version: 66.06
glider: 147
mission: 5
dive: 106
start: 7 19 110 18 41 42
data:
$ID,147
$MISSION,5
$DIVE,106
$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,-20861.312
$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,76
$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
$GPS1,183055,2211.663,-15808.855,84,1.1,84,10.0
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-66.8
$GPS2,184050,2211.684,-15808.859,11,1.3,11,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,0.218
$KALMAN_X,285.5,106.2,137.2,1636.7,-16.8
$KALMAN_Y,-824.8,-336.6,-124.0,6825.4,-160.8
$MHEAD_RNG_PITCHd_Wd,5.2,24638,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.51,-107.5,0.0,0.0,0,77,0.00,0.00,-57.40,0.000,2,0.000,0.000,477,2268,3073,0,0,0,0,0,0
$GC,81,-1.51,-107.5,3.0,-2.3,4,126,10.85,2.45,-18.60,0.000,4,0.185,0.056,2340,3725,3953,0,0,0,0,0,0
$GC,197,-1.51,-107.5,37.6,-25.8,12,212,0.00,2.20,0.00,0.000,6,0.000,0.031,2340,2374,3954,0,0,0,0,0,0
$GC,513,-1.51,-107.5,116.3,-25.3,37,517,0.00,2.30,0.00,0.000,4,0.000,0.048,2340,963,3955,0,0,0,0,0,0
$GC,595,-1.51,-107.5,137.2,-20.8,41,608,0.00,2.20,0.00,0.000,6,0.000,0.030,2340,2327,3956,0,0,0,0,0,0
$GC,891,-1.51,-107.5,197.7,-21.6,66,895,0.00,2.25,0.00,0.000,4,0.000,0.050,2340,958,3956,0,0,0,0,0,0
$GC,923,-1.51,-107.5,206.7,-22.8,66,929,0.00,2.15,0.00,0.000,6,0.000,0.030,2340,2325,3957,0,0,0,0,0,0
$GC,1173,-1.51,-107.5,262.1,-22.4,73,1177,0.00,2.33,0.00,0.000,4,0.000,0.056,2340,3728,3957,0,0,0,0,0,0
$GC,1200,-1.51,-107.5,268.1,-21.7,73,1204,0.00,2.15,0.00,0.000,6,0.000,0.031,2340,2369,3957,0,0,0,0,0,0
$GC,1450,-1.51,-107.5,317.6,-19.8,79,1454,0.00,2.55,0.00,0.000,4,0.000,0.079,2340,913,3958,0,0,0,0,0,0
$GC,1504,-1.51,-107.5,328.4,-18.0,80,1508,0.00,2.28,0.00,0.000,6,0.000,0.039,2340,2318,3958,0,0,0,0,0,0
$GC,1777,-1.51,-107.5,375.5,-16.8,87,1782,0.00,2.45,0.00,0.000,4,0.000,0.080,2340,3725,3958,0,0,0,0,0,0
$GC,1810,-1.51,-107.5,380.9,-15.4,87,1816,0.00,2.33,0.00,0.000,6,0.000,0.044,2340,2326,3958,0,0,0,0,0,0
$GC,2060,-1.51,-107.5,418.3,-14.8,94,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2326,3958,0,0,0,0,0,0
$GC,2305,-1.51,-107.5,456.1,-16.0,100,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2326,3956,0,0,0,0,0,0
$GC,2557,-1.51,-107.5,496.8,-16.7,106,2561,0.00,2.55,0.00,0.000,4,0.000,0.096,2340,3728,3955,0,0,0,0,0,0
$GC,2583,-1.51,-107.5,503.2,-17.3,106,2588,0.00,2.42,0.00,0.000,6,0.000,0.058,2340,2326,3954,0,0,0,0,0,0
$GC,2839,-1.51,-107.5,548.0,-17.8,113,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2326,3952,0,0,0,0,0,0
$GC,3082,-1.51,-107.5,589.8,-16.9,119,3087,0.00,2.70,0.00,0.000,4,0.000,0.124,2340,3725,3950,0,0,0,0,0,0
$GC,3109,-1.51,-107.5,594.5,-17.3,119,3113,0.00,2.53,0.00,0.000,6,0.000,0.088,2340,2323,3950,0,0,0,0,0,0
$GC,3359,-1.51,-107.5,634.5,-15.8,125,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2323,3947,0,0,0,0,0,0
$GC,3610,-1.51,-107.5,671.5,-15.0,131,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2323,3945,0,0,0,0,0,0
$GC,3846,-1.51,-107.5,706.4,-14.3,137,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2323,3943,0,0,0,0,0,0
$GC,4090,-1.51,-107.5,739.9,-13.6,143,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2323,3941,0,0,0,0,0,0
$GC,4335,-1.51,-107.5,773.1,-13.7,149,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2323,3939,0,0,0,0,0,0
$GC,4577,-1.51,-107.5,806.3,-13.7,155,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2323,3938,0,0,0,0,0,0
$GC,4830,-1.51,-107.5,838.9,-13.2,161,4838,0.00,3.92,0.00,0.000,4,0.000,0.282,2340,3718,3936,0,0,1,0,0,0
$GC,4857,-1.51,-107.5,843.6,-13.9,161,4862,0.00,3.50,0.00,0.000,6,0.000,0.236,2340,2326,3935,0,0,1,0,0,0
$GC,5113,-1.51,-107.5,876.1,-12.6,168,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2326,3934,0,0,0,0,0,0
$STATE,5313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5313,begin apogee
$GC,5319,-0.33,0.0,902.6,13.2,173,5414,1.27,0.00,91.57,1.228,6,0.103,0.000,2604,2385,3519,0,0,0,0,0,0
$STATE,5415,end apogee,CONTROL_FINISHED_OK
$STATE,5415,begin climb
$GC,5418,1.51,107.5,906.3,0.0,175,5527,1.73,5.10,96.07,1.213,4,0.034,0.342,3016,3812,3078,0,0,13,0,0,0
$GC,5646,1.86,390.0,924.0,-7.7,180,5915,0.30,4.35,258.73,1.216,6,0.055,0.298,3090,2401,1927,0,0,1,0,0,0
$GC,6182,1.86,390.0,853.8,20.4,193,6187,0.00,3.85,0.00,0.000,4,0.000,0.265,3090,984,1918,0,0,0,0,0,0
$GC,6237,1.86,390.0,841.9,20.9,194,6243,0.00,3.65,0.00,0.000,6,0.000,0.239,3090,2400,1916,0,0,1,0,0,0
$GC,6512,1.86,390.0,789.1,19.9,201,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2400,1915,0,0,0,0,0,0
$GC,6748,1.86,390.0,740.8,19.9,207,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2401,1914,0,0,0,0,0,0
$GC,6991,1.86,390.0,693.7,19.3,213,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2401,1913,0,0,0,0,0,0
$GC,7236,1.86,390.0,647.8,18.8,219,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2402,1912,0,0,0,0,0,0
$GC,7479,1.86,390.0,602.3,18.6,225,7483,0.00,2.70,0.00,0.000,4,0.000,0.113,3090,979,1912,0,0,0,0,0,0
$GC,7494,1.86,390.0,599.1,18.9,225,7499,0.00,2.55,0.00,0.000,6,0.000,0.074,3090,2415,1912,0,0,0,0,0,0
$GC,7756,1.86,390.0,553.8,17.2,232,7760,0.00,2.53,0.00,0.000,4,0.000,0.093,3090,3811,1911,0,0,0,0,0,0
$GC,7777,1.86,390.0,549.8,18.6,232,7781,0.00,2.40,0.00,0.000,6,0.000,0.048,3090,2374,1911,0,0,0,0,0,0
$GC,8038,1.86,390.0,505.5,17.0,239,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2375,1910,0,0,0,0,0,0
$GC,8283,1.86,390.0,464.5,16.8,245,8287,0.00,2.53,0.00,0.000,4,0.000,0.069,3090,3819,1911,0,0,0,0,0,0
$GC,8331,1.86,390.0,455.8,17.7,246,8335,0.00,2.35,0.00,0.000,6,0.000,0.041,3090,2392,1910,0,0,0,0,0,0
$GC,8609,1.86,390.0,406.4,18.1,253,8610,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2391,1909,0,0,0,0,0,0
$GC,8853,1.86,390.0,363.3,17.7,259,8857,0.00,2.47,0.00,0.000,4,0.000,0.064,3090,3822,1909,0,0,0,0,0,0
$GC,8897,1.86,390.0,354.5,19.9,260,8901,0.00,2.33,0.00,0.000,6,0.000,0.039,3090,2399,1909,0,0,0,0,0,0
$GC,9181,1.86,390.0,304.4,17.8,267,9185,0.00,2.42,0.00,0.000,4,0.000,0.060,3090,3814,1908,0,0,0,0,0,0
$GC,9202,1.86,390.0,300.5,18.1,267,9207,0.00,2.33,0.00,0.000,6,0.000,0.038,3090,2399,1908,0,0,0,0,0,0
$GC,9458,1.86,390.0,260.1,15.7,274,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2399,1908,0,0,0,0,0,0
$GC,9701,1.86,390.0,225.3,14.1,280,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2399,1907,0,0,0,0,0,0
$GC,9961,1.86,390.0,188.0,15.7,289,9965,0.00,2.42,0.00,0.000,4,0.000,0.074,3090,990,1908,0,0,0,0,0,0
$GC,10022,1.86,390.0,176.5,15.4,292,10036,0.00,2.33,0.00,0.000,6,0.000,0.034,3090,2412,1907,0,0,0,0,0,0
$GC,10320,1.86,390.0,133.9,14.4,317,10324,0.00,2.38,0.00,0.000,4,0.000,0.055,3090,987,1907,0,0,0,0,0,0
$GC,10379,1.86,390.0,125.1,14.6,320,10383,0.00,2.28,0.00,0.000,6,0.000,0.031,3090,2407,1908,0,0,0,0,0,0
$GC,10687,1.86,390.0,89.1,10.5,345,10691,0.00,2.38,0.00,0.000,4,0.000,0.054,3090,979,1908,0,0,0,0,0,0
$GC,10820,1.86,390.0,73.2,10.0,352,10836,0.00,2.30,0.00,0.000,6,0.000,0.031,3090,2399,1909,0,0,0,0,0,0
$GC,11154,1.86,390.0,40.8,10.9,377,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2400,1911,0,0,0,0,0,0
$RESTART_TIME,Mon Jul 19 21:53:09 2010