version: 66.06
glider: 147
mission: 5
dive: 138
start: 7 22 110 14 13 58
data:
$ID,147
$MISSION,5
$DIVE,138
$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,-21404.686
$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,38
$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
$GPS1,140724,2243.644,-15758.521,39,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-52.7
$GPS2,141308,2243.705,-15758.489,13,1.5,13,10.1
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,0.224
$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,355.5,17297,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.51,-107.5,0.0,0.0,0,150,0.00,0.00,-131.00,0.000,2,0.000,0.000,479,2396,3476,0,0,0,0,0,0
$GC,154,-1.51,-107.5,4.8,-4.4,9,184,10.88,2.33,-8.65,0.000,4,0.181,0.055,2364,3785,3952,0,0,0,0,0,0
$GC,261,-1.51,-107.5,43.3,-24.5,16,276,0.00,2.28,0.00,0.000,6,0.000,0.034,2364,2395,3953,0,0,0,0,0,0
$GC,579,-1.51,-107.5,115.5,-19.8,41,583,0.00,2.35,0.00,0.000,4,0.000,0.049,2364,969,3953,0,0,0,0,0,0
$GC,675,-1.51,-107.5,135.9,-21.4,46,679,0.00,2.25,0.00,0.000,6,0.000,0.029,2364,2390,3953,0,0,0,0,0,0
$GC,970,-1.51,-107.5,193.9,-19.0,70,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2390,3954,0,0,0,0,0,0
$GC,1243,-1.51,-107.5,245.7,-18.0,79,1247,0.00,2.38,0.00,0.000,4,0.000,0.054,2364,973,3954,0,0,0,0,0,0
$GC,1286,-1.51,-107.5,253.9,-17.3,80,1290,0.00,2.22,0.00,0.000,6,0.000,0.031,2364,2377,3954,0,0,0,0,0,0
$GC,1570,-1.51,-107.5,301.8,-16.6,87,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3954,0,0,0,0,0,0
$GC,1814,-1.51,-107.5,340.7,-15.7,93,1818,0.00,2.40,0.00,0.000,4,0.000,0.067,2364,976,3954,0,0,0,0,0,0
$GC,1847,-1.51,-107.5,346.2,-16.2,93,1853,0.00,2.28,0.00,0.000,6,0.000,0.041,2364,2373,3954,0,0,0,0,0,0
$GC,2097,-1.51,-107.5,385.9,-16.2,100,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2373,3954,0,0,0,0,0,0
$GC,2349,-1.51,-107.5,423.7,-15.4,106,2353,0.00,2.45,0.00,0.000,4,0.000,0.080,2364,977,3952,0,0,0,0,0,0
$GC,2375,-1.51,-107.5,429.1,-15.7,106,2379,0.00,2.33,0.00,0.000,6,0.000,0.049,2364,2377,3952,0,0,0,0,0,0
$GC,2631,-1.51,-107.5,465.9,-14.2,113,2635,0.00,2.53,0.00,0.000,4,0.000,0.093,2364,3789,3950,0,0,0,0,0,0
$GC,2658,-1.51,-107.5,469.9,-14.9,113,2662,0.00,2.33,0.00,0.000,6,0.000,0.045,2364,2383,3950,0,0,0,0,0,0
$GC,2908,-1.51,-107.5,506.2,-14.9,119,2912,0.00,2.60,0.00,0.000,4,0.000,0.102,2364,967,3947,0,0,0,0,0,0
$GC,2968,-1.51,-107.5,515.3,-15.1,120,2973,0.00,2.42,0.00,0.000,6,0.000,0.063,2365,2378,3946,0,0,0,0,0,0
$GC,3236,-1.51,-107.5,553.8,-14.6,127,3240,0.00,2.58,0.00,0.000,4,0.000,0.097,2364,974,3945,0,0,0,0,0,0
$GC,3262,-1.51,-107.5,558.0,-15.2,127,3267,0.00,2.45,0.00,0.000,6,0.000,0.071,2364,2382,3945,0,0,0,0,0,0
$GC,3512,-1.51,-107.5,593.5,-14.3,133,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2382,3942,0,0,0,0,0,0
$GC,3756,-1.51,-107.5,627.6,-13.9,139,3761,0.00,2.75,0.00,0.000,4,0.000,0.129,2364,974,3939,0,0,0,0,0,0
$GC,3806,-1.51,-107.5,634.6,-13.3,140,3810,0.00,2.67,0.00,0.000,6,0.000,0.110,2364,2379,3939,0,0,0,0,0,0
$GC,4077,-1.51,-107.5,672.3,-13.8,147,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2379,3937,0,0,0,0,0,0
$GC,4321,-1.51,-107.5,705.1,-13.4,153,4326,0.00,2.97,0.00,0.000,4,0.000,0.169,2364,976,3935,0,0,0,0,0,0
$GC,4354,-1.51,-107.5,709.4,-12.8,153,4360,0.00,2.88,0.00,0.000,6,0.000,0.148,2364,2378,3935,0,0,0,0,0,0
$GC,4603,-1.51,-107.5,740.2,-12.3,160,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3932,0,0,0,0,0,0
$GC,4855,-1.51,-107.5,769.8,-12.1,166,4860,0.00,3.22,0.00,0.000,4,0.000,0.207,2364,977,3931,0,0,0,0,0,0
$GC,4904,-1.51,-107.5,777.0,-12.3,167,4909,0.00,3.20,0.00,0.000,6,0.000,0.195,2364,2383,3930,0,0,0,0,0,0
$GC,5176,-1.51,-107.5,811.0,-12.7,174,5181,0.00,3.47,0.00,0.000,4,0.000,0.234,2365,978,3928,0,0,1,0,0,0
$GC,5203,-1.51,-107.5,814.8,-13.7,174,5208,0.00,3.38,0.00,0.000,6,0.000,0.221,2364,2379,3927,0,0,1,0,0,0
$GC,5454,-1.51,-107.5,847.6,-13.1,180,5455,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3925,0,0,0,0,0,0
$GC,5705,-1.51,-107.5,879.3,-13.0,186,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2379,3924,0,0,0,0,0,0
$STATE,5907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5907,begin apogee
$GC,5914,-0.33,0.0,905.0,12.7,191,6008,1.23,0.00,90.30,1.230,6,0.095,0.000,2624,2398,3519,0,0,0,0,0,0
$STATE,6009,end apogee,CONTROL_FINISHED_OK
$STATE,6009,begin climb
$GC,6011,1.51,107.5,909.5,0.0,193,6113,1.70,0.00,97.07,1.214,6,0.026,0.000,3042,2398,3079,0,0,0,0,0,0
$GC,6346,1.84,380.7,935.2,-7.1,201,6612,0.25,4.68,251.45,1.229,4,0.056,0.316,3110,1001,1964,0,0,1,0,0,0
$GC,6641,1.84,380.7,912.1,21.9,208,6648,0.00,4.30,0.00,0.000,6,0.000,0.295,3110,2399,1960,0,0,1,0,0,0
$GC,6928,1.84,380.7,850.3,21.2,215,6936,0.00,4.05,0.00,0.000,4,0.000,0.285,3110,3813,1955,0,0,0,0,0,0
$GC,6955,1.84,380.7,844.3,21.6,215,6960,0.00,3.53,0.00,0.000,6,0.000,0.232,3110,2412,1955,0,0,1,0,0,0
$GC,7210,1.84,380.7,790.1,21.2,222,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2411,1953,0,0,0,0,0,0
$GC,7454,1.84,380.7,738.3,21.3,228,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2411,1952,0,0,0,0,0,0
$GC,7698,1.84,380.7,686.8,21.1,234,7703,0.00,2.90,0.00,0.000,4,0.000,0.148,3110,983,1950,0,0,0,0,0,0
$GC,7714,1.84,380.7,683.2,20.6,234,7718,0.00,2.78,0.00,0.000,6,0.000,0.121,3110,2405,1950,0,0,0,0,0,0
$GC,7984,1.84,380.7,631.8,19.5,241,7988,0.00,2.75,0.00,0.000,4,0.000,0.129,3110,3813,1950,0,0,0,0,0,0
$GC,8017,1.84,380.7,623.4,19.5,241,8023,0.00,2.58,0.00,0.000,6,0.000,0.083,3110,2393,1949,0,0,0,0,0,0
$GC,8267,1.84,380.7,575.9,18.9,248,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2393,1948,0,0,0,0,0,0
$GC,8510,1.84,380.7,532.0,17.9,254,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2393,1948,0,0,0,0,0,0
$GC,8754,1.84,380.7,488.8,17.6,260,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2392,1948,0,0,0,0,0,0
$GC,9006,1.84,380.7,446.4,17.4,266,9010,0.00,2.50,0.00,0.000,4,0.000,0.070,3110,3820,1947,0,0,0,0,0,0
$GC,9027,1.84,380.7,441.1,17.1,266,9031,0.00,2.35,0.00,0.000,6,0.000,0.037,3110,2388,1947,0,0,0,0,0,0
$GC,9288,1.84,380.7,396.5,16.9,273,9292,0.00,2.47,0.00,0.000,4,0.000,0.065,3110,3814,1947,0,0,0,0,0,0
$GC,9332,1.84,380.7,388.8,17.8,274,9337,0.00,2.35,0.00,0.000,6,0.000,0.037,3110,2393,1946,0,0,0,0,0,0
$GC,9618,1.84,380.7,344.1,16.0,281,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2393,1946,0,0,0,0,0,0
$GC,9854,1.84,380.7,303.8,16.7,287,9858,0.00,2.45,0.00,0.000,4,0.000,0.076,3110,991,1946,0,0,0,0,0,0
$GC,9870,1.84,380.7,301.1,17.2,287,9874,0.00,2.33,0.00,0.000,6,0.000,0.033,3111,2418,1946,0,0,0,0,0,0
$GC,10131,1.84,380.7,256.3,16.9,294,10135,0.00,2.35,0.00,0.000,4,0.000,0.060,3110,3802,1946,0,0,0,0,0,0
$GC,10146,1.84,380.7,253.3,16.6,294,10151,0.00,2.28,0.00,0.000,6,0.000,0.028,3110,2390,1946,0,0,0,0,0,0
$GC,10416,1.84,380.7,213.4,15.0,301,10420,0.00,2.40,0.00,0.000,4,0.000,0.070,3110,1001,1945,0,0,0,0,0,0
$GC,10443,1.84,380.7,207.5,16.2,301,10448,0.00,2.30,0.00,0.000,6,0.000,0.032,3111,2404,1945,0,0,0,0,0,0
$GC,10738,1.84,380.7,163.3,16.3,323,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2404,1945,0,0,0,0,0,0
$GC,11036,1.84,380.7,117.1,14.1,348,11040,0.00,2.35,0.00,0.000,4,0.000,0.055,3110,3813,1946,0,0,0,0,0,0
$GC,11060,1.84,380.7,112.4,15.0,349,11073,0.00,2.30,0.00,0.000,6,0.000,0.031,3110,2409,1946,0,0,0,0,0,0
$GC,11368,1.84,380.7,75.3,12.8,374,11372,0.00,2.45,0.00,0.000,4,0.000,0.071,3110,991,1946,0,0,0,0,0,0
$GC,11509,1.84,380.7,56.0,11.3,381,11524,0.00,2.28,0.00,0.000,6,0.000,0.030,3110,2395,1947,0,0,0,0,0,0
$GC,11906,1.84,380.7,14.1,12.8,411,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2395,1950,0,0,0,0,0,0
$STATE,12001,end climb,SURFACE_DEPTH_REACHED
$STATE,12001,begin surface coast
$FINISH,1.4,1.023255
$STATE,12094,end surface coast,CONTROL_FINISHED_OK
$STATE,12094,begin surface
$SM_CCo,12115,30.60,0.504,0,0,1806,420.19
$SM_GC,2.39,0.00,0.00,30.60,0.000,0.000,0.504,479,2397,1806,-10.22,0.48,420.19
$IRIDIUM_FIX,2230.01,-15801.07,161099,101045
$TT8_MAMPS,0.027612
$HUMID,40.19
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,23.6,16.304
$10V_AH,10.1,15.097
$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,24.950,123.475,438.825,30.600,0.000,30.511,36.248,158.071,0.500,0.000,14.748,902.856,7528.463,510.936,3025.376,521.022,29.236,1300.663,0.000,3079.808,0.000,0.540,0.000
$DEVICE_MAMPS,181.012,332.111,1230.268,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.185,173.536,2147.166,1183.965,1442.038,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356368
$DATA_FILE_SIZE,32003,425
$CAP_FILE_SIZE,152564,133
$CFSIZE,260165632,212496384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,220710,173806,2245.845,-15758.069,62,0.8,62,10.1