version: 66.06
glider: 147
mission: 5
dive: 143
start: 7 23 110 4 45 29
data:
$ID,147
$MISSION,5
$DIVE,143
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21481.756
$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,24
$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
$GPS1,042226,2252.742,-15757.279,218,1.5,218,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-63.8
$GPS2,044438,2252.944,-15757.056,14,1.4,14,10.1
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.146,0.094
$KALMAN_X,174.2,174.2,174.2,-22.7,-201.6
$KALMAN_Y,194.8,194.8,194.8,4250.1,-225.4
$MHEAD_RNG_PITCHd_Wd,292.7,765,-27.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.89,-63.1,0.0,0.0,0,76,0.00,0.00,-57.10,0.000,2,0.000,0.000,478,2406,3185,0,0,0,0,0,0
$GC,79,-1.95,-107.5,3.2,-2.9,4,110,10.20,2.35,-15.85,0.000,4,0.177,0.061,2268,3790,3954,0,0,0,0,0,0
$GC,245,-1.95,-107.5,60.9,-30.0,14,261,0.00,2.28,0.00,0.000,6,0.000,0.030,2268,2384,3955,0,0,0,0,0,0
$GC,554,-1.95,-107.5,150.3,-28.0,39,559,0.00,2.30,0.00,0.000,4,0.000,0.048,2268,965,3957,0,0,0,0,0,0
$GC,583,-1.95,-107.5,160.9,-26.4,40,597,0.00,2.28,0.00,0.000,6,0.000,0.028,2268,2386,3956,0,0,0,0,0,0
$GC,876,-1.95,-107.5,231.9,-24.4,58,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2386,3957,0,0,0,0,0,0
$GC,1120,-1.95,-107.5,289.2,-22.9,64,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2387,3958,0,0,0,0,0,0
$GC,1364,-1.95,-107.5,341.0,-20.9,70,1368,0.00,2.42,0.00,0.000,4,0.000,0.065,2267,971,3958,0,0,0,0,0,0
$GC,1380,-1.95,-107.5,344.7,-20.9,70,1385,0.00,2.28,0.00,0.000,6,0.000,0.037,2267,2370,3958,0,0,0,0,0,0
$GC,1641,-1.95,-107.5,400.5,-21.1,77,1645,0.00,2.47,0.00,0.000,4,0.000,0.079,2268,3786,3958,0,0,0,0,0,0
$GC,1664,-1.95,-107.5,405.0,-20.4,77,1668,0.00,2.33,0.00,0.000,6,0.000,0.042,2268,2381,3957,0,0,0,0,0,0
$GC,1919,-1.95,-107.5,456.0,-19.9,84,1923,0.00,2.55,0.00,0.000,4,0.000,0.100,2268,968,3957,0,0,0,0,0,0
$GC,1951,-1.95,-107.5,463.0,-20.9,84,1957,0.00,2.40,0.00,0.000,6,0.000,0.058,2267,2376,3956,0,0,0,0,0,0
$GC,2209,-1.95,-107.5,511.2,-19.5,91,2213,0.00,2.60,0.00,0.000,4,0.000,0.101,2268,3797,3954,0,0,0,0,0,0
$GC,2248,-1.95,-107.5,520.6,-20.0,92,2253,0.00,2.42,0.00,0.000,6,0.000,0.061,2268,2383,3954,0,0,0,0,0,0
$GC,2531,-1.95,-107.5,576.1,-19.3,99,2536,0.00,2.67,0.00,0.000,4,0.000,0.121,2267,967,3951,0,0,0,0,0,0
$GC,2553,-1.95,-107.5,580.4,-19.6,99,2557,0.00,2.53,0.00,0.000,6,0.000,0.084,2267,2376,3951,0,0,0,0,0,0
$GC,2816,-1.95,-107.5,627.3,-18.3,106,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2376,3948,0,0,0,0,0,0
$GC,3051,-1.95,-107.5,672.7,-18.7,112,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2376,3946,0,0,0,0,0,0
$GC,3295,-1.95,-107.5,718.5,-18.9,118,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2376,3944,0,0,0,0,0,0
$GC,3539,-1.95,-107.5,763.0,-18.2,124,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2376,3942,0,0,0,0,0,0
$GC,3782,-1.95,-107.5,806.0,-17.4,130,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2377,3939,0,0,0,0,0,0
$GC,4034,-1.95,-107.5,847.7,-17.2,136,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2377,3937,0,0,0,0,0,0
$GC,4270,-1.95,-107.5,889.8,-17.4,142,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2377,3935,0,0,0,0,0,0
$STATE,4349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4349,begin apogee
$GC,4356,-0.33,0.0,903.9,17.3,144,4453,1.73,0.00,92.75,1.215,6,0.107,0.000,2626,2393,3519,0,0,0,0,0,0
$STATE,4453,end apogee,CONTROL_FINISHED_OK
$STATE,4453,begin climb
$GC,4456,1.95,107.5,907.9,0.0,146,4568,2.10,4.65,96.95,1.195,4,0.024,0.314,3135,997,3080,0,0,1,0,0,0
$GC,4584,2.17,284.2,920.5,-8.8,149,4752,0.15,4.45,157.40,1.209,6,0.069,0.305,3176,2400,2360,0,0,1,0,0,0
$GC,5008,2.17,284.2,872.4,18.3,160,5016,0.00,4.25,0.00,0.000,4,0.000,0.300,3176,3815,2350,0,0,0,0,0,0
$GC,5022,2.17,284.2,869.5,18.0,160,5028,0.00,3.75,0.00,0.000,6,0.000,0.250,3176,2410,2350,0,0,1,0,0,0
$GC,5290,2.17,284.2,821.4,17.9,167,5296,0.00,3.67,0.00,0.000,4,0.000,0.250,3176,3814,2348,0,0,1,0,0,0
$GC,5358,2.17,284.2,808.4,19.4,168,5363,0.00,3.30,0.00,0.000,6,0.000,0.201,3176,2399,2347,0,0,1,0,0,0
$GC,5613,2.17,284.2,761.7,17.9,175,5618,0.00,3.30,0.00,0.000,4,0.000,0.203,3176,3815,2345,0,0,0,0,0,0
$GC,5703,2.17,284.2,745.1,19.2,177,5708,0.00,2.97,0.00,0.000,6,0.000,0.155,3176,2395,2345,0,0,1,0,0,0
$GC,5986,2.17,284.2,696.8,16.8,184,5990,0.00,2.97,0.00,0.000,4,0.000,0.155,3176,3822,2344,0,0,0,0,0,0
$GC,6046,2.17,284.2,686.2,17.7,185,6050,0.00,2.75,0.00,0.000,6,0.000,0.118,3176,2397,2343,0,0,0,0,0,0
$GC,6314,2.17,284.2,643.8,15.9,192,6318,0.00,2.78,0.00,0.000,4,0.000,0.126,3176,3816,2342,0,0,0,0,0,0
$GC,6380,2.17,284.2,632.8,16.4,193,6384,0.00,2.58,0.00,0.000,6,0.000,0.087,3176,2396,2342,0,0,0,0,0,0
$GC,6641,2.17,284.2,593.4,15.2,200,6645,0.00,2.62,0.00,0.000,4,0.000,0.100,3176,3820,2341,0,0,0,0,0,0
$GC,6701,2.17,284.2,583.8,15.4,201,6705,0.00,2.47,0.00,0.000,6,0.000,0.060,3175,2391,2341,0,0,0,0,0,0
$GC,6967,2.17,284.2,543.0,15.4,208,6971,0.00,2.55,0.00,0.000,4,0.000,0.079,3176,3823,2340,0,0,0,0,0,0
$GC,7034,2.17,284.2,531.8,18.0,209,7038,0.00,2.35,0.00,0.000,6,0.000,0.041,3176,2397,2339,0,0,0,0,0,0
$GC,7302,2.17,284.2,493.9,14.1,216,7306,0.00,2.47,0.00,0.000,4,0.000,0.067,3176,3822,2339,0,0,0,0,0,0
$GC,7318,2.17,284.2,490.7,13.2,216,7322,0.00,2.35,0.00,0.000,6,0.000,0.039,3176,2398,2338,0,0,0,0,0,0
$GC,7585,2.17,284.2,456.0,12.7,223,7589,0.00,2.47,0.00,0.000,4,0.000,0.065,3176,3829,2337,0,0,0,0,0,0
$GC,7740,2.17,284.2,433.9,13.9,226,7744,0.00,2.38,0.00,0.000,6,0.000,0.040,3176,2392,2337,0,0,0,0,0,0
$GC,8008,2.17,284.2,396.2,14.2,233,8012,0.00,2.45,0.00,0.000,4,0.000,0.076,3176,988,2336,0,0,0,0,0,0
$GC,8023,2.17,284.2,393.8,14.0,233,8027,0.00,2.33,0.00,0.000,6,0.000,0.035,3176,2428,2336,0,0,0,0,0,0
$GC,8290,2.17,284.2,358.5,13.1,240,8294,0.00,2.35,0.00,0.000,4,0.000,0.062,3176,3811,2337,0,0,0,0,0,0
$GC,8345,2.17,284.2,350.8,13.6,241,8350,0.00,2.30,0.00,0.000,6,0.000,0.029,3176,2385,2336,0,0,0,0,0,0
$GC,8617,2.17,284.2,315.8,12.8,248,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2384,2336,0,0,0,0,0,0
$GC,8861,2.17,284.2,287.8,11.4,254,8865,0.00,2.40,0.00,0.000,4,0.000,0.075,3176,990,2336,0,0,0,0,0,0
$GC,8911,2.17,284.2,281.9,11.7,255,8915,0.00,2.28,0.00,0.000,6,0.000,0.032,3176,2402,2336,0,0,0,0,0,0
$GC,9182,2.17,284.2,254.5,10.2,262,9186,0.00,2.35,0.00,0.000,4,0.000,0.057,3176,3804,2336,0,0,0,0,0,0
$GC,9243,2.17,284.2,248.2,10.4,263,9247,0.00,2.25,0.00,0.000,6,0.000,0.027,3176,2392,2336,0,0,0,0,0,0
$GC,9511,2.17,284.2,220.9,11.1,270,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2392,2336,0,0,0,0,0,0
$GC,9767,2.17,284.2,194.6,10.6,279,9771,0.00,2.38,0.00,0.000,4,0.000,0.070,3176,997,2336,0,0,0,0,0,0
$GC,9848,2.17,284.2,184.7,11.3,283,9861,0.00,2.28,0.00,0.000,6,0.000,0.031,3176,2403,2336,0,0,0,0,0,0
$GC,10142,2.17,284.2,154.7,10.7,308,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2404,2336,0,0,0,0,0,0
$GC,10447,2.17,289.1,125.9,9.5,333,10451,0.00,2.30,0.00,0.000,4,0.000,0.051,3176,3808,2338,0,0,0,0,0,0
$GC,10457,2.18,299.4,124.0,8.9,333,10473,0.00,2.25,10.82,0.589,6,0.000,0.028,3176,2410,2298,0,0,0,0,0,0
$GC,10777,2.22,328.5,98.6,6.9,359,10816,0.00,0.00,26.65,0.594,6,0.000,0.000,3176,2410,2178,0,0,0,0,0,0
$GC,11121,2.22,328.5,61.8,11.2,386,11125,0.00,2.33,0.00,0.000,4,0.000,0.048,3176,3806,2177,0,0,0,0,0,0
$GC,11393,2.24,343.4,36.0,8.4,400,11412,0.00,2.30,14.35,0.512,6,0.000,0.034,3176,2404,2118,0,0,0,0,0,0
$STATE,11746,end climb,SURFACE_DEPTH_REACHED
$STATE,11746,begin surface coast
$FINISH,1.4,1.023213
$STATE,11892,end surface coast,CONTROL_FINISHED_OK
$STATE,11892,begin surface
$SM_CCo,11913,46.53,0.495,0,0,1888,400.08
$SM_GC,2.29,0.00,0.00,46.53,0.000,0.000,0.495,477,2400,1888,-10.23,0.57,400.08
$IRIDIUM_FIX,2244.02,-15759.32,171099,040423
$TT8_MAMPS,0.027612
$HUMID,37.79
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,23.6,17.021
$10V_AH,10.1,15.779
$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,25.350,127.575,398.925,46.525,0.000,122.143,204.037,591.655,0.250,0.000,16.366,950.187,7322.106,446.218,3294.460,1268.716,30.187,1235.152,0.000,3350.635,0.000,0.541,0.000
$DEVICE_MAMPS,177.177,319.839,1214.928,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,301.835,189.026,2327.102,1279.635,1556.005,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356232
$DATA_FILE_SIZE,32278,437
$CAP_FILE_SIZE,175679,144
$CFSIZE,260165632,212254720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,230710,080721,2253.779,-15758.146,92,5.0,111,10.1