000,0.053,2341,3718,3958,0,0,0,0,0,0
$GC,1105,-1.51,-107.5,247.1,-20.2,72,1109,0.00,2.28,0.00,0.000,6,0.000,0.028,2341,2308,3958,0,0,0,0,0,0
$GC,1372,-1.51,-107.5,298.9,-19.2,79,1376,0.00,2.42,0.00,0.000,4,0.000,0.064,2341,3718,3958,0,0,0,0,0,0
$GC,1421,-1.51,-107.5,309.2,-21.0,80,1425,0.00,2.28,0.00,0.000,6,0.000,0.039,2341,2321,3957,0,0,0,0,0,0
$GC,1699,-1.51,-107.5,359.8,-17.6,87,1703,0.00,2.50,0.00,0.000,4,0.000,0.088,2341,908,3957,0,0,0,0,0,0
$GC,1738,-1.51,-107.5,366.2,-17.0,88,1742,0.00,2.30,0.00,0.000,6,0.000,0.044,2341,2311,3958,0,0,0,0,0,0
$GC,2021,-1.51,-107.5,412.0,-16.1,95,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2312,3957,0,0,0,0,0,0
$GC,2272,-1.51,-107.5,452.4,-17.0,101,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2312,3956,0,0,0,0,0,0
$GC,2508,-1.51,-107.5,492.5,-16.3,107,2512,0.00,2.58,0.00,0.000,4,0.000,0.097,2341,3724,3954,0,0,0,0,0,0
$GC,2557,-1.51,-107.5,500.4,-15.5,108,2562,0.00,2.38,0.00,0.000,6,0.000,0.057,2341,2322,3953,0,0,0,0,0,0
$GC,2829,-1.51,-107.5,537.2,-13.1,115,2833,0.00,2.62,0.00,0.000,4,0.000,0.114,2341,911,3951,0,0,0,0,0,0
$GC,2861,-1.51,-107.5,541.6,-12.9,115,2874,0.00,2.47,0.00,0.000,6,0.000,0.071,2342,2308,3950,0,0,0,0,0,0
$GC,3112,-1.51,-107.5,571.2,-11.8,122,3116,0.00,2.72,0.00,0.000,4,0.000,0.123,2341,3730,3948,0,0,0,0,0,0
$GC,3144,-1.51,-107.5,575.3,-12.9,122,3151,0.00,2.47,0.00,0.000,6,0.000,0.075,2341,2321,3947,0,0,0,0,0,0
$GC,3394,-1.51,-107.5,606.0,-12.5,129,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2321,3946,0,0,0,0,0,0
$GC,3638,-1.51,-107.5,637.9,-13.2,135,3643,0.00,2.80,0.00,0.000,4,0.000,0.140,2341,905,3943,0,0,0,0,0,0
$GC,3685,-1.51,-107.5,643.4,-13.8,136,3690,0.00,2.65,0.00,0.000,6,0.000,0.110,2341,2317,3943,0,0,0,0,0,0
$GC,3968,-1.51,-107.5,686.1,-15.1,143,3973,0.00,3.00,0.00,0.000,4,0.000,0.171,2341,3731,3941,0,0,0,0,0,0
$GC,4001,-1.51,-107.5,691.4,-15.5,143,4006,0.00,2.78,0.00,0.000,6,0.000,0.129,2341,2326,3941,0,0,0,0,0,0
$GC,4250,-1.51,-107.5,730.4,-15.7,150,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2326,3939,0,0,0,0,0,0
$GC,4502,-1.51,-107.5,767.8,-15.0,156,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2326,3937,0,0,0,0,0,0
$GC,4738,-1.51,-107.5,803.3,-14.6,162,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2326,3935,0,0,0,0,0,0
$GC,4981,-1.51,-107.5,838.1,-14.2,168,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2326,3933,0,0,0,0,0,0
$GC,5225,-1.51,-107.5,871.7,-13.8,174,5233,0.00,4.25,0.00,0.000,4,0.000,0.306,2341,3728,3931,0,0,1,0,0,0
$GC,5252,-1.51,-107.5,875.5,-14.1,174,5258,0.00,3.72,0.00,0.000,6,0.000,0.258,2341,2325,3931,0,0,1,0,0,0
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5465,begin apogee
$GC,5471,-0.33,0.0,904.2,13.3,180,5565,1.27,0.00,90.30,1.232,6,0.100,0.000,2606,2397,3519,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5566,begin climb
$GC,5568,1.51,107.5,907.8,0.0,182,5677,1.70,5.15,95.15,1.213,4,0.033,0.342,3014,3811,3080,0,0,10,0,0,0
$GC,5823,1.83,370.9,926.3,-6.5,187,6075,0.28,4.30,238.07,1.220,6,0.051,0.295,3085,2399,2006,0,0,1,0,0,0
$GC,6326,1.83,370.9,862.9,19.5,200,6332,0.00,3.83,0.00,0.000,4,0.000,0.265,3085,982,1997,0,0,0,0,0,0
$GC,6359,1.83,370.9,855.8,20.3,200,6373,0.00,3.75,0.00,0.000,6,0.000,0.249,3085,2391,1996,0,0,1,0,0,0
$GC,6609,1.83,370.9,805.6,20.4,207,6614,0.00,3.55,0.00,0.000,4,0.000,0.237,3085,3815,1995,0,0,0,0,0,0
$GC,6626,1.83,370.9,802.0,20.9,207,6631,0.00,3.25,0.00,0.000,6,0.000,0.193,3085,2398,1995,0,0,1,0,0,0
$GC,6886,1.83,370.9,748.5,20.7,214,6891,0.00,3.22,0.00,0.000,4,0.000,0.193,3084,3817,1993,0,0,0,0,0,0
$GC,6913,1.83,370.9,742.7,20.9,214,6918,0.00,2.95,0.00,0.000,6,0.000,0.150,3084,2392,1993,0,0,0,0,0,0
$GC,7164,1.83,370.9,694.6,19.2,220,7169,0.00,2.97,0.00,0.000,4,0.000,0.158,3085,3815,1992,0,0,0,0,0,0
$GC,7179,1.83,370.9,691.3,19.1,220,7184,0.00,2.72,0.00,0.000,6,0.000,0.116,3085,2398,1992,0,0,0,0,0,0
$GC,7440,1.83,370.9,644.1,18.1,227,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2398,1992,0,0,0,0,0,0
$GC,7685,1.83,370.9,600.4,18.0,233,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,1991,0,0,0,0,0,0
$GC,7928,1.83,370.9,558.5,17.0,239,7932,0.00,2.55,0.00,0.000,4,0.000,0.096,3085,982,1990,0,0,0,0,0,0
$GC,7943,1.83,370.9,555.8,16.4,239,7947,0.00,2.45,0.00,0.000,6,0.000,0.058,3085,2417,1990,0,0,0,0,0,0
$GC,8212,1.83,370.9,513.3,16.4,246,8213,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2417,1990,0,0,0,0,0,0
$GC,8448,1.83,370.9,474.7,15.7,252,8452,0.00,2.45,0.00,0.000,4,0.000,0.084,3085,3809,1989,0,0,0,0,0,0
$GC,8502,1.83,370.9,464.9,18.0,253,8506,0.00,2.33,0.00,0.000,6,0.000,0.037,3085,2386,1989,0,0,0,0,0,0
$GC,8775,1.83,370.9,420.0,17.0,260,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2386,1988,0,0,0,0,0,0
$GC,9026,1.83,370.9,375.9,18.1,266,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2386,1988,0,0,0,0,0,0
$GC,9262,1.83,370.9,334.6,16.4,272,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2386,1988,0,0,0,0,0,0
$GC,9506,1.83,370.9,299.9,14.0,278,9510,0.00,2.40,0.00,0.000,4,0.000,0.074,3085,993,1987,0,0,0,0,0,0
$GC,9561,1.83,370.9,291.9,15.3,279,9566,0.00,2.33,0.00,0.000,6,0.000,0.035,3085,2413,1987,0,0,0,0,0,0
$GC,9836,1.83,370.9,258.8,12.5,286,9840,0.00,2.35,0.00,0.000,4,0.000,0.062,3085,3808,1987,0,0,0,0,0,0
$GC,9846,1.83,370.9,256.3,12.8,286,9851,0.00,2.28,0.00,0.000,6,0.000,0.030,3085,2393,1987,0,0,0,0,0,0
$GC,10113,1.83,370.9,219.8,14.5,293,10117,0.00,2.42,0.00,0.000,4,0.000,0.063,3085,3805,1987,0,0,0,0,0,0
$GC,10218,1.83,370.9,201.9,17.1,295,10222,0.00,2.28,0.00,0.000,6,0.000,0.035,3085,2399,1986,0,0,0,0,0,0
$GC,10516,1.83,370.9,156.7,15.4,319,10520,0.00,2.42,0.00,0.000,4,0.000,0.077,3085,990,1986,0,0,0,0,0,0
$GC,10577,1.83,370.9,145.7,15.9,322,10592,0.00,2.30,0.00,0.000,6,0.000,0.034,3085,2394,1987,0,0,0,0,0,0
$GC,10882,1.83,370.9,107.9,11.0,347,10886,0.00,2.38,0.00,0.000,4,0.000,0.055,3085,989,1988,0,0,0,0,0,0
$GC,10978,1.87,401.8,98.3,8.1,352,11016,0.00,2.28,26.38,0.611,6,0.000,0.031,3085,2404,1879,0,0,0,0,0,0
$GC,11323,1.87,401.8,63.8,10.6,378,11327,0.00,2.33,0.00,0.000,4,0.000,0.055,3085,3806,1876,0,0,0,0,0,0
$GC,11559,1.87,401.8,34.6,11.6,390,11575,0.00,2.30,0.00,0.000,6,0.000,0.031,3085,2390,1876,0,0,0,0,0,0
$STATE,11837,end climb,SURFACE_DEPTH_REACHED
$STATE,11837,begin surface coast
$FINISH,1.3,1.022397
$STATE,11931,end surface coast,CONTROL_FINISHED_OK
$STATE,11931,begin surface
$SM_CCo,11952,16.02,0.493,0,0,1805,420.19
$SM_GC,3.70,0.00,0.00,16.02,0.000,0.000,0.493,480,2301,1805,-10.12,-0.54,420.19
$IRIDIUM_FIX,2152.74,-15810.19,121099,212110
$TT8_MAMPS,0.027612
$HUMID,38.81
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.6,12.067
$10V_AH,10.2,11.070
$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,24.900,131.700,449.900,16.025,0.000,82.106,143.168,370.018,0.250,0.000,17.657,907.976,7510.977,474.620,3022.771,909.037,30.190,1271.386,0.000,3072.814,0.000,0.539,0.000
$DEVICE_MAMPS,185.614,342.082,1231.802,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.251,169.613,2095.881,1110.348,1352.066,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,31967,418
$CAP_FILE_SIZE,160446,128
$CFSIZE,260165632,213753856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
$GPS,190710,003321,2204.392,-15811.848,70,99.0,89,9.9