version: 66.06
glider: 147
mission: 5
dive: 142
start: 7 23 110 0 56 55
data:
$ID,147
$MISSION,5
$DIVE,142
$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,400
$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,-21464.76
$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,29
$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
$GPS1,005010,2250.241,-15757.402,27,1.1,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-58.3
$GPS2,005606,2250.323,-15757.358,12,1.4,28,10.1
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.011,0.225
$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,347.1,4963,-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,-131.12,0.000,2,0.000,0.000,477,2403,3458,0,0,0,0,0,0
$GC,154,-1.51,-107.5,4.4,-3.5,9,184,10.90,2.33,-8.98,0.000,4,0.182,0.060,2363,3783,3952,0,0,0,0,0,0
$GC,242,-1.51,-107.5,39.1,-26.6,15,258,0.00,2.28,0.00,0.000,6,0.000,0.030,2363,2380,3952,0,0,0,0,0,0
$GC,561,-1.51,-107.5,113.7,-23.5,40,565,0.00,2.30,0.00,0.000,4,0.000,0.047,2363,972,3952,0,0,0,0,0,0
$GC,688,-1.51,-107.5,140.9,-19.8,47,702,0.00,2.28,0.00,0.000,6,0.000,0.031,2363,2377,3953,0,0,0,0,0,0
$GC,982,-1.51,-107.5,197.3,-18.5,72,986,0.00,2.33,0.00,0.000,4,0.000,0.048,2363,973,3953,0,0,0,0,0,0
$GC,1039,-1.51,-107.5,209.6,-18.5,74,1043,0.00,2.22,0.00,0.000,6,0.000,0.032,2363,2377,3953,0,0,0,0,0,0
$GC,1318,-1.51,-107.5,258.2,-17.7,81,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2378,3954,0,0,0,0,0,0
$GC,1554,-1.51,-107.5,297.6,-16.1,87,1558,0.00,2.38,0.00,0.000,4,0.000,0.059,2363,971,3954,0,0,0,0,0,0
$GC,1581,-1.51,-107.5,301.9,-15.5,87,1586,0.00,2.28,0.00,0.000,6,0.000,0.037,2363,2382,3954,0,0,0,0,0,0
$GC,1831,-1.51,-107.5,342.3,-16.4,93,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2382,3954,0,0,0,0,0,0
$GC,2075,-1.51,-107.5,383.6,-17.0,99,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2382,3953,0,0,0,0,0,0
$GC,2318,-1.51,-107.5,423.3,-16.1,105,2323,0.00,2.47,0.00,0.000,4,0.000,0.081,2363,975,3952,0,0,0,0,0,0
$GC,2368,-1.51,-107.5,429.6,-15.2,106,2372,0.00,2.35,0.00,0.000,6,0.000,0.052,2363,2378,3952,0,0,0,0,0,0
$GC,2650,-1.51,-107.5,473.7,-14.8,113,2655,0.00,2.45,0.00,0.000,4,0.000,0.080,2363,983,3949,0,0,0,0,0,0
$GC,2674,-1.51,-107.5,477.1,-14.7,113,2678,0.00,2.38,0.00,0.000,6,0.000,0.054,2363,2386,3949,0,0,0,0,0,0
$GC,2930,-1.51,-107.5,513.5,-14.2,120,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2387,3947,0,0,0,0,0,0
$GC,3181,-1.51,-107.5,547.6,-14.0,126,3186,0.00,2.58,0.00,0.000,4,0.000,0.096,2363,980,3945,0,0,0,0,0,0
$GC,3220,-1.51,-107.5,554.6,-14.4,127,3225,0.00,2.45,0.00,0.000,6,0.000,0.072,2363,2382,3944,0,0,0,0,0,0
$GC,3504,-1.51,-107.5,593.9,-13.9,134,3506,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2382,3942,0,0,0,0,0,0
$GC,3747,-1.51,-107.5,626.9,-13.3,140,3752,0.00,2.70,0.00,0.000,4,0.000,0.127,2363,987,3939,0,0,0,0,0,0
$GC,3795,-1.51,-107.5,632.0,-13.0,141,3799,0.00,2.62,0.00,0.000,6,0.000,0.106,2363,2378,3939,0,0,0,0,0,0
$GC,4078,-1.51,-107.5,669.7,-13.0,148,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2378,3937,0,0,0,0,0,0
$GC,4321,-1.51,-107.5,702.1,-13.3,154,4322,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2378,3935,0,0,0,0,0,0
$GC,4566,-1.51,-107.5,734.9,-13.5,160,4571,0.00,3.05,0.00,0.000,4,0.000,0.183,2363,984,3933,0,0,0,0,0,0
$GC,4594,-1.51,-107.5,738.9,-14.0,160,4599,0.00,2.97,0.00,0.000,6,0.000,0.167,2363,2380,3933,0,0,0,0,0,0
$GC,4852,-1.51,-107.5,773.3,-13.7,166,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2380,3930,0,0,0,0,0,0
$GC,5087,-1.51,-107.5,805.2,-13.1,172,5092,0.00,3.40,0.00,0.000,4,0.000,0.229,2364,989,3928,0,0,1,0,0,0
$GC,5115,-1.51,-107.5,809.1,-13.9,172,5120,0.00,3.28,0.00,0.000,6,0.000,0.213,2364,2378,3928,0,0,1,0,0,0
$GC,5365,-1.51,-107.5,840.4,-12.5,178,5370,0.00,3.60,0.00,0.000,4,0.000,0.255,2363,989,3926,0,0,1,0,0,0
$GC,5409,-1.51,-107.5,846.0,-12.1,179,5414,0.00,3.55,0.00,0.000,6,0.000,0.242,2363,2380,3926,0,0,1,0,0,0
$GC,5695,-1.51,-107.5,879.6,-12.1,186,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2380,3924,0,0,0,0,0,0
$STATE,5895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5895,begin apogee
$GC,5901,-0.33,0.0,904.3,12.2,191,5995,1.23,0.00,90.28,1.232,6,0.097,0.000,2623,2400,3519,0,0,0,0,0,0
$STATE,5996,end apogee,CONTROL_FINISHED_OK
$STATE,5996,begin climb
$GC,5999,1.51,107.5,907.9,0.0,193,6110,1.70,5.15,96.75,1.212,4,0.027,0.345,3044,3813,3079,0,0,21,0,0,0
$GC,6143,1.83,371.6,919.7,-6.5,196,6400,0.22,4.30,244.60,1.205,6,0.059,0.298,3102,2424,2004,0,0,1,0,0,0
$GC,6662,1.83,371.6,849.2,20.8,209,6670,0.00,3.90,0.00,0.000,4,0.000,0.274,3102,3814,1994,0,0,1,0,0,0
$GC,6758,1.83,371.6,830.1,20.9,211,6764,0.00,3.45,0.00,0.000,6,0.000,0.220,3102,2396,1993,0,0,1,0,0,0
$GC,7042,1.83,371.6,771.5,19.9,218,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2396,1991,0,0,0,0,0,0
$GC,7285,1.83,371.6,724.4,19.3,224,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2396,1990,0,0,0,0,0,0
$GC,7529,1.83,371.6,676.7,19.5,230,7534,0.00,2.92,0.00,0.000,4,0.000,0.151,3102,3815,1989,0,0,0,0,0,0
$GC,7551,1.83,371.6,672.3,19.9,230,7556,0.00,2.72,0.00,0.000,6,0.000,0.110,3102,2388,1989,0,0,0,0,0,0
$GC,7805,1.83,371.6,624.0,18.9,237,7810,0.00,2.72,0.00,0.000,4,0.000,0.114,3102,3821,1988,0,0,0,0,0,0
$GC,7826,1.83,371.6,619.9,19.0,237,7831,0.00,2.55,0.00,0.000,6,0.000,0.079,3102,2388,1988,0,0,0,0,0,0
$GC,8082,1.83,371.6,572.5,18.7,244,8087,0.00,2.60,0.00,0.000,4,0.000,0.091,3102,3818,1987,0,0,0,0,0,0
$GC,8103,1.83,371.6,568.3,18.4,244,8108,0.00,2.42,0.00,0.000,6,0.000,0.052,3102,2396,1987,0,0,0,0,0,0
$GC,8373,1.83,371.6,521.0,18.0,251,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2396,1986,0,0,0,0,0,0
$GC,8609,1.83,371.6,480.3,16.9,257,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2396,1986,0,0,0,0,0,0
$GC,8852,1.83,371.6,438.7,16.9,263,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2396,1985,0,0,0,0,0,0
$GC,9096,1.83,371.6,395.7,17.9,269,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2396,1985,0,0,0,0,0,0
$GC,9339,1.83,371.6,354.2,17.1,275,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2396,1984,0,0,0,0,0,0
$GC,9591,1.83,371.6,314.1,16.3,281,9596,0.00,2.40,0.00,0.000,4,0.000,0.066,3102,979,1984,0,0,0,0,0,0
$GC,9607,1.83,371.6,310.1,16.0,281,9611,0.00,2.35,0.00,0.000,6,0.000,0.034,3102,2424,1984,0,0,0,0,0,0
$GC,9874,1.83,371.6,269.3,14.8,288,9878,0.00,2.42,0.00,0.000,4,0.000,0.057,3102,978,1984,0,0,0,0,0,0
$GC,9903,1.83,371.6,265.1,15.3,288,9907,0.00,2.30,0.00,0.000,6,0.000,0.032,3102,2399,1984,0,0,0,0,0,0
$GC,10153,1.83,371.6,228.0,14.6,294,10157,0.00,2.38,0.00,0.000,4,0.000,0.061,3102,3805,1984,0,0,0,0,0,0
$GC,10174,1.83,371.6,224.5,15.9,294,10178,0.00,2.28,0.00,0.000,6,0.000,0.030,3102,2384,1984,0,0,0,0,0,0
$GC,10442,1.83,371.6,185.2,14.8,306,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2384,1983,0,0,0,0,0,0
$GC,10741,1.83,371.6,144.1,13.1,331,10745,0.00,2.38,0.00,0.000,4,0.000,0.070,3102,994,1984,0,0,0,0,0,0
$GC,10767,1.83,371.6,139.3,12.9,332,10782,0.00,2.30,0.00,0.000,6,0.000,0.032,3102,2404,1984,0,0,0,0,0,0
$GC,11073,1.83,371.6,100.4,11.7,357,11077,0.00,2.33,0.00,0.000,4,0.000,0.054,3102,3804,1985,0,0,0,0,0,0
$GC,11132,1.83,371.6,91.9,14.7,360,11136,0.00,2.25,0.00,0.000,6,0.000,0.031,3102,2398,1985,0,0,0,0,0,0
$GC,11459,1.83,371.6,56.1,10.2,385,11464,0.00,2.38,0.00,0.000,4,0.000,0.070,3102,995,1987,0,0,0,0,0,0
$GC,11659,1.83,371.6,33.5,10.6,395,11675,0.00,2.28,0.00,0.000,6,0.000,0.030,3102,2402,1987,0,0,0,0,0,0
$STATE,11949,end climb,SURFACE_DEPTH_REACHED
$STATE,11949,begin surface coast
$FINISH,1.3,0.999837
$STATE,12030,end surface coast,CONTROL_FINISHED_OK
$STATE,12030,begin surface
$SM_CCo,12051,21.25,0.494,0,0,1888,400.08
$SM_GC,2.72,0.00,0.00,21.25,0.000,0.000,0.494,479,2405,1888,-10.22,0.71,400.08
$IRIDIUM_FIX,2241.69,-15759.32,161099,212123
$TT8_MAMPS,0.027612
$HUMID,39.21
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,23.6,16.836
$10V_AH,10.1,15.588
$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,24.875,119.075,431.625,21.250,0.000,27.769,37.594,149.914,0.000,0.000,30.181,902.049,7465.282,482.092,3059.711,515.326,29.238,1267.563,0.000,3104.775,0.000,0.539,0.000
$DEVICE_MAMPS,181.779,345.150,1231.802,493.948,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.198,174.874,2161.423,1196.727,1457.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356368
$DATA_FILE_SIZE,31976,423
$CAP_FILE_SIZE,151890,136
$CFSIZE,260165632,212332544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
$GPS,230710,042226,2252.742,-15757.279,218,1.5,218,10.1