version: 66.06
glider: 147
mission: 5
dive: 132
start: 7 22 110 3 37 52
data:
$ID,147
$MISSION,5
$DIVE,132
$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,-21341.178
$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
$GPS1,033054,2237.412,-15800.233,56,1.6,74,10.0
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-65.8
$GPS2,033702,2237.456,-15800.234,12,1.9,12,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.036,0.223
$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,359.2,29164,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.51,-107.5,0.0,0.0,0,77,0.00,0.00,-58.17,0.000,2,0.000,0.000,475,2408,3061,0,0,0,0,0,0
$GC,80,-1.51,-107.5,3.1,-2.4,4,122,10.93,2.33,-19.15,0.000,4,0.183,0.064,2361,3781,3952,0,0,0,0,0,0
$GC,212,-1.51,-107.5,41.2,-26.9,13,227,0.00,2.25,0.00,0.000,6,0.000,0.029,2362,2390,3953,0,0,0,0,0,0
$GC,528,-1.51,-107.5,116.6,-23.0,38,531,0.00,2.33,0.00,0.000,4,0.000,0.050,2362,974,3953,0,0,0,0,0,0
$GC,637,-1.51,-107.5,143.1,-19.9,44,653,0.00,2.28,0.00,0.000,6,0.000,0.031,2361,2382,3955,0,0,0,0,0,0
$GC,934,-1.51,-107.5,201.7,-19.6,69,938,0.00,2.33,0.00,0.000,4,0.000,0.048,2362,974,3955,0,0,0,0,0,0
$GC,974,-1.51,-107.5,211.3,-19.9,70,978,0.00,2.25,0.00,0.000,6,0.000,0.031,2362,2391,3955,0,0,0,0,0,0
$GC,1257,-1.51,-107.5,262.4,-17.7,77,1261,0.00,2.33,0.00,0.000,4,0.000,0.056,2361,3785,3956,0,0,0,0,0,0
$GC,1273,-1.51,-107.5,265.6,-17.8,77,1277,0.00,2.25,0.00,0.000,6,0.000,0.028,2361,2369,3957,0,0,0,0,0,0
$GC,1546,-1.51,-107.5,311.6,-16.5,84,1550,0.00,2.40,0.00,0.000,4,0.000,0.074,2361,975,3957,0,0,0,0,0,0
$GC,1595,-1.51,-107.5,320.0,-17.1,85,1600,0.00,2.30,0.00,0.000,6,0.000,0.041,2361,2377,3957,0,0,0,0,0,0
$GC,1867,-1.51,-107.5,363.8,-16.2,92,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2378,3957,0,0,0,0,0,0
$GC,2111,-1.51,-107.5,402.6,-16.0,98,2115,0.00,2.45,0.00,0.000,4,0.000,0.075,2362,980,3957,0,0,0,0,0,0
$GC,2151,-1.51,-107.5,409.2,-16.3,99,2156,0.00,2.35,0.00,0.000,6,0.000,0.048,2361,2383,3957,0,0,0,0,0,0
$GC,2444,-1.51,-107.5,454.4,-15.6,106,2448,0.00,2.47,0.00,0.000,4,0.000,0.079,2362,982,3954,0,0,0,0,0,0
$GC,2488,-1.51,-107.5,462.6,-14.8,107,2492,0.00,2.35,0.00,0.000,6,0.000,0.053,2362,2380,3955,0,0,0,0,0,0
$GC,2765,-1.51,-107.5,502.6,-14.4,114,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2381,3953,0,0,0,0,0,0
$GC,3009,-1.51,-107.5,536.9,-14.1,120,3013,0.00,2.58,0.00,0.000,4,0.000,0.095,2361,981,3951,0,0,0,0,0,0
$GC,3030,-1.51,-107.5,539.9,-14.1,120,3035,0.00,2.45,0.00,0.000,6,0.000,0.067,2361,2385,3951,0,0,0,0,0,0
$GC,3285,-1.51,-107.5,575.6,-14.0,127,3290,0.00,2.58,0.00,0.000,4,0.000,0.104,2361,986,3949,0,0,0,0,0,0
$GC,3318,-1.51,-107.5,580.4,-14.1,127,3324,0.00,2.50,0.00,0.000,6,0.000,0.081,2361,2379,3949,0,0,0,0,0,0
$GC,3568,-1.51,-107.5,614.3,-13.6,134,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2379,3946,0,0,0,0,0,0
$GC,3811,-1.51,-107.5,646.5,-13.2,140,3816,0.00,2.75,0.00,0.000,4,0.000,0.136,2362,987,3945,0,0,0,0,0,0
$GC,3832,-1.51,-107.5,649.6,-14.2,140,3837,0.00,2.62,0.00,0.000,6,0.000,0.111,2361,2378,3945,0,0,0,0,0,0
$GC,4088,-1.51,-107.5,683.8,-13.4,147,4092,0.00,2.88,0.00,0.000,4,0.000,0.156,2362,989,3943,0,0,0,0,0,0
$GC,4137,-1.51,-107.5,690.5,-13.6,148,4142,0.00,2.78,0.00,0.000,6,0.000,0.136,2361,2382,3942,0,0,0,0,0,0
$GC,4409,-1.51,-107.5,726.0,-13.0,155,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2384,3940,0,0,0,0,0,0
$GC,4663,-1.51,-107.5,756.3,-12.4,161,4668,0.00,3.38,0.00,0.000,4,0.000,0.223,2362,3795,3938,0,0,0,0,0,0
$GC,4684,-1.51,-107.5,760.3,-12.3,161,4689,0.00,3.00,0.00,0.000,6,0.000,0.174,2361,2400,3938,0,0,1,0,0,0
$GC,4939,-1.51,-107.5,791.6,-12.4,168,4944,0.00,3.45,0.00,0.000,4,0.000,0.225,2361,966,3937,0,0,0,0,0,0
$GC,4989,-1.51,-107.5,798.1,-12.9,169,4994,0.00,3.30,0.00,0.000,6,0.000,0.207,2361,2379,3936,0,0,1,0,0,0
$GC,5269,-1.51,-107.5,831.9,-12.4,176,5274,0.00,3.62,0.00,0.000,4,0.000,0.250,2361,967,3934,0,0,1,0,0,0
$GC,5324,-1.51,-107.5,840.1,-12.7,177,5330,0.00,3.53,0.00,0.000,6,0.000,0.235,2361,2378,3934,0,0,1,0,0,0
$GC,5592,-1.51,-107.5,872.4,-12.2,184,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2378,3932,0,0,0,0,0,0
$STATE,5833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5833,begin apogee
$GC,5839,-0.33,0.0,901.6,12.0,190,5933,1.25,0.00,90.82,1.235,6,0.097,0.000,2626,2400,3519,0,0,0,0,0,0
$STATE,5934,end apogee,CONTROL_FINISHED_OK
$STATE,5934,begin climb
$GC,5936,1.51,107.5,904.7,0.0,192,6044,1.67,4.97,94.70,1.218,4,0.027,0.334,3037,3813,3079,0,0,5,0,0,0
$GC,6115,1.84,373.7,917.4,-6.6,196,6369,0.28,4.25,240.30,1.217,6,0.058,0.292,3105,2401,1995,0,0,1,0,0,0
$GC,6653,1.84,373.7,843.2,20.7,209,6659,0.00,3.65,0.00,0.000,4,0.000,0.250,3105,987,1985,0,0,0,0,0,0
$GC,6669,1.84,373.7,839.6,20.0,209,6675,0.00,3.58,0.00,0.000,6,0.000,0.233,3105,2400,1985,0,0,1,0,0,0
$GC,6938,1.84,373.7,788.0,19.6,216,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,1983,0,0,0,0,0,0
$GC,7175,1.84,373.7,741.0,19.3,222,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,1982,0,0,0,0,0,0
$GC,7417,1.84,373.7,695.0,18.8,228,7422,0.00,2.97,0.00,0.000,4,0.000,0.165,3105,3815,1981,0,0,0,0,0,0
$GC,7456,1.84,373.7,687.6,20.0,229,7461,0.00,2.78,0.00,0.000,6,0.000,0.119,3105,2395,1981,0,0,0,0,0,0
$GC,7748,1.84,373.7,636.1,18.2,236,7753,0.00,2.78,0.00,0.000,4,0.000,0.122,3105,3819,1980,0,0,0,0,0,0
$GC,7771,1.84,373.7,630.4,18.5,236,7776,0.00,2.60,0.00,0.000,6,0.000,0.084,3105,2393,1979,0,0,0,0,0,0
$GC,8026,1.84,373.7,584.5,17.8,243,8030,0.00,2.65,0.00,0.000,4,0.000,0.097,3105,3822,1979,0,0,0,0,0,0
$GC,8042,1.84,373.7,581.5,17.3,243,8046,0.00,2.45,0.00,0.000,6,0.000,0.058,3105,2397,1979,0,0,0,0,0,0
$GC,8302,1.84,373.7,535.8,17.5,250,8303,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2397,1978,0,0,0,0,0,0
$GC,8555,1.84,373.7,494.1,17.0,256,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2396,1978,0,0,0,0,0,0
$GC,8790,1.84,373.7,451.9,17.4,262,8794,0.00,2.47,0.00,0.000,4,0.000,0.070,3105,3819,1977,0,0,0,0,0,0
$GC,8829,1.84,373.7,444.5,18.8,263,8833,0.00,2.35,0.00,0.000,6,0.000,0.040,3105,2393,1977,0,0,0,0,0,0
$GC,9112,1.84,373.7,394.5,17.4,270,9116,0.00,2.45,0.00,0.000,4,0.000,0.080,3105,990,1977,0,0,0,0,0,0
$GC,9128,1.84,373.7,391.6,16.6,270,9132,0.00,2.35,0.00,0.000,6,0.000,0.036,3105,2425,1977,0,0,0,0,0,0
$GC,9388,1.84,373.7,344.8,18.0,277,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2426,1976,0,0,0,0,0,0
$GC,9631,1.84,373.7,302.6,17.0,283,9636,0.00,2.45,0.00,0.000,4,0.000,0.057,3105,989,1976,0,0,0,0,0,0
$GC,9654,1.84,373.7,298.9,16.4,283,9658,0.00,2.30,0.00,0.000,6,0.000,0.034,3105,2400,1976,0,0,0,0,0,0
$GC,9914,1.84,373.7,260.2,14.3,290,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,1975,0,0,0,0,0,0
$GC,10166,1.84,373.7,226.4,14.0,296,10170,0.00,2.38,0.00,0.000,4,0.000,0.061,3105,3802,1975,0,0,0,0,0,0
$GC,10216,1.84,373.7,218.0,14.8,297,10220,0.00,2.28,0.00,0.000,6,0.000,0.029,3105,2392,1975,0,0,0,0,0,0
$GC,10491,1.84,373.7,180.9,14.8,311,10495,0.00,2.40,0.00,0.000,4,0.000,0.072,3105,997,1975,0,0,0,0,0,0
$GC,10535,1.84,373.7,171.8,16.1,313,10549,0.00,2.30,0.00,0.000,6,0.000,0.032,3105,2401,1975,0,0,0,0,0,0
$GC,10831,1.84,373.7,129.9,13.9,338,10836,0.00,2.38,0.00,0.000,4,0.000,0.056,3105,990,1976,0,0,0,0,0,0
$GC,10874,1.84,373.7,123.4,15.5,340,10878,0.00,2.28,0.00,0.000,6,0.000,0.031,3105,2406,1976,0,0,0,0,0,0
$GC,11183,1.84,373.7,87.5,11.9,365,11187,0.00,2.35,0.00,0.000,4,0.000,0.054,3105,991,1977,0,0,0,0,0,0
$GC,11265,1.84,373.7,73.9,15.5,369,11281,0.00,2.28,0.00,0.000,6,0.000,0.030,3105,2394,1977,0,0,0,0,0,0
$GC,11600,1.85,382.6,36.8,9.4,394,11615,0.00,0.00,6.28,0.463,6,0.000,0.000,3105,2394,1960,0,0,0,0,0,0
$RESTART_TIME,Thu Jul 22 06:56:44 2010