version: 66.06
glider: 147
mission: 5
dive: 117
start: 7 20 110 15 54 56
data:
$ID,147
$MISSION,5
$DIVE,117
$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,-21125.023
$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,57
$R_STBD_OVSHOOT,26
$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
$GPS1,154828,2220.877,-15804.623,8,99.0,27,10.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.5
$GPS2,155407,2220.883,-15804.598,35,1.3,35,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.023,0.224
$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,344.1,6734,-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,-107.5,0.0,0.0,0,89,0.00,0.00,-72.20,0.000,2,0.000,0.000,479,2292,3518,0,0,0,0,0,0
$GC,94,-1.51,-107.5,4.8,-4.5,5,125,11.05,2.38,-7.25,0.000,4,0.188,0.052,2364,3724,3951,0,0,0,0,0,0
$GC,212,-1.51,-107.5,50.8,-24.7,12,228,0.00,2.22,0.00,0.000,6,0.000,0.029,2363,2351,3953,0,0,0,0,0,0
$GC,530,-1.51,-107.5,120.5,-20.9,37,534,0.00,2.35,0.00,0.000,4,0.000,0.049,2363,911,3954,0,0,0,0,0,0
$GC,611,-1.51,-107.5,140.0,-20.2,41,624,0.00,2.28,0.00,0.000,6,0.000,0.029,2364,2329,3955,0,0,0,0,0,0
$GC,904,-1.51,-107.5,195.9,-18.8,66,909,0.00,2.28,0.00,0.000,4,0.000,0.048,2364,3723,3956,0,0,0,0,0,0
$GC,939,-1.51,-107.5,204.1,-18.5,67,943,0.00,2.25,0.00,0.000,6,0.000,0.028,2364,2308,3956,0,0,0,0,0,0
$GC,1194,-1.51,-107.5,251.2,-18.2,74,1198,0.00,2.33,0.00,0.000,4,0.000,0.063,2363,921,3957,0,0,0,0,0,0
$GC,1222,-1.51,-107.5,256.2,-17.6,74,1226,0.00,2.22,0.00,0.000,6,0.000,0.031,2364,2324,3958,0,0,0,0,0,0
$GC,1473,-1.51,-107.5,299.3,-17.6,80,1477,0.00,2.40,0.00,0.000,4,0.000,0.069,2363,3720,3958,0,0,0,0,0,0
$GC,1505,-1.51,-107.5,305.2,-16.5,80,1510,0.00,2.25,0.00,0.000,6,0.000,0.035,2364,2320,3958,0,0,0,0,0,0
$GC,1762,-1.51,-107.5,346.7,-16.0,87,1766,0.00,2.50,0.00,0.000,4,0.000,0.086,2364,912,3958,0,0,0,0,0,0
$GC,1783,-1.51,-107.5,350.4,-15.9,87,1787,0.00,2.33,0.00,0.000,6,0.000,0.040,2364,2311,3958,0,0,0,0,0,0
$GC,2043,-1.51,-107.5,389.5,-15.0,94,2048,0.00,2.50,0.00,0.000,4,0.000,0.085,2364,3728,3958,0,0,0,0,0,0
$GC,2071,-1.51,-107.5,393.8,-15.9,94,2076,0.00,2.33,0.00,0.000,6,0.000,0.041,2363,2320,3958,0,0,0,0,0,0
$GC,2321,-1.51,-107.5,431.1,-15.1,100,2325,0.00,2.55,0.00,0.000,4,0.000,0.097,2364,906,3958,0,0,0,0,0,0
$GC,2369,-1.51,-107.5,436.9,-14.9,101,2373,0.00,2.35,0.00,0.000,6,0.000,0.049,2363,2319,3957,0,0,0,0,0,0
$GC,2652,-1.51,-107.5,481.8,-15.5,108,2656,0.00,2.50,0.00,0.000,4,0.000,0.088,2363,3727,3955,0,0,0,0,0,0
$GC,2684,-1.51,-107.5,487.1,-16.0,108,2690,0.00,2.38,0.00,0.000,6,0.000,0.048,2364,2316,3955,0,0,0,0,0,0
$GC,2934,-1.51,-107.5,525.9,-15.5,115,2939,0.00,2.60,0.00,0.000,4,0.000,0.110,2363,912,3953,0,0,0,0,0,0
$GC,2982,-1.51,-107.5,532.2,-15.4,116,2987,0.00,2.45,0.00,0.000,6,0.000,0.066,2364,2321,3953,0,0,0,0,0,0
$GC,3267,-1.51,-107.5,574.7,-14.2,123,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2321,3951,0,0,0,0,0,0
$GC,3509,-1.51,-107.5,608.0,-13.6,129,3514,0.00,2.78,0.00,0.000,4,0.000,0.134,2364,3731,3949,0,0,0,0,0,0
$GC,3537,-1.51,-107.5,611.9,-14.0,129,3541,0.00,2.55,0.00,0.000,6,0.000,0.091,2364,2320,3948,0,0,0,0,0,0
$GC,3786,-1.51,-107.5,646.4,-14.0,135,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2320,3947,0,0,0,0,0,0
$GC,4038,-1.51,-107.5,679.3,-13.4,141,4042,0.00,2.95,0.00,0.000,4,0.000,0.156,2363,3729,3945,0,0,0,0,0,0
$GC,4065,-1.51,-107.5,684.2,-13.7,141,4070,0.00,2.75,0.00,0.000,6,0.000,0.127,2364,2323,3944,0,0,0,0,0,0
$GC,4314,-1.51,-107.5,716.4,-13.0,147,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2323,3943,0,0,0,0,0,0
$GC,4558,-1.51,-107.5,748.8,-13.3,153,4563,0.00,3.22,0.00,0.000,4,0.000,0.202,2363,906,3941,0,0,0,0,0,0
$GC,4580,-1.51,-107.5,752.0,-14.1,153,4585,0.00,3.05,0.00,0.000,6,0.000,0.176,2363,2314,3941,0,0,0,0,0,0
$GC,4835,-1.51,-107.5,786.9,-13.8,160,4840,0.00,3.55,0.00,0.000,4,0.000,0.240,2363,3732,3939,0,0,0,0,0,0
$GC,4868,-1.51,-107.5,791.7,-14.0,160,4881,0.00,3.25,0.00,0.000,6,0.000,0.197,2363,2325,3939,0,0,1,0,0,0
$GC,5119,-1.51,-107.5,826.3,-14.0,167,5124,0.00,3.60,0.00,0.000,4,0.000,0.249,2364,904,3938,0,0,0,0,0,0
$GC,5146,-1.51,-107.5,830.2,-13.9,167,5151,0.00,3.47,0.00,0.000,6,0.000,0.229,2363,2318,3937,0,0,1,0,0,0
$GC,5396,-1.51,-107.5,863.4,-13.1,173,5404,0.00,4.15,0.00,0.000,4,0.000,0.298,2363,3732,3935,0,0,0,0,0,0
$GC,5422,-1.51,-107.5,866.9,-13.5,173,5427,0.00,3.72,0.00,0.000,6,0.000,0.253,2364,2319,3935,0,0,1,0,0,0
$GC,5678,-1.51,-107.5,899.4,-12.7,180,5679,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2319,3934,0,0,0,0,0,0
$STATE,5723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5723,begin apogee
$GC,5729,-0.33,0.0,904.4,12.5,181,5824,1.23,0.00,91.45,1.236,6,0.094,0.000,2623,2399,3519,0,0,0,0,0,0
$STATE,5825,end apogee,CONTROL_FINISHED_OK
$STATE,5825,begin climb
$GC,5828,1.51,107.5,908.3,0.0,183,5928,1.70,0.00,95.95,1.220,6,0.028,0.000,3040,2400,3080,0,0,0,0,0,0
$GC,6163,1.82,358.4,929.9,-5.7,191,6404,0.22,4.65,228.65,1.229,4,0.059,0.311,3099,986,2056,0,0,1,0,0,0
$GC,6487,1.82,358.4,897.3,21.5,198,6493,0.00,4.12,0.00,0.000,6,0.000,0.282,3099,2399,2050,0,0,1,0,0,0
$GC,6738,1.82,358.4,847.3,19.9,204,6746,0.00,3.95,0.00,0.000,4,0.000,0.275,3099,3813,2046,0,0,0,0,0,0
$GC,6758,1.82,358.4,843.0,19.7,204,6763,0.00,3.55,0.00,0.000,6,0.000,0.229,3099,2398,2046,0,0,1,0,0,0
$GC,7028,1.82,358.4,793.6,18.7,211,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,2044,0,0,0,0,0,0
$GC,7264,1.82,358.4,750.7,17.4,217,7269,0.00,3.28,0.00,0.000,4,0.000,0.199,3099,3813,2043,0,0,0,0,0,0
$GC,7308,1.82,358.4,742.5,18.8,218,7313,0.00,2.97,0.00,0.000,6,0.000,0.155,3100,2391,2043,0,0,1,0,0,0
$GC,7586,1.82,358.4,695.8,16.9,225,7590,0.00,3.00,0.00,0.000,4,0.000,0.162,3099,3815,2043,0,0,0,0,0,0
$GC,7607,1.82,358.4,691.9,17.0,225,7612,0.00,2.78,0.00,0.000,6,0.000,0.122,3099,2400,2042,0,0,0,0,0,0
$GC,7862,1.82,358.4,648.7,17.0,232,7867,0.00,2.83,0.00,0.000,4,0.000,0.131,3099,3822,2041,0,0,0,0,0,0
$GC,7894,1.82,358.4,642.6,18.6,232,7900,0.00,2.62,0.00,0.000,6,0.000,0.094,3100,2391,2041,0,0,0,0,0,0
$GC,8145,1.82,358.4,599.6,17.2,239,8149,0.00,2.67,0.00,0.000,4,0.000,0.104,3099,3817,2040,0,0,0,0,0,0
$GC,8199,1.82,358.4,589.1,18.5,240,8204,0.00,2.47,0.00,0.000,6,0.000,0.064,3099,2397,2040,0,0,0,0,0,0
$GC,8467,1.82,358.4,543.5,16.9,247,8471,0.00,2.55,0.00,0.000,4,0.000,0.081,3099,3821,2039,0,0,0,0,0,0
$GC,8488,1.82,358.4,539.5,17.6,247,8492,0.00,2.38,0.00,0.000,6,0.000,0.044,3099,2394,2040,0,0,0,0,0,0
$GC,8743,1.82,358.4,497.8,16.1,254,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2393,2039,0,0,0,0,0,0
$GC,8986,1.82,358.4,458.2,16.2,260,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2392,2039,0,0,0,0,0,0
$GC,9240,1.82,358.4,418.3,16.4,266,9244,0.00,2.47,0.00,0.000,4,0.000,0.079,3100,985,2038,0,0,0,0,0,0
$GC,9255,1.82,358.4,413.9,16.9,266,9259,0.00,2.35,0.00,0.000,6,0.000,0.036,3100,2420,2038,0,0,0,0,0,0
$GC,9522,1.82,358.4,370.2,16.1,273,9526,0.00,2.38,0.00,0.000,4,0.000,0.066,3100,3804,2038,0,0,0,0,0,0
$GC,9549,1.82,358.4,365.7,16.3,273,9553,0.00,2.28,0.00,0.000,6,0.000,0.032,3100,2390,2038,0,0,0,0,0,0
$GC,9799,1.82,358.4,327.8,14.9,279,9803,0.00,2.45,0.00,0.000,4,0.000,0.080,3099,995,2037,0,0,0,0,0,0
$GC,9814,1.82,358.4,325.3,15.1,279,9818,0.00,2.33,0.00,0.000,6,0.000,0.035,3100,2404,2037,0,0,0,0,0,0
$GC,10090,1.82,358.4,286.2,14.8,286,10094,0.00,2.40,0.00,0.000,4,0.000,0.063,3099,3811,2037,0,0,0,0,0,0
$GC,10117,1.82,358.4,280.4,16.1,286,10121,0.00,2.30,0.00,0.000,6,0.000,0.030,3099,2398,2037,0,0,0,0,0,0
$GC,10372,1.82,358.4,241.4,15.0,293,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2398,2037,0,0,0,0,0,0
$GC,10616,1.82,358.4,207.1,14.0,299,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2398,2037,0,0,0,0,0,0
$GC,10890,1.82,358.4,171.9,13.1,317,10894,0.00,2.42,0.00,0.000,4,0.000,0.073,3099,995,2037,0,0,0,0,0,0
$GC,10915,1.82,358.4,168.7,13.8,318,10920,0.00,2.28,0.00,0.000,6,0.000,0.031,3100,2405,2037,0,0,0,0,0,0
$GC,11214,1.82,358.4,128.4,13.2,342,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2406,2038,0,0,0,0,0,0
$GC,11518,1.82,358.4,91.6,11.4,367,11522,0.00,2.35,0.00,0.000,4,0.000,0.055,3099,994,2039,0,0,0,0,0,0
$GC,11542,1.82,358.4,88.1,12.9,368,11546,0.00,2.22,0.00,0.000,6,0.000,0.030,3099,2399,2039,0,0,0,0,0,0
$GC,11866,1.84,377.2,57.2,8.8,392,11887,0.00,2.38,15.10,0.542,4,0.000,0.051,3100,989,1980,0,0,0,0,0,0
$GC,12061,1.84,380.0,36.9,9.8,402,12077,0.00,2.28,4.15,0.383,6,0.000,0.029,3100,2392,1969,0,0,0,0,0,0
$STATE,12406,end climb,SURFACE_DEPTH_REACHED
$STATE,12407,begin surface coast
$FINISH,1.4,1.022023
$STATE,12499,end surface coast,CONTROL_FINISHED_OK
$STATE,12499,begin surface
$SM_CCo,12521,34.85,0.499,0,0,1805,420.19
$SM_GC,2.41,0.00,0.00,34.85,0.000,0.000,0.499,473,2254,1805,-10.24,-1.87,420.19
$IRIDIUM_FIX,2209.02,-15807.59,141099,121255
$TT8_MAMPS,0.027612
$HUMID,38.18
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,23.6,14.108
$10V_AH,10.1,12.992
$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,25.075,163.600,435.300,34.850,0.000,30.134,40.647,127.196,0.000,0.000,36.540,968.163,7727.537,519.210,3155.763,522.163,29.238,1301.751,0.000,3188.910,0.000,0.538,0.000
$DEVICE_MAMPS,187.915,311.402,1236.404,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,300.558,179.571,2207.487,1199.546,1461.658,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356164
$DATA_FILE_SIZE,32157,435
$CAP_FILE_SIZE,165519,140
$CFSIZE,260165632,213139456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,200710,192731,2222.635,-15804.249,158,0.9,158,10.0