version: 66.06
glider: 147
mission: 5
dive: 104
start: 7 19 110 11 31 47
data:
$ID,147
$MISSION,5
$DIVE,104
$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,-20833.637
$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,56
$R_STBD_OVSHOOT,28
$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
$GPS1,112344,2208.746,-15810.118,43,99.0,62,10.0
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-68.2
$GPS2,113058,2208.699,-15810.126,40,99.0,59,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT3
$TGT_LATLONG,2210.500,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.012,0.185
$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,353.7,3342,-25.4,-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,-1.78,-72.1,0.0,0.0,0,88,0.00,0.00,-71.30,0.000,2,0.000,0.000,474,2301,3515,0,0,0,0,0,0
$GC,93,-1.83,-107.5,4.8,-4.5,5,123,10.35,2.40,-7.43,0.000,4,0.181,0.057,2271,3731,3954,0,0,0,0,0,0
$GC,156,-1.83,-107.5,40.6,-46.5,9,171,0.00,2.22,0.00,0.000,6,0.000,0.028,2270,2348,3955,0,0,0,0,0,0
$GC,469,-1.83,-107.5,141.4,-29.1,34,473,0.00,2.33,0.00,0.000,4,0.000,0.045,2271,916,3956,0,0,0,0,0,0
$GC,506,-1.83,-107.5,151.3,-27.4,36,511,0.00,2.22,0.00,0.000,6,0.000,0.029,2271,2322,3956,0,0,0,0,0,0
$GC,802,-1.83,-107.5,232.3,-26.4,54,806,0.00,2.30,0.00,0.000,4,0.000,0.054,2271,3720,3958,0,0,0,0,0,0
$GC,846,-1.83,-107.5,243.7,-25.6,55,850,0.00,2.20,0.00,0.000,6,0.000,0.028,2271,2319,3958,0,0,0,0,0,0
$GC,1131,-1.83,-107.5,308.4,-22.0,62,1135,0.00,2.42,0.00,0.000,4,0.000,0.071,2270,3716,3958,0,0,0,0,0,0
$GC,1169,-1.83,-107.5,317.2,-22.2,63,1174,0.00,2.28,0.00,0.000,6,0.000,0.041,2271,2324,3958,0,0,0,0,0,0
$GC,1453,-1.83,-107.5,378.2,-21.3,70,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2323,3959,0,0,0,0,0,0
$GC,1705,-1.83,-107.5,429.6,-21.1,76,1709,0.00,2.47,0.00,0.000,4,0.000,0.085,2271,3715,3958,0,0,0,0,0,0
$GC,1725,-1.83,-107.5,435.8,-20.1,76,1730,0.00,2.33,0.00,0.000,6,0.000,0.049,2271,2322,3958,0,0,0,0,0,0
$GC,1987,-1.83,-107.5,488.0,-19.7,83,1991,0.00,2.65,0.00,0.000,4,0.000,0.114,2271,909,3958,0,0,0,0,0,0
$GC,2031,-1.83,-107.5,497.3,-20.7,84,2035,0.00,2.40,0.00,0.000,6,0.000,0.067,2271,2302,3958,0,0,0,0,0,0
$GC,2316,-1.83,-107.5,551.5,-19.4,91,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2302,3955,0,0,0,0,0,0
$GC,2552,-1.83,-107.5,596.1,-18.0,97,2556,0.00,2.83,0.00,0.000,4,0.000,0.140,2271,3728,3952,0,0,0,0,0,0
$GC,2593,-1.83,-107.5,603.1,-18.1,98,2597,0.00,2.58,0.00,0.000,6,0.000,0.094,2271,2318,3952,0,0,0,0,0,0
$GC,2875,-1.83,-107.5,652.5,-17.3,105,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2317,3949,0,0,0,0,0,0
$GC,3127,-1.83,-107.5,693.4,-16.8,111,3132,0.00,3.03,0.00,0.000,4,0.000,0.174,2271,3727,3947,0,0,0,0,0,0
$GC,3171,-1.83,-107.5,702.6,-17.5,112,3176,0.00,2.83,0.00,0.000,6,0.000,0.142,2271,2323,3946,0,0,0,0,0,0
$GC,3448,-1.83,-107.5,747.3,-16.0,119,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2323,3943,0,0,0,0,0,0
$GC,3693,-1.83,-107.5,784.7,-15.2,125,3698,0.00,3.47,0.00,0.000,4,0.000,0.236,2271,3725,3942,0,0,0,0,0,0
$GC,3721,-1.83,-107.5,789.3,-16.5,125,3726,0.00,3.20,0.00,0.000,6,0.000,0.199,2270,2324,3942,0,0,1,0,0,0
$GC,3980,-1.83,-107.5,826.4,-14.8,131,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2323,3940,0,0,0,0,0,0
$GC,4214,-1.83,-107.5,863.4,-15.2,137,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2323,3938,0,0,0,0,0,0
$STATE,4456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4456,begin apogee
$GC,4463,-0.33,0.0,900.7,15.4,143,4559,1.62,0.00,92.22,1.216,6,0.111,0.000,2601,2391,3519,0,0,0,0,0,0
$STATE,4560,end apogee,CONTROL_FINISHED_OK
$STATE,4560,begin climb
$GC,4562,1.83,107.5,903.9,0.0,145,4672,2.08,5.10,95.93,1.199,4,0.035,0.338,3093,3812,3079,0,0,7,0,0,0
$GC,4930,2.07,304.5,932.1,-8.3,153,5118,0.15,4.47,178.50,1.223,6,0.074,0.308,3133,2400,2277,0,0,1,0,0,0
$GC,5385,2.07,304.5,881.4,17.8,165,5393,0.00,4.40,0.00,0.000,4,0.000,0.305,3133,3812,2267,0,0,1,0,0,0
$GC,5507,2.07,304.5,859.2,18.4,167,5512,0.00,3.67,0.00,0.000,6,0.000,0.244,3134,2399,2265,0,0,1,0,0,0
$GC,5763,2.07,304.5,816.4,16.4,174,5768,0.00,3.67,0.00,0.000,4,0.000,0.249,3133,3814,2264,0,0,1,0,0,0
$GC,5779,2.07,304.5,813.4,16.4,174,5784,0.00,3.33,0.00,0.000,6,0.000,0.205,3133,2398,2263,0,0,1,0,0,0
$GC,6047,2.07,304.5,773.2,15.1,181,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2398,2262,0,0,0,0,0,0
$GC,6283,2.07,304.5,736.6,14.9,187,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2398,2261,0,0,0,0,0,0
$GC,6528,2.07,304.5,699.7,15.2,193,6532,0.00,3.03,0.00,0.000,4,0.000,0.163,3133,3821,2260,0,0,0,0,0,0
$GC,6571,2.07,304.5,692.4,16.9,194,6576,0.00,2.78,0.00,0.000,6,0.000,0.119,3133,2396,2260,0,0,0,0,0,0
$GC,6857,2.07,304.5,648.4,15.6,201,6862,0.00,2.80,0.00,0.000,4,0.000,0.127,3133,3821,2259,0,0,0,0,0,0
$GC,6923,2.07,304.5,635.9,17.7,202,6928,0.00,2.60,0.00,0.000,6,0.000,0.089,3133,2390,2260,0,0,0,0,0,0
$GC,7179,2.07,304.5,596.8,15.0,209,7183,0.00,2.67,0.00,0.000,4,0.000,0.102,3133,3823,2259,0,0,0,0,0,0
$GC,7228,2.07,304.5,588.9,16.4,210,7233,0.00,2.47,0.00,0.000,6,0.000,0.063,3133,2396,2258,0,0,0,0,0,0
$GC,7500,2.07,304.5,548.7,14.7,217,7504,0.00,2.55,0.00,0.000,4,0.000,0.082,3133,3818,2258,0,0,0,0,0,0
$GC,7532,2.07,304.5,543.2,17.1,217,7538,0.00,2.38,0.00,0.000,6,0.000,0.046,3133,2390,2257,0,0,0,0,0,0
$GC,7783,2.07,304.5,508.0,14.1,224,7787,0.00,2.50,0.00,0.000,4,0.000,0.068,3133,3822,2257,0,0,0,0,0,0
$GC,7793,2.07,304.5,506.4,13.9,224,7797,0.00,2.38,0.00,0.000,6,0.000,0.038,3133,2401,2257,0,0,0,0,0,0
$GC,8073,2.07,304.5,470.4,12.7,231,8078,0.00,2.55,0.00,0.000,4,0.000,0.095,3133,992,2256,0,0,0,0,0,0
$GC,8124,2.07,304.5,462.7,13.2,232,8128,0.00,2.38,0.00,0.000,6,0.000,0.043,3133,2422,2256,0,0,0,0,0,0
$GC,8395,2.07,304.5,427.4,13.1,239,8399,0.00,2.47,0.00,0.000,4,0.000,0.062,3133,988,2256,0,0,0,0,0,0
$GC,8417,2.07,304.5,424.3,14.0,239,8421,0.00,2.33,0.00,0.000,6,0.000,0.037,3133,2404,2256,0,0,0,0,0,0
$GC,8686,2.07,304.5,388.6,14.0,246,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2404,2255,0,0,0,0,0,0
$GC,8922,2.07,304.5,354.0,14.0,252,8926,0.00,2.42,0.00,0.000,4,0.000,0.068,3133,3809,2255,0,0,0,0,0,0
$GC,8982,2.07,304.5,345.0,15.0,253,8986,0.00,2.30,0.00,0.000,6,0.000,0.031,3133,2388,2255,0,0,0,0,0,0
$GC,9249,2.07,304.5,314.3,10.8,260,9254,0.00,2.42,0.00,0.000,4,0.000,0.063,3133,3804,2254,0,0,0,0,0,0
$GC,9343,2.07,304.5,304.4,10.5,262,9347,0.00,2.28,0.00,0.000,6,0.000,0.033,3133,2406,2254,0,0,0,0,0,0
$GC,9628,2.07,306.6,277.5,9.8,269,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2406,2254,0,0,0,0,0,0
$GC,9871,2.07,306.6,251.0,11.0,275,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2406,2254,0,0,0,0,0,0
$GC,10124,2.07,306.6,223.5,11.3,281,10128,0.00,2.38,0.00,0.000,4,0.000,0.058,3133,3807,2254,0,0,0,0,0,0
$GC,10145,2.07,306.6,219.9,11.1,281,10149,0.00,2.30,0.00,0.000,6,0.000,0.033,3133,2393,2254,0,0,0,0,0,0
$GC,10411,2.07,306.6,193.7,10.2,290,10423,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2393,2254,0,0,0,0,0,0
$GC,10705,2.07,306.6,158.5,12.4,315,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2393,2255,0,0,0,0,0,0
$GC,11007,2.09,317.3,127.6,9.0,340,11028,0.00,2.42,9.05,0.583,4,0.000,0.054,3133,3801,2224,0,0,0,0,0,0
$GC,11048,2.13,351.4,124.8,6.8,342,11085,0.00,2.28,30.95,0.632,6,0.000,0.036,3133,2399,2085,0,0,0,0,0,0
$GC,11378,2.13,351.7,94.7,10.0,368,11383,0.00,2.42,0.00,0.000,4,0.000,0.073,3134,989,2081,0,0,0,0,0,0
$GC,11460,2.13,351.7,84.6,11.5,372,11476,0.00,2.30,0.00,0.000,6,0.000,0.031,3133,2404,2080,0,0,0,0,0,0
$GC,11789,2.13,351.7,48.1,10.2,397,11793,0.00,2.35,0.00,0.000,4,0.000,0.051,3133,984,2081,0,0,0,0,0,0
$GC,11912,2.15,372.5,37.0,8.1,403,11948,0.00,2.30,19.00,0.528,6,0.000,0.030,3134,2402,1998,0,0,0,0,0,0
$STATE,12237,end climb,SURFACE_DEPTH_REACHED
$STATE,12237,begin surface coast
$FINISH,1.2,1.023259
$STATE,12330,end surface coast,CONTROL_FINISHED_OK
$STATE,12330,begin surface
$SM_CCo,12352,39.25,0.502,0,0,1806,420.19
$SM_GC,2.29,0.00,0.00,39.25,0.000,0.000,0.502,479,2255,1806,-10.12,-1.84,420.19
$IRIDIUM_FIX,2157.39,-15811.48,131099,080814
$TT8_MAMPS,0.028379
$HUMID,37.08
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,23.6,12.740
$10V_AH,10.1,11.716
$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,25.125,135.250,425.650,39.250,0.000,30.447,29.376,206.035,0.000,0.000,62.199,956.494,7580.952,471.177,3238.206,575.304,29.233,1307.122,0.000,3240.927,0.000,0.540,0.000
$DEVICE_MAMPS,181.012,338.247,1223.365,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,299.650,179.807,2181.052,1163.145,1418.096,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,32090,434
$CAP_FILE_SIZE,161284,132
$CFSIZE,260165632,213553152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,190710,150037,2210.069,-15809.934,99,1.1,99,10.0