version: 66.06
glider: 147
mission: 5
dive: 84
start: 7 17 110 13 32 15
data:
$ID,147
$MISSION,5
$DIVE,84
$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,-20463.688
$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,2680
$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,2320
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$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
$GPS1,132434,2152.479,-15814.120,12,2.4,31,9.9
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-67.0
$GPS2,133122,2152.460,-15814.085,10,2.6,29,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT2
$TGT_LATLONG,2202.500,-15811.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.197,0.110
$KALMAN_X,-7430.9,102.5,634.9,15474.0,-3904.5
$KALMAN_Y,-6904.0,159.2,274.8,17130.4,-3507.1
$MHEAD_RNG_PITCHd_Wd,50.8,19116,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.51,-107.5,0.0,0.0,0,89,0.00,0.00,-71.38,0.000,2,0.000,0.000,475,2330,3505,0,0,0,0,0,0
$GC,94,-1.51,-107.5,4.9,-4.9,5,124,10.88,0.00,-7.45,0.000,6,0.186,0.000,2341,2329,3954,0,0,0,0,0,0
$GC,440,-1.51,-107.5,119.7,-25.8,32,444,0.00,2.28,0.00,0.000,4,0.000,0.040,2341,3734,3956,0,0,0,0,0,0
$GC,513,-1.51,-107.5,137.2,-24.1,36,517,0.00,2.25,0.00,0.000,6,0.000,0.025,2341,2303,3955,0,0,0,0,0,0
$GC,821,-1.51,-107.5,208.7,-20.5,60,825,0.00,2.28,0.00,0.000,4,0.000,0.051,2340,926,3957,0,0,0,0,0,0
$GC,922,-1.51,-107.5,229.0,-20.1,62,926,0.00,2.22,0.00,0.000,6,0.000,0.031,2341,2324,3957,0,0,0,0,0,0
$GC,1193,-1.51,-107.5,283.1,-20.2,69,1197,0.00,2.35,0.00,0.000,4,0.000,0.054,2341,3728,3958,0,0,0,0,0,0
$GC,1225,-1.51,-107.5,289.6,-20.1,69,1231,0.00,2.22,0.00,0.000,6,0.000,0.031,2341,2328,3959,0,0,0,0,0,0
$GC,1483,-1.51,-107.5,337.8,-19.6,76,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2328,3959,0,0,0,0,0,0
$GC,1719,-1.51,-107.5,383.9,-19.0,82,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2328,3959,0,0,0,0,0,0
$GC,1963,-1.51,-107.5,427.3,-17.6,88,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2328,3959,0,0,0,0,0,0
$GC,2207,-1.51,-107.5,465.0,-15.0,94,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2328,3958,0,0,0,0,0,0
$GC,2450,-1.51,-107.5,502.6,-15.3,100,2454,0.00,2.58,0.00,0.000,4,0.000,0.104,2341,924,3955,0,0,0,0,0,0
$GC,2482,-1.51,-107.5,507.7,-15.4,100,2496,0.00,2.40,0.00,0.000,6,0.000,0.065,2341,2299,3955,0,0,0,0,0,0
$GC,2733,-1.51,-107.5,547.6,-16.2,107,2737,0.00,2.67,0.00,0.000,4,0.000,0.113,2340,3734,3953,0,0,0,0,0,0
$GC,2776,-1.51,-107.5,555.1,-16.4,108,2780,0.00,2.45,0.00,0.000,6,0.000,0.070,2340,2326,3953,0,0,0,0,0,0
$GC,3060,-1.51,-107.5,600.3,-16.1,115,3064,0.00,2.72,0.00,0.000,4,0.000,0.126,2341,906,3950,0,0,0,0,0,0
$GC,3081,-1.51,-107.5,603.8,-15.6,115,3086,0.00,2.60,0.00,0.000,6,0.000,0.093,2340,2324,3950,0,0,0,0,0,0
$GC,3336,-1.51,-107.5,644.0,-15.6,122,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2324,3947,0,0,0,0,0,0
$GC,3580,-1.51,-107.5,680.5,-14.9,128,3584,0.00,3.00,0.00,0.000,4,0.000,0.174,2340,3730,3946,0,0,0,0,0,0
$GC,3601,-1.51,-107.5,683.8,-15.0,128,3605,0.00,2.75,0.00,0.000,6,0.000,0.127,2340,2319,3946,0,0,0,0,0,0
$GC,3856,-1.51,-107.5,719.5,-13.8,135,3861,0.00,3.03,0.00,0.000,4,0.000,0.179,2341,903,3943,0,0,0,0,0,0
$GC,3889,-1.51,-107.5,724.2,-14.5,135,3902,0.00,2.95,0.00,0.000,6,0.000,0.153,2341,2315,3943,0,0,0,0,0,0
$GC,4139,-1.51,-107.5,757.4,-13.4,142,4145,0.00,3.38,0.00,0.000,4,0.000,0.219,2341,3733,3941,0,0,0,0,0,0
$GC,4161,-1.51,-107.5,760.5,-12.8,142,4166,0.00,3.03,0.00,0.000,6,0.000,0.173,2341,2322,3941,0,0,1,0,0,0
$GC,4417,-1.51,-107.5,794.9,-13.7,149,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2322,3939,0,0,0,0,0,0
$GC,4660,-1.51,-107.5,828.0,-13.4,155,4666,0.00,3.55,0.00,0.000,4,0.000,0.244,2340,906,3937,0,0,0,0,0,0
$GC,4694,-1.51,-107.5,832.6,-13.5,155,4707,0.00,3.58,0.00,0.000,6,0.000,0.236,2341,2317,3937,0,0,1,0,0,0
$GC,4943,-1.51,-107.5,864.5,-12.5,162,4951,0.00,4.20,0.00,0.000,4,0.000,0.300,2341,3734,3935,0,0,0,0,0,0
$GC,4975,-1.51,-107.5,868.7,-13.3,162,4980,0.00,3.70,0.00,0.000,6,0.000,0.249,2340,2322,3935,0,0,1,0,0,0
$GC,5225,-1.51,-107.5,899.2,-12.2,168,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2321,3934,0,0,0,0,0,0
$STATE,5264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5264,begin apogee
$GC,5271,-0.33,0.0,904.3,12.3,169,5365,1.27,0.00,90.32,1.229,6,0.098,0.000,2606,2601,3519,0,0,0,0,0,0
$STATE,5365,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5368,1.51,107.5,907.2,0.0,171,5476,1.70,4.90,94.55,1.209,4,0.035,0.343,3013,3941,3079,0,0,6,0,0,0
$GC,5554,1.83,366.7,919.0,-6.2,175,5800,0.28,3.95,233.32,1.212,6,0.058,0.282,3081,2599,2023,0,0,1,0,0,0
$GC,6085,1.83,366.7,851.0,19.6,188,6090,0.00,3.62,0.00,0.000,4,0.000,0.247,3081,1184,2014,0,0,0,0,0,0
$GC,6241,1.83,366.7,818.9,19.6,191,6246,0.00,3.50,0.00,0.000,6,0.000,0.225,3081,2604,2013,0,0,1,0,0,0
$GC,6502,1.83,366.7,769.9,18.5,198,6507,0.00,3.17,0.00,0.000,4,0.000,0.187,3081,1180,2010,0,0,0,0,0,0
$GC,6568,1.83,366.7,757.1,19.1,199,6574,0.00,3.15,0.00,0.000,6,0.000,0.179,3081,2604,2011,0,0,0,0,0,0
$GC,6831,1.83,366.7,711.4,18.2,206,6836,0.00,2.95,0.00,0.000,4,0.000,0.153,3081,1181,2010,0,0,0,0,0,0
$GC,6886,1.83,366.7,699.6,19.5,207,6891,0.00,2.88,0.00,0.000,6,0.000,0.140,3081,2607,2010,0,0,0,0,0,0
$GC,7152,1.83,366.7,650.9,18.2,214,7157,0.00,2.75,0.00,0.000,4,0.000,0.120,3081,1179,2008,0,0,0,0,0,0
$GC,7173,1.83,366.7,646.8,18.5,214,7178,0.00,2.70,0.00,0.000,6,0.000,0.108,3081,2603,2008,0,0,0,0,0,0
$GC,7438,1.83,366.7,600.9,17.9,221,7443,0.00,2.62,0.00,0.000,4,0.000,0.097,3081,1179,2008,0,0,0,0,0,0
$GC,7499,1.83,366.7,588.0,18.0,222,7504,0.00,2.55,0.00,0.000,6,0.000,0.076,3081,2609,2007,0,0,0,0,0,0
$GC,7761,1.83,366.7,542.7,17.3,229,7766,0.00,2.55,0.00,0.000,4,0.000,0.078,3081,1174,2007,0,0,0,0,0,0
$GC,7811,1.83,366.7,533.8,17.0,230,7815,0.00,2.45,0.00,0.000,6,0.000,0.058,3081,2602,2007,0,0,0,0,0,0
$GC,8089,1.83,366.7,487.7,16.6,237,8093,0.00,2.45,0.00,0.000,4,0.000,0.067,3081,1175,2006,0,0,0,0,0,0
$GC,8144,1.83,366.7,479.1,16.0,238,8149,0.00,2.40,0.00,0.000,6,0.000,0.049,3081,2612,2006,0,0,0,0,0,0
$GC,8411,1.83,366.7,437.3,15.9,245,8415,0.00,2.45,0.00,0.000,4,0.000,0.062,3081,1172,2006,0,0,0,0,0,0
$GC,8459,1.83,366.7,429.3,16.1,246,8463,0.00,2.38,0.00,0.000,6,0.000,0.043,3081,2602,2006,0,0,0,0,0,0
$GC,8738,1.83,366.7,386.3,15.6,253,8742,0.00,2.42,0.00,0.000,4,0.000,0.056,3081,1174,2006,0,0,0,0,0,0
$GC,8792,1.83,366.7,377.0,16.0,254,8796,0.00,2.35,0.00,0.000,6,0.000,0.039,3081,2601,2005,0,0,0,0,0,0
$GC,9074,1.83,366.7,334.8,15.4,261,9078,0.00,2.42,0.00,0.000,4,0.000,0.056,3081,1170,2005,0,0,0,0,0,0
$GC,9129,1.83,366.7,324.7,15.6,262,9133,0.00,2.33,0.00,0.000,6,0.000,0.037,3081,2605,2005,0,0,0,0,0,0
$GC,9401,1.83,366.7,285.1,14.8,269,9405,0.00,2.42,0.00,0.000,4,0.000,0.057,3081,1174,2004,0,0,0,0,0,0
$GC,9500,1.83,366.7,270.8,14.7,271,9505,0.00,2.33,0.00,0.000,6,0.000,0.036,3081,2608,2004,0,0,0,0,0,0
$GC,9772,1.83,366.7,232.7,14.2,278,9776,0.00,2.40,0.00,0.000,4,0.000,0.054,3081,1169,2004,0,0,0,0,0,0
$GC,9812,1.83,366.7,226.8,15.2,279,9816,0.00,2.33,0.00,0.000,6,0.000,0.037,3081,2607,2004,0,0,0,0,0,0
$GC,10082,1.83,366.7,189.9,12.9,289,10086,0.00,2.40,0.00,0.000,4,0.000,0.053,3081,1172,2004,0,0,0,0,0,0
$GC,10125,1.83,366.7,183.6,12.0,291,10141,0.00,2.33,0.00,0.000,6,0.000,0.035,3081,2594,2003,0,0,0,0,0,0
$GC,10422,1.83,366.7,150.4,10.4,316,10426,0.00,2.38,0.00,0.000,4,0.000,0.051,3081,1169,2004,0,0,0,0,0,0
$GC,10521,1.83,366.7,137.8,13.1,321,10535,0.00,2.33,0.00,0.000,6,0.000,0.034,3081,2596,2004,0,0,0,0,0,0
$GC,10824,1.83,366.7,99.3,11.5,346,10828,0.00,2.25,0.00,0.000,4,0.000,0.061,3081,3937,2005,0,0,0,0,0,0
$GC,10897,1.83,366.7,90.1,12.9,350,10901,0.00,2.17,0.00,0.000,6,0.000,0.029,3081,2569,2005,0,0,0,0,0,0
$GC,11226,1.88,406.4,61.7,7.5,375,11270,0.00,0.00,34.28,0.566,6,0.000,0.000,3081,2569,1860,0,0,0,0,0,0
$RESTART_TIME,Sat Jul 17 16:46:15 2010