version: 66.06
glider: 147
mission: 5
dive: 112
start: 7 20 110 5 26 3
data:
$ID,147
$MISSION,5
$DIVE,112
$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,-20992.236
$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,2700
$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,60
$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
$GPS1,052030,2216.652,-15806.228,40,1.6,40,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-58.7
$GPS2,052513,2216.692,-15806.224,10,1.6,15,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.223
$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,358.3,14611,-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,15,-1.51,-107.5,0.0,0.0,0,147,0.00,0.00,-129.65,0.000,2,0.000,0.000,475,2332,3456,0,0,0,0,0,0
$GC,151,-1.51,-107.5,4.8,-4.4,9,182,11.02,2.35,-8.80,0.000,4,0.186,0.057,2360,3723,3954,0,0,0,0,0,0
$GC,233,-1.51,-107.5,40.0,-29.1,14,248,0.00,2.22,0.00,0.000,6,0.000,0.030,2361,2353,3955,0,0,0,0,0,0
$GC,550,-1.51,-107.5,115.3,-19.7,39,554,0.00,2.38,0.00,0.000,4,0.000,0.051,2360,906,3955,0,0,0,0,0,0
$GC,631,-1.51,-107.5,132.6,-17.7,43,644,0.00,2.28,0.00,0.000,6,0.000,0.031,2360,2316,3955,0,0,0,0,0,0
$GC,928,-1.51,-107.5,186.0,-18.8,68,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2317,3956,0,0,0,0,0,0
$GC,1206,-1.51,-107.5,239.6,-18.7,80,1210,0.00,2.33,0.00,0.000,4,0.000,0.054,2360,3721,3956,0,0,0,0,0,0
$GC,1255,-1.51,-107.5,247.2,-20.0,81,1259,0.00,2.25,0.00,0.000,6,0.000,0.030,2360,2320,3956,0,0,0,0,0,0
$GC,1538,-1.51,-107.5,297.7,-17.1,88,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2320,3956,0,0,0,0,0,0
$GC,1782,-1.51,-107.5,339.1,-16.8,94,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2320,3956,0,0,0,0,0,0
$GC,2025,-1.51,-107.5,378.8,-16.1,100,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2320,3956,0,0,0,0,0,0
$GC,2277,-1.51,-107.5,417.0,-15.5,106,2281,0.00,2.55,0.00,0.000,4,0.000,0.095,2360,923,3954,0,0,0,0,0,0
$GC,2331,-1.51,-107.5,426.6,-14.9,107,2336,0.00,2.33,0.00,0.000,6,0.000,0.052,2360,2314,3954,0,0,0,0,0,0
$GC,2605,-1.51,-107.5,467.8,-15.2,114,2609,0.00,2.55,0.00,0.000,4,0.000,0.093,2360,3728,3951,0,0,0,0,0,0
$GC,2659,-1.51,-107.5,475.8,-14.0,115,2664,0.00,2.30,0.00,0.000,6,0.000,0.047,2360,2330,3951,0,0,0,0,0,0
$GC,2933,-1.51,-107.5,515.7,-15.1,122,2937,0.00,2.62,0.00,0.000,4,0.000,0.108,2360,914,3949,0,0,0,0,0,0
$GC,2999,-1.51,-107.5,526.3,-15.0,123,3003,0.00,2.45,0.00,0.000,6,0.000,0.065,2360,2336,3948,0,0,0,0,0,0
$GC,3260,-1.51,-107.5,565.7,-15.1,130,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2336,3946,0,0,0,0,0,0
$GC,3514,-1.51,-107.5,601.0,-14.5,136,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2336,3944,0,0,0,0,0,0
$GC,3748,-1.51,-107.5,634.8,-13.7,142,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2336,3942,0,0,0,0,0,0
$GC,3991,-1.51,-107.5,668.4,-13.8,148,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2336,3939,0,0,0,0,0,0
$GC,4235,-1.51,-107.5,700.8,-13.1,154,4240,0.00,3.00,0.00,0.000,4,0.000,0.168,2360,912,3938,0,0,0,0,0,0
$GC,4257,-1.51,-107.5,703.8,-13.3,154,4262,0.00,2.85,0.00,0.000,6,0.000,0.146,2360,2314,3937,0,0,0,0,0,0
$GC,4521,-1.51,-107.5,736.2,-12.7,161,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2314,3936,0,0,0,0,0,0
$GC,4755,-1.51,-107.5,764.4,-11.2,167,4761,0.00,3.47,0.00,0.000,4,0.000,0.232,2360,3733,3933,0,0,0,0,0,0
$GC,4778,-1.51,-107.5,766.9,-10.9,167,4783,0.00,3.05,0.00,0.000,6,0.000,0.176,2360,2333,3933,0,0,1,0,0,0
$GC,5033,-1.51,-107.5,794.1,-10.6,174,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2333,3931,0,0,0,0,0,0
$GC,5276,-1.51,-107.5,820.8,-11.0,180,5282,0.00,3.55,0.00,0.000,4,0.000,0.243,2360,905,3929,0,0,0,0,0,0
$GC,5326,-1.51,-107.5,825.2,-10.9,181,5331,0.00,3.45,0.00,0.000,6,0.000,0.229,2361,2317,3929,0,0,1,0,0,0
$GC,5609,-1.51,-107.5,858.1,-11.2,188,5617,0.00,4.12,0.00,0.000,4,0.000,0.295,2360,3734,3927,0,0,0,0,0,0
$GC,5646,-1.51,-107.5,862.6,-11.6,188,5652,0.00,3.65,0.00,0.000,6,0.000,0.248,2360,2320,3927,0,0,1,0,0,0
$GC,5897,-1.51,-107.5,891.1,-11.5,195,5905,0.00,4.10,0.00,0.000,4,0.000,0.295,2360,906,3926,0,0,1,0,0,0
$GC,5922,-1.51,-107.5,894.3,-12.9,195,5928,0.00,4.03,0.00,0.000,6,0.000,0.281,2361,2320,3925,0,0,1,0,0,0
$STATE,5972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5972,begin apogee
$GC,5978,-0.33,0.0,900.3,11.8,197,6074,1.27,0.00,91.47,1.230,6,0.097,0.000,2626,2401,3519,0,0,0,0,0,0
$STATE,6074,end apogee,CONTROL_FINISHED_OK
$STATE,6075,begin climb
$GC,6078,1.51,107.5,903.6,0.0,199,6187,1.73,4.50,96.90,1.210,4,0.029,0.302,3039,990,3079,0,0,1,0,0,0
$GC,6345,1.85,381.4,924.4,-7.1,205,6608,0.28,4.47,248.18,1.219,6,0.052,0.308,3110,2399,1962,0,0,1,0,0,0
$GC,6864,1.85,381.4,854.5,21.1,218,6869,0.00,3.75,0.00,0.000,4,0.000,0.255,3110,985,1954,0,0,1,0,0,0
$GC,6880,1.85,381.4,850.7,21.5,218,6886,0.00,3.70,0.00,0.000,6,0.000,0.245,3109,2399,1953,0,0,1,0,0,0
$GC,7142,1.85,381.4,796.1,20.8,225,7147,0.00,3.35,0.00,0.000,4,0.000,0.211,3110,984,1951,0,0,0,0,0,0
$GC,7157,1.85,381.4,792.3,20.9,225,7163,0.00,3.28,0.00,0.000,6,0.000,0.200,3110,2400,1951,0,0,1,0,0,0
$GC,7418,1.85,381.4,738.3,20.7,232,7423,0.00,3.22,0.00,0.000,4,0.000,0.199,3110,3814,1950,0,0,0,0,0,0
$GC,7434,1.85,381.4,734.8,21.1,232,7439,0.00,2.90,0.00,0.000,6,0.000,0.145,3110,2398,1950,0,0,0,0,0,0
$GC,7695,1.85,381.4,681.2,20.6,239,7699,0.00,2.95,0.00,0.000,4,0.000,0.152,3110,3818,1949,0,0,0,0,0,0
$GC,7711,1.85,381.4,677.4,21.0,239,7715,0.00,2.72,0.00,0.000,6,0.000,0.110,3109,2394,1948,0,0,0,0,0,0
$GC,7982,1.85,381.4,623.2,20.6,246,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2394,1947,0,0,0,0,0,0
$GC,8216,1.85,381.4,573.5,20.2,252,8217,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2393,1947,0,0,0,0,0,0
$GC,8459,1.85,381.4,524.7,20.0,258,8464,0.00,2.55,0.00,0.000,4,0.000,0.079,3110,3822,1946,0,0,0,0,0,0
$GC,8493,1.85,381.4,517.5,21.5,258,8498,0.00,2.40,0.00,0.000,6,0.000,0.042,3110,2387,1946,0,0,0,0,0,0
$GC,8742,1.85,381.4,468.8,19.2,265,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2386,1946,0,0,0,0,0,0
$GC,8995,1.85,381.4,423.8,17.9,271,8999,0.00,2.50,0.00,0.000,4,0.000,0.069,3110,3819,1945,0,0,0,0,0,0
$GC,9056,1.85,381.4,410.6,19.5,272,9060,0.00,2.38,0.00,0.000,6,0.000,0.040,3109,2390,1945,0,0,0,0,0,0
$GC,9316,1.85,381.4,364.7,17.8,279,9320,0.00,2.47,0.00,0.000,4,0.000,0.082,3110,990,1944,0,0,0,0,0,0
$GC,9359,1.85,381.4,356.3,19.0,280,9364,0.00,2.35,0.00,0.000,6,0.000,0.035,3110,2426,1944,0,0,0,0,0,0
$GC,9644,1.85,381.4,307.6,16.9,287,9645,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2426,1943,0,0,0,0,0,0
$GC,9887,1.85,381.4,268.5,16.2,293,9891,0.00,2.45,0.00,0.000,4,0.000,0.057,3110,987,1944,0,0,0,0,0,0
$GC,9936,1.85,381.4,260.1,16.7,294,9940,0.00,2.28,0.00,0.000,6,0.000,0.034,3110,2402,1944,0,0,0,0,0,0
$GC,10222,1.85,381.4,218.2,14.9,301,10227,0.00,2.40,0.00,0.000,4,0.000,0.057,3110,986,1944,0,0,0,0,0,0
$GC,10238,1.85,381.4,214.1,15.5,301,10242,0.00,2.30,0.00,0.000,6,0.000,0.031,3110,2408,1944,0,0,0,0,0,0
$GC,10523,1.85,381.4,171.9,15.4,319,10528,0.00,2.35,0.00,0.000,4,0.000,0.059,3110,3801,1944,0,0,0,0,0,0
$GC,10565,1.85,381.4,164.9,16.6,321,10569,0.00,2.28,0.00,0.000,6,0.000,0.031,3110,2388,1944,0,0,0,0,0,0
$GC,10870,1.85,381.4,115.5,15.9,346,10874,0.00,2.40,0.00,0.000,4,0.000,0.073,3110,993,1944,0,0,0,0,0,0
$GC,10914,1.85,381.4,107.3,15.0,348,10929,0.00,2.28,0.00,0.000,6,0.000,0.031,3110,2395,1944,0,0,0,0,0,0
$GC,11225,1.88,406.6,73.5,8.4,373,11257,0.00,0.00,20.65,0.582,6,0.000,0.000,3110,2395,1860,0,0,0,0,0,0
$GC,11575,1.88,406.6,38.6,11.0,399,11579,0.00,2.33,0.00,0.000,4,0.000,0.051,3110,991,1858,0,0,0,0,0,0
$GC,11622,1.88,406.6,31.0,13.0,401,11638,0.00,2.30,0.00,0.000,6,0.000,0.030,3110,2407,1858,0,0,0,0,0,0
$STATE,11874,end climb,SURFACE_DEPTH_REACHED
$STATE,11874,begin surface coast
$FINISH,1.3,1.010483
$STATE,11955,end surface coast,CONTROL_FINISHED_OK
$STATE,11955,begin surface
$SM_CCo,11976,11.10,0.476,0,0,1805,420.19
$SM_GC,2.70,0.00,0.00,11.10,0.000,0.000,0.476,478,2281,1805,-10.22,-1.10,420.19
$IRIDIUM_FIX,2209.02,-15807.59,141099,010143
$TT8_MAMPS,0.027612
$HUMID,39.60
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.6,13.585
$10V_AH,10.1,12.517
$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,25.200,137.125,457.200,11.100,0.000,29.446,25.602,106.613,0.250,0.000,17.063,918.762,7307.771,490.942,3094.641,456.206,29.236,1328.478,0.000,3145.334,0.000,0.540,0.000
$DEVICE_MAMPS,185.614,310.635,1230.268,475.540,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.194,175.166,2166.320,1192.215,1451.604,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,31994,426
$CAP_FILE_SIZE,154713,134
$CFSIZE,260165632,213303296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,200710,084757,2218.176,-15805.499,66,99.0,85,10.0