version: 66.06
glider: 147
mission: 5
dive: 113
start: 7 20 110 9 1 27
data:
$ID,147
$MISSION,5
$DIVE,113
$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,-21070.588
$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,58
$R_STBD_OVSHOOT,26
$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
$GPS1,084757,2218.176,-15805.499,66,99.0,85,10.0
$_CALLS,2
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-65.8
$GPS2,090037,2218.223,-15805.467,76,1.2,76,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,0.224
$KALMAN_X,174.3,174.3,174.3,757.2,-176.1
$KALMAN_Y,-288.6,-288.6,-288.6,3729.3,291.6
$MHEAD_RNG_PITCHd_Wd,356.8,11653,-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,18,-1.51,-107.5,0.0,0.0,0,78,0.00,0.00,-57.95,0.000,2,0.000,0.000,477,2281,3128,0,0,0,0,0,0
$GC,81,-1.51,-107.5,3.4,-3.3,4,126,10.95,2.42,-16.75,0.000,4,0.184,0.060,2361,3718,3956,0,0,0,0,0,0
$GC,172,-1.51,-107.5,33.7,-26.9,10,188,0.00,2.22,0.00,0.000,6,0.000,0.029,2361,2348,3956,0,0,0,0,0,0
$GC,490,-1.51,-107.5,117.9,-25.0,35,495,0.00,2.38,0.00,0.000,4,0.000,0.048,2361,909,3958,0,0,0,0,0,0
$GC,572,-1.51,-107.5,137.1,-19.3,39,584,0.00,2.28,0.00,0.000,6,0.000,0.030,2361,2320,3958,0,0,0,0,0,0
$GC,867,-1.51,-107.5,189.7,-19.1,64,871,0.00,2.30,0.00,0.000,4,0.000,0.048,2361,3723,3958,0,0,0,0,0,0
$GC,908,-1.51,-107.5,197.9,-19.4,66,912,0.00,2.25,0.00,0.000,6,0.000,0.028,2361,2308,3958,0,0,0,0,0,0
$GC,1163,-1.51,-107.5,252.2,-21.3,73,1167,0.00,2.33,0.00,0.000,4,0.000,0.062,2361,921,3959,0,0,0,0,0,0
$GC,1184,-1.51,-107.5,257.0,-20.6,73,1188,0.00,2.22,0.00,0.000,6,0.000,0.030,2361,2327,3959,0,0,0,0,0,0
$GC,1445,-1.51,-107.5,309.4,-19.9,80,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2326,3960,0,0,0,0,0,0
$GC,1698,-1.51,-107.5,352.1,-17.0,86,1702,0.00,2.40,0.00,0.000,4,0.000,0.077,2361,3716,3960,0,0,0,0,0,0
$GC,1719,-1.51,-107.5,357.2,-16.5,86,1723,0.00,2.25,0.00,0.000,6,0.000,0.038,2361,2329,3960,0,0,0,0,0,0
$GC,1980,-1.51,-107.5,397.3,-15.4,93,1985,0.00,2.53,0.00,0.000,4,0.000,0.094,2361,914,3960,0,0,0,0,0,0
$GC,2021,-1.51,-107.5,403.3,-15.4,94,2025,0.00,2.33,0.00,0.000,6,0.000,0.051,2361,2313,3960,0,0,0,0,0,0
$GC,2312,-1.51,-107.5,442.7,-13.5,101,2316,0.00,2.53,0.00,0.000,4,0.000,0.091,2361,3728,3958,0,0,0,0,0,0
$GC,2373,-1.51,-107.5,452.1,-13.1,102,2377,0.00,2.35,0.00,0.000,6,0.000,0.048,2361,2324,3958,0,0,0,0,0,0
$GC,2633,-1.51,-107.5,487.4,-13.5,109,2637,0.00,2.58,0.00,0.000,4,0.000,0.104,2361,913,3956,0,0,0,0,0,0
$GC,2665,-1.51,-107.5,492.2,-14.3,109,2671,0.00,2.40,0.00,0.000,6,0.000,0.058,2361,2318,3956,0,0,0,0,0,0
$GC,2923,-1.51,-107.5,524.8,-13.1,116,2928,0.00,2.55,0.00,0.000,4,0.000,0.098,2361,3730,3953,0,0,0,0,0,0
$GC,2989,-1.51,-107.5,534.6,-12.9,117,2994,0.00,2.45,0.00,0.000,6,0.000,0.060,2361,2323,3952,0,0,0,0,0,0
$GC,3250,-1.51,-107.5,566.6,-12.1,124,3255,0.00,2.65,0.00,0.000,4,0.000,0.118,2361,909,3950,0,0,0,0,0,0
$GC,3290,-1.51,-107.5,571.4,-12.3,125,3295,0.00,2.47,0.00,0.000,6,0.000,0.077,2361,2318,3950,0,0,0,0,0,0
$GC,3573,-1.51,-107.5,606.2,-12.3,132,3577,0.00,2.75,0.00,0.000,4,0.000,0.131,2361,3729,3947,0,0,0,0,0,0
$GC,3612,-1.51,-107.5,611.3,-12.1,133,3616,0.00,2.58,0.00,0.000,6,0.000,0.090,2361,2319,3947,0,0,0,0,0,0
$GC,3895,-1.51,-107.5,645.6,-12.1,140,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2319,3944,0,0,0,0,0,0
$GC,4147,-1.51,-107.5,675.0,-12.2,146,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2319,3942,0,0,0,0,0,0
$GC,4382,-1.51,-107.5,705.5,-12.6,152,4387,0.00,3.05,0.00,0.000,4,0.000,0.178,2361,3731,3940,0,0,0,0,0,0
$GC,4409,-1.51,-107.5,709.1,-12.7,152,4414,0.00,2.85,0.00,0.000,6,0.000,0.141,2361,2323,3940,0,0,0,0,0,0
$GC,4659,-1.51,-107.5,740.2,-12.3,158,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2322,3939,0,0,0,0,0,0
$GC,4903,-1.51,-107.5,769.9,-12.0,164,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2322,3937,0,0,0,0,0,0
$GC,5147,-1.51,-107.5,799.6,-12.1,170,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2322,3936,0,0,0,0,0,0
$GC,5398,-1.51,-107.5,829.9,-12.6,176,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2322,3933,0,0,0,0,0,0
$GC,5634,-1.51,-107.5,860.5,-12.5,182,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2322,3932,0,0,0,0,0,0
$GC,5878,-1.51,-107.5,892.0,-13.0,188,5887,0.00,4.55,0.00,0.000,4,0.000,0.325,2361,3726,3931,0,0,1,0,0,0
$GC,5905,-1.51,-107.5,895.6,-13.7,188,5911,0.00,3.92,0.00,0.000,6,0.000,0.276,2361,2323,3931,0,0,1,0,0,0
$STATE,5955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5955,begin apogee
$GC,5961,-0.33,0.0,902.3,13.1,190,6055,1.25,0.00,90.05,1.237,6,0.098,0.000,2623,2392,3519,0,0,0,0,0,0
$STATE,6056,end apogee,CONTROL_FINISHED_OK
$STATE,6056,begin climb
$GC,6059,1.51,107.5,906.2,0.0,192,6159,1.70,0.00,95.57,1.217,6,0.027,0.000,3041,2392,3080,0,0,0,0,0,0
$GC,6386,1.84,373.3,930.5,-6.6,200,6646,0.25,4.70,239.25,1.231,4,0.053,0.314,3110,993,1993,0,0,1,0,0,0
$GC,6725,1.84,373.3,893.5,22.5,207,6735,0.00,4.10,0.00,0.000,6,0.000,0.281,3110,2402,1988,0,0,1,0,0,0
$GC,6979,1.84,373.3,838.0,21.8,214,6987,0.00,3.88,0.00,0.000,4,0.000,0.270,3110,3814,1985,0,0,0,0,0,0
$GC,7016,1.84,373.3,829.4,23.0,214,7022,0.00,3.45,0.00,0.000,6,0.000,0.219,3110,2396,1984,0,0,1,0,0,0
$GC,7276,1.84,373.3,775.3,21.8,221,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2396,1983,0,0,0,0,0,0
$GC,7510,1.84,373.3,724.1,20.9,227,7511,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2396,1982,0,0,0,0,0,0
$GC,7753,1.84,373.3,676.5,19.2,233,7758,0.00,2.92,0.00,0.000,4,0.000,0.150,3110,3815,1981,0,0,0,0,0,0
$GC,7792,1.84,373.3,668.9,20.4,234,7797,0.00,2.67,0.00,0.000,6,0.000,0.107,3110,2396,1981,0,0,0,0,0,0
$GC,8083,1.84,373.3,614.4,19.2,241,8088,0.00,2.70,0.00,0.000,4,0.000,0.110,3110,3818,1981,0,0,0,0,0,0
$GC,8138,1.84,373.3,602.0,19.7,242,8142,0.00,2.50,0.00,0.000,6,0.000,0.070,3110,2391,1981,0,0,0,0,0,0
$GC,8406,1.84,373.3,552.9,18.2,249,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2391,1980,0,0,0,0,0,0
$GC,8649,1.84,373.3,509.8,17.6,255,8653,0.00,2.55,0.00,0.000,4,0.000,0.077,3110,3827,1979,0,0,0,0,0,0
$GC,8708,1.84,373.3,498.4,19.0,256,8712,0.00,2.38,0.00,0.000,6,0.000,0.040,3110,2389,1979,0,0,0,0,0,0
$GC,8981,1.84,373.3,449.0,18.2,263,8985,0.00,2.47,0.00,0.000,4,0.000,0.069,3110,3821,1978,0,0,0,0,0,0
$GC,9008,1.84,373.3,444.1,17.4,263,9012,0.00,2.35,0.00,0.000,6,0.000,0.041,3110,2396,1979,0,0,0,0,0,0
$GC,9257,1.84,373.3,403.8,15.9,269,9262,0.00,2.47,0.00,0.000,4,0.000,0.064,3110,3829,1978,0,0,0,0,0,0
$GC,9273,1.84,373.3,400.8,16.6,269,9277,0.00,2.35,0.00,0.000,6,0.000,0.038,3110,2396,1978,0,0,0,0,0,0
$GC,9548,1.84,373.3,357.7,15.9,276,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2396,1978,0,0,0,0,0,0
$GC,9784,1.84,373.3,317.8,16.5,282,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2396,1977,0,0,0,0,0,0
$GC,10028,1.84,373.3,276.4,17.4,288,10032,0.00,2.47,0.00,0.000,4,0.000,0.077,3110,987,1977,0,0,0,0,0,0
$GC,10049,1.84,373.3,272.7,16.7,288,10054,0.00,2.35,0.00,0.000,6,0.000,0.034,3110,2430,1977,0,0,0,0,0,0
$GC,10304,1.84,373.3,232.6,15.3,295,10309,0.00,2.45,0.00,0.000,4,0.000,0.057,3110,989,1976,0,0,0,0,0,0
$GC,10353,1.84,373.3,226.6,15.7,296,10357,0.00,2.28,0.00,0.000,6,0.000,0.032,3110,2408,1976,0,0,0,0,0,0
$GC,10619,1.84,373.3,187.8,15.6,306,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2408,1976,0,0,0,0,0,0
$GC,10915,1.84,373.3,145.3,13.9,331,10919,0.00,2.35,0.00,0.000,4,0.000,0.058,3110,3808,1977,0,0,0,0,0,0
$GC,10940,1.84,373.3,141.6,13.9,332,10944,0.00,2.28,0.00,0.000,6,0.000,0.031,3110,2390,1977,0,0,0,0,0,0
$GC,11240,1.84,373.3,101.0,13.2,356,11244,0.00,2.38,0.00,0.000,4,0.000,0.056,3110,3804,1978,0,0,0,0,0,0
$GC,11316,1.84,373.3,88.3,16.4,360,11331,0.00,2.30,0.00,0.000,6,0.000,0.035,3110,2407,1978,0,0,0,0,0,0
$GC,11643,1.87,405.0,54.6,8.0,385,11673,0.00,0.00,26.48,0.564,6,0.000,0.000,3110,2407,1867,0,0,0,0,0,0
$RESTART_TIME,Tue Jul 20 12:22:22 2010