version: 66.06
glider: 147
mission: 5
dive: 110
start: 7 20 110 1 45 3
data:
$ID,147
$MISSION,5
$DIVE,110
$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,-20974.547
$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,2700
$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
$GPS1,013906,2214.885,-15807.231,11,1.5,27,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-57.1
$GPS2,014413,2214.925,-15807.274,9,1.5,14,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.220
$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,2.4,18156,-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,-107.5,0.0,0.0,0,133,0.00,0.00,-115.62,0.000,2,0.000,0.000,476,2397,2986,0,0,0,0,0,0
$GC,137,-1.51,-107.5,3.0,-1.8,8,182,10.95,2.22,-21.95,0.000,4,0.183,0.057,2362,3725,3953,0,0,0,0,0,0
$GC,253,-1.51,-107.5,34.5,-26.2,16,268,0.00,2.20,0.00,0.000,6,0.000,0.028,2362,2364,3953,0,0,0,0,0,0
$GC,573,-1.51,-107.5,109.8,-20.0,41,577,0.00,2.40,0.00,0.000,4,0.000,0.049,2362,912,3954,0,0,0,0,0,0
$GC,653,-1.51,-107.5,127.5,-17.5,45,666,0.00,2.28,0.00,0.000,6,0.000,0.030,2362,2323,3954,0,0,0,0,0,0
$GC,951,-1.51,-107.5,185.0,-20.4,70,955,0.00,2.30,0.00,0.000,4,0.000,0.048,2362,3730,3954,0,0,0,0,0,0
$GC,992,-1.51,-107.5,193.5,-19.2,72,996,0.00,2.25,0.00,0.000,6,0.000,0.028,2362,2318,3955,0,0,0,0,0,0
$GC,1279,-1.51,-107.5,247.9,-18.5,81,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2317,3955,0,0,0,0,0,0
$GC,1513,-1.51,-107.5,287.4,-15.9,87,1517,0.00,2.40,0.00,0.000,4,0.000,0.064,2362,3719,3955,0,0,0,0,0,0
$GC,1540,-1.51,-107.5,291.7,-15.0,87,1545,0.00,2.25,0.00,0.000,6,0.000,0.034,2362,2317,3955,0,0,0,0,0,0
$GC,1802,-1.51,-107.5,332.3,-15.6,94,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2317,3955,0,0,0,0,0,0
$GC,2045,-1.51,-107.5,368.7,-15.0,100,2050,0.00,2.50,0.00,0.000,4,0.000,0.089,2362,912,3954,0,0,0,0,0,0
$GC,2093,-1.51,-107.5,374.8,-14.8,101,2097,0.00,2.30,0.00,0.000,6,0.000,0.045,2362,2310,3954,0,0,0,0,0,0
$GC,2376,-1.51,-107.5,417.0,-14.8,108,2380,0.00,2.53,0.00,0.000,4,0.000,0.084,2362,3731,3952,0,0,0,0,0,0
$GC,2442,-1.51,-107.5,427.2,-14.1,109,2446,0.00,2.33,0.00,0.000,6,0.000,0.046,2362,2327,3951,0,0,0,0,0,0
$GC,2712,-1.51,-107.5,463.5,-13.8,116,2716,0.00,2.60,0.00,0.000,4,0.000,0.103,2362,912,3949,0,0,0,0,0,0
$GC,2761,-1.51,-107.5,472.1,-14.3,117,2765,0.00,2.40,0.00,0.000,6,0.000,0.056,2362,2321,3948,0,0,0,0,0,0
$GC,3038,-1.51,-107.5,508.5,-12.9,124,3042,0.00,2.58,0.00,0.000,4,0.000,0.097,2362,3734,3946,0,0,0,0,0,0
$GC,3088,-1.51,-107.5,515.0,-12.6,125,3092,0.00,2.38,0.00,0.000,6,0.000,0.053,2362,2323,3946,0,0,0,0,0,0
$GC,3359,-1.51,-107.5,549.1,-12.6,132,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2323,3943,0,0,0,0,0,0
$GC,3603,-1.51,-107.5,582.0,-13.5,138,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2323,3941,0,0,0,0,0,0
$GC,3848,-1.51,-107.5,614.9,-13.7,144,3852,0.00,2.78,0.00,0.000,4,0.000,0.134,2362,906,3939,0,0,0,0,0,0
$GC,3868,-1.51,-107.5,618.0,-13.3,144,3873,0.00,2.58,0.00,0.000,6,0.000,0.095,2362,2317,3939,0,0,0,0,0,0
$GC,4131,-1.51,-107.5,653.2,-14.1,151,4136,0.00,2.88,0.00,0.000,4,0.000,0.156,2362,3731,3937,0,0,0,0,0,0
$GC,4171,-1.51,-107.5,660.0,-14.5,152,4175,0.00,2.65,0.00,0.000,6,0.000,0.111,2362,2325,3936,0,0,0,0,0,0
$GC,4453,-1.51,-107.5,700.8,-14.4,159,4458,0.00,2.97,0.00,0.000,4,0.000,0.169,2362,909,3934,0,0,0,0,0,0
$GC,4480,-1.51,-107.5,705.0,-15.0,159,4485,0.00,2.85,0.00,0.000,6,0.000,0.144,2362,2319,3933,0,0,0,0,0,0
$GC,4731,-1.51,-107.5,740.8,-14.3,165,4736,0.00,3.10,0.00,0.000,4,0.000,0.183,2362,906,3931,0,0,1,0,0,0
$GC,4763,-1.51,-107.5,745.8,-14.5,165,4777,0.00,3.08,0.00,0.000,6,0.000,0.171,2362,2320,3931,0,0,0,0,0,0
$GC,5013,-1.51,-107.5,778.9,-12.9,172,5018,0.00,3.50,0.00,0.000,4,0.000,0.235,2362,3731,3929,0,0,0,0,0,0
$GC,5058,-1.51,-107.5,784.4,-11.9,173,5063,0.00,3.12,0.00,0.000,6,0.000,0.187,2362,2323,3929,0,0,1,0,0,0
$GC,5335,-1.51,-107.5,815.8,-11.1,180,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2323,3927,0,0,0,0,0,0
$GC,5588,-1.51,-107.5,843.1,-11.3,186,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2323,3925,0,0,0,0,0,0
$GC,5823,-1.51,-107.5,871.2,-11.4,192,5831,0.00,3.92,0.00,0.000,4,0.000,0.280,2362,909,3924,0,0,0,0,0,0
$GC,5849,-1.51,-107.5,874.5,-12.1,192,5855,0.00,3.75,0.00,0.000,6,0.000,0.260,2362,2318,3924,0,0,1,0,0,0
$STATE,6102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6102,begin apogee
$GC,6108,-0.33,0.0,904.8,11.9,199,6201,1.25,0.00,88.93,1.229,6,0.097,0.000,2624,2402,3519,0,0,0,0,0,0
$STATE,6202,end apogee,CONTROL_FINISHED_OK
$STATE,6202,begin climb
$GC,6205,1.51,107.5,908.1,0.0,201,6305,1.70,0.00,95.60,1.212,6,0.026,0.000,3042,2402,3080,0,0,0,0,0,0
$GC,6532,1.84,373.2,931.8,-6.6,209,6785,0.25,4.65,240.35,1.223,4,0.054,0.309,3107,989,1996,0,0,1,0,0,0
$GC,6802,1.84,373.2,912.6,21.0,215,6810,0.00,4.30,0.00,0.000,6,0.000,0.294,3107,2399,1992,0,0,1,0,0,0
$GC,7073,1.84,373.2,855.7,21.1,222,7081,0.00,4.05,0.00,0.000,4,0.000,0.284,3107,3814,1987,0,0,0,0,0,0
$GC,7088,1.84,373.2,852.3,21.2,222,7093,0.00,3.62,0.00,0.000,6,0.000,0.235,3106,2398,1986,0,0,1,0,0,0
$GC,7355,1.84,373.2,795.6,21.6,229,7360,0.00,3.30,0.00,0.000,4,0.000,0.211,3107,984,1984,0,0,0,0,0,0
$GC,7366,1.84,373.2,793.1,21.8,229,7371,0.00,3.25,0.00,0.000,6,0.000,0.196,3107,2401,1985,0,0,1,0,0,0
$GC,7640,1.84,373.2,738.0,20.4,236,7645,0.00,3.15,0.00,0.000,4,0.000,0.191,3107,3814,1983,0,0,0,0,0,0
$GC,7657,1.84,373.2,732.9,20.5,236,7662,0.00,2.90,0.00,0.000,6,0.000,0.144,3107,2394,1983,0,0,0,0,0,0
$GC,7917,1.84,373.2,680.6,19.5,243,7922,0.00,2.83,0.00,0.000,4,0.000,0.143,3107,987,1982,0,0,0,0,0,0
$GC,7938,1.84,373.2,676.3,19.6,243,7943,0.00,2.72,0.00,0.000,6,0.000,0.117,3107,2404,1981,0,0,0,0,0,0
$GC,8194,1.84,373.2,627.2,19.2,250,8199,0.00,2.75,0.00,0.000,4,0.000,0.127,3107,3818,1981,0,0,0,0,0,0
$GC,8242,1.84,373.2,619.2,20.6,251,8247,0.00,2.55,0.00,0.000,6,0.000,0.076,3107,2392,1981,0,0,0,0,0,0
$GC,8526,1.84,373.2,563.1,19.4,258,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2392,1980,0,0,0,0,0,0
$GC,8770,1.84,373.2,516.6,19.0,264,8774,0.00,2.55,0.00,0.000,4,0.000,0.078,3107,3822,1980,0,0,0,0,0,0
$GC,8785,1.84,373.2,513.3,18.6,264,8790,0.00,2.40,0.00,0.000,6,0.000,0.041,3107,2397,1980,0,0,0,0,0,0
$GC,9060,1.84,373.2,466.5,17.1,271,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2397,1979,0,0,0,0,0,0
$GC,9297,1.84,373.2,422.8,17.9,277,9301,0.00,2.47,0.00,0.000,4,0.000,0.066,3107,3821,1979,0,0,0,0,0,0
$GC,9357,1.84,373.2,411.3,18.5,278,9361,0.00,2.35,0.00,0.000,6,0.000,0.038,3107,2395,1979,0,0,0,0,0,0
$GC,9624,1.84,373.2,368.0,16.1,285,9628,0.00,2.47,0.00,0.000,4,0.000,0.083,3107,991,1979,0,0,0,0,0,0
$GC,9651,1.84,373.2,363.5,16.7,285,9655,0.00,2.33,0.00,0.000,6,0.000,0.035,3107,2427,1978,0,0,0,0,0,0
$GC,9908,1.84,373.2,324.2,15.6,291,9912,0.00,2.45,0.00,0.000,4,0.000,0.057,3107,987,1978,0,0,0,0,0,0
$GC,9929,1.84,373.2,319.7,15.0,291,9933,0.00,2.30,0.00,0.000,6,0.000,0.034,3107,2399,1977,0,0,0,0,0,0
$GC,10191,1.84,373.2,282.6,13.6,298,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2400,1977,0,0,0,0,0,0
$GC,10434,1.84,373.2,250.8,13.0,304,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,1977,0,0,0,0,0,0
$GC,10678,1.84,373.2,221.8,11.7,310,10682,0.00,2.38,0.00,0.000,4,0.000,0.061,3107,3812,1977,0,0,0,0,0,0
$GC,10699,1.84,373.2,218.9,13.3,310,10703,0.00,2.28,0.00,0.000,6,0.000,0.029,3107,2385,1978,0,0,0,0,0,0
$GC,10969,1.84,373.2,182.3,14.7,322,10973,0.00,2.38,0.00,0.000,4,0.000,0.056,3107,3804,1977,0,0,0,0,0,0
$GC,10979,1.84,373.2,179.0,15.1,322,10993,0.00,2.28,0.00,0.000,6,0.000,0.031,3107,2416,1977,0,0,0,0,0,0
$GC,11277,1.84,373.2,133.6,15.9,347,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2416,1978,0,0,0,0,0,0
$GC,11580,1.84,373.2,93.2,13.8,372,11585,0.00,2.45,0.00,0.000,4,0.000,0.073,3107,990,1979,0,0,0,0,0,0
$GC,11644,1.84,373.2,84.0,13.1,375,11657,0.00,2.30,0.00,0.000,6,0.000,0.031,3107,2402,1979,0,0,0,0,0,0
$GC,11972,1.84,380.0,51.6,9.6,400,11987,0.00,0.00,4.32,0.414,6,0.000,0.000,3107,2402,1970,0,0,0,0,0,0
$RESTART_TIME,Tue Jul 20 05:10:50 2010