version: 66.06
glider: 147
mission: 5
dive: 88
start: 7 17 110 23 59 14
data:
$ID,147
$MISSION,5
$DIVE,88
$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,-20523.461
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,234852,2153.547,-15814.295,58,99.0,77,9.9
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-68.1
$GPS2,235823,2153.569,-15814.338,22,1.9,22,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT2
$TGT_LATLONG,2202.500,-15811.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.080,0.211
$KALMAN_X,-488.7,-245.6,244.8,-2225.1,-332.3
$KALMAN_Y,-481.2,-196.4,-142.2,2787.7,-60.2
$MHEAD_RNG_PITCHd_Wd,10.8,17243,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.51,-107.5,0.0,0.0,0,92,0.00,0.00,-72.28,0.000,2,0.000,0.000,473,2268,3561,0,0,0,0,0,0
$GC,97,-1.51,-107.5,5.0,-4.9,5,127,10.93,2.47,-6.50,0.000,4,0.186,0.058,2342,3727,3953,0,0,0,0,0,0
$GC,179,-1.51,-107.5,43.2,-29.5,10,195,0.00,2.28,0.00,0.000,6,0.000,0.031,2342,2335,3954,0,0,0,0,0,0
$GC,496,-1.51,-107.5,123.4,-24.0,35,500,0.00,2.35,0.00,0.000,4,0.000,0.048,2342,910,3955,0,0,0,0,0,0
$GC,540,-1.51,-107.5,136.5,-23.9,37,553,0.00,2.30,0.00,0.000,6,0.000,0.033,2342,2323,3955,0,0,0,0,0,0
$GC,838,-1.51,-107.5,194.6,-19.3,62,842,0.00,2.30,0.00,0.000,4,0.000,0.044,2342,3731,3956,0,0,0,0,0,0
$GC,910,-1.51,-107.5,210.0,-17.5,65,915,0.00,2.25,0.00,0.000,6,0.000,0.029,2342,2309,3956,0,0,0,0,0,0
$GC,1184,-1.51,-107.5,265.3,-20.3,72,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2309,3957,0,0,0,0,0,0
$GC,1427,-1.51,-107.5,311.6,-18.7,78,1431,0.00,2.38,0.00,0.000,4,0.000,0.071,2342,918,3957,0,0,0,0,0,0
$GC,1455,-1.51,-107.5,316.6,-17.9,78,1459,0.00,2.25,0.00,0.000,6,0.000,0.036,2342,2323,3958,0,0,0,0,0,0
$GC,1705,-1.51,-107.5,362.2,-18.2,84,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2323,3957,0,0,0,0,0,0
$GC,1948,-1.51,-107.5,406.1,-17.7,90,1952,0.00,2.47,0.00,0.000,4,0.000,0.084,2342,3730,3958,0,0,0,0,0,0
$GC,1969,-1.51,-107.5,410.2,-18.4,90,1973,0.00,2.30,0.00,0.000,6,0.000,0.044,2342,2332,3957,0,0,0,0,0,0
$GC,2231,-1.51,-107.5,453.7,-16.7,97,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2332,3957,0,0,0,0,0,0
$GC,2474,-1.51,-107.5,490.2,-14.8,103,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2332,3955,0,0,0,0,0,0
$GC,2718,-1.51,-107.5,528.2,-15.5,109,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2332,3953,0,0,0,0,0,0
$GC,2961,-1.51,-107.5,563.6,-14.3,115,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2332,3951,0,0,0,0,0,0
$GC,3213,-1.51,-107.5,599.2,-14.7,121,3218,0.00,2.75,0.00,0.000,4,0.000,0.140,2342,3716,3948,0,0,0,0,0,0
$GC,3234,-1.51,-107.5,603.7,-14.9,121,3239,0.00,2.53,0.00,0.000,6,0.000,0.092,2342,2323,3948,0,0,0,0,0,0
$GC,3490,-1.51,-107.5,641.0,-14.8,128,3494,0.00,2.85,0.00,0.000,4,0.000,0.151,2342,902,3947,0,0,0,0,0,0
$GC,3534,-1.51,-107.5,647.7,-14.8,129,3539,0.00,2.67,0.00,0.000,6,0.000,0.120,2342,2303,3946,0,0,0,0,0,0
$GC,3819,-1.51,-107.5,685.9,-13.6,136,3824,0.00,3.10,0.00,0.000,4,0.000,0.181,2342,3733,3943,0,0,0,0,0,0
$GC,3845,-1.51,-107.5,691.0,-14.6,136,3850,0.00,2.78,0.00,0.000,6,0.000,0.130,2342,2322,3943,0,0,0,0,0,0
$GC,4096,-1.51,-107.5,724.2,-13.3,142,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2322,3941,0,0,0,0,0,0
$GC,4339,-1.51,-107.5,756.5,-13.3,148,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2321,3939,0,0,0,0,0,0
$GC,4583,-1.51,-107.5,789.7,-13.7,154,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2322,3938,0,0,0,0,0,0
$GC,4827,-1.51,-107.5,823.4,-13.8,160,4833,0.00,3.83,0.00,0.000,4,0.000,0.268,2342,3730,3935,0,0,1,0,0,0
$GC,4860,-1.51,-107.5,828.6,-14.8,160,4874,0.00,3.42,0.00,0.000,6,0.000,0.220,2342,2325,3935,0,0,1,0,0,0
$GC,5110,-1.51,-107.5,863.8,-14.2,167,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2324,3933,0,0,0,0,0,0
$GC,5355,-1.51,-107.5,896.8,-13.3,173,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2324,3932,0,0,0,0,0,0
$STATE,5392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5393,begin apogee
$GC,5399,-0.33,0.0,902.2,13.4,174,5493,1.27,0.00,90.50,1.229,6,0.103,0.000,2605,2596,3519,0,0,0,0,0,0
$STATE,5494,end apogee,CONTROL_FINISHED_OK
$STATE,5494,begin climb
$GC,5497,1.51,107.5,906.1,0.0,176,5606,1.73,4.95,95.38,1.210,4,0.035,0.347,3016,3938,3080,0,0,22,0,0,0
$GC,5717,1.86,391.9,923.2,-7.8,181,5985,0.30,4.00,258.15,1.216,6,0.056,0.288,3090,2600,1921,0,0,1,0,0,0
$GC,6253,1.86,391.9,854.6,20.3,194,6261,0.00,3.90,0.00,0.000,4,0.000,0.284,3090,3942,1912,0,0,1,0,0,0
$GC,6491,1.86,391.9,802.7,21.7,199,6496,0.00,3.08,0.00,0.000,6,0.000,0.194,3090,2594,1910,0,0,1,0,0,0
$GC,6771,1.86,391.9,747.2,20.2,206,6776,0.00,3.03,0.00,0.000,4,0.000,0.179,3090,1184,1908,0,0,0,0,0,0
$GC,6810,1.86,391.9,737.7,20.6,207,6815,0.00,3.03,0.00,0.000,6,0.000,0.166,3090,2602,1908,0,0,0,0,0,0
$GC,7094,1.86,391.9,682.0,19.7,214,7099,0.00,2.85,0.00,0.000,4,0.000,0.140,3090,1184,1907,0,0,0,0,0,0
$GC,7143,1.86,391.9,671.5,20.7,215,7148,0.00,2.80,0.00,0.000,6,0.000,0.124,3090,2606,1906,0,0,0,0,0,0
$GC,7415,1.86,391.9,619.3,18.9,222,7420,0.00,2.70,0.00,0.000,4,0.000,0.110,3090,1178,1906,0,0,0,0,0,0
$GC,7504,1.86,391.9,601.9,19.0,224,7509,0.00,2.58,0.00,0.000,6,0.000,0.084,3090,2603,1905,0,0,0,0,0,0
$GC,7790,1.86,391.9,550.7,18.4,231,7794,0.00,2.55,0.00,0.000,4,0.000,0.081,3090,1175,1905,0,0,0,0,0,0
$GC,7834,1.86,391.9,541.5,18.5,232,7839,0.00,2.47,0.00,0.000,6,0.000,0.060,3090,2608,1905,0,0,0,0,0,0
$GC,8112,1.86,391.9,495.1,16.5,239,8116,0.00,2.50,0.00,0.000,4,0.000,0.069,3090,1173,1904,0,0,0,0,0,0
$GC,8185,1.86,391.9,483.4,15.7,240,8189,0.00,2.40,0.00,0.000,6,0.000,0.048,3090,2610,1904,0,0,0,0,0,0
$GC,8443,1.86,391.9,441.1,17.1,246,8447,0.00,2.47,0.00,0.000,4,0.000,0.063,3090,1172,1904,0,0,0,0,0,0
$GC,8503,1.86,391.9,429.1,17.2,247,8507,0.00,2.38,0.00,0.000,6,0.000,0.043,3090,2600,1903,0,0,0,0,0,0
$GC,8770,1.86,391.9,384.3,17.2,254,8774,0.00,2.40,0.00,0.000,4,0.000,0.058,3090,1178,1903,0,0,0,0,0,0
$GC,8804,1.86,391.9,378.7,16.7,254,8809,0.00,2.33,0.00,0.000,6,0.000,0.038,3090,2602,1903,0,0,0,0,0,0
$GC,9061,1.86,391.9,335.4,17.5,261,9065,0.00,2.42,0.00,0.000,4,0.000,0.058,3090,1175,1903,0,0,0,0,0,0
$GC,9121,1.86,391.9,322.9,17.8,262,9125,0.00,2.38,0.00,0.000,6,0.000,0.039,3090,2618,1902,0,0,0,0,0,0
$GC,9389,1.86,391.9,278.1,16.4,269,9393,0.00,2.45,0.00,0.000,4,0.000,0.057,3090,1174,1902,0,0,0,0,0,0
$GC,9466,1.86,391.9,265.5,14.9,270,9479,0.00,2.38,0.00,0.000,6,0.000,0.038,3090,2606,1902,0,0,0,0,0,0
$GC,9717,1.86,391.9,226.8,15.2,277,9721,0.00,2.40,0.00,0.000,4,0.000,0.053,3090,1176,1901,0,0,0,0,0,0
$GC,9822,1.86,391.9,211.8,13.5,279,9826,0.00,2.33,0.00,0.000,6,0.000,0.035,3089,2607,1902,0,0,0,0,0,0
$GC,10109,1.86,391.9,170.5,13.7,297,10113,0.00,2.40,0.00,0.000,4,0.000,0.053,3090,1176,1902,0,0,0,0,0,0
$GC,10205,1.86,391.9,156.7,14.0,302,10210,0.00,2.30,0.00,0.000,6,0.000,0.034,3090,2609,1902,0,0,0,0,0,0
$GC,10502,1.86,391.9,118.9,13.5,326,10506,0.00,2.22,0.00,0.000,4,0.000,0.059,3090,3937,1902,0,0,0,0,0,0
$GC,10525,1.86,391.9,114.0,14.8,327,10539,0.00,2.20,0.00,0.000,6,0.000,0.030,3090,2579,1902,0,0,0,0,0,0
$GC,10829,1.86,391.9,75.7,13.5,352,10833,0.00,2.33,0.00,0.000,4,0.000,0.063,3090,1191,1903,0,0,0,0,0,0
$GC,10952,1.86,391.9,59.9,11.1,358,10968,0.00,2.30,0.00,0.000,6,0.000,0.035,3089,2602,1904,0,0,0,0,0,0
$GC,11299,1.87,401.6,27.3,9.4,384,11315,0.00,0.00,7.50,0.472,6,0.000,0.000,3090,2602,1882,0,0,0,0,0,0
$RESTART_TIME,Sun Jul 18 03:12:53 2010