version: 66.06
glider: 147
mission: 5
dive: 118
start: 7 20 110 19 34 41
data:
$ID,147
$MISSION,5
$DIVE,118
$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,-21140.459
$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,24
$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
$GPS1,192731,2222.635,-15804.249,158,0.9,158,10.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-65.1
$GPS2,193350,2222.645,-15804.225,13,1.5,13,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.057,0.179
$KALMAN_X,257.3,257.3,257.3,-157.8,-272.6
$KALMAN_Y,-189.0,-189.0,-189.0,3849.8,200.2
$MHEAD_RNG_PITCHd_Wd,332.2,3683,-25.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.77,-73.6,0.0,0.0,0,76,0.00,0.00,-58.22,0.000,2,0.000,0.000,472,2253,3077,0,0,0,0,0,0
$GC,80,-1.81,-107.5,3.1,-2.3,4,125,10.52,2.45,-18.48,0.000,4,0.183,0.051,2294,3724,3953,0,0,0,0,0,0
$GC,207,-1.81,-107.5,45.1,-30.1,12,222,0.00,2.30,0.00,0.000,6,0.000,0.032,2294,2314,3955,0,0,0,0,0,0
$GC,520,-1.81,-107.5,135.2,-27.6,37,524,0.00,2.33,0.00,0.000,4,0.000,0.050,2294,908,3956,0,0,0,0,0,0
$GC,564,-1.81,-107.5,150.6,-27.3,39,578,0.00,2.28,0.00,0.000,6,0.000,0.028,2294,2323,3956,0,0,0,0,0,0
$GC,850,-1.81,-107.5,223.4,-25.7,59,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2323,3957,0,0,0,0,0,0
$GC,1094,-1.81,-107.5,282.4,-23.8,65,1098,0.00,2.33,0.00,0.000,4,0.000,0.054,2294,3716,3958,0,0,0,0,0,0
$GC,1120,-1.81,-107.5,288.2,-20.6,65,1125,0.00,2.25,0.00,0.000,6,0.000,0.032,2294,2318,3958,0,0,0,0,0,0
$GC,1382,-1.81,-107.5,340.8,-19.8,72,1386,0.00,2.40,0.00,0.000,4,0.000,0.067,2294,3715,3958,0,0,0,0,0,0
$GC,1422,-1.81,-107.5,348.4,-19.6,73,1426,0.00,2.30,0.00,0.000,6,0.000,0.043,2294,2328,3958,0,0,0,0,0,0
$GC,1704,-1.81,-107.5,400.6,-18.4,80,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2328,3958,0,0,0,0,0,0
$GC,1956,-1.81,-107.5,447.3,-19.1,86,1960,0.00,2.60,0.00,0.000,4,0.000,0.104,2294,912,3958,0,0,0,0,0,0
$GC,1977,-1.81,-107.5,452.8,-19.0,86,1982,0.00,2.33,0.00,0.000,6,0.000,0.051,2294,2307,3958,0,0,0,0,0,0
$GC,2232,-1.81,-107.5,499.9,-18.4,93,2237,0.00,2.58,0.00,0.000,4,0.000,0.099,2294,3728,3956,0,0,0,0,0,0
$GC,2260,-1.81,-107.5,505.1,-18.1,93,2264,0.00,2.42,0.00,0.000,6,0.000,0.060,2294,2321,3956,0,0,0,0,0,0
$GC,2510,-1.81,-107.5,550.3,-18.1,99,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2321,3954,0,0,0,0,0,0
$GC,2753,-1.81,-107.5,594.7,-18.1,105,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2321,3952,0,0,0,0,0,0
$GC,3006,-1.81,-107.5,638.5,-18.1,111,3011,0.00,2.88,0.00,0.000,4,0.000,0.150,2294,3725,3950,0,0,0,0,0,0
$GC,3046,-1.81,-107.5,647.4,-18.4,112,3050,0.00,2.70,0.00,0.000,6,0.000,0.118,2294,2328,3949,0,0,0,0,0,0
$GC,3328,-1.81,-107.5,698.1,-17.8,119,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2327,3947,0,0,0,0,0,0
$GC,3573,-1.81,-107.5,740.3,-17.2,125,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2327,3944,0,0,0,0,0,0
$GC,3824,-1.81,-107.5,782.0,-17.1,131,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2326,3942,0,0,0,0,0,0
$GC,4060,-1.81,-107.5,822.8,-16.5,137,4065,0.00,3.75,0.00,0.000,4,0.000,0.266,2294,3721,3940,0,0,1,0,0,0
$GC,4082,-1.81,-107.5,826.7,-17.5,137,4087,0.00,3.47,0.00,0.000,6,0.000,0.232,2294,2324,3940,0,0,1,0,0,0
$GC,4338,-1.81,-107.5,868.4,-16.6,144,4345,0.00,4.07,0.00,0.000,4,0.000,0.292,2295,905,3938,0,0,0,0,0,0
$GC,4363,-1.81,-107.5,873.1,-18.0,144,4369,0.00,3.83,0.00,0.000,6,0.000,0.265,2294,2308,3938,0,0,1,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4536,begin apogee
$GC,4542,-0.33,0.0,901.6,16.5,149,4638,1.60,0.00,92.43,1.220,6,0.107,0.000,2623,2400,3519,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4642,1.81,107.5,906.1,0.0,151,4750,1.98,4.65,95.95,1.200,4,0.025,0.312,3102,986,3080,0,0,1,0,0,0
$GC,5008,2.06,313.3,939.5,-8.8,159,5205,0.20,4.65,185.35,1.226,6,0.062,0.321,3154,2398,2241,0,0,1,0,0,0
$GC,5497,2.06,313.3,877.0,20.1,171,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,2231,0,0,0,0,0,0
$GC,5733,2.06,313.3,829.1,19.6,177,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2399,2230,0,0,0,0,0,0
$GC,5977,2.06,313.3,782.3,19.4,183,5982,0.00,3.42,0.00,0.000,4,0.000,0.224,3154,3814,2228,0,0,0,0,0,0
$GC,6032,2.06,313.3,771.1,19.8,184,6038,0.00,3.10,0.00,0.000,6,0.000,0.176,3155,2397,2228,0,0,1,0,0,0
$GC,6307,2.06,313.3,723.2,17.8,191,6312,0.00,3.10,0.00,0.000,4,0.000,0.177,3154,3815,2226,0,0,0,0,0,0
$GC,6351,2.06,313.3,712.8,19.1,192,6356,0.00,2.85,0.00,0.000,6,0.000,0.135,3154,2398,2226,0,0,0,0,0,0
$GC,6629,2.06,313.3,665.7,16.9,199,6634,0.00,2.88,0.00,0.000,4,0.000,0.140,3154,3816,2226,0,0,0,0,0,0
$GC,6703,2.06,313.3,653.0,18.1,200,6707,0.00,2.65,0.00,0.000,6,0.000,0.099,3154,2397,2225,0,0,0,0,0,0
$GC,6960,2.06,313.3,613.4,15.5,206,6964,0.00,2.70,0.00,0.000,4,0.000,0.111,3154,3818,2224,0,0,0,0,0,0
$GC,6999,2.06,313.3,605.8,16.8,207,7003,0.00,2.53,0.00,0.000,6,0.000,0.071,3155,2391,2224,0,0,0,0,0,0
$GC,7282,2.06,313.3,558.7,16.3,214,7286,0.00,2.58,0.00,0.000,4,0.000,0.085,3154,3819,2223,0,0,0,0,0,0
$GC,7353,2.06,313.3,546.0,17.3,215,7358,0.00,2.42,0.00,0.000,6,0.000,0.047,3154,2394,2224,0,0,0,0,0,0
$GC,7608,2.06,313.3,504.7,16.0,222,7613,0.00,2.50,0.00,0.000,4,0.000,0.070,3154,3822,2222,0,0,0,0,0,0
$GC,7637,2.06,313.3,500.0,16.8,222,7641,0.00,2.38,0.00,0.000,6,0.000,0.038,3154,2389,2222,0,0,0,0,0,0
$GC,7886,2.06,313.3,460.0,15.8,228,7890,0.00,2.53,0.00,0.000,4,0.000,0.071,3154,3828,2222,0,0,0,0,0,0
$GC,7907,2.06,313.3,456.2,17.7,228,7911,0.00,2.38,0.00,0.000,6,0.000,0.042,3154,2400,2222,0,0,0,0,0,0
$GC,8169,2.06,313.3,414.4,16.0,235,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2400,2222,0,0,0,0,0,0
$GC,8419,2.06,313.3,377.4,15.2,241,8424,0.00,2.45,0.00,0.000,4,0.000,0.061,3154,3827,2221,0,0,0,0,0,0
$GC,8480,2.06,313.3,366.1,16.0,242,8485,0.00,2.38,0.00,0.000,6,0.000,0.038,3155,2403,2221,0,0,0,0,0,0
$GC,8748,2.06,313.3,324.7,15.5,249,8752,0.00,2.42,0.00,0.000,4,0.000,0.060,3155,3822,2221,0,0,0,0,0,0
$GC,8763,2.06,313.3,322.0,15.2,249,8768,0.00,2.38,0.00,0.000,6,0.000,0.036,3154,2394,2221,0,0,0,0,0,0
$GC,9038,2.06,313.3,283.9,14.1,256,9042,0.00,2.45,0.00,0.000,4,0.000,0.059,3154,3833,2220,0,0,0,0,0,0
$GC,9144,2.06,313.3,267.2,14.8,258,9148,0.00,2.35,0.00,0.000,6,0.000,0.035,3154,2397,2221,0,0,0,0,0,0
$GC,9404,2.06,313.3,236.3,12.0,265,9408,0.00,2.42,0.00,0.000,4,0.000,0.057,3155,3827,2220,0,0,0,0,0,0
$GC,9420,2.06,313.3,234.3,12.0,265,9425,0.00,2.30,0.00,0.000,6,0.000,0.034,3155,2394,2220,0,0,0,0,0,0
$GC,9681,2.06,313.3,200.0,13.2,272,9685,0.00,2.42,0.00,0.000,4,0.000,0.056,3154,3828,2220,0,0,0,0,0,0
$GC,9720,2.06,313.3,195.3,13.3,273,9724,0.00,2.33,0.00,0.000,6,0.000,0.034,3155,2398,2220,0,0,0,0,0,0
$GC,10013,2.06,313.3,161.1,10.9,297,10017,0.00,2.45,0.00,0.000,4,0.000,0.075,3155,986,2221,0,0,0,0,0,0
$GC,10074,2.06,313.3,152.8,12.4,300,10089,0.00,2.35,0.00,0.000,6,0.000,0.031,3155,2430,2220,0,0,0,0,0,0
$GC,10375,2.08,331.0,122.0,8.4,325,10393,0.00,2.45,13.65,0.606,4,0.000,0.053,3155,991,2168,0,0,0,0,0,0
$GC,10418,2.08,331.6,116.9,9.9,327,10432,0.00,2.30,0.00,0.000,6,0.000,0.030,3155,2397,2167,0,0,0,0,0,0
$GC,10723,2.08,331.6,83.4,12.4,352,10727,0.00,2.35,0.00,0.000,4,0.000,0.051,3155,987,2166,0,0,0,0,0,0
$GC,10913,2.13,365.2,64.9,6.9,362,10951,0.00,2.30,31.25,0.568,6,0.000,0.029,3155,2409,2029,0,0,0,0,0,0
$GC,11283,2.13,365.2,31.3,10.8,389,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2409,2027,0,0,0,0,0,0
$RESTART_TIME,Tue Jul 20 22:48:20 2010