version: 66.06
glider: 147
mission: 5
dive: 129
start: 7 21 110 20 41 35
data:
$ID,147
$MISSION,5
$DIVE,129
$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,-21291.52
$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,2380
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,203507,2233.437,-15801.771,73,1.2,73,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.3
$GPS2,204044,2233.475,-15801.736,14,1.7,20,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.044,0.221
$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,1.3,36876,-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,-71.57,0.000,2,0.000,0.000,474,2410,3535,0,0,0,0,0,0
$GC,93,-1.51,-107.5,5.1,-4.9,5,124,11.05,2.30,-6.93,0.000,4,0.188,0.054,2363,3789,3952,0,0,0,0,0,0
$GC,174,-1.51,-107.5,42.0,-27.6,10,190,0.00,2.30,0.00,0.000,6,0.000,0.029,2364,2376,3953,0,0,0,0,0,0
$GC,494,-1.51,-107.5,115.7,-23.0,35,498,0.00,2.33,0.00,0.000,4,0.000,0.051,2363,970,3954,0,0,0,0,0,0
$GC,660,-1.51,-107.5,149.5,-18.2,44,664,0.00,2.25,0.00,0.000,6,0.000,0.031,2363,2383,3955,0,0,0,0,0,0
$GC,980,-1.51,-107.5,207.3,-17.0,69,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2383,3955,0,0,0,0,0,0
$GC,1224,-1.51,-107.5,246.3,-16.0,75,1228,0.00,2.35,0.00,0.000,4,0.000,0.053,2364,966,3956,0,0,0,0,0,0
$GC,1251,-1.51,-107.5,251.0,-17.0,75,1255,0.00,2.25,0.00,0.000,6,0.000,0.031,2364,2378,3957,0,0,0,0,0,0
$GC,1508,-1.51,-107.5,291.4,-16.5,81,1512,0.00,2.38,0.00,0.000,4,0.000,0.058,2364,973,3957,0,0,0,0,0,0
$GC,1547,-1.51,-107.5,299.1,-16.8,82,1551,0.00,2.25,0.00,0.000,6,0.000,0.036,2364,2377,3957,0,0,0,0,0,0
$GC,1830,-1.51,-107.5,342.7,-14.9,89,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2377,3957,0,0,0,0,0,0
$GC,2073,-1.51,-107.5,379.1,-14.9,95,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2377,3957,0,0,0,0,0,0
$GC,2324,-1.51,-107.5,416.8,-15.6,101,2329,0.00,2.45,0.00,0.000,4,0.000,0.078,2364,975,3956,0,0,0,0,0,0
$GC,2380,-1.51,-107.5,426.9,-15.5,102,2385,0.00,2.33,0.00,0.000,6,0.000,0.048,2363,2378,3956,0,0,0,0,0,0
$GC,2647,-1.51,-107.5,468.0,-15.6,109,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3954,0,0,0,0,0,0
$GC,2891,-1.51,-107.5,503.8,-14.5,115,2895,0.00,2.47,0.00,0.000,4,0.000,0.087,2363,981,3953,0,0,0,0,0,0
$GC,2912,-1.51,-107.5,507.1,-14.9,115,2917,0.00,2.38,0.00,0.000,6,0.000,0.060,2363,2385,3952,0,0,0,0,0,0
$GC,3168,-1.51,-107.5,543.9,-14.3,122,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2386,3951,0,0,0,0,0,0
$GC,3411,-1.51,-107.5,579.2,-14.6,128,3416,0.00,2.62,0.00,0.000,4,0.000,0.107,2364,980,3949,0,0,0,0,0,0
$GC,3472,-1.51,-107.5,588.2,-14.2,129,3477,0.00,2.50,0.00,0.000,6,0.000,0.084,2363,2378,3948,0,0,0,0,0,0
$GC,3740,-1.51,-107.5,624.5,-14.0,136,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2378,3946,0,0,0,0,0,0
$GC,3976,-1.51,-107.5,657.9,-13.8,142,3981,0.00,2.78,0.00,0.000,4,0.000,0.142,2364,986,3945,0,0,0,0,0,0
$GC,4003,-1.51,-107.5,661.8,-14.1,142,4008,0.00,2.67,0.00,0.000,6,0.000,0.119,2364,2379,3944,0,0,0,0,0,0
$GC,4253,-1.51,-107.5,695.7,-13.5,148,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2379,3942,0,0,0,0,0,0
$GC,4497,-1.51,-107.5,728.0,-13.0,154,4501,0.00,3.00,0.00,0.000,4,0.000,0.178,2363,986,3940,0,0,0,0,0,0
$GC,4536,-1.51,-107.5,733.1,-12.9,155,4540,0.00,2.90,0.00,0.000,6,0.000,0.160,2364,2377,3940,0,0,0,0,0,0
$GC,4819,-1.51,-107.5,768.8,-12.4,162,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3938,0,0,0,0,0,0
$GC,5062,-1.51,-107.5,798.7,-12.3,168,5067,0.00,3.33,0.00,0.000,4,0.000,0.224,2364,988,3936,0,0,0,0,0,0
$GC,5095,-1.51,-107.5,802.8,-12.6,168,5101,0.00,3.28,0.00,0.000,6,0.000,0.212,2364,2380,3936,0,0,1,0,0,0
$GC,5345,-1.51,-107.5,833.2,-12.2,175,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2381,3934,0,0,0,0,0,0
$GC,5596,-1.51,-107.5,863.9,-12.6,181,5601,0.00,3.80,0.00,0.000,4,0.000,0.273,2364,988,3933,0,0,1,0,0,0
$GC,5618,-1.51,-107.5,867.8,-12.9,181,5623,0.00,3.72,0.00,0.000,6,0.000,0.259,2364,2379,3932,0,0,1,0,0,0
$GC,5874,-1.51,-107.5,899.4,-12.3,188,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2379,3931,0,0,0,0,0,0
$STATE,5911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5911,begin apogee
$GC,5917,-0.33,0.0,904.3,12.2,189,6013,1.23,0.00,91.82,1.228,6,0.096,0.000,2624,2400,3519,0,0,0,0,0,0
$STATE,6014,end apogee,CONTROL_FINISHED_OK
$STATE,6014,begin climb
$GC,6016,1.51,107.5,907.5,0.0,191,6128,1.70,5.18,96.78,1.207,4,0.026,0.346,3043,3812,3080,0,0,18,0,0,0
$GC,6145,1.84,379.1,917.8,-7.0,194,6406,0.25,4.22,249.07,1.206,6,0.053,0.291,3108,2421,1973,0,0,1,0,0,0
$GC,6674,1.84,379.1,840.1,22.3,207,6679,0.00,3.67,0.00,0.000,4,0.000,0.246,3108,984,1963,0,0,0,0,0,0
$GC,6690,1.84,379.1,836.2,22.2,207,6695,0.00,3.55,0.00,0.000,6,0.000,0.231,3108,2400,1963,0,0,1,0,0,0
$GC,6951,1.84,379.1,781.8,20.5,214,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2400,1960,0,0,0,0,0,0
$GC,7195,1.84,379.1,733.2,19.8,220,7200,0.00,3.15,0.00,0.000,4,0.000,0.189,3108,3815,1960,0,0,0,0,0,0
$GC,7211,1.84,379.1,729.6,19.8,220,7216,0.00,2.90,0.00,0.000,6,0.000,0.143,3108,2396,1960,0,0,0,0,0,0
$GC,7472,1.84,379.1,677.9,19.8,227,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2396,1959,0,0,0,0,0,0
$GC,7717,1.84,379.1,630.6,19.3,233,7721,0.00,2.78,0.00,0.000,4,0.000,0.121,3108,3823,1958,0,0,0,0,0,0
$GC,7738,1.84,379.1,625.8,20.6,233,7743,0.00,2.60,0.00,0.000,6,0.000,0.081,3108,2387,1958,0,0,0,0,0,0
$GC,7994,1.84,379.1,577.5,18.6,240,7998,0.00,2.62,0.00,0.000,4,0.000,0.094,3108,3826,1957,0,0,0,0,0,0
$GC,8009,1.84,379.1,574.3,19.3,240,8013,0.00,2.42,0.00,0.000,6,0.000,0.054,3108,2398,1957,0,0,0,0,0,0
$GC,8276,1.84,379.1,525.1,18.6,247,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2398,1957,0,0,0,0,0,0
$GC,8519,1.84,379.1,482.3,17.4,253,8524,0.00,2.50,0.00,0.000,4,0.000,0.071,3108,3819,1956,0,0,0,0,0,0
$GC,8541,1.84,379.1,478.1,18.7,253,8545,0.00,2.40,0.00,0.000,6,0.000,0.041,3108,2396,1956,0,0,0,0,0,0
$GC,8803,1.84,379.1,433.7,16.7,260,8807,0.00,2.47,0.00,0.000,4,0.000,0.081,3108,990,1956,0,0,0,0,0,0
$GC,8818,1.84,379.1,430.6,17.2,260,8822,0.00,2.35,0.00,0.000,6,0.000,0.036,3108,2422,1955,0,0,0,0,0,0
$GC,9085,1.84,379.1,386.0,16.8,267,9089,0.00,2.45,0.00,0.000,4,0.000,0.060,3108,990,1955,0,0,0,0,0,0
$GC,9107,1.84,379.1,382.3,17.6,267,9111,0.00,2.28,0.00,0.000,6,0.000,0.035,3108,2402,1955,0,0,0,0,0,0
$GC,9362,1.84,379.1,337.4,17.4,274,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,1955,0,0,0,0,0,0
$GC,9606,1.84,379.1,297.0,16.3,280,9607,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2402,1955,0,0,0,0,0,0
$GC,9859,1.84,379.1,259.0,15.5,286,9863,0.00,2.40,0.00,0.000,4,0.000,0.054,3108,981,1955,0,0,0,0,0,0
$GC,9886,1.84,379.1,252.6,17.9,286,9890,0.00,2.30,0.00,0.000,6,0.000,0.033,3108,2401,1954,0,0,0,0,0,0
$GC,10141,1.84,379.1,209.6,17.0,293,10145,0.00,2.35,0.00,0.000,4,0.000,0.059,3108,3805,1955,0,0,0,0,0,0
$GC,10164,1.84,379.1,205.6,17.3,293,10168,0.00,2.28,0.00,0.000,6,0.000,0.029,3108,2393,1954,0,0,0,0,0,0
$GC,10453,1.84,379.1,159.6,16.6,315,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,1955,0,0,0,0,0,0
$GC,10757,1.84,379.1,113.5,14.1,340,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2393,1954,0,0,0,0,0,0
$GC,11063,1.84,379.1,76.3,12.3,365,11068,0.00,2.40,0.00,0.000,4,0.000,0.072,3108,987,1955,0,0,0,0,0,0
$GC,11132,1.84,379.1,66.9,11.9,368,11147,0.00,2.30,0.00,0.000,6,0.000,0.030,3108,2404,1956,0,0,0,0,0,0
$GC,11465,1.84,379.1,35.0,10.1,393,11470,0.00,2.33,0.00,0.000,4,0.000,0.054,3108,3805,1958,0,0,0,0,0,0
$STATE,11733,end climb,SURFACE_DEPTH_REACHED
$STATE,11733,begin surface coast
$FINISH,1.3,1.023071
$STATE,11826,end surface coast,CONTROL_FINISHED_OK
$STATE,11826,begin surface
$SM_CCo,11850,33.15,0.500,0,0,1805,420.19
$SM_GC,2.55,0.00,0.00,33.15,0.000,0.000,0.500,478,2355,1805,-10.22,-0.71,420.19
$IRIDIUM_FIX,2223.01,-15804.98,151099,171724
$TT8_MAMPS,0.027612
$HUMID,39.40
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.6,15.455
$10V_AH,10.1,14.310
$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,25.100,124.925,437.675,33.150,0.000,22.964,26.411,159.720,0.000,0.000,22.395,894.822,7362.932,482.861,2971.944,505.898,29.236,1212.866,0.000,3015.820,0.000,0.539,0.000
$DEVICE_MAMPS,187.915,345.917,1227.967,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,289.620,172.515,2109.156,1149.666,1402.375,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356368
$DATA_FILE_SIZE,31998,419
$CAP_FILE_SIZE,150880,133
$CFSIZE,260165632,212742144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,23,0,0
$GPS,220710,000106,2235.346,-15800.991,47,1.6,47,10.0