version: 66.06
glider: 147
mission: 5
dive: 120
start: 7 20 110 23 2 2
data:
$ID,147
$MISSION,5
$DIVE,120
$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,-21188.648
$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,70
$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
$GPS1,225200,2224.076,-15804.448,40,1.6,40,10.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.9
$GPS2,230113,2224.125,-15804.475,35,1.6,46,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.137,0.106
$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,297.7,1137,-27.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.89,-63.1,0.0,0.0,0,75,0.00,0.00,-57.83,0.000,2,0.000,0.000,475,2366,3073,0,0,0,0,0,0
$GC,78,-1.95,-107.5,3.0,-2.5,4,123,10.27,2.20,-19.00,0.000,4,0.179,0.058,2269,3680,3951,0,0,0,0,0,0
$GC,282,-1.95,-107.5,68.1,-29.9,16,298,0.00,2.20,0.00,0.000,6,0.000,0.030,2269,2315,3953,0,0,0,0,0,0
$GC,590,-1.95,-107.5,149.9,-26.6,41,595,0.00,2.30,0.00,0.000,4,0.000,0.048,2269,915,3953,0,0,0,0,0,0
$GC,636,-1.95,-107.5,164.8,-26.4,43,649,0.00,2.20,0.00,0.000,6,0.000,0.031,2269,2286,3953,0,0,0,0,0,0
$GC,906,-1.95,-107.5,234.9,-26.9,59,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2286,3954,0,0,0,0,0,0
$GC,1148,-1.95,-107.5,294.6,-24.0,65,1152,0.00,2.42,0.00,0.000,4,0.000,0.064,2269,3722,3955,0,0,0,0,0,0
$GC,1196,-1.95,-107.5,303.6,-23.4,66,1200,0.00,2.28,0.00,0.000,6,0.000,0.040,2269,2325,3955,0,0,0,0,0,0
$GC,1479,-1.95,-107.5,367.5,-21.0,73,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2325,3955,0,0,0,0,0,0
$GC,1723,-1.95,-107.5,420.0,-21.7,79,1727,0.00,2.45,0.00,0.000,4,0.000,0.079,2269,3718,3955,0,0,0,0,0,0
$GC,1750,-1.95,-107.5,425.8,-21.5,79,1754,0.00,2.33,0.00,0.000,6,0.000,0.051,2269,2326,3955,0,0,0,0,0,0
$GC,2014,-1.95,-107.5,478.5,-20.6,86,2018,0.00,2.62,0.00,0.000,4,0.000,0.112,2269,910,3954,0,0,0,0,0,0
$GC,2034,-1.95,-107.5,484.7,-20.6,86,2039,0.00,2.38,0.00,0.000,6,0.000,0.059,2269,2302,3954,0,0,0,0,0,0
$GC,2296,-1.95,-107.5,535.1,-19.1,93,2301,0.00,2.67,0.00,0.000,4,0.000,0.111,2269,3731,3952,0,0,0,0,0,0
$GC,2345,-1.95,-107.5,544.9,-18.7,94,2350,0.00,2.47,0.00,0.000,6,0.000,0.073,2269,2314,3952,0,0,0,0,0,0
$GC,2626,-1.95,-107.5,594.5,-18.1,101,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2314,3949,0,0,0,0,0,0
$GC,2862,-1.95,-107.5,639.6,-18.5,107,2867,0.00,2.88,0.00,0.000,4,0.000,0.146,2269,3732,3947,0,0,0,0,0,0
$GC,2889,-1.95,-107.5,645.0,-18.8,107,2893,0.00,2.70,0.00,0.000,6,0.000,0.115,2269,2319,3947,0,0,0,0,0,0
$GC,3145,-1.95,-107.5,691.5,-18.3,114,3149,0.00,2.97,0.00,0.000,4,0.000,0.173,2269,908,3944,0,0,0,0,0,0
$GC,3166,-1.95,-107.5,695.8,-19.5,114,3171,0.00,2.88,0.00,0.000,6,0.000,0.145,2269,2318,3944,0,0,0,0,0,0
$GC,3431,-1.95,-107.5,741.2,-17.8,121,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2319,3941,0,0,0,0,0,0
$GC,3664,-1.95,-107.5,783.9,-17.6,127,3670,0.00,3.58,0.00,0.000,4,0.000,0.245,2269,3732,3939,0,0,0,0,0,0
$GC,3680,-1.95,-107.5,787.1,-17.8,127,3686,0.00,3.25,0.00,0.000,6,0.000,0.199,2269,2320,3939,0,0,1,0,0,0
$GC,3942,-1.95,-107.5,833.2,-17.7,134,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2320,3937,0,0,0,0,0,0
$GC,4185,-1.95,-107.5,875.6,-17.6,140,4193,0.00,4.35,0.00,0.000,4,0.000,0.308,2269,3732,3935,0,0,1,0,0,0
$GC,4211,-1.95,-107.5,880.5,-18.0,140,4217,0.00,3.92,0.00,0.000,6,0.000,0.272,2269,2322,3934,0,0,1,0,0,0
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4350,-0.33,0.0,903.2,17.2,144,4446,1.73,0.00,91.75,1.218,6,0.111,0.000,2622,2398,3519,0,0,0,0,0,0
$STATE,4446,end apogee,CONTROL_FINISHED_OK
$STATE,4447,begin climb
$GC,4449,1.95,107.5,907.3,0.0,146,4551,2.15,0.00,97.18,1.199,6,0.031,0.000,3138,2398,3080,0,0,0,0,0,0
$GC,4790,2.16,277.2,937.4,-8.0,155,4953,0.12,4.93,153.23,1.220,4,0.077,0.330,3174,990,2387,0,0,2,0,0,0
$GC,5154,2.16,277.2,900.2,19.1,163,5160,0.00,4.15,0.00,0.000,6,0.000,0.285,3174,2399,2379,0,0,1,0,0,0
$GC,5427,2.16,277.2,852.7,17.3,170,5435,0.00,4.00,0.00,0.000,4,0.000,0.281,3174,3813,2376,0,0,0,0,0,0
$GC,5459,2.16,277.2,846.7,18.4,170,5465,0.00,3.58,0.00,0.000,6,0.000,0.232,3174,2400,2375,0,0,1,0,0,0
$GC,5718,2.16,277.2,802.0,17.8,176,5723,0.00,3.58,0.00,0.000,4,0.000,0.236,3174,3814,2374,0,0,1,0,0,0
$GC,5813,2.16,277.2,782.1,19.8,178,5818,0.00,3.15,0.00,0.000,6,0.000,0.183,3174,2398,2373,0,0,1,0,0,0
$GC,6085,2.16,277.2,734.2,17.6,185,6090,0.00,3.15,0.00,0.000,4,0.000,0.187,3174,3815,2372,0,0,0,0,0,0
$GC,6146,2.16,277.2,722.9,18.5,186,6150,0.00,2.90,0.00,0.000,6,0.000,0.142,3174,2395,2372,0,0,0,0,0,0
$GC,6412,2.16,277.2,679.2,16.2,193,6417,0.00,2.92,0.00,0.000,4,0.000,0.150,3174,3815,2372,0,0,0,0,0,0
$GC,6486,2.16,277.2,666.4,17.2,194,6490,0.00,2.70,0.00,0.000,6,0.000,0.107,3174,2393,2370,0,0,0,0,0,0
$GC,6735,2.16,277.2,626.6,15.6,200,6740,0.00,2.72,0.00,0.000,4,0.000,0.117,3174,3816,2370,0,0,0,0,0,0
$GC,6751,2.16,277.2,624.1,15.6,200,6756,0.00,2.58,0.00,0.000,6,0.000,0.081,3174,2392,2370,0,0,0,0,0,0
$GC,7012,2.16,277.2,588.3,13.2,207,7017,0.00,2.65,0.00,0.000,4,0.000,0.099,3174,3822,2369,0,0,0,0,0,0
$GC,7045,2.16,277.2,583.8,13.9,207,7050,0.00,2.47,0.00,0.000,6,0.000,0.061,3174,2394,2368,0,0,0,0,0,0
$GC,7295,2.16,277.2,551.0,13.2,214,7299,0.00,2.55,0.00,0.000,4,0.000,0.083,3174,3819,2368,0,0,0,0,0,0
$GC,7345,2.16,277.2,543.7,14.5,215,7349,0.00,2.40,0.00,0.000,6,0.000,0.045,3174,2390,2368,0,0,0,0,0,0
$GC,7623,2.16,277.2,505.7,13.3,222,7627,0.00,2.50,0.00,0.000,4,0.000,0.070,3174,3820,2368,0,0,0,0,0,0
$GC,7777,2.16,277.2,485.7,13.5,225,7781,0.00,2.35,0.00,0.000,6,0.000,0.035,3175,2392,2367,0,0,0,0,0,0
$GC,8037,2.16,277.2,451.3,13.3,232,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2392,2366,0,0,0,0,0,0
$GC,8282,2.16,277.2,421.7,11.9,238,8286,0.00,2.47,0.00,0.000,4,0.000,0.066,3174,3821,2366,0,0,0,0,0,0
$GC,8460,2.16,277.2,399.0,12.9,242,8464,0.00,2.35,0.00,0.000,6,0.000,0.038,3174,2397,2365,0,0,0,0,0,0
$GC,8744,2.16,277.2,366.7,11.3,249,8749,0.00,2.45,0.00,0.000,4,0.000,0.063,3174,3821,2365,0,0,0,0,0,0
$GC,8777,2.16,277.2,362.1,13.0,249,8783,0.00,2.35,0.00,0.000,6,0.000,0.038,3174,2400,2365,0,0,0,0,0,0
$GC,9035,2.16,277.2,333.6,11.4,256,9039,0.00,2.45,0.00,0.000,4,0.000,0.060,3174,3831,2364,0,0,0,0,0,0
$GC,9152,2.16,277.2,318.5,11.7,258,9156,0.00,2.35,0.00,0.000,6,0.000,0.035,3174,2392,2364,0,0,0,0,0,0
$GC,9402,2.16,277.2,292.9,10.0,264,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2392,2364,0,0,0,0,0,0
$GC,9646,2.17,286.3,270.5,9.0,270,9655,0.00,2.47,4.68,0.584,4,0.000,0.057,3174,3832,2352,0,0,0,0,0,0
$GC,9694,2.17,290.4,267.0,9.6,271,9705,0.00,2.35,5.68,0.628,6,0.000,0.034,3174,2397,2335,0,0,0,0,0,0
$GC,9977,2.17,290.4,238.0,10.2,278,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2397,2333,0,0,0,0,0,0
$GC,10222,2.17,290.4,211.6,10.5,284,10226,0.00,2.42,0.00,0.000,4,0.000,0.076,3174,993,2333,0,0,0,0,0,0
$GC,10277,2.17,290.4,206.1,10.3,285,10281,0.00,2.33,0.00,0.000,6,0.000,0.031,3175,2432,2333,0,0,0,0,0,0
$GC,10565,2.18,296.3,179.9,9.4,305,10578,0.00,0.00,7.07,0.602,6,0.000,0.000,3174,2432,2310,0,0,0,0,0,0
$GC,10861,2.18,296.3,146.9,11.4,330,10865,0.00,2.42,0.00,0.000,4,0.000,0.055,3174,990,2309,0,0,0,0,0,0
$GC,10924,2.18,296.3,138.9,11.3,333,10937,0.00,2.30,0.00,0.000,6,0.000,0.031,3175,2404,2309,0,0,0,0,0,0
$GC,11229,2.22,330.8,111.7,6.3,358,11267,0.00,2.42,31.98,0.616,4,0.000,0.052,3174,992,2169,0,0,0,0,0,0
$GC,11415,2.22,330.8,90.6,11.9,368,11431,0.00,2.28,0.00,0.000,6,0.000,0.030,3175,2392,2166,0,0,0,0,0,0
$GC,11736,2.22,330.8,54.1,13.0,393,11740,0.00,2.35,0.00,0.000,4,0.000,0.053,3175,3805,2165,0,0,0,0,0,0
$GC,11784,2.23,337.4,47.8,9.3,395,11800,0.00,2.28,6.90,0.479,6,0.000,0.028,3175,2390,2143,0,0,0,0,0,0
$GC,12184,2.25,350.0,18.2,8.7,425,12200,0.00,0.00,12.70,0.493,6,0.000,0.000,3175,2390,2092,0,0,0,0,0,0
$RESTART_TIME,Wed Jul 21 02:29:32 2010