version: 66.06
glider: 147
mission: 5
dive: 144
start: 7 23 110 8 16 33
data:
$ID,147
$MISSION,5
$DIVE,144
$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,-21540.766
$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,21
$R_STBD_OVSHOOT,28
$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
$GPS1,080721,2253.779,-15758.146,92,5.0,111,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.0
$GPS2,081542,2253.776,-15758.109,37,4.8,56,10.1
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.081,-0.153
$KALMAN_X,767.6,286.9,142.9,-2490.3,141.5
$KALMAN_Y,427.3,182.5,-172.1,5954.8,291.3
$MHEAD_RNG_PITCHd_Wd,142.1,1774,-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,-63.1,0.0,0.0,0,75,0.00,0.00,-55.90,0.000,2,0.000,0.000,477,2399,3169,0,0,0,0,0,0
$GC,78,-1.95,-107.5,3.6,-3.9,4,108,10.23,0.00,-16.00,0.000,6,0.179,0.000,2268,2399,3953,0,0,0,0,0,0
$GC,437,-1.95,-107.5,117.5,-25.7,32,441,0.00,2.35,0.00,0.000,4,0.000,0.044,2268,963,3955,0,0,0,0,0,0
$GC,510,-1.95,-107.5,135.7,-24.8,36,514,0.00,2.25,0.00,0.000,6,0.000,0.029,2268,2382,3956,0,0,0,0,0,0
$GC,795,-1.95,-107.5,210.4,-24.8,58,799,0.00,2.28,0.00,0.000,4,0.000,0.048,2268,3784,3957,0,0,0,0,0,0
$GC,851,-1.95,-107.5,224.4,-22.9,59,855,0.00,2.25,0.00,0.000,6,0.000,0.028,2268,2364,3957,0,0,0,0,0,0
$GC,1125,-1.95,-107.5,285.4,-23.0,66,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2364,3958,0,0,0,0,0,0
$GC,1361,-1.95,-107.5,339.6,-21.9,72,1365,0.00,2.42,0.00,0.000,4,0.000,0.067,2268,3776,3958,0,0,0,0,0,0
$GC,1400,-1.95,-107.5,348.3,-22.0,73,1405,0.00,2.30,0.00,0.000,6,0.000,0.042,2268,2384,3958,0,0,0,0,0,0
$GC,1684,-1.95,-107.5,409.7,-21.4,80,1689,0.00,2.58,0.00,0.000,4,0.000,0.097,2268,965,3958,0,0,0,0,0,0
$GC,1700,-1.95,-107.5,413.5,-21.5,80,1704,0.00,2.30,0.00,0.000,6,0.000,0.044,2268,2369,3958,0,0,0,0,0,0
$GC,1967,-1.95,-107.5,468.1,-20.3,87,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2369,3957,0,0,0,0,0,0
$GC,2210,-1.95,-107.5,515.6,-19.5,93,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2369,3955,0,0,0,0,0,0
$GC,2454,-1.95,-107.5,562.4,-19.0,99,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2369,3953,0,0,0,0,0,0
$GC,2699,-1.95,-107.5,607.5,-18.5,105,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2369,3951,0,0,0,0,0,0
$GC,2951,-1.95,-107.5,653.8,-19.1,111,2955,0.00,2.85,0.00,0.000,4,0.000,0.154,2268,975,3948,0,0,0,0,0,0
$GC,2966,-1.95,-107.5,658.7,-19.4,111,2970,0.00,2.70,0.00,0.000,6,0.000,0.124,2268,2370,3948,0,0,0,0,0,0
$GC,3233,-1.95,-107.5,708.9,-18.8,118,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2370,3947,0,0,0,0,0,0
$GC,3477,-1.95,-107.5,752.9,-17.9,124,3483,0.00,3.38,0.00,0.000,4,0.000,0.225,2268,3791,3943,0,0,0,0,0,0
$GC,3488,-1.95,-107.5,755.1,-17.7,124,3493,0.00,3.03,0.00,0.000,6,0.000,0.173,2268,2390,3943,0,0,1,0,0,0
$GC,3762,-1.95,-107.5,801.5,-17.3,131,3767,0.00,3.47,0.00,0.000,4,0.000,0.236,2268,967,3940,0,0,0,0,0,0
$GC,3778,-1.95,-107.5,805.8,-17.3,131,3784,0.00,3.38,0.00,0.000,6,0.000,0.215,2268,2380,3940,0,0,1,0,0,0
$GC,4039,-1.95,-107.5,851.5,-17.5,138,4047,0.00,4.03,0.00,0.000,4,0.000,0.289,2268,3793,3939,0,0,1,0,0,0
$GC,4059,-1.95,-107.5,855.4,-18.2,138,4065,0.00,3.67,0.00,0.000,6,0.000,0.248,2268,2381,3939,0,0,1,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4325,-0.33,0.0,900.6,17.3,145,4422,1.73,0.00,93.25,1.220,6,0.107,0.000,2626,2400,3519,0,0,0,0,0,0
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4423,begin climb
$GC,4426,1.95,107.5,904.8,0.0,147,4527,2.05,0.00,96.80,1.199,6,0.025,0.000,3136,2399,3080,0,0,0,0,0,0
$GC,4753,2.17,286.4,935.4,-9.0,155,4927,0.15,4.90,164.07,1.217,4,0.072,0.327,3174,989,2350,0,0,5,0,0,0
$GC,4994,2.17,286.4,921.7,18.3,160,5011,0.00,4.35,0.00,0.000,6,0.000,0.300,3174,2399,2345,0,0,1,0,0,0
$GC,5249,2.17,286.4,876.9,17.5,167,5257,0.00,4.25,0.00,0.000,4,0.000,0.299,3174,3814,2341,0,0,0,0,0,0
$GC,5265,2.17,286.4,874.0,17.5,167,5270,0.00,3.83,0.00,0.000,6,0.000,0.254,3174,2400,2340,0,0,1,0,0,0
$GC,5531,2.17,286.4,827.8,17.4,174,5537,0.00,3.78,0.00,0.000,4,0.000,0.257,3174,3814,2339,0,0,1,0,0,0
$GC,5598,2.17,286.4,815.6,19.0,175,5604,0.00,3.35,0.00,0.000,6,0.000,0.206,3174,2394,2338,0,0,1,0,0,0
$GC,5854,2.17,286.4,773.1,16.6,182,5859,0.00,3.38,0.00,0.000,4,0.000,0.213,3174,3814,2337,0,0,0,0,0,0
$GC,5881,2.17,286.4,768.2,17.1,182,5886,0.00,3.08,0.00,0.000,6,0.000,0.172,3174,2399,2336,0,0,1,0,0,0
$GC,6131,2.17,286.4,727.9,15.9,188,6136,0.00,3.08,0.00,0.000,4,0.000,0.175,3174,3814,2335,0,0,0,0,0,0
$GC,6181,2.17,286.4,719.4,17.6,189,6186,0.00,2.88,0.00,0.000,6,0.000,0.138,3174,2395,2335,0,0,0,0,0,0
$GC,6461,2.17,286.4,674.3,16.7,196,6465,0.00,2.90,0.00,0.000,4,0.000,0.146,3174,3815,2334,0,0,0,0,0,0
$GC,6538,2.17,286.4,659.3,17.6,197,6544,0.00,2.67,0.00,0.000,6,0.000,0.104,3174,2397,2334,0,0,0,0,0,0
$GC,6788,2.17,286.4,618.0,16.4,204,6793,0.00,2.70,0.00,0.000,4,0.000,0.113,3174,3816,2333,0,0,0,0,0,0
$GC,6827,2.17,286.4,611.4,17.2,205,6832,0.00,2.55,0.00,0.000,6,0.000,0.077,3174,2389,2333,0,0,0,0,0,0
$GC,7111,2.17,286.4,566.8,15.9,212,7116,0.00,2.60,0.00,0.000,4,0.000,0.091,3174,3818,2332,0,0,0,0,0,0
$GC,7196,2.17,286.4,553.0,16.3,214,7200,0.00,2.40,0.00,0.000,6,0.000,0.047,3174,2395,2331,0,0,0,0,0,0
$GC,7488,2.17,286.4,510.1,14.8,221,7492,0.00,2.50,0.00,0.000,4,0.000,0.071,3174,3820,2331,0,0,0,0,0,0
$GC,7538,2.17,286.4,501.0,15.3,222,7542,0.00,2.35,0.00,0.000,6,0.000,0.039,3174,2396,2330,0,0,0,0,0,0
$GC,7809,2.17,286.4,459.4,15.3,229,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2396,2330,0,0,0,0,0,0
$GC,8053,2.17,286.4,426.0,13.4,235,8058,0.00,2.45,0.00,0.000,4,0.000,0.081,3174,991,2329,0,0,0,0,0,0
$GC,8070,2.17,286.4,423.8,12.8,235,8074,0.00,2.35,0.00,0.000,6,0.000,0.037,3174,2430,2329,0,0,0,0,0,0
$GC,8330,2.17,286.4,391.2,12.5,242,8334,0.00,2.33,0.00,0.000,4,0.000,0.064,3174,3804,2329,0,0,0,0,0,0
$GC,8362,2.17,286.4,386.9,13.5,242,8366,0.00,2.30,0.00,0.000,6,0.000,0.031,3174,2390,2329,0,0,0,0,0,0
$GC,8618,2.17,286.4,353.3,13.2,249,8623,0.00,2.42,0.00,0.000,4,0.000,0.059,3174,3812,2329,0,0,0,0,0,0
$GC,8646,2.17,286.4,349.2,14.5,249,8650,0.00,2.30,0.00,0.000,6,0.000,0.035,3174,2404,2329,0,0,0,0,0,0
$GC,8909,2.17,286.4,316.3,12.6,256,8913,0.00,2.38,0.00,0.000,4,0.000,0.057,3175,3807,2328,0,0,0,0,0,0
$GC,8925,2.17,286.4,313.5,11.3,256,8929,0.00,2.30,0.00,0.000,6,0.000,0.036,3174,2400,2328,0,0,0,0,0,0
$GC,9185,2.17,286.4,284.3,11.1,263,9189,0.00,2.38,0.00,0.000,4,0.000,0.056,3174,3806,2329,0,0,0,0,0,0
$GC,9291,2.17,286.4,272.9,11.4,265,9295,0.00,2.30,0.00,0.000,6,0.000,0.035,3174,2393,2329,0,0,0,0,0,0
$GC,9559,2.17,286.4,244.8,10.4,272,9563,0.00,2.42,0.00,0.000,4,0.000,0.075,3174,990,2329,0,0,0,0,0,0
$GC,9568,2.17,286.4,243.7,10.1,272,9573,0.00,2.28,0.00,0.000,6,0.000,0.031,3174,2406,2329,0,0,0,0,0,0
$GC,9847,2.17,286.4,214.2,10.4,279,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2406,2328,0,0,0,0,0,0
$GC,10108,2.18,294.4,189.7,9.2,291,10130,0.00,2.38,4.22,0.499,4,0.000,0.056,3174,3797,2318,0,0,0,0,0,0
$GC,10167,2.18,294.4,183.9,10.3,294,10171,0.00,2.25,0.00,0.000,6,0.000,0.028,3175,2393,2318,0,0,0,0,0,0
$GC,10458,2.18,295.0,155.0,9.9,318,10462,0.00,2.38,0.00,0.000,4,0.000,0.052,3174,3812,2319,0,0,0,0,0,0
$GC,10553,2.18,295.0,143.3,11.2,323,10566,0.00,2.30,0.00,0.000,6,0.000,0.035,3174,2410,2319,0,0,0,0,0,0
$GC,10855,2.18,295.0,113.7,10.3,348,10859,0.00,2.45,0.00,0.000,4,0.000,0.075,3174,990,2320,0,0,0,0,0,0
$GC,10936,2.18,295.0,104.7,12.0,352,10940,0.00,2.25,0.00,0.000,6,0.000,0.030,3174,2409,2320,0,0,0,0,0,0
$GC,11241,2.20,310.3,75.2,8.4,376,11263,0.00,2.42,16.45,0.564,4,0.000,0.055,3174,3810,2253,0,0,0,0,0,0
$GC,11437,2.22,328.9,59.7,8.0,386,11473,0.00,2.30,17.75,0.547,6,0.000,0.028,3175,2384,2176,0,0,0,0,0,0
$GC,11791,2.25,350.8,31.5,7.7,412,11816,0.00,2.40,20.50,0.517,4,0.000,0.066,3174,1001,2087,0,0,0,0,0,0
$STATE,12053,end climb,SURFACE_DEPTH_REACHED
$STATE,12054,begin surface coast
$FINISH,1.3,1.015980
$STATE,12133,end surface coast,CONTROL_FINISHED_OK
$STATE,12134,begin surface
$SM_CCo,12157,40.03,0.495,0,0,1887,400.08
$SM_GC,2.43,0.00,0.00,40.03,0.000,0.000,0.495,474,2385,1887,-10.24,0.14,400.08
$IRIDIUM_FIX,2244.02,-15754.11,171099,040423
$TT8_MAMPS,0.027612
$HUMID,37.28
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,24.70
$XPDR_PINGS,2
$24V_AH,23.6,17.179
$10V_AH,10.1,15.957
$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,25.325,154.425,413.050,40.025,0.000,27.962,28.403,260.430,0.500,0.000,58.379,964.840,7313.553,481.473,3288.121,636.633,31.426,1267.191,0.000,3292.706,0.000,0.540,0.000
$DEVICE_MAMPS,178.711,326.742,1219.530,494.715,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.103,186.575,2275.534,1243.208,1515.208,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356268
$DATA_FILE_SIZE,32109,437
$CAP_FILE_SIZE,165779,139
$CFSIZE,260165632,212201472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$GPS,230710,114106,2252.658,-15756.975,19,1.1,35,10.1