version: 66.06
glider: 147
mission: 5
dive: 100
start: 7 19 110 4 25 28
data:
$ID,147
$MISSION,5
$DIVE,100
$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,-20737.721
$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,40
$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
$GPS1,041930,2205.902,-15810.806,43,1.5,43,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-56.9
$GPS2,042438,2205.934,-15810.787,14,1.4,14,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT3
$TGT_LATLONG,2210.500,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.036,0.223
$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,359.2,8562,-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,-107.5,0.0,0.0,0,147,0.00,0.00,-129.77,0.000,2,0.000,0.000,472,2311,3476,0,0,0,0,0,0
$GC,151,-1.51,-107.5,4.9,-4.7,9,182,10.77,2.38,-8.35,0.000,4,0.180,0.054,2342,3727,3954,0,0,0,0,0,0
$GC,232,-1.51,-107.5,40.0,-28.5,14,248,0.00,2.28,0.00,0.000,6,0.000,0.030,2342,2328,3955,0,0,0,0,0,0
$GC,549,-1.51,-107.5,126.3,-20.2,39,553,0.00,2.35,0.00,0.000,4,0.000,0.051,2342,913,3955,0,0,0,0,0,0
$GC,631,-1.51,-107.5,142.9,-17.7,43,644,0.00,2.28,0.00,0.000,6,0.000,0.032,2342,2317,3955,0,0,0,0,0,0
$GC,928,-1.51,-107.5,199.1,-20.1,68,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2317,3956,0,0,0,0,0,0
$GC,1177,-1.51,-107.5,251.6,-20.6,75,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2317,3956,0,0,0,0,0,0
$GC,1429,-1.51,-107.5,298.8,-19.2,81,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2318,3956,0,0,0,0,0,0
$GC,1666,-1.51,-107.5,338.4,-15.8,87,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2318,3956,0,0,0,0,0,0
$GC,1909,-1.51,-107.5,378.9,-16.8,93,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2318,3956,0,0,0,0,0,0
$GC,2152,-1.51,-107.5,417.3,-15.6,99,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2318,3954,0,0,0,0,0,0
$GC,2397,-1.51,-107.5,456.6,-16.4,105,2401,0.00,2.53,0.00,0.000,4,0.000,0.094,2342,924,3953,0,0,0,0,0,0
$GC,2429,-1.51,-107.5,462.5,-17.4,105,2443,0.00,2.40,0.00,0.000,6,0.000,0.058,2342,2311,3953,0,0,0,0,0,0
$GC,2679,-1.51,-107.5,502.6,-16.0,112,2683,0.00,2.62,0.00,0.000,4,0.000,0.102,2342,3738,3950,0,0,0,0,0,0
$GC,2705,-1.51,-107.5,507.1,-16.4,112,2710,0.00,2.38,0.00,0.000,6,0.000,0.053,2342,2331,3950,0,0,0,0,0,0
$GC,2961,-1.51,-107.5,547.0,-15.6,119,2966,0.00,2.65,0.00,0.000,4,0.000,0.113,2342,913,3947,0,0,0,0,0,0
$GC,3005,-1.51,-107.5,554.4,-16.2,120,3009,0.00,2.47,0.00,0.000,6,0.000,0.074,2342,2320,3947,0,0,0,0,0,0
$GC,3284,-1.51,-107.5,597.5,-15.4,127,3289,0.00,2.75,0.00,0.000,4,0.000,0.131,2342,3729,3945,0,0,0,0,0,0
$GC,3305,-1.51,-107.5,601.0,-15.1,127,3309,0.00,2.53,0.00,0.000,6,0.000,0.084,2342,2323,3944,0,0,0,0,0,0
$GC,3561,-1.51,-107.5,637.0,-14.1,134,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2323,3942,0,0,0,0,0,0
$GC,3805,-1.51,-107.5,670.8,-13.9,140,3810,0.00,2.88,0.00,0.000,4,0.000,0.156,2342,910,3939,0,0,0,0,0,0
$GC,3826,-1.51,-107.5,674.1,-14.6,140,3831,0.00,2.75,0.00,0.000,6,0.000,0.124,2342,2317,3939,0,0,0,0,0,0
$GC,4082,-1.51,-107.5,709.7,-13.7,147,4086,0.00,3.10,0.00,0.000,4,0.000,0.189,2342,3731,3938,0,0,0,0,0,0
$GC,4114,-1.51,-107.5,714.3,-13.9,147,4120,0.00,2.85,0.00,0.000,6,0.000,0.143,2342,2324,3937,0,0,0,0,0,0
$GC,4365,-1.51,-107.5,748.0,-13.6,154,4370,0.00,3.15,0.00,0.000,4,0.000,0.197,2342,909,3935,0,0,0,0,0,0
$GC,4386,-1.51,-107.5,751.2,-13.9,154,4391,0.00,3.05,0.00,0.000,6,0.000,0.174,2342,2317,3935,0,0,0,0,0,0
$GC,4649,-1.51,-107.5,784.0,-12.8,161,4654,0.00,3.50,0.00,0.000,4,0.000,0.238,2342,3732,3932,0,0,0,0,0,0
$GC,4677,-1.51,-107.5,788.7,-13.3,161,4682,0.00,3.20,0.00,0.000,6,0.000,0.193,2342,2323,3932,0,0,1,0,0,0
$GC,4927,-1.51,-107.5,819.8,-12.5,167,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2323,3930,0,0,0,0,0,0
$GC,5170,-1.51,-107.5,849.3,-12.0,173,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2323,3928,0,0,0,0,0,0
$GC,5415,-1.51,-107.5,879.2,-12.4,179,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2342,2323,3927,0,0,0,0,0,0
$STATE,5615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5615,begin apogee
$GC,5621,-0.33,0.0,905.2,12.9,184,5714,1.25,0.00,89.68,1.226,6,0.100,0.000,2602,2399,3519,0,0,0,0,0,0
$STATE,5715,end apogee,CONTROL_FINISHED_OK
$STATE,5715,begin climb
$GC,5718,1.51,107.5,908.6,0.0,186,5826,1.73,5.22,95.10,1.209,4,0.037,0.347,3013,3814,3079,0,0,15,0,0,0
$GC,6006,1.85,385.3,929.3,-7.4,192,6270,0.30,4.40,250.65,1.219,6,0.053,0.301,3088,2401,1947,0,0,1,0,0,0
$GC,6511,1.85,385.3,867.8,19.6,204,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,1938,0,0,0,0,0,0
$GC,6755,1.85,385.3,821.6,19.0,210,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,1936,0,0,0,0,0,0
$GC,7008,1.85,385.3,776.2,18.8,216,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2400,1935,0,0,0,0,0,0
$GC,7242,1.85,385.3,730.7,18.7,222,7247,0.00,3.15,0.00,0.000,4,0.000,0.184,3088,3817,1934,0,0,0,0,0,0
$GC,7263,1.85,385.3,726.6,19.2,222,7268,0.00,2.88,0.00,0.000,6,0.000,0.140,3088,2398,1934,0,0,0,0,0,0
$GC,7518,1.85,385.3,678.8,18.6,229,7523,0.00,2.90,0.00,0.000,4,0.000,0.147,3088,3815,1933,0,0,0,0,0,0
$GC,7551,1.85,385.3,672.5,19.7,229,7557,0.00,2.70,0.00,0.000,6,0.000,0.107,3088,2398,1933,0,0,0,0,0,0
$GC,7810,1.85,385.3,625.1,19.3,236,7814,0.00,2.67,0.00,0.000,4,0.000,0.117,3088,987,1932,0,0,0,0,0,0
$GC,7825,1.85,385.3,620.1,19.9,236,7829,0.00,2.55,0.00,0.000,6,0.000,0.084,3088,2408,1931,0,0,0,0,0,0
$GC,8086,1.85,385.3,571.4,18.6,243,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2408,1931,0,0,0,0,0,0
$GC,8329,1.85,385.3,527.3,18.1,249,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2409,1930,0,0,0,0,0,0
$GC,8573,1.85,385.3,483.2,17.9,255,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2409,1930,0,0,0,0,0,0
$GC,8827,1.85,385.3,439.5,17.8,261,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2409,1930,0,0,0,0,0,0
$GC,9061,1.85,385.3,396.2,17.8,267,9064,0.00,2.47,0.00,0.000,4,0.000,0.068,3088,980,1930,0,0,0,0,0,0
$GC,9082,1.85,385.3,392.3,17.7,267,9086,0.00,2.35,0.00,0.000,6,0.000,0.037,3088,2412,1929,0,0,0,0,0,0
$GC,9350,1.85,385.3,346.7,16.6,274,9354,0.00,2.42,0.00,0.000,4,0.000,0.073,3088,3805,1929,0,0,0,0,0,0
$GC,9365,1.85,385.3,344.0,16.6,274,9370,0.00,2.33,0.00,0.000,6,0.000,0.031,3088,2372,1929,0,0,0,0,0,0
$GC,9634,1.85,385.3,304.3,15.0,281,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2373,1929,0,0,0,0,0,0
$GC,9871,1.85,385.3,273.3,12.3,287,9875,0.00,2.38,0.00,0.000,4,0.000,0.072,3088,999,1929,0,0,0,0,0,0
$GC,9886,1.85,385.3,271.0,12.2,287,9890,0.00,2.28,0.00,0.000,6,0.000,0.034,3088,2404,1929,0,0,0,0,0,0
$GC,10154,1.85,385.3,232.8,15.0,294,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2404,1929,0,0,0,0,0,0
$GC,10411,1.85,385.3,191.6,17.7,303,10425,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2404,1928,0,0,0,0,0,0
$GC,10705,1.85,385.3,142.8,15.1,328,10720,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2403,1929,0,0,0,0,0,0
$GC,11011,1.85,385.3,96.1,15.0,353,11016,0.00,2.38,0.00,0.000,4,0.000,0.055,3088,992,1929,0,0,0,0,0,0
$GC,11071,1.85,385.3,88.8,10.6,356,11075,0.00,2.28,0.00,0.000,6,0.000,0.031,3088,2410,1929,0,0,0,0,0,0
$GC,11401,1.85,385.3,54.9,10.5,381,11416,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2410,1929,0,0,0,0,0,0
$RESTART_TIME,Mon Jul 19 07:42:21 2010