version: 66.06
glider: 147
mission: 5
dive: 94
start: 7 18 110 14 4 6
data:
$ID,147
$MISSION,5
$DIVE,94
$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,-20632.713
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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
$GPS1,134344,2159.758,-15813.421,11,99.0,30,9.9
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-66.0
$GPS2,140315,2159.831,-15813.356,42,3.8,61,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT3
$TGT_LATLONG,2210.500,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.078,0.212
$KALMAN_X,-1063.5,-461.0,27.0,1332.6,-325.6
$KALMAN_Y,-858.9,-354.8,-133.3,7543.3,-142.8
$MHEAD_RNG_PITCHd_Wd,10.2,20581,-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,-107.5,0.0,0.0,0,75,0.00,0.00,-57.17,0.000,2,0.000,0.000,475,2307,3085,0,0,0,0,0,0
$GC,78,-1.51,-107.5,3.1,-2.8,4,122,10.75,0.00,-18.38,0.000,6,0.179,0.000,2344,2307,3952,0,0,0,0,0,0
$GC,455,-1.51,-107.5,112.4,-25.6,33,459,0.00,2.33,0.00,0.000,4,0.000,0.045,2344,3727,3953,0,0,0,0,0,0
$GC,551,-1.51,-107.5,134.5,-20.2,38,556,0.00,2.25,0.00,0.000,6,0.000,0.028,2344,2318,3953,0,0,0,0,0,0
$GC,844,-1.51,-107.5,193.6,-19.5,62,848,0.00,2.30,0.00,0.000,4,0.000,0.051,2344,919,3954,0,0,0,0,0,0
$GC,927,-1.51,-107.5,211.9,-20.0,65,932,0.00,2.28,0.00,0.000,6,0.000,0.032,2344,2324,3954,0,0,0,0,0,0
$GC,1189,-1.51,-107.5,263.4,-19.3,72,1193,0.00,2.35,0.00,0.000,4,0.000,0.062,2344,3720,3955,0,0,0,0,0,0
$GC,1217,-1.51,-107.5,269.0,-19.1,72,1221,0.00,2.25,0.00,0.000,6,0.000,0.031,2344,2317,3955,0,0,0,0,0,0
$GC,1467,-1.51,-107.5,314.3,-18.1,78,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2317,3955,0,0,0,0,0,0
$GC,1710,-1.51,-107.5,361.6,-19.4,84,1714,0.00,2.47,0.00,0.000,4,0.000,0.086,2344,913,3955,0,0,0,0,0,0
$GC,1731,-1.51,-107.5,366.0,-19.5,84,1735,0.00,2.30,0.00,0.000,6,0.000,0.044,2344,2317,3955,0,0,0,0,0,0
$GC,2000,-1.51,-107.5,410.8,-16.6,91,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2317,3955,0,0,0,0,0,0
$GC,2237,-1.51,-107.5,449.2,-15.2,97,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2317,3953,0,0,0,0,0,0
$GC,2480,-1.51,-107.5,488.0,-16.0,103,2484,0.00,2.55,0.00,0.000,4,0.000,0.097,2344,3731,3952,0,0,0,0,0,0
$GC,2506,-1.51,-107.5,492.3,-16.0,103,2510,0.00,2.38,0.00,0.000,6,0.000,0.053,2344,2331,3951,0,0,0,0,0,0
$GC,2762,-1.51,-107.5,530.7,-15.2,110,2767,0.00,2.65,0.00,0.000,4,0.000,0.112,2344,914,3949,0,0,0,0,0,0
$GC,2778,-1.51,-107.5,533.5,-15.7,110,2782,0.00,2.42,0.00,0.000,6,0.000,0.067,2344,2321,3949,0,0,0,0,0,0
$GC,3045,-1.51,-107.5,574.2,-15.3,117,3049,0.00,2.70,0.00,0.000,4,0.000,0.125,2344,3731,3946,0,0,0,0,0,0
$GC,3078,-1.51,-107.5,579.4,-16.5,117,3084,0.00,2.50,0.00,0.000,6,0.000,0.080,2344,2322,3946,0,0,0,0,0,0
$GC,3328,-1.51,-107.5,618.4,-15.6,124,3333,0.00,2.72,0.00,0.000,4,0.000,0.133,2344,910,3943,0,0,0,0,0,0
$GC,3360,-1.51,-107.5,623.7,-15.7,124,3366,0.00,2.62,0.00,0.000,6,0.000,0.104,2343,2320,3943,0,0,0,0,0,0
$GC,3620,-1.51,-107.5,661.8,-15.2,131,3625,0.00,2.90,0.00,0.000,4,0.000,0.160,2344,3731,3941,0,0,0,0,0,0
$GC,3652,-1.51,-107.5,668.5,-16.0,131,3658,0.00,2.72,0.00,0.000,6,0.000,0.120,2344,2320,3940,0,0,0,0,0,0
$GC,3902,-1.51,-107.5,706.1,-15.3,138,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2320,3939,0,0,0,0,0,0
$GC,4147,-1.51,-107.5,743.1,-15.2,144,4152,0.00,3.15,0.00,0.000,4,0.000,0.194,2344,907,3936,0,0,0,0,0,0
$GC,4173,-1.51,-107.5,747.8,-17.0,144,4178,0.00,3.03,0.00,0.000,6,0.000,0.174,2344,2317,3936,0,0,0,0,0,0
$GC,4423,-1.51,-107.5,788.0,-16.3,150,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2318,3934,0,0,0,0,0,0
$GC,4675,-1.51,-107.5,827.2,-16.0,156,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2318,3932,0,0,0,0,0,0
$GC,4912,-1.51,-107.5,864.6,-15.2,162,4919,0.00,4.22,0.00,0.000,4,0.000,0.304,2344,3732,3930,0,0,0,0,0,0
$GC,4932,-1.51,-107.5,868.0,-15.1,162,4938,0.00,3.70,0.00,0.000,6,0.000,0.252,2344,2326,3929,0,0,1,0,0,0
$STATE,5191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5198,-0.33,0.0,905.2,14.1,169,5291,1.25,0.00,89.35,1.226,6,0.100,0.000,2602,2398,3519,0,0,0,0,0,0
$STATE,5291,end apogee,CONTROL_FINISHED_OK
$STATE,5292,begin climb
$GC,5294,1.51,107.5,909.1,0.0,171,5401,1.75,5.03,94.65,1.206,4,0.035,0.335,3016,3811,3080,0,0,8,0,0,0
$GC,5658,1.83,366.6,932.8,-6.2,179,5903,0.25,4.35,233.10,1.222,6,0.061,0.301,3080,2400,2024,0,0,1,0,0,0
$GC,6153,1.83,366.6,864.6,20.5,192,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,2015,0,0,0,0,0,0
$GC,6398,1.83,366.6,815.8,19.8,198,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2400,2013,0,0,0,0,0,0
$GC,6641,1.83,366.6,769.2,19.0,204,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2399,2011,0,0,0,0,0,0
$GC,6885,1.83,366.6,725.6,17.7,210,6889,0.00,2.97,0.00,0.000,4,0.000,0.164,3080,984,2011,0,0,0,0,0,0
$GC,6932,1.83,366.6,718.2,19.8,211,6937,0.00,2.90,0.00,0.000,6,0.000,0.144,3079,2408,2010,0,0,0,0,0,0
$GC,7215,1.83,366.6,667.3,17.5,218,7219,0.00,2.80,0.00,0.000,4,0.000,0.139,3080,3814,2009,0,0,0,0,0,0
$GC,7236,1.83,366.6,663.2,18.1,218,7240,0.00,2.67,0.00,0.000,6,0.000,0.102,3080,2390,2009,0,0,0,0,0,0
$GC,7491,1.83,366.6,619.8,16.8,225,7496,0.00,2.70,0.00,0.000,4,0.000,0.110,3080,3822,2008,0,0,0,0,0,0
$GC,7507,1.83,366.6,616.8,16.7,225,7511,0.00,2.53,0.00,0.000,6,0.000,0.077,3080,2397,2008,0,0,0,0,0,0
$GC,7767,1.83,366.6,575.0,15.9,232,7772,0.00,2.60,0.00,0.000,4,0.000,0.104,3080,987,2008,0,0,0,0,0,0
$GC,7789,1.83,366.6,571.2,16.7,232,7793,0.00,2.45,0.00,0.000,6,0.000,0.064,3080,2404,2008,0,0,0,0,0,0
$GC,8044,1.83,366.6,530.2,15.9,239,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,2007,0,0,0,0,0,0
$GC,8287,1.83,366.6,490.1,16.6,245,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,2007,0,0,0,0,0,0
$GC,8541,1.83,366.6,448.5,16.9,251,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2405,2006,0,0,0,0,0,0
$GC,8775,1.83,366.6,408.1,16.5,257,8779,0.00,2.42,0.00,0.000,4,0.000,0.073,3080,3815,2006,0,0,0,0,0,0
$GC,8814,1.83,366.6,401.7,17.5,258,8818,0.00,2.33,0.00,0.000,6,0.000,0.035,3080,2388,2005,0,0,0,0,0,0
$GC,9097,1.83,366.6,360.1,14.5,265,9101,0.00,2.45,0.00,0.000,4,0.000,0.061,3080,3821,2005,0,0,0,0,0,0
$GC,9129,1.83,366.6,354.8,16.7,265,9143,0.00,2.35,0.00,0.000,6,0.000,0.037,3080,2404,2005,0,0,0,0,0,0
$GC,9379,1.83,366.6,318.6,14.6,272,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2404,2004,0,0,0,0,0,0
$GC,9624,1.83,366.6,284.5,13.9,278,9628,0.00,2.40,0.00,0.000,4,0.000,0.057,3080,3818,2005,0,0,0,0,0,0
$GC,9639,1.83,366.6,282.0,14.5,278,9644,0.00,2.33,0.00,0.000,6,0.000,0.036,3080,2398,2004,0,0,0,0,0,0
$GC,9900,1.83,366.6,246.9,13.4,285,9904,0.00,2.40,0.00,0.000,4,0.000,0.057,3080,3826,2005,0,0,0,0,0,0
$GC,9933,1.83,366.6,241.8,15.0,285,9947,0.00,2.38,0.00,0.000,6,0.000,0.038,3080,2397,2005,0,0,0,0,0,0
$GC,10184,1.83,366.6,210.5,12.5,292,10188,0.00,2.40,0.00,0.000,4,0.000,0.054,3080,3826,2004,0,0,0,0,0,0
$GC,10199,1.83,366.6,208.0,13.3,292,10203,0.00,2.30,0.00,0.000,6,0.000,0.035,3080,2398,2004,0,0,0,0,0,0
$GC,10494,1.83,366.6,170.1,12.3,313,10498,0.00,2.45,0.00,0.000,4,0.000,0.076,3080,990,2004,0,0,0,0,0,0
$GC,10554,1.83,366.6,160.1,14.5,316,10568,0.00,2.33,0.00,0.000,6,0.000,0.034,3080,2413,2004,0,0,0,0,0,0
$GC,10856,1.83,366.6,120.2,12.9,341,10860,0.00,2.40,0.00,0.000,4,0.000,0.055,3080,989,2005,0,0,0,0,0,0
$GC,10880,1.83,366.6,116.8,12.9,342,10884,0.00,2.25,0.00,0.000,6,0.000,0.031,3080,2404,2005,0,0,0,0,0,0
$GC,11180,1.85,382.1,86.1,9.0,366,11199,0.00,2.38,11.57,0.565,4,0.000,0.051,3080,987,1961,0,0,0,0,0,0
$GC,11294,1.88,410.4,75.6,8.2,372,11330,0.00,2.30,27.85,0.581,6,0.000,0.031,3080,2401,1844,0,0,0,0,0,0
$GC,11648,1.88,410.4,39.7,10.5,398,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2401,1841,0,0,0,0,0,0
$RESTART_TIME,Sun Jul 18 17:23:46 2010