version: 66.06
glider: 147
mission: 5
dive: 102
start: 7 19 110 7 57 54
data:
$ID,147
$MISSION,5
$DIVE,102
$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,-20770.807
$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,48
$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
$GPS1,075140,2207.479,-15810.372,6,99.0,26,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-56.3
$GPS2,075705,2207.452,-15810.359,11,99.0,30,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT3
$TGT_LATLONG,2210.500,-15810.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.024,0.224
$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,356.3,5678,-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,14,-1.51,-107.5,0.0,0.0,0,148,0.00,0.00,-131.35,0.000,2,0.000,0.000,480,2298,3465,0,0,0,0,0,0
$GC,151,-1.51,-107.5,4.6,-3.9,9,182,10.75,2.38,-8.73,0.000,4,0.180,0.054,2344,3720,3954,0,0,0,0,0,0
$GC,240,-1.51,-107.5,40.5,-27.3,15,256,0.00,2.25,0.00,0.000,6,0.000,0.031,2344,2338,3955,0,0,0,0,0,0
$GC,557,-1.51,-107.5,119.1,-20.4,40,560,0.00,2.33,0.00,0.000,4,0.000,0.048,2344,913,3955,0,0,0,0,0,0
$GC,650,-1.51,-107.5,138.4,-19.0,45,663,0.00,2.28,0.00,0.000,6,0.000,0.031,2344,2317,3955,0,0,0,0,0,0
$GC,948,-1.51,-107.5,199.5,-20.8,70,953,0.00,2.30,0.00,0.000,4,0.000,0.049,2344,3724,3956,0,0,0,0,0,0
$GC,981,-1.51,-107.5,208.7,-21.2,70,994,0.00,2.28,0.00,0.000,6,0.000,0.029,2344,2316,3956,0,0,0,0,0,0
$GC,1232,-1.51,-107.5,256.2,-18.5,77,1236,0.00,2.38,0.00,0.000,4,0.000,0.059,2344,3727,3956,0,0,0,0,0,0
$GC,1259,-1.51,-107.5,261.2,-17.0,77,1263,0.00,2.25,0.00,0.000,6,0.000,0.030,2344,2320,3956,0,0,0,0,0,0
$GC,1508,-1.51,-107.5,303.6,-16.8,83,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2320,3956,0,0,0,0,0,0
$GC,1752,-1.51,-107.5,347.8,-18.6,89,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2321,3956,0,0,0,0,0,0
$GC,1996,-1.51,-107.5,389.6,-16.7,95,2001,0.00,2.50,0.00,0.000,4,0.000,0.084,2344,3719,3956,0,0,0,0,0,0
$GC,2018,-1.51,-107.5,393.5,-16.8,95,2022,0.00,2.30,0.00,0.000,6,0.000,0.044,2344,2326,3956,0,0,0,0,0,0
$GC,2279,-1.51,-107.5,435.4,-15.9,102,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2326,3954,0,0,0,0,0,0
$GC,2523,-1.51,-107.5,473.5,-15.8,108,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2326,3952,0,0,0,0,0,0
$GC,2767,-1.51,-107.5,510.8,-15.1,114,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2326,3950,0,0,0,0,0,0
$GC,3010,-1.51,-107.5,547.2,-14.9,120,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2326,3947,0,0,0,0,0,0
$GC,3262,-1.51,-107.5,580.7,-13.4,126,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2326,3945,0,0,0,0,0,0
$GC,3498,-1.51,-107.5,612.9,-13.2,132,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2326,3943,0,0,0,0,0,0
$GC,3741,-1.51,-107.5,646.3,-13.8,138,3746,0.00,2.90,0.00,0.000,4,0.000,0.163,2344,3716,3940,0,0,0,0,0,0
$GC,3774,-1.51,-107.5,651.3,-14.9,138,3780,0.00,2.65,0.00,0.000,6,0.000,0.111,2344,2329,3939,0,0,0,0,0,0
$GC,4024,-1.51,-107.5,687.6,-14.5,145,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2329,3938,0,0,0,0,0,0
$GC,4275,-1.51,-107.5,721.9,-14.1,151,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2328,3936,0,0,0,0,0,0
$GC,4511,-1.51,-107.5,755.5,-13.7,157,4516,0.00,3.25,0.00,0.000,4,0.000,0.214,2344,3711,3934,0,0,0,0,0,0
$GC,4544,-1.51,-107.5,760.2,-14.1,157,4550,0.00,3.00,0.00,0.000,6,0.000,0.176,2344,2322,3933,0,0,1,0,0,0
$GC,4794,-1.51,-107.5,794.1,-13.5,164,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2322,3932,0,0,0,0,0,0
$GC,5038,-1.51,-107.5,827.1,-13.5,170,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,2344,2322,3930,0,0,0,0,0,0
$GC,5291,-1.51,-107.5,859.9,-13.4,176,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2322,3928,0,0,0,0,0,0
$GC,5525,-1.51,-107.5,892.5,-13.5,182,5533,0.00,4.53,0.00,0.000,4,0.000,0.328,2344,3708,3927,0,0,1,0,0,0
$GC,5557,-1.51,-107.5,897.0,-14.2,182,5563,0.00,3.95,0.00,0.000,6,0.000,0.280,2344,2322,3927,0,0,1,0,0,0
$STATE,5601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5601,begin apogee
$GC,5608,-0.33,0.0,903.1,13.2,183,5702,1.25,0.00,90.22,1.223,6,0.099,0.000,2602,2376,3519,0,0,0,0,0,0
$STATE,5703,end apogee,CONTROL_FINISHED_OK
$STATE,5703,begin climb
$GC,5705,1.51,107.5,906.7,0.0,185,5815,1.73,5.22,96.10,1.201,4,0.036,0.346,3012,3812,3079,0,0,20,0,0,0
$GC,5946,1.84,373.7,924.4,-6.6,190,6199,0.30,4.30,240.30,1.214,6,0.056,0.296,3085,2400,1995,0,0,1,0,0,0
$GC,6466,1.84,373.7,858.9,19.8,203,6473,0.00,3.88,0.00,0.000,4,0.000,0.269,3086,985,1984,0,0,0,0,0,0
$GC,6560,1.84,373.7,840.2,18.9,205,6565,0.00,3.65,0.00,0.000,6,0.000,0.239,3086,2400,1983,0,0,1,0,0,0
$GC,6837,1.84,373.7,787.4,19.0,212,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2400,1981,0,0,0,0,0,0
$GC,7081,1.84,373.7,741.1,18.9,218,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2401,1980,0,0,0,0,0,0
$GC,7326,1.84,373.7,694.7,19.2,224,7330,0.00,2.92,0.00,0.000,4,0.000,0.151,3086,982,1979,0,0,0,0,0,0
$GC,7335,1.84,373.7,692.5,19.8,224,7340,0.00,2.78,0.00,0.000,6,0.000,0.124,3086,2405,1979,0,0,0,0,0,0
$GC,7610,1.84,373.7,642.2,18.9,231,7615,0.00,2.72,0.00,0.000,4,0.000,0.130,3086,3812,1978,0,0,0,0,0,0
$GC,7626,1.84,373.7,637.2,19.1,231,7631,0.00,2.58,0.00,0.000,6,0.000,0.086,3086,2393,1978,0,0,0,0,0,0
$GC,7887,1.84,373.7,589.4,18.3,238,7891,0.00,2.62,0.00,0.000,4,0.000,0.100,3085,3818,1978,0,0,0,0,0,0
$GC,7908,1.84,373.7,585.0,19.7,238,7912,0.00,2.47,0.00,0.000,6,0.000,0.061,3085,2390,1977,0,0,0,0,0,0
$GC,8164,1.84,373.7,536.9,18.6,245,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2390,1977,0,0,0,0,0,0
$GC,8416,1.84,373.7,490.3,19.2,251,8420,0.00,2.53,0.00,0.000,4,0.000,0.074,3086,3822,1977,0,0,0,0,0,0
$GC,8431,1.84,373.7,485.3,18.9,251,8435,0.00,2.38,0.00,0.000,6,0.000,0.041,3086,2395,1977,0,0,0,0,0,0
$GC,8699,1.84,373.7,438.3,17.2,258,8703,0.00,2.50,0.00,0.000,4,0.000,0.093,3086,991,1977,0,0,0,0,0,0
$GC,8719,1.84,373.7,434.4,17.4,258,8724,0.00,2.38,0.00,0.000,6,0.000,0.041,3086,2410,1977,0,0,0,0,0,0
$GC,8980,1.84,373.7,391.2,16.9,265,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2411,1976,0,0,0,0,0,0
$GC,9234,1.84,373.7,351.7,16.3,271,9238,0.00,2.40,0.00,0.000,4,0.000,0.068,3086,3815,1975,0,0,0,0,0,0
$GC,9254,1.84,373.7,346.7,16.1,271,9259,0.00,2.30,0.00,0.000,6,0.000,0.032,3086,2390,1975,0,0,0,0,0,0
$GC,9516,1.84,373.7,308.6,14.5,278,9520,0.00,2.42,0.00,0.000,4,0.000,0.078,3086,993,1975,0,0,0,0,0,0
$GC,9537,1.84,373.7,305.2,15.4,278,9541,0.00,2.33,0.00,0.000,6,0.000,0.037,3086,2415,1975,0,0,0,0,0,0
$GC,9798,1.84,373.7,269.1,13.5,285,9802,0.00,2.38,0.00,0.000,4,0.000,0.063,3086,3808,1975,0,0,0,0,0,0
$GC,9825,1.84,373.7,265.4,13.6,285,9829,0.00,2.25,0.00,0.000,6,0.000,0.031,3086,2398,1975,0,0,0,0,0,0
$GC,10080,1.84,373.7,232.8,12.8,292,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2399,1975,0,0,0,0,0,0
$GC,10325,1.84,373.7,198.8,14.4,298,10329,0.00,2.42,0.00,0.000,4,0.000,0.072,3086,990,1974,0,0,0,0,0,0
$GC,10349,1.84,373.7,196.1,15.1,299,10353,0.00,2.28,0.00,0.000,6,0.000,0.034,3086,2406,1974,0,0,0,0,0,0
$GC,10639,1.84,373.7,155.3,13.4,323,10652,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2406,1974,0,0,0,0,0,0
$GC,10939,1.84,373.7,114.4,12.8,348,10943,0.00,2.38,0.00,0.000,4,0.000,0.057,3086,995,1976,0,0,0,0,0,0
$GC,10976,1.84,373.7,109.6,12.6,350,10980,0.00,2.28,0.00,0.000,6,0.000,0.031,3086,2410,1975,0,0,0,0,0,0
$GC,11286,1.87,403.6,80.5,8.1,375,11323,0.00,2.45,24.92,0.584,4,0.000,0.053,3086,995,1871,0,0,0,0,0,0
$GC,11480,1.87,403.6,58.5,11.0,385,11496,0.00,2.28,0.00,0.000,6,0.000,0.031,3086,2395,1869,0,0,0,0,0,0
$GC,11866,1.87,403.6,18.8,10.8,414,11880,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2395,1869,0,0,0,0,0,0
$RESTART_TIME,Mon Jul 19 11:20:22 2010