version: 66.06
glider: 147
mission: 5
dive: 125
start: 7 21 110 13 23 48
data:
$ID,147
$MISSION,5
$DIVE,125
$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,-21255.51
$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,2380
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,131225,2229.632,-15802.711,39,1.3,39,10.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-68.7
$GPS2,132255,2229.709,-15802.683,10,1.7,14,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.011,0.225
$KALMAN_X,1696.2,6.5,-60.1,3181.2,784.4
$KALMAN_Y,-2170.9,-99.0,-85.2,11455.2,-1177.2
$MHEAD_RNG_PITCHd_Wd,347.3,44032,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.51,-107.5,0.0,0.0,0,76,0.00,0.00,-58.10,0.000,2,0.000,0.000,474,2399,3069,0,0,0,0,0,0
$GC,80,-1.51,-107.5,3.0,-2.4,4,125,11.00,2.30,-18.80,0.000,4,0.186,0.051,2363,3786,3953,0,0,0,0,0,0
$GC,196,-1.51,-107.5,36.7,-24.6,12,211,0.00,2.28,0.00,0.000,6,0.000,0.029,2363,2378,3953,0,0,0,0,0,0
$GC,516,-1.51,-107.5,111.0,-22.5,37,520,0.00,2.30,0.00,0.000,4,0.000,0.045,2363,971,3954,0,0,0,0,0,0
$GC,666,-1.51,-107.5,143.8,-18.0,45,679,0.00,2.28,0.00,0.000,6,0.000,0.031,2363,2379,3955,0,0,0,0,0,0
$GC,962,-1.51,-107.5,196.8,-18.6,70,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2379,3955,0,0,0,0,0,0
$GC,1225,-1.51,-107.5,245.9,-17.9,78,1229,0.00,2.35,0.00,0.000,4,0.000,0.052,2363,975,3956,0,0,0,0,0,0
$GC,1257,-1.51,-107.5,252.1,-17.8,78,1263,0.00,2.25,0.00,0.000,6,0.000,0.031,2363,2381,3956,0,0,0,0,0,0
$GC,1507,-1.51,-107.5,296.6,-17.8,85,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2381,3956,0,0,0,0,0,0
$GC,1761,-1.51,-107.5,336.4,-16.4,91,1765,0.00,2.42,0.00,0.000,4,0.000,0.070,2363,979,3956,0,0,0,0,0,0
$GC,1782,-1.51,-107.5,341.7,-16.4,91,1786,0.00,2.28,0.00,0.000,6,0.000,0.041,2363,2377,3956,0,0,0,0,0,0
$GC,2043,-1.51,-107.5,383.4,-15.9,98,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2377,3956,0,0,0,0,0,0
$GC,2286,-1.51,-107.5,420.9,-15.4,104,2291,0.00,2.45,0.00,0.000,4,0.000,0.076,2363,980,3955,0,0,0,0,0,0
$GC,2315,-1.51,-107.5,425.2,-15.4,104,2319,0.00,2.30,0.00,0.000,6,0.000,0.048,2363,2377,3955,0,0,0,0,0,0
$GC,2564,-1.51,-107.5,460.5,-14.0,110,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2377,3953,0,0,0,0,0,0
$GC,2817,-1.51,-107.5,493.4,-13.5,116,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2377,3951,0,0,0,0,0,0
$GC,3052,-1.51,-107.5,527.9,-14.3,122,3057,0.00,2.53,0.00,0.000,4,0.000,0.094,2363,983,3949,0,0,0,0,0,0
$GC,3085,-1.51,-107.5,532.7,-14.3,122,3091,0.00,2.40,0.00,0.000,6,0.000,0.064,2363,2382,3948,0,0,0,0,0,0
$GC,3335,-1.51,-107.5,567.5,-14.1,129,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2382,3947,0,0,0,0,0,0
$GC,3579,-1.51,-107.5,602.0,-14.0,135,3584,0.00,2.62,0.00,0.000,4,0.000,0.113,2363,986,3945,0,0,0,0,0,0
$GC,3606,-1.51,-107.5,606.2,-14.4,135,3610,0.00,2.53,0.00,0.000,6,0.000,0.091,2363,2382,3944,0,0,0,0,0,0
$GC,3865,-1.51,-107.5,640.7,-13.8,141,3869,0.00,2.72,0.00,0.000,4,0.000,0.130,2363,979,3942,0,0,0,0,0,0
$GC,3909,-1.51,-107.5,648.1,-13.4,142,3914,0.00,2.67,0.00,0.000,6,0.000,0.114,2363,2377,3942,0,0,0,0,0,0
$GC,4186,-1.51,-107.5,683.2,-12.5,149,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2377,3939,0,0,0,0,0,0
$GC,4430,-1.51,-107.5,712.7,-12.1,155,4434,0.00,2.95,0.00,0.000,4,0.000,0.169,2363,988,3938,0,0,0,0,0,0
$GC,4478,-1.51,-107.5,717.3,-11.7,156,4483,0.00,2.83,0.00,0.000,6,0.000,0.147,2363,2378,3937,0,0,0,0,0,0
$GC,4761,-1.51,-107.5,752.6,-12.2,163,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2380,3935,0,0,0,0,0,0
$GC,5005,-1.51,-107.5,781.7,-12.0,169,5010,0.00,3.25,0.00,0.000,4,0.000,0.212,2363,989,3933,0,0,1,0,0,0
$GC,5049,-1.51,-107.5,787.2,-11.8,170,5055,0.00,3.17,0.00,0.000,6,0.000,0.199,2363,2379,3933,0,0,1,0,0,0
$GC,5327,-1.51,-107.5,820.3,-12.0,177,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2379,3931,0,0,0,0,0,0
$GC,5571,-1.51,-107.5,849.5,-12.0,183,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2379,3929,0,0,0,0,0,0
$GC,5815,-1.51,-107.5,878.8,-12.1,189,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2379,3928,0,0,0,0,0,0
$STATE,6015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6015,begin apogee
$GC,6021,-0.33,0.0,903.3,12.0,194,6116,1.23,0.00,90.72,1.230,6,0.094,0.000,2623,2398,3520,0,0,0,0,0,0
$STATE,6117,end apogee,CONTROL_FINISHED_OK
$STATE,6117,begin climb
$GC,6119,1.51,107.5,906.8,0.0,196,6221,1.70,0.00,97.57,1.211,6,0.027,0.000,3042,2398,3080,0,0,0,0,0,0
$GC,6446,1.82,363.7,928.9,-6.0,204,6699,0.22,4.53,236.27,1.222,4,0.057,0.309,3101,1011,2034,0,0,1,0,0,0
$GC,6799,1.82,363.7,889.4,22.0,212,6804,0.00,3.97,0.00,0.000,6,0.000,0.275,3101,2399,2029,0,0,1,0,0,0
$GC,7077,1.82,363.7,831.2,20.8,219,7085,0.00,3.88,0.00,0.000,4,0.000,0.270,3101,3814,2025,0,0,0,0,0,0
$GC,7097,1.82,363.7,826.6,21.0,219,7103,0.00,3.38,0.00,0.000,6,0.000,0.216,3101,2419,2025,0,0,1,0,0,0
$GC,7366,1.82,363.7,775.3,19.5,226,7371,0.00,3.35,0.00,0.000,4,0.000,0.215,3101,3814,2023,0,0,0,0,0,0
$GC,7382,1.82,363.7,770.5,19.4,226,7387,0.00,3.10,0.00,0.000,6,0.000,0.171,3101,2395,2023,0,0,1,0,0,0
$GC,7643,1.82,363.7,719.8,19.4,233,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2395,2023,0,0,0,0,0,0
$GC,7887,1.82,363.7,670.7,20.4,239,7891,0.00,2.90,0.00,0.000,4,0.000,0.144,3101,3815,2022,0,0,0,0,0,0
$GC,7903,1.82,363.7,667.3,20.0,239,7907,0.00,2.70,0.00,0.000,6,0.000,0.104,3101,2390,2022,0,0,0,0,0,0
$GC,8173,1.82,363.7,614.8,20.0,246,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2390,2020,0,0,0,0,0,0
$GC,8407,1.82,363.7,569.2,18.8,252,8412,0.00,2.62,0.00,0.000,4,0.000,0.094,3101,3819,2020,0,0,0,0,0,0
$GC,8424,1.82,363.7,566.0,18.4,252,8428,0.00,2.40,0.00,0.000,6,0.000,0.051,3101,2395,2020,0,0,0,0,0,0
$GC,8684,1.82,363.7,519.1,17.8,259,8688,0.00,2.53,0.00,0.000,4,0.000,0.074,3101,3822,2020,0,0,0,0,0,0
$GC,8699,1.82,363.7,516.2,17.9,259,8703,0.00,2.38,0.00,0.000,6,0.000,0.039,3101,2395,2019,0,0,0,0,0,0
$GC,8974,1.82,363.7,468.0,18.2,266,8975,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2395,2019,0,0,0,0,0,0
$GC,9210,1.82,363.7,425.4,17.2,272,9214,0.00,2.47,0.00,0.000,4,0.000,0.064,3101,3820,2019,0,0,0,0,0,0
$GC,9237,1.82,363.7,420.5,18.7,272,9241,0.00,2.33,0.00,0.000,6,0.000,0.037,3101,2396,2018,0,0,0,0,0,0
$GC,9487,1.82,363.7,380.1,16.1,278,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,2018,0,0,0,0,0,0
$GC,9730,1.82,363.7,341.4,16.0,284,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2396,2018,0,0,0,0,0,0
$GC,9974,1.82,363.7,302.6,15.9,290,9978,0.00,2.45,0.00,0.000,4,0.000,0.060,3102,3823,2018,0,0,0,0,0,0
$GC,10022,1.82,363.7,296.4,16.2,291,10026,0.00,2.35,0.00,0.000,6,0.000,0.035,3101,2391,2018,0,0,0,0,0,0
$GC,10305,1.82,363.7,252.7,14.8,298,10309,0.00,2.45,0.00,0.000,4,0.000,0.057,3101,3828,2017,0,0,0,0,0,0
$GC,10315,1.82,363.7,250.9,14.9,298,10319,0.00,2.33,0.00,0.000,6,0.000,0.033,3101,2392,2018,0,0,0,0,0,0
$GC,10588,1.82,363.7,210.4,14.6,305,10592,0.00,2.42,0.00,0.000,4,0.000,0.076,3102,991,2017,0,0,0,0,0,0
$GC,10603,1.82,363.7,207.9,14.4,305,10607,0.00,2.30,0.00,0.000,6,0.000,0.031,3102,2430,2017,0,0,0,0,0,0
$GC,10889,1.82,363.7,172.7,12.4,325,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2430,2017,0,0,0,0,0,0
$GC,11185,1.82,363.7,130.9,14.7,350,11190,0.00,2.42,0.00,0.000,4,0.000,0.056,3101,987,2017,0,0,0,0,0,0
$GC,11214,1.82,363.7,125.1,15.3,351,11227,0.00,2.30,0.00,0.000,6,0.000,0.030,3101,2401,2018,0,0,0,0,0,0
$GC,11516,1.82,363.7,89.8,10.1,376,11521,0.00,2.35,0.00,0.000,4,0.000,0.052,3102,987,2019,0,0,0,0,0,0
$GC,11582,1.84,377.4,83.4,9.1,379,11598,0.00,2.30,10.77,0.554,6,0.000,0.029,3101,2406,1979,0,0,0,0,0,0
$GC,11926,1.88,406.9,55.9,8.2,405,11970,0.00,0.00,28.45,0.551,6,0.000,0.000,3101,2406,1858,0,0,0,0,0,0
$RESTART_TIME,Wed Jul 21 16:48:35 2010