version: 66.06
glider: 147
mission: 5
dive: 98
start: 7 19 110 0 50 37
data:
$ID,147
$MISSION,5
$DIVE,98
$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,-20720.838
$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,43
$R_STBD_OVSHOOT,28
$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
$GPS1,003321,2204.392,-15811.848,70,99.0,89,9.9
$_CALLS,3
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-67.5
$GPS2,004946,2204.445,-15811.947,14,4.0,33,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT3
$TGT_LATLONG,2210.500,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.063,0.216
$KALMAN_X,-476.4,-192.6,-88.5,1885.6,-68.4
$KALMAN_Y,-1168.4,-489.4,-61.1,7335.0,-291.0
$MHEAD_RNG_PITCHd_Wd,6.4,11700,-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,13,begin dive
$GC,15,-1.51,-107.5,0.0,0.0,0,89,0.00,0.00,-71.53,0.000,2,0.000,0.000,479,2299,3529,0,0,0,0,0,0
$GC,94,-1.51,-107.5,4.7,-4.5,5,124,10.68,0.00,-7.22,0.000,6,0.178,0.000,2344,2299,3954,0,0,0,0,0,0
$GC,443,-1.51,-107.5,114.7,-26.0,32,447,0.00,2.33,0.00,0.000,4,0.000,0.039,2344,3725,3955,0,0,0,0,0,0
$GC,571,-1.51,-107.5,145.7,-19.8,39,585,0.00,2.25,0.00,0.000,6,0.000,0.027,2344,2324,3955,0,0,0,0,0,0
$GC,868,-1.51,-107.5,201.9,-19.8,64,872,0.00,2.35,0.00,0.000,4,0.000,0.054,2344,912,3957,0,0,0,0,0,0
$GC,917,-1.51,-107.5,213.6,-18.9,65,921,0.00,2.22,0.00,0.000,6,0.000,0.031,2344,2320,3956,0,0,0,0,0,0
$GC,1195,-1.51,-107.5,265.4,-18.9,72,1199,0.00,2.33,0.00,0.000,4,0.000,0.053,2344,3721,3957,0,0,0,0,0,0
$GC,1252,-1.51,-107.5,276.0,-18.0,73,1256,0.00,2.22,0.00,0.000,6,0.000,0.031,2344,2322,3957,0,0,0,0,0,0
$GC,1524,-1.51,-107.5,323.9,-17.0,80,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2322,3957,0,0,0,0,0,0
$GC,1775,-1.51,-107.5,363.8,-16.6,86,1779,0.00,2.47,0.00,0.000,4,0.000,0.084,2343,914,3957,0,0,0,0,0,0
$GC,1830,-1.51,-107.5,374.9,-17.0,87,1834,0.00,2.30,0.00,0.000,6,0.000,0.046,2343,2312,3957,0,0,0,0,0,0
$GC,2096,-1.51,-107.5,419.0,-16.7,94,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2313,3956,0,0,0,0,0,0
$GC,2339,-1.51,-107.5,459.8,-16.9,100,2344,0.00,2.45,0.00,0.000,4,0.000,0.083,2344,922,3954,0,0,0,0,0,0
$GC,2389,-1.51,-107.5,467.0,-18.2,101,2393,0.00,2.38,0.00,0.000,6,0.000,0.058,2344,2325,3954,0,0,0,0,0,0
$GC,2671,-1.51,-107.5,516.4,-16.9,108,2676,0.00,2.60,0.00,0.000,4,0.000,0.104,2344,3735,3952,0,0,0,0,0,0
$GC,2744,-1.51,-107.5,528.3,-15.7,109,2748,0.00,2.42,0.00,0.000,6,0.000,0.061,2344,2327,3951,0,0,0,0,0,0
$GC,2993,-1.51,-107.5,566.7,-15.3,115,2998,0.00,2.67,0.00,0.000,4,0.000,0.118,2343,905,3948,0,0,0,0,0,0
$GC,3025,-1.51,-107.5,571.6,-14.9,115,3039,0.00,2.55,0.00,0.000,6,0.000,0.080,2344,2317,3948,0,0,0,0,0,0
$GC,3276,-1.51,-107.5,606.3,-13.7,122,3281,0.00,2.75,0.00,0.000,4,0.000,0.134,2344,3731,3947,0,0,0,0,0,0
$GC,3303,-1.51,-107.5,610.0,-13.6,122,3307,0.00,2.55,0.00,0.000,6,0.000,0.091,2344,2323,3946,0,0,0,0,0,0
$GC,3553,-1.51,-107.5,642.3,-12.9,128,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2323,3944,0,0,0,0,0,0
$GC,3796,-1.51,-107.5,671.6,-11.9,134,3801,0.00,2.88,0.00,0.000,4,0.000,0.156,2343,910,3942,0,0,0,0,0,0
$GC,3846,-1.51,-107.5,677.6,-12.1,135,3851,0.00,2.75,0.00,0.000,6,0.000,0.130,2344,2318,3941,0,0,0,0,0,0
$GC,4117,-1.51,-107.5,710.8,-12.4,142,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2319,3939,0,0,0,0,0,0
$GC,4362,-1.51,-107.5,741.9,-12.8,148,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2320,3937,0,0,0,0,0,0
$GC,4605,-1.51,-107.5,773.2,-12.8,154,4610,0.00,3.45,0.00,0.000,4,0.000,0.229,2344,3731,3935,0,0,0,0,0,0
$GC,4638,-1.51,-107.5,777.6,-13.0,154,4644,0.00,3.12,0.00,0.000,6,0.000,0.185,2344,2325,3935,0,0,1,0,0,0
$GC,4897,-1.51,-107.5,809.9,-13.0,161,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2325,3932,0,0,0,0,0,0
$GC,5132,-1.51,-107.5,840.9,-12.8,167,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2325,3931,0,0,0,0,0,0
$GC,5375,-1.51,-107.5,871.2,-12.4,173,5383,0.00,4.28,0.00,0.000,4,0.000,0.306,2344,3731,3929,0,0,1,0,0,0
$GC,5419,-1.51,-107.5,876.7,-11.8,174,5425,0.00,3.80,0.00,0.000,6,0.000,0.262,2344,2322,3929,0,0,1,0,0,0
$STATE,5619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5619,begin apogee
$GC,5626,-0.33,0.0,900.8,11.9,179,5719,1.25,0.00,89.03,1.234,6,0.099,0.000,2604,2397,3519,0,0,0,0,0,0
$STATE,5719,end apogee,CONTROL_FINISHED_OK
$STATE,5720,begin climb
$GC,5722,1.51,107.5,903.6,0.0,181,5830,1.73,5.12,94.78,1.211,4,0.035,0.341,3016,3813,3080,0,0,12,0,0,0
$GC,5971,1.84,374.3,919.6,-6.7,186,6225,0.28,4.28,241.02,1.216,6,0.055,0.292,3085,2400,1992,0,0,1,0,0,0
$GC,6476,1.84,374.3,853.6,20.0,199,6482,0.00,3.72,0.00,0.000,4,0.000,0.256,3085,986,1983,0,0,0,0,0,0
$GC,6550,1.84,374.3,838.8,20.9,200,6555,0.00,3.60,0.00,0.000,6,0.000,0.236,3085,2400,1982,0,0,1,0,0,0
$GC,6808,1.84,374.3,789.8,19.6,206,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2400,1980,0,0,0,0,0,0
$GC,7044,1.84,374.3,743.3,19.2,212,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,1979,0,0,0,0,0,0
$GC,7287,1.84,374.3,698.9,18.1,218,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2401,1978,0,0,0,0,0,0
$GC,7531,1.84,374.3,655.8,17.5,224,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2401,1978,0,0,0,0,0,0
$GC,7774,1.84,374.3,613.0,17.7,230,7779,0.00,2.67,0.00,0.000,4,0.000,0.107,3085,980,1977,0,0,0,0,0,0
$GC,7823,1.84,374.3,605.8,18.8,231,7828,0.00,2.58,0.00,0.000,6,0.000,0.080,3085,2413,1976,0,0,0,0,0,0
$GC,8106,1.84,374.3,554.9,17.3,238,8107,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2413,1976,0,0,0,0,0,0
$GC,8350,1.84,374.3,511.8,17.8,244,8354,0.00,2.53,0.00,0.000,4,0.000,0.079,3084,979,1975,0,0,0,0,0,0
$GC,8365,1.84,374.3,508.8,18.3,244,8370,0.00,2.40,0.00,0.000,6,0.000,0.048,3085,2406,1975,0,0,0,0,0,0
$GC,8640,1.84,374.3,463.1,16.9,251,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,1975,0,0,0,0,0,0
$GC,8876,1.84,374.3,422.5,16.8,257,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2406,1974,0,0,0,0,0,0
$GC,9120,1.84,374.3,380.3,17.5,263,9125,0.00,2.45,0.00,0.000,4,0.000,0.062,3084,976,1974,0,0,0,0,0,0
$GC,9176,1.84,374.3,369.5,18.6,264,9180,0.00,2.33,0.00,0.000,6,0.000,0.036,3085,2404,1974,0,0,0,0,0,0
$GC,9457,1.84,374.3,324.6,16.2,271,9461,0.00,2.45,0.00,0.000,4,0.000,0.061,3085,973,1974,0,0,0,0,0,0
$GC,9545,1.84,374.3,308.4,16.5,273,9549,0.00,2.35,0.00,0.000,6,0.000,0.035,3085,2396,1973,0,0,0,0,0,0
$GC,9829,1.84,374.3,270.1,13.6,280,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,1973,0,0,0,0,0,0
$GC,10081,1.84,374.3,237.8,13.4,286,10082,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,1973,0,0,0,0,0,0
$GC,10316,1.84,374.3,203.2,14.4,292,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2397,1973,0,0,0,0,0,0
$GC,10597,1.84,374.3,160.4,15.2,313,10601,0.00,2.40,0.00,0.000,4,0.000,0.056,3084,975,1973,0,0,0,0,0,0
$GC,10658,1.84,374.3,149.4,15.8,316,10671,0.00,2.33,0.00,0.000,6,0.000,0.031,3085,2402,1974,0,0,0,0,0,0
$GC,10960,1.84,374.3,112.1,12.0,341,10964,0.00,2.40,0.00,0.000,4,0.000,0.054,3085,974,1974,0,0,0,0,0,0
$GC,11019,1.84,374.3,104.6,11.9,344,11023,0.00,2.28,0.00,0.000,6,0.000,0.031,3085,2401,1974,0,0,0,0,0,0
$GC,11328,1.85,386.5,79.3,9.2,369,11344,0.00,0.00,9.55,0.545,6,0.000,0.000,3085,2401,1942,0,0,0,0,0,0
$GC,11661,1.87,398.4,49.0,9.3,394,11677,0.00,0.00,12.38,0.526,6,0.000,0.000,3085,2401,1895,0,0,0,0,0,0
$RESTART_TIME,Mon Jul 19 04:10:14 2010