version: 66.06
glider: 147
mission: 5
dive: 122
start: 7 21 110 2 41 31
data:
$ID,147
$MISSION,5
$DIVE,122
$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,-21205.391
$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,35
$R_STBD_OVSHOOT,70
$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
$GPS1,023337,2224.748,-15805.457,60,1.1,61,10.0
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-66.8
$GPS2,024039,2224.800,-15805.500,13,1.7,14,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.057,0.218
$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,4.7,53981,-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,-107.5,0.0,0.0,0,88,0.00,0.00,-71.47,0.000,2,0.000,0.000,474,2294,3504,0,0,0,0,0,0
$GC,93,-1.51,-107.5,4.9,-4.7,5,123,11.00,2.33,-7.80,0.000,4,0.186,0.057,2362,3674,3954,0,0,0,0,0,0
$GC,193,-1.51,-107.5,45.2,-26.1,11,208,0.00,2.20,0.00,0.000,6,0.000,0.031,2362,2323,3955,0,0,0,0,0,0
$GC,508,-1.51,-107.5,122.5,-23.5,36,512,0.00,2.33,0.00,0.000,4,0.000,0.050,2362,910,3955,0,0,0,0,0,0
$GC,546,-1.51,-107.5,131.2,-22.6,38,550,0.00,2.15,0.00,0.000,6,0.000,0.027,2362,2284,3956,0,0,0,0,0,0
$GC,844,-1.51,-107.5,188.5,-18.7,63,848,0.00,2.35,0.00,0.000,4,0.000,0.045,2361,3719,3957,0,0,0,0,0,0
$GC,886,-1.51,-107.5,196.6,-18.5,65,891,0.00,2.25,0.00,0.000,6,0.000,0.029,2362,2312,3957,0,0,0,0,0,0
$GC,1153,-1.51,-107.5,246.1,-18.2,73,1157,0.00,2.35,0.00,0.000,4,0.000,0.064,2362,914,3958,0,0,0,0,0,0
$GC,1207,-1.51,-107.5,255.9,-16.3,74,1211,0.00,2.22,0.00,0.000,6,0.000,0.031,2362,2322,3958,0,0,0,0,0,0
$GC,1488,-1.51,-107.5,302.2,-17.1,81,1492,0.00,2.38,0.00,0.000,4,0.000,0.067,2362,3719,3958,0,0,0,0,0,0
$GC,1515,-1.51,-107.5,308.5,-17.3,81,1519,0.00,2.25,0.00,0.000,6,0.000,0.036,2362,2327,3958,0,0,0,0,0,0
$GC,1771,-1.51,-107.5,349.7,-16.0,88,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2327,3958,0,0,0,0,0,0
$GC,2014,-1.51,-107.5,387.3,-15.2,94,2019,0.00,2.50,0.00,0.000,4,0.000,0.091,2362,919,3958,0,0,0,0,0,0
$GC,2042,-1.51,-107.5,391.8,-16.1,94,2046,0.00,2.28,0.00,0.000,6,0.000,0.044,2362,2310,3957,0,0,0,0,0,0
$GC,2292,-1.51,-107.5,428.3,-14.6,100,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2310,3956,0,0,0,0,0,0
$GC,2543,-1.51,-107.5,463.0,-14.2,106,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2310,3955,0,0,0,0,0,0
$GC,2780,-1.51,-107.5,498.4,-14.3,112,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2310,3952,0,0,0,0,0,0
$GC,3023,-1.51,-107.5,531.9,-13.7,118,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2310,3951,0,0,0,0,0,0
$GC,3267,-1.51,-107.5,565.5,-13.8,124,3271,0.00,2.67,0.00,0.000,4,0.000,0.122,2362,3722,3949,0,0,0,0,0,0
$GC,3293,-1.51,-107.5,569.4,-14.5,124,3298,0.00,2.42,0.00,0.000,6,0.000,0.071,2362,2331,3948,0,0,0,0,0,0
$GC,3544,-1.51,-107.5,604.6,-14.2,130,3549,0.00,2.75,0.00,0.000,4,0.000,0.133,2362,912,3947,0,0,0,0,0,0
$GC,3571,-1.51,-107.5,608.7,-15.1,130,3575,0.00,2.55,0.00,0.000,6,0.000,0.091,2362,2311,3947,0,0,0,0,0,0
$GC,3830,-1.51,-107.5,643.2,-13.8,136,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2311,3944,0,0,0,0,0,0
$GC,4065,-1.51,-107.5,675.9,-13.4,142,4070,0.00,2.85,0.00,0.000,4,0.000,0.153,2362,910,3942,0,0,0,0,0,0
$GC,4086,-1.51,-107.5,679.0,-13.3,142,4091,0.00,2.72,0.00,0.000,6,0.000,0.125,2362,2318,3942,0,0,0,0,0,0
$GC,4341,-1.51,-107.5,712.6,-13.2,149,4346,0.00,3.08,0.00,0.000,4,0.000,0.187,2362,3731,3940,0,0,0,0,0,0
$GC,4363,-1.51,-107.5,715.6,-13.5,149,4368,0.00,2.85,0.00,0.000,6,0.000,0.145,2362,2324,3940,0,0,0,0,0,0
$GC,4627,-1.51,-107.5,747.8,-12.6,156,4632,0.00,3.17,0.00,0.000,4,0.000,0.202,2362,909,3938,0,0,0,0,0,0
$GC,4654,-1.51,-107.5,752.7,-13.6,156,4659,0.00,3.05,0.00,0.000,6,0.000,0.174,2362,2320,3938,0,0,0,0,0,0
$GC,4905,-1.51,-107.5,783.5,-12.3,162,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2320,3936,0,0,0,0,0,0
$GC,5148,-1.51,-107.5,813.1,-12.1,168,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2320,3934,0,0,0,0,0,0
$GC,5391,-1.51,-107.5,842.6,-12.1,174,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2321,3932,0,0,0,0,0,0
$GC,5635,-1.51,-107.5,871.6,-11.8,180,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2321,3930,0,0,0,0,0,0
$STATE,5884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5884,begin apogee
$GC,5891,-0.33,0.0,900.7,12.0,186,5986,1.25,0.00,91.07,1.230,6,0.098,0.000,2625,2397,3519,0,0,0,0,0,0
$STATE,5987,end apogee,CONTROL_FINISHED_OK
$STATE,5987,begin climb
$GC,5989,1.51,107.5,904.5,0.0,188,6099,1.70,4.93,96.65,1.209,4,0.028,0.332,3037,3812,3080,0,0,3,0,0,0
$GC,6137,1.83,367.4,916.6,-6.2,191,6389,0.25,4.30,239.55,1.207,6,0.054,0.293,3102,2402,2020,0,0,1,0,0,0
$GC,6650,1.83,367.4,847.5,20.9,204,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,2012,0,0,0,0,0,0
$GC,6895,1.83,367.4,798.5,20.2,210,6896,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2402,2010,0,0,0,0,0,0
$GC,7145,1.83,367.4,749.5,20.2,216,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2401,2008,0,0,0,0,0,0
$GC,7381,1.83,367.4,701.5,19.8,222,7386,0.00,3.03,0.00,0.000,4,0.000,0.166,3102,3815,2008,0,0,0,0,0,0
$GC,7403,1.83,367.4,697.2,18.8,222,7408,0.00,2.78,0.00,0.000,6,0.000,0.123,3102,2395,2008,0,0,0,0,0,0
$GC,7658,1.83,367.4,650.3,18.3,229,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2394,2007,0,0,0,0,0,0
$GC,7902,1.83,367.4,607.9,17.0,235,7906,0.00,2.67,0.00,0.000,4,0.000,0.106,3102,3824,2006,0,0,0,0,0,0
$GC,7917,1.83,367.4,604.9,16.8,235,7922,0.00,2.53,0.00,0.000,6,0.000,0.068,3102,2389,2006,0,0,0,0,0,0
$GC,8179,1.83,367.4,562.1,16.3,242,8183,0.00,2.58,0.00,0.000,4,0.000,0.088,3102,3818,2005,0,0,0,0,0,0
$GC,8205,1.83,367.4,557.3,17.6,242,8210,0.00,2.45,0.00,0.000,6,0.000,0.051,3102,2394,2005,0,0,0,0,0,0
$GC,8461,1.83,367.4,515.6,16.3,249,8466,0.00,2.53,0.00,0.000,4,0.000,0.074,3102,3827,2005,0,0,0,0,0,0
$GC,8539,1.83,367.4,501.8,17.1,250,8552,0.00,2.40,0.00,0.000,6,0.000,0.041,3102,2400,2005,0,0,0,0,0,0
$GC,8789,1.83,367.4,460.2,17.0,257,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2401,2004,0,0,0,0,0,0
$GC,9033,1.83,367.4,416.8,17.8,263,9038,0.00,2.53,0.00,0.000,4,0.000,0.085,3102,982,2004,0,0,0,0,0,0
$GC,9049,1.83,367.4,413.6,18.0,263,9053,0.00,2.38,0.00,0.000,6,0.000,0.038,3102,2427,2004,0,0,0,0,0,0
$GC,9316,1.83,367.4,370.5,15.6,270,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2427,2003,0,0,0,0,0,0
$GC,9568,1.83,367.4,330.8,16.1,276,9572,0.00,2.42,0.00,0.000,4,0.000,0.058,3102,988,2003,0,0,0,0,0,0
$GC,9583,1.83,367.4,326.8,16.6,276,9587,0.00,2.30,0.00,0.000,6,0.000,0.035,3102,2401,2003,0,0,0,0,0,0
$GC,9850,1.83,367.4,284.7,15.3,283,9854,0.00,2.40,0.00,0.000,4,0.000,0.062,3101,3810,2002,0,0,0,0,0,0
$GC,9859,1.83,367.4,283.1,15.0,283,9863,0.00,2.28,0.00,0.000,6,0.000,0.028,3102,2381,2002,0,0,0,0,0,0
$GC,10133,1.83,367.4,245.0,13.1,290,10137,0.00,2.42,0.00,0.000,4,0.000,0.058,3102,3807,2002,0,0,0,0,0,0
$GC,10171,1.83,367.4,239.5,13.5,290,10185,0.00,2.30,0.00,0.000,6,0.000,0.033,3102,2407,2002,0,0,0,0,0,0
$GC,10421,1.83,367.4,204.8,14.4,297,10425,0.00,2.47,0.00,0.000,4,0.000,0.077,3102,983,2002,0,0,0,0,0,0
$GC,10448,1.83,367.4,200.6,15.4,297,10452,0.00,2.28,0.00,0.000,6,0.000,0.032,3102,2404,2002,0,0,0,0,0,0
$GC,10747,1.83,367.4,156.2,16.1,322,10751,0.00,2.38,0.00,0.000,4,0.000,0.058,3102,987,2002,0,0,0,0,0,0
$GC,10787,1.83,367.4,149.2,16.3,324,10791,0.00,2.25,0.00,0.000,6,0.000,0.030,3102,2400,2002,0,0,0,0,0,0
$GC,11094,1.83,367.4,106.4,12.2,349,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2400,2003,0,0,0,0,0,0
$GC,11402,1.83,367.4,72.0,11.6,374,11406,0.00,2.35,0.00,0.000,4,0.000,0.054,3102,987,2004,0,0,0,0,0,0
$GC,11467,1.83,367.4,62.7,11.1,377,11483,0.00,2.30,0.00,0.000,6,0.000,0.029,3103,2407,2004,0,0,0,0,0,0
$GC,11800,1.84,376.3,31.3,9.4,402,11821,0.00,2.38,6.93,0.466,4,0.000,0.054,3102,3805,1983,0,0,0,0,0,0
$STATE,12046,end climb,SURFACE_DEPTH_REACHED
$STATE,12047,begin surface coast
$FINISH,1.4,1.023227
$STATE,12126,end surface coast,CONTROL_FINISHED_OK
$STATE,12126,begin surface
$SM_CCo,12150,38.15,0.504,0,0,1806,420.19
$SM_GC,2.44,0.00,0.00,38.15,0.000,0.000,0.504,475,2302,1806,-10.24,-0.51,420.19
$IRIDIUM_FIX,2218.34,-15803.69,141099,232322
$TT8_MAMPS,0.027612
$HUMID,39.13
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.6,14.581
$10V_AH,10.1,13.498
$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,25.000,123.975,434.200,38.150,0.000,30.642,28.210,237.444,0.250,0.000,16.114,905.530,7634.603,485.354,2985.652,597.617,29.263,1219.822,0.000,3037.064,0.000,0.541,0.000
$DEVICE_MAMPS,185.614,332.111,1229.501,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,294.224,175.905,2144.806,1168.571,1420.429,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356368
$DATA_FILE_SIZE,32078,426
$CAP_FILE_SIZE,154062,131
$CFSIZE,260165632,212996096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,210710,060607,2226.523,-15804.350,47,1.3,47,10.0