version: 66.06
glider: 147
mission: 5
dive: 130
start: 7 22 110 0 12 30
data:
$ID,147
$MISSION,5
$DIVE,130
$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,-21326.629
$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,38
$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
$GPS1,000106,2235.346,-15800.991,47,1.6,47,10.0
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-65.9
$GPS2,001140,2235.406,-15800.928,13,3.9,32,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.220
$KALMAN_X,143.0,143.0,143.0,940.8,-133.8
$KALMAN_Y,-98.9,-98.9,-98.9,3882.0,92.5
$MHEAD_RNG_PITCHd_Wd,2.3,33105,-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,-107.5,0.0,0.0,0,75,0.00,0.00,-57.62,0.000,2,0.000,0.000,477,2354,3063,0,0,0,0,0,0
$GC,79,-1.51,-107.5,3.1,-2.4,4,124,10.93,2.40,-19.15,0.000,4,0.184,0.058,2361,3778,3952,0,0,0,0,0,0
$GC,194,-1.51,-107.5,37.3,-25.9,12,210,0.00,2.25,0.00,0.000,6,0.000,0.029,2361,2387,3953,0,0,0,0,0,0
$GC,514,-1.51,-107.5,114.1,-24.1,37,518,0.00,2.33,0.00,0.000,4,0.000,0.051,2361,967,3954,0,0,0,0,0,0
$GC,666,-1.51,-107.5,149.5,-18.4,45,679,0.00,2.30,0.00,0.000,6,0.000,0.031,2361,2385,3955,0,0,0,0,0,0
$GC,969,-1.51,-107.5,209.4,-20.0,69,973,0.00,2.33,0.00,0.000,4,0.000,0.048,2361,968,3956,0,0,0,0,0,0
$GC,996,-1.51,-107.5,215.0,-20.5,69,1000,0.00,2.25,0.00,0.000,6,0.000,0.031,2361,2389,3956,0,0,0,0,0,0
$GC,1260,-1.51,-107.5,259.8,-17.3,76,1265,0.00,2.33,0.00,0.000,4,0.000,0.056,2360,3789,3956,0,0,0,0,0,0
$GC,1282,-1.51,-107.5,265.1,-17.1,76,1286,0.00,2.22,0.00,0.000,6,0.000,0.028,2361,2374,3956,0,0,0,0,0,0
$GC,1543,-1.51,-107.5,309.5,-17.3,83,1547,0.00,2.40,0.00,0.000,4,0.000,0.073,2361,983,3956,0,0,0,0,0,0
$GC,1615,-1.51,-107.5,321.8,-15.9,84,1619,0.00,2.30,0.00,0.000,6,0.000,0.040,2361,2372,3957,0,0,0,0,0,0
$GC,1878,-1.51,-107.5,362.3,-16.1,91,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2372,3957,0,0,0,0,0,0
$GC,2114,-1.51,-107.5,401.3,-16.0,97,2118,0.00,2.45,0.00,0.000,4,0.000,0.076,2361,975,3957,0,0,0,0,0,0
$GC,2175,-1.51,-107.5,410.9,-15.6,98,2179,0.00,2.33,0.00,0.000,6,0.000,0.049,2361,2376,3956,0,0,0,0,0,0
$GC,2435,-1.51,-107.5,450.6,-15.2,105,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2376,3955,0,0,0,0,0,0
$GC,2686,-1.51,-107.5,486.8,-14.6,111,2690,0.00,2.47,0.00,0.000,4,0.000,0.085,2361,981,3953,0,0,0,0,0,0
$GC,2726,-1.51,-107.5,493.5,-14.5,112,2730,0.00,2.38,0.00,0.000,6,0.000,0.061,2361,2377,3953,0,0,0,0,0,0
$GC,3008,-1.51,-107.5,534.1,-14.3,119,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2377,3951,0,0,0,0,0,0
$GC,3252,-1.51,-107.5,569.9,-14.9,125,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2377,3948,0,0,0,0,0,0
$GC,3504,-1.51,-107.5,607.0,-15.2,131,3509,0.00,2.67,0.00,0.000,4,0.000,0.123,2361,988,3947,0,0,0,0,0,0
$GC,3565,-1.51,-107.5,617.7,-14.8,132,3570,0.00,2.58,0.00,0.000,6,0.000,0.099,2361,2379,3947,0,0,0,0,0,0
$GC,3832,-1.51,-107.5,655.9,-14.2,139,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2379,3944,0,0,0,0,0,0
$GC,4076,-1.51,-107.5,689.0,-13.3,145,4081,0.00,2.90,0.00,0.000,4,0.000,0.160,2361,989,3942,0,0,1,0,0,0
$GC,4123,-1.51,-107.5,694.4,-13.8,146,4128,0.00,2.80,0.00,0.000,6,0.000,0.141,2361,2378,3941,0,0,0,0,0,0
$GC,4406,-1.51,-107.5,730.9,-12.4,153,4407,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2378,3939,0,0,0,0,0,0
$GC,4650,-1.51,-107.5,760.5,-12.0,159,4651,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2379,3938,0,0,0,0,0,0
$GC,4893,-1.51,-107.5,789.5,-11.9,165,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2379,3936,0,0,0,0,0,0
$GC,5144,-1.51,-107.5,818.7,-11.9,171,5150,0.00,3.47,0.00,0.000,4,0.000,0.239,2361,992,3934,0,0,0,0,0,0
$GC,5195,-1.51,-107.5,825.8,-12.0,172,5200,0.00,3.40,0.00,0.000,6,0.000,0.229,2361,2379,3933,0,0,1,0,0,0
$GC,5467,-1.51,-107.5,858.4,-12.0,179,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2379,3932,0,0,0,0,0,0
$GC,5711,-1.51,-107.5,888.0,-12.1,185,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2379,3930,0,0,0,0,0,0
$STATE,5830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5830,begin apogee
$GC,5837,-0.33,0.0,902.7,12.0,188,5932,1.25,0.00,91.68,1.229,6,0.097,0.000,2626,2400,3519,0,0,0,0,0,0
$STATE,5933,end apogee,CONTROL_FINISHED_OK
$STATE,5933,begin climb
$GC,5936,1.51,107.5,905.9,0.0,190,6045,1.70,5.15,96.75,1.208,4,0.032,0.344,3037,3812,3080,0,0,16,0,0,0
$GC,6052,1.84,379.2,915.5,-7.0,192,6311,0.28,4.20,246.75,1.209,6,0.057,0.287,3105,2427,1973,0,0,1,0,0,0
$GC,6551,1.84,379.2,847.8,20.9,204,6559,0.00,3.90,0.00,0.000,4,0.000,0.273,3105,3813,1964,0,0,1,0,0,0
$GC,6571,1.84,379.2,843.3,21.9,204,6577,0.00,3.55,0.00,0.000,6,0.000,0.230,3105,2400,1963,0,0,1,0,0,0
$GC,6841,1.84,379.2,790.1,20.4,211,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2398,1961,0,0,0,0,0,0
$GC,7076,1.84,379.2,741.3,20.0,217,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2398,1960,0,0,0,0,0,0
$GC,7320,1.84,379.2,692.6,20.0,223,7324,0.00,3.00,0.00,0.000,4,0.000,0.160,3105,3815,1959,0,0,0,0,0,0
$GC,7353,1.84,379.2,685.7,21.3,223,7358,0.00,2.75,0.00,0.000,6,0.000,0.117,3105,2395,1959,0,0,0,0,0,0
$GC,7602,1.84,379.2,635.8,20.0,230,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2395,1958,0,0,0,0,0,0
$GC,7853,1.84,379.2,588.2,19.4,236,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2395,1958,0,0,0,0,0,0
$GC,8090,1.84,379.2,541.7,18.9,242,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2394,1957,0,0,0,0,0,0
$GC,8334,1.84,379.2,496.6,18.3,248,8339,0.00,2.53,0.00,0.000,4,0.000,0.077,3105,3826,1957,0,0,0,0,0,0
$GC,8356,1.84,379.2,492.4,18.0,248,8360,0.00,2.38,0.00,0.000,6,0.000,0.038,3105,2384,1957,0,0,0,0,0,0
$GC,8617,1.84,379.2,445.9,17.7,255,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2384,1957,0,0,0,0,0,0
$GC,8869,1.84,379.2,404.7,16.8,261,8873,0.00,2.42,0.00,0.000,4,0.000,0.079,3105,989,1956,0,0,0,0,0,0
$GC,8884,1.84,379.2,400.6,16.8,261,8888,0.00,2.35,0.00,0.000,6,0.000,0.037,3105,2421,1956,0,0,0,0,0,0
$GC,9151,1.84,379.2,356.1,16.9,268,9155,0.00,2.42,0.00,0.000,4,0.000,0.058,3105,989,1955,0,0,0,0,0,0
$GC,9218,1.84,379.2,344.2,17.7,269,9223,0.00,2.30,0.00,0.000,6,0.000,0.034,3105,2410,1955,0,0,0,0,0,0
$GC,9482,1.84,379.2,300.6,17.0,276,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2411,1955,0,0,0,0,0,0
$GC,9717,1.84,379.2,262.5,15.2,282,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2410,1955,0,0,0,0,0,0
$GC,9962,1.84,379.2,225.2,15.2,288,9966,0.00,2.38,0.00,0.000,4,0.000,0.062,3105,3808,1954,0,0,0,0,0,0
$GC,9994,1.84,379.2,219.5,17.2,288,10000,0.00,2.28,0.00,0.000,6,0.000,0.030,3105,2389,1955,0,0,0,0,0,0
$GC,10265,1.84,379.2,179.9,15.7,301,10269,0.00,2.40,0.00,0.000,4,0.000,0.072,3105,989,1955,0,0,0,0,0,0
$GC,10305,1.84,379.2,172.7,16.9,303,10309,0.00,2.28,0.00,0.000,6,0.000,0.032,3105,2408,1954,0,0,0,0,0,0
$GC,10607,1.84,379.2,126.6,14.3,328,10611,0.00,2.38,0.00,0.000,4,0.000,0.054,3106,993,1955,0,0,0,0,0,0
$GC,10630,1.84,379.2,122.0,14.8,329,10644,0.00,2.28,0.00,0.000,6,0.000,0.031,3105,2393,1955,0,0,0,0,0,0
$GC,10932,1.84,379.2,85.0,13.0,354,10936,0.00,2.35,0.00,0.000,4,0.000,0.054,3105,987,1956,0,0,0,0,0,0
$GC,11011,1.84,379.2,73.6,13.2,358,11026,0.00,2.30,0.00,0.000,6,0.000,0.029,3106,2406,1956,0,0,0,0,0,0
$GC,11346,1.84,379.2,38.7,10.7,383,11361,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2406,1958,0,0,0,0,0,0
$RESTART_TIME,Thu Jul 22 03:27:02 2010