version: 66.06
glider: 147
mission: 5
dive: 72
start: 7 16 110 6 23 48
data:
$ID,147
$MISSION,5
$DIVE,72
$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,-20213.266
$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,2250
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$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
$GPS1,061726,2143.686,-15823.134,26,99.0,45,9.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.6
$GPS2,062258,2143.644,-15823.155,13,99.0,32,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,0.163
$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,34.0,21467,-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,15,-1.51,-107.5,0.0,0.0,0,89,0.00,0.00,-71.75,0.000,2,0.000,0.000,482,2216,3490,0,0,0,0,0,0
$GC,94,-1.51,-107.5,4.6,-4.4,5,124,10.95,2.38,-8.05,0.000,4,0.185,0.048,2361,3661,3955,0,0,0,0,0,0
$GC,156,-1.51,-107.5,34.3,-36.6,9,172,0.00,2.25,0.00,0.000,6,0.000,0.031,2361,2278,3956,0,0,0,0,0,0
$GC,478,-1.51,-107.5,110.5,-24.3,34,481,0.00,2.35,0.00,0.000,4,0.000,0.045,2362,834,3956,0,0,0,0,0,0
$GC,572,-1.51,-107.5,134.0,-20.1,39,585,0.00,2.30,0.00,0.000,6,0.000,0.030,2361,2258,3957,0,0,0,0,0,0
$GC,870,-1.51,-107.5,198.5,-20.9,64,874,0.00,2.28,0.00,0.000,4,0.000,0.046,2362,3665,3959,0,0,0,0,0,0
$GC,969,-1.51,-107.5,219.9,-18.6,66,973,0.00,2.25,0.00,0.000,6,0.000,0.030,2362,2238,3959,0,0,0,0,0,0
$GC,1248,-1.51,-107.5,271.7,-18.9,73,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2238,3959,0,0,0,0,0,0
$GC,1491,-1.51,-107.5,312.4,-16.5,79,1495,0.00,2.40,0.00,0.000,4,0.000,0.064,2361,3654,3960,0,0,0,0,0,0
$GC,1540,-1.51,-107.5,320.4,-15.0,80,1544,0.00,2.30,0.00,0.000,6,0.000,0.042,2361,2258,3960,0,0,0,0,0,0
$GC,1819,-1.51,-107.5,363.7,-16.1,87,1823,0.00,2.38,0.00,0.000,4,0.000,0.067,2362,3654,3960,0,0,0,0,0,0
$GC,1846,-1.51,-107.5,368.6,-17.7,87,1850,0.00,2.33,0.00,0.000,6,0.000,0.047,2361,2255,3960,0,0,0,0,0,0
$GC,2095,-1.51,-107.5,410.8,-16.8,93,2100,0.00,2.53,0.00,0.000,4,0.000,0.096,2361,839,3959,0,0,0,0,0,0
$GC,2140,-1.51,-107.5,418.3,-16.0,94,2144,0.00,2.30,0.00,0.000,6,0.000,0.047,2361,2242,3959,0,0,0,0,0,0
$GC,2426,-1.51,-107.5,461.0,-15.6,101,2430,0.00,2.50,0.00,0.000,4,0.000,0.083,2361,3662,3959,0,0,0,0,0,0
$GC,2526,-1.51,-107.5,478.1,-15.2,103,2530,0.00,2.38,0.00,0.000,6,0.000,0.058,2361,2250,3958,0,0,0,0,0,0
$GC,2793,-1.51,-107.5,519.5,-15.7,110,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2250,3955,0,0,0,0,0,0
$GC,3043,-1.51,-107.5,557.0,-15.4,116,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2250,3953,0,0,0,0,0,0
$GC,3279,-1.51,-107.5,593.3,-14.8,122,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2250,3952,0,0,0,0,0,0
$GC,3524,-1.51,-107.5,630.6,-15.3,128,3528,0.00,2.78,0.00,0.000,4,0.000,0.138,2361,3655,3949,0,0,0,0,0,0
$GC,3545,-1.51,-107.5,634.3,-16.6,128,3549,0.00,2.62,0.00,0.000,6,0.000,0.108,2362,2256,3949,0,0,0,0,0,0
$GC,3800,-1.51,-107.5,673.3,-15.6,135,3804,0.00,2.90,0.00,0.000,4,0.000,0.159,2361,3654,3947,0,0,0,0,0,0
$GC,3827,-1.51,-107.5,677.8,-16.8,135,3831,0.00,2.72,0.00,0.000,6,0.000,0.127,2361,2251,3947,0,0,0,0,0,0
$GC,4085,-1.51,-107.5,714.6,-14.6,141,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2251,3945,0,0,0,0,0,0
$GC,4320,-1.51,-107.5,748.5,-13.8,147,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2250,3943,0,0,0,0,0,0
$GC,4564,-1.51,-107.5,782.3,-14.0,153,4570,0.00,3.42,0.00,0.000,4,0.000,0.228,2361,3648,3942,0,0,1,0,0,0
$GC,4597,-1.51,-107.5,787.2,-14.1,153,4603,0.00,3.10,0.00,0.000,6,0.000,0.188,2362,2253,3941,0,0,1,0,0,0
$GC,4847,-1.51,-107.5,821.6,-13.7,160,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2253,3940,0,0,0,0,0,0
$GC,5098,-1.51,-107.5,854.7,-13.6,166,5106,0.00,3.88,0.00,0.000,4,0.000,0.280,2361,3645,3938,0,0,1,0,0,0
$GC,5164,-1.51,-107.5,865.1,-14.3,167,5169,0.00,3.55,0.00,0.000,6,0.000,0.241,2362,2248,3937,0,0,1,0,0,0
$STATE,5423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5423,begin apogee
$GC,5429,-0.33,0.0,900.8,13.5,174,5523,1.25,0.00,89.60,1.212,6,0.098,0.000,2623,2482,3519,0,0,0,0,0,0
$STATE,5524,end apogee,CONTROL_FINISHED_OK
$STATE,5524,begin climb
$GC,5527,1.51,107.5,905.7,0.0,176,5634,1.73,5.00,93.05,1.191,4,0.036,0.334,3033,3906,3080,0,0,6,0,0,0
$GC,5702,1.91,430.5,923.6,-10.2,180,6002,0.35,4.05,290.10,1.198,6,0.049,0.276,3119,2501,1764,0,0,1,0,0,0
$GC,6275,1.91,430.5,838.7,23.9,194,6280,0.00,3.50,0.00,0.000,4,0.000,0.232,3119,1083,1754,0,0,0,0,0,0
$GC,6319,1.91,430.5,827.7,25.0,195,6324,0.00,3.47,0.00,0.000,6,0.000,0.220,3119,2502,1754,0,0,0,0,0,0
$GC,6597,1.91,430.5,761.5,24.2,202,6602,0.00,3.12,0.00,0.000,4,0.000,0.179,3119,1084,1752,0,0,0,0,0,0
$GC,6636,1.91,430.5,751.2,26.3,203,6641,0.00,3.05,0.00,0.000,6,0.000,0.166,3119,2502,1752,0,0,0,0,0,0
$GC,6920,1.91,430.5,679.1,26.0,210,6924,0.00,2.83,0.00,0.000,4,0.000,0.137,3119,1084,1750,0,0,0,0,0,0
$GC,6946,1.91,430.5,671.7,26.5,210,6951,0.00,2.75,0.00,0.000,6,0.000,0.117,3119,2505,1750,0,0,0,0,0,0
$GC,7205,1.91,430.5,606.8,26.4,216,7210,0.00,2.67,0.00,0.000,4,0.000,0.105,3119,1075,1750,0,0,0,0,0,0
$GC,7228,1.91,430.5,598.5,26.7,216,7232,0.00,2.55,0.00,0.000,6,0.000,0.079,3119,2505,1750,0,0,0,0,0,0
$GC,7482,1.91,430.5,533.5,24.9,223,7487,0.00,2.55,0.00,0.000,4,0.000,0.084,3119,1080,1750,0,0,0,0,0,0
$GC,7509,1.91,430.5,526.3,26.2,223,7514,0.00,2.42,0.00,0.000,6,0.000,0.054,3119,2510,1749,0,0,0,0,0,0
$GC,7765,1.91,430.5,469.0,21.9,230,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2510,1749,0,0,0,0,0,0
$GC,8017,1.91,430.5,419.1,20.1,236,8021,0.00,2.42,0.00,0.000,4,0.000,0.072,3119,3906,1748,0,0,0,0,0,0
$GC,8033,1.91,430.5,413.3,21.4,236,8037,0.00,2.33,0.00,0.000,6,0.000,0.039,3119,2485,1748,0,0,0,0,0,0
$GC,8301,1.91,430.5,360.0,19.8,243,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2485,1747,0,0,0,0,0,0
$GC,8544,1.91,430.5,309.2,20.5,249,8548,0.00,2.40,0.00,0.000,4,0.000,0.071,3119,1091,1746,0,0,0,0,0,0
$GC,8576,1.91,430.5,301.8,22.8,249,8582,0.00,2.33,0.00,0.000,6,0.000,0.038,3119,2508,1746,0,0,0,0,0,0
$GC,8833,1.91,430.5,251.4,20.0,256,8837,0.00,2.40,0.00,0.000,4,0.000,0.056,3119,1083,1746,0,0,0,0,0,0
$GC,8849,1.91,430.5,246.7,20.3,256,8853,0.00,2.30,0.00,0.000,6,0.000,0.035,3119,2512,1745,0,0,0,0,0,0
$GC,9109,1.91,430.5,199.8,17.8,263,9113,0.00,2.40,0.00,0.000,4,0.000,0.057,3119,1090,1745,0,0,0,0,0,0
$GC,9169,1.91,430.5,190.4,17.9,266,9173,0.00,2.28,0.00,0.000,6,0.000,0.034,3120,2498,1745,0,0,0,0,0,0
$GC,9467,1.91,430.5,140.4,17.3,291,9471,0.00,2.35,0.00,0.000,4,0.000,0.052,3120,1089,1745,0,0,0,0,0,0
$GC,9492,1.91,430.5,135.5,17.2,292,9496,0.00,2.28,0.00,0.000,6,0.000,0.033,3119,2509,1745,0,0,0,0,0,0
$GC,9790,1.91,430.5,85.7,16.0,316,9794,0.00,2.38,0.00,0.000,4,0.000,0.053,3119,1082,1745,0,0,0,0,0,0
$GC,9818,1.91,430.5,79.6,15.9,317,9831,0.00,2.30,0.00,0.000,6,0.000,0.031,3119,2497,1745,0,0,0,0,0,0
$GC,10149,1.91,430.5,35.4,13.0,342,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2497,1745,0,0,0,0,0,0
$RESTART_TIME,Fri Jul 16 09:18:44 2010