version: 66.06
glider: 147
mission: 5
dive: 90
start: 7 18 110 3 24 48
data:
$ID,147
$MISSION,5
$DIVE,90
$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,-20537.736
$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,52
$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
$GPS1,031637,2155.050,-15813.418,83,1.4,83,9.9
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-66.7
$GPS2,032356,2155.037,-15813.454,12,1.6,12,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT2
$TGT_LATLONG,2202.500,-15811.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,0.219
$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,3.8,14223,-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,-72.38,0.000,2,0.000,0.000,476,2299,3568,0,0,0,0,0,0
$GC,94,-1.51,-107.5,5.2,-5.4,5,125,10.90,2.40,-6.38,0.000,4,0.187,0.052,2341,3734,3954,0,0,0,0,0,0
$GC,213,-1.51,-107.5,52.1,-24.9,12,228,0.00,2.25,0.00,0.000,6,0.000,0.029,2341,2342,3955,0,0,0,0,0,0
$GC,530,-1.51,-107.5,127.4,-23.8,37,534,0.00,2.38,0.00,0.000,4,0.000,0.051,2341,907,3956,0,0,0,0,0,0
$GC,611,-1.51,-107.5,148.8,-22.0,41,624,0.00,2.28,0.00,0.000,6,0.000,0.031,2341,2320,3956,0,0,0,0,0,0
$GC,895,-1.51,-107.5,209.0,-21.7,63,899,0.00,2.30,0.00,0.000,4,0.000,0.050,2341,3724,3957,0,0,0,0,0,0
$GC,916,-1.51,-107.5,214.4,-21.5,63,920,0.00,2.22,0.00,0.000,6,0.000,0.029,2341,2312,3957,0,0,0,0,0,0
$GC,1177,-1.51,-107.5,264.4,-18.5,70,1181,0.00,2.35,0.00,0.000,4,0.000,0.065,2341,921,3958,0,0,0,0,0,0
$GC,1209,-1.51,-107.5,271.1,-21.1,70,1222,0.00,2.28,0.00,0.000,6,0.000,0.034,2342,2315,3958,0,0,0,0,0,0
$GC,1460,-1.51,-107.5,316.1,-17.6,77,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2315,3958,0,0,0,0,0,0
$GC,1703,-1.51,-107.5,356.4,-16.3,83,1707,0.00,2.45,0.00,0.000,4,0.000,0.080,2341,3720,3958,0,0,0,0,0,0
$GC,1729,-1.51,-107.5,361.2,-17.1,83,1734,0.00,2.28,0.00,0.000,6,0.000,0.042,2341,2333,3958,0,0,0,0,0,0
$GC,1980,-1.51,-107.5,403.3,-17.0,89,1984,0.00,2.55,0.00,0.000,4,0.000,0.093,2341,908,3958,0,0,0,0,0,0
$GC,2001,-1.51,-107.5,407.3,-17.1,89,2005,0.00,2.35,0.00,0.000,6,0.000,0.048,2341,2312,3958,0,0,0,0,0,0
$GC,2269,-1.51,-107.5,449.7,-16.0,96,2274,0.00,2.53,0.00,0.000,4,0.000,0.087,2341,3735,3957,0,0,0,0,0,0
$GC,2297,-1.51,-107.5,455.4,-17.0,96,2301,0.00,2.38,0.00,0.000,6,0.000,0.047,2341,2314,3956,0,0,0,0,0,0
$GC,2547,-1.51,-107.5,493.2,-14.9,102,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2313,3954,0,0,0,0,0,0
$GC,2790,-1.51,-107.5,527.9,-13.9,108,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2313,3953,0,0,0,0,0,0
$GC,3035,-1.51,-107.5,561.8,-14.0,114,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2313,3950,0,0,0,0,0,0
$GC,3278,-1.51,-107.5,597.5,-14.8,120,3282,0.00,2.75,0.00,0.000,4,0.000,0.131,2341,3724,3948,0,0,0,0,0,0
$GC,3304,-1.51,-107.5,601.7,-16.2,120,3309,0.00,2.53,0.00,0.000,6,0.000,0.086,2341,2320,3948,0,0,0,0,0,0
$GC,3563,-1.51,-107.5,637.3,-14.1,126,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2320,3946,0,0,0,0,0,0
$GC,3798,-1.51,-107.5,668.3,-12.6,132,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2320,3944,0,0,0,0,0,0
$GC,4042,-1.51,-107.5,698.4,-12.4,138,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2320,3942,0,0,0,0,0,0
$GC,4286,-1.51,-107.5,729.9,-13.0,144,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2320,3940,0,0,0,0,0,0
$GC,4530,-1.51,-107.5,763.6,-14.1,150,4535,0.00,3.38,0.00,0.000,4,0.000,0.219,2342,3722,3939,0,0,1,0,0,0
$GC,4551,-1.51,-107.5,767.0,-14.8,150,4556,0.00,3.03,0.00,0.000,6,0.000,0.177,2341,2327,3938,0,0,1,0,0,0
$GC,4806,-1.51,-107.5,804.4,-14.7,157,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2327,3936,0,0,0,0,0,0
$GC,5051,-1.51,-107.5,840.5,-14.9,163,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2327,3934,0,0,0,0,0,0
$GC,5295,-1.51,-107.5,873.5,-13.4,169,5303,0.00,4.30,0.00,0.000,4,0.000,0.310,2341,3721,3933,0,0,1,0,0,0
$GC,5332,-1.51,-107.5,878.8,-14.0,169,5338,0.00,3.75,0.00,0.000,6,0.000,0.259,2342,2322,3933,0,0,1,0,0,0
$STATE,5498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5498,begin apogee
$GC,5506,-0.33,0.0,901.0,13.2,174,5601,1.27,0.00,91.12,1.228,6,0.102,0.000,2605,2586,3519,0,0,0,0,0,0
$STATE,5602,end apogee,CONTROL_FINISHED_OK
$STATE,5602,begin climb
$GC,5604,1.51,107.5,904.8,0.0,176,5713,1.73,4.93,95.75,1.209,4,0.034,0.344,3017,3938,3080,0,0,16,0,0,0
$GC,5792,1.86,393.6,920.0,-7.9,180,6062,0.30,3.95,259.62,1.213,6,0.055,0.285,3091,2600,1914,0,0,1,0,0,0
$GC,6312,1.86,393.6,849.9,21.4,193,6317,0.00,3.70,0.00,0.000,4,0.000,0.251,3090,1181,1905,0,0,0,0,0,0
$GC,6391,1.86,393.6,832.6,21.6,194,6397,0.00,3.65,0.00,0.000,6,0.000,0.238,3091,2603,1903,0,0,1,0,0,0
$GC,6649,1.86,393.6,781.0,20.8,201,6654,0.00,3.28,0.00,0.000,4,0.000,0.197,3090,1180,1902,0,0,0,0,0,0
$GC,6699,1.86,393.6,768.6,20.5,202,6704,0.00,3.22,0.00,0.000,6,0.000,0.187,3090,2604,1902,0,0,0,0,0,0
$GC,6972,1.86,393.6,713.1,20.5,209,6977,0.00,2.97,0.00,0.000,4,0.000,0.156,3091,1180,1901,0,0,0,0,0,0
$GC,7011,1.86,393.6,704.6,21.9,210,7016,0.00,2.92,0.00,0.000,6,0.000,0.143,3091,2606,1900,0,0,0,0,0,0
$GC,7295,1.86,393.6,643.2,21.9,217,7299,0.00,2.75,0.00,0.000,4,0.000,0.120,3090,1179,1900,0,0,0,0,0,0
$GC,7355,1.86,393.6,629.6,21.4,218,7359,0.00,2.62,0.00,0.000,6,0.000,0.097,3091,2602,1899,0,0,0,0,0,0
$GC,7616,1.86,393.6,576.4,19.8,225,7620,0.00,2.58,0.00,0.000,4,0.000,0.091,3091,1177,1898,0,0,0,0,0,0
$GC,7665,1.86,393.6,568.1,21.2,226,7670,0.00,2.50,0.00,0.000,6,0.000,0.068,3091,2611,1898,0,0,0,0,0,0
$GC,7948,1.86,393.6,511.9,18.8,233,7952,0.00,2.53,0.00,0.000,4,0.000,0.073,3091,1176,1898,0,0,0,0,0,0
$GC,7987,1.86,393.6,504.4,19.6,234,7991,0.00,2.45,0.00,0.000,6,0.000,0.054,3091,2612,1898,0,0,0,0,0,0
$GC,8278,1.86,393.6,455.8,16.8,241,8282,0.00,2.50,0.00,0.000,4,0.000,0.066,3091,1170,1897,0,0,0,0,0,0
$GC,8338,1.86,393.6,444.0,16.9,242,8342,0.00,2.38,0.00,0.000,6,0.000,0.043,3090,2603,1897,0,0,0,0,0,0
$GC,8606,1.86,393.6,399.4,16.8,249,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2604,1897,0,0,0,0,0,0
$GC,8849,1.86,393.6,356.7,17.5,255,8853,0.00,2.42,0.00,0.000,4,0.000,0.057,3091,1174,1897,0,0,0,0,0,0
$GC,8903,1.86,393.6,347.2,17.1,256,8907,0.00,2.35,0.00,0.000,6,0.000,0.038,3091,2603,1896,0,0,0,0,0,0
$GC,9181,1.86,393.6,303.4,15.4,263,9186,0.00,2.42,0.00,0.000,4,0.000,0.056,3091,1173,1896,0,0,0,0,0,0
$GC,9261,1.86,393.6,291.4,15.1,264,9266,0.00,2.35,0.00,0.000,6,0.000,0.039,3091,2602,1895,0,0,0,0,0,0
$GC,9518,1.86,393.6,251.2,16.2,271,9522,0.00,2.40,0.00,0.000,4,0.000,0.055,3091,1168,1895,0,0,0,0,0,0
$GC,9540,1.86,393.6,245.9,17.6,271,9544,0.00,2.35,0.00,0.000,6,0.000,0.037,3091,2603,1895,0,0,0,0,0,0
$GC,9795,1.86,393.6,205.2,15.1,278,9799,0.00,2.40,0.00,0.000,4,0.000,0.054,3091,1166,1895,0,0,0,0,0,0
$GC,9857,1.86,393.6,195.3,16.1,280,9870,0.00,2.38,0.00,0.000,6,0.000,0.037,3091,2605,1895,0,0,0,0,0,0
$GC,10151,1.86,393.6,150.7,14.8,305,10155,0.00,2.40,0.00,0.000,4,0.000,0.052,3091,1172,1895,0,0,0,0,0,0
$GC,10170,1.86,393.6,148.0,14.4,306,10174,0.00,2.30,0.00,0.000,6,0.000,0.033,3091,2606,1895,0,0,0,0,0,0
$GC,10479,1.86,393.6,107.6,13.0,331,10483,0.00,2.40,0.00,0.000,4,0.000,0.051,3091,1167,1895,0,0,0,0,0,0
$GC,10609,1.86,393.6,92.8,10.5,338,10613,0.00,2.33,0.00,0.000,6,0.000,0.035,3091,2607,1895,0,0,0,0,0,0
$GC,10932,1.86,393.6,56.0,11.8,363,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2608,1896,0,0,0,0,0,0
$RESTART_TIME,Sun Jul 18 06:34:46 2010