version: 66.06
glider: 147
mission: 5
dive: 134
start: 7 22 110 7 8 42
data:
$ID,147
$MISSION,5
$DIVE,134
$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,-21373.43
$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
$GPS1,070023,2239.501,-15759.569,40,99.0,60,10.0
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.8
$GPS2,070752,2239.555,-15759.582,10,5.7,29,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.223
$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,358.1,25151,-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,-107.5,0.0,0.0,0,87,0.00,0.00,-70.25,0.000,2,0.000,0.000,478,2396,3471,0,0,0,0,0,0
$GC,92,-1.51,-107.5,4.8,-4.5,5,123,10.95,2.33,-8.38,0.000,4,0.184,0.056,2364,3784,3952,0,0,0,0,0,0
$GC,193,-1.51,-107.5,45.0,-25.7,11,209,0.00,2.25,0.00,0.000,6,0.000,0.028,2364,2388,3953,0,0,0,0,0,0
$GC,510,-1.51,-107.5,117.4,-21.0,36,513,0.00,2.33,0.00,0.000,4,0.000,0.051,2364,978,3955,0,0,0,0,0,0
$GC,637,-1.51,-107.5,146.5,-20.2,43,651,0.00,2.28,0.00,0.000,6,0.000,0.030,2364,2383,3956,0,0,0,0,0,0
$GC,947,-1.51,-107.5,209.2,-20.2,67,951,0.00,2.33,0.00,0.000,4,0.000,0.049,2364,979,3957,0,0,0,0,0,0
$GC,996,-1.51,-107.5,219.4,-18.8,68,1000,0.00,2.22,0.00,0.000,6,0.000,0.031,2364,2380,3957,0,0,0,0,0,0
$GC,1275,-1.51,-107.5,270.0,-17.7,75,1279,0.00,2.38,0.00,0.000,4,0.000,0.061,2364,3783,3957,0,0,0,0,0,0
$GC,1323,-1.51,-107.5,276.7,-16.1,76,1327,0.00,2.22,0.00,0.000,6,0.000,0.030,2364,2383,3958,0,0,0,0,0,0
$GC,1607,-1.51,-107.5,320.1,-14.7,83,1612,0.00,2.47,0.00,0.000,4,0.000,0.079,2364,975,3958,0,0,0,0,0,0
$GC,1668,-1.51,-107.5,329.6,-14.4,84,1672,0.00,2.30,0.00,0.000,6,0.000,0.043,2364,2378,3958,0,0,0,0,0,0
$GC,1943,-1.51,-107.5,370.4,-15.5,91,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2379,3958,0,0,0,0,0,0
$GC,2179,-1.51,-107.5,407.6,-15.5,97,2184,0.00,2.45,0.00,0.000,4,0.000,0.075,2364,973,3957,0,0,0,0,0,0
$GC,2218,-1.51,-107.5,413.9,-15.3,98,2223,0.00,2.35,0.00,0.000,6,0.000,0.050,2364,2382,3957,0,0,0,0,0,0
$GC,2502,-1.51,-107.5,458.0,-15.6,105,2506,0.00,2.47,0.00,0.000,4,0.000,0.079,2364,974,3955,0,0,0,0,0,0
$GC,2523,-1.51,-107.5,461.5,-15.8,105,2528,0.00,2.35,0.00,0.000,6,0.000,0.051,2364,2379,3955,0,0,0,0,0,0
$GC,2779,-1.51,-107.5,499.2,-14.7,112,2783,0.00,2.50,0.00,0.000,4,0.000,0.083,2364,975,3954,0,0,0,0,0,0
$GC,2805,-1.51,-107.5,503.2,-14.7,112,2810,0.00,2.40,0.00,0.000,6,0.000,0.059,2363,2384,3953,0,0,0,0,0,0
$GC,3062,-1.51,-107.5,538.0,-13.4,119,3066,0.00,2.60,0.00,0.000,4,0.000,0.108,2364,3793,3951,0,0,0,0,0,0
$GC,3082,-1.51,-107.5,541.0,-13.3,119,3087,0.00,2.40,0.00,0.000,6,0.000,0.055,2364,2387,3951,0,0,0,0,0,0
$GC,3351,-1.51,-107.5,573.7,-12.5,126,3356,0.00,2.65,0.00,0.000,4,0.000,0.117,2364,970,3949,0,0,0,0,0,0
$GC,3402,-1.51,-107.5,581.0,-12.4,127,3406,0.00,2.53,0.00,0.000,6,0.000,0.081,2364,2387,3948,0,0,0,0,0,0
$GC,3673,-1.51,-107.5,613.4,-11.9,134,3678,0.00,2.67,0.00,0.000,4,0.000,0.117,2364,972,3946,0,0,0,0,0,0
$GC,3705,-1.51,-107.5,617.5,-12.4,134,3711,0.00,2.60,0.00,0.000,6,0.000,0.097,2364,2377,3946,0,0,0,0,0,0
$GC,3965,-1.51,-107.5,647.9,-12.3,141,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2377,3944,0,0,0,0,0,0
$GC,4199,-1.51,-107.5,679.3,-13.1,147,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2377,3943,0,0,0,0,0,0
$GC,4443,-1.51,-107.5,711.2,-13.0,153,4448,0.00,3.00,0.00,0.000,4,0.000,0.172,2364,974,3940,0,0,0,0,0,0
$GC,4476,-1.51,-107.5,715.6,-13.2,153,4482,0.00,2.92,0.00,0.000,6,0.000,0.155,2364,2377,3940,0,0,0,0,0,0
$GC,4725,-1.51,-107.5,746.8,-12.3,160,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3939,0,0,0,0,0,0
$GC,4978,-1.51,-107.5,776.8,-12.4,166,4983,0.00,3.30,0.00,0.000,4,0.000,0.212,2364,974,3937,0,0,0,0,0,0
$GC,5018,-1.51,-107.5,783.1,-13.0,167,5023,0.00,3.22,0.00,0.000,6,0.000,0.197,2364,2380,3937,0,0,0,0,0,0
$GC,5301,-1.51,-107.5,819.5,-13.0,174,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2380,3935,0,0,0,0,0,0
$GC,5545,-1.51,-107.5,849.9,-12.4,180,5550,0.00,3.75,0.00,0.000,4,0.000,0.261,2364,976,3933,0,0,1,0,0,0
$GC,5595,-1.51,-107.5,855.0,-12.7,181,5600,0.00,3.65,0.00,0.000,6,0.000,0.252,2364,2378,3932,0,0,1,0,0,0
$GC,5878,-1.51,-107.5,889.8,-11.7,188,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2378,3931,0,0,0,0,0,0
$STATE,6006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6006,begin apogee
$GC,6012,-0.33,0.0,903.8,11.6,191,6107,1.23,0.00,91.25,1.234,6,0.094,0.000,2624,2403,3518,0,0,0,0,0,0
$STATE,6107,end apogee,CONTROL_FINISHED_OK
$STATE,6107,begin climb
$GC,6111,1.51,107.5,907.3,0.0,193,6219,1.67,5.10,95.90,1.213,4,0.026,0.341,3038,3814,3079,0,0,6,0,0,0
$GC,6298,1.84,375.2,921.3,-6.7,197,6555,0.25,4.32,244.35,1.213,6,0.053,0.297,3104,2408,1989,0,0,1,0,0,0
$GC,6816,1.84,375.2,849.6,21.2,210,6824,0.00,3.92,0.00,0.000,4,0.000,0.273,3103,3813,1980,0,0,1,0,0,0
$GC,6847,1.84,375.2,842.7,21.9,210,6853,0.00,3.55,0.00,0.000,6,0.000,0.231,3103,2400,1979,0,0,1,0,0,0
$GC,7107,1.84,375.2,791.3,20.4,216,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2400,1977,0,0,0,0,0,0
$GC,7341,1.84,375.2,742.9,19.7,222,7346,0.00,3.22,0.00,0.000,4,0.000,0.195,3103,3817,1976,0,0,0,0,0,0
$GC,7368,1.84,375.2,737.1,21.3,222,7373,0.00,2.97,0.00,0.000,6,0.000,0.151,3103,2398,1976,0,0,0,0,0,0
$GC,7619,1.84,375.2,688.0,19.6,228,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2398,1975,0,0,0,0,0,0
$GC,7861,1.84,375.2,642.2,18.8,234,7866,0.00,2.80,0.00,0.000,4,0.000,0.127,3104,3816,1974,0,0,0,0,0,0
$GC,7900,1.84,375.2,634.8,19.1,235,7905,0.00,2.62,0.00,0.000,6,0.000,0.088,3104,2390,1974,0,0,0,0,0,0
$GC,8184,1.84,375.2,583.9,18.0,242,8185,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2389,1973,0,0,0,0,0,0
$GC,8427,1.84,375.2,539.1,18.6,248,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2389,1973,0,0,0,0,0,0
$GC,8671,1.84,375.2,494.4,18.3,254,8675,0.00,2.50,0.00,0.000,4,0.000,0.073,3104,3821,1972,0,0,0,0,0,0
$GC,8720,1.84,375.2,485.1,19.2,255,8724,0.00,2.35,0.00,0.000,6,0.000,0.039,3104,2392,1972,0,0,0,0,0,0
$GC,8992,1.84,375.2,438.7,16.8,262,8996,0.00,2.47,0.00,0.000,4,0.000,0.067,3104,3823,1972,0,0,0,0,0,0
$GC,9014,1.84,375.2,434.4,18.6,262,9018,0.00,2.38,0.00,0.000,6,0.000,0.040,3103,2397,1972,0,0,0,0,0,0
$GC,9269,1.84,375.2,391.8,16.8,269,9274,0.00,2.50,0.00,0.000,4,0.000,0.086,3104,984,1971,0,0,0,0,0,0
$GC,9285,1.84,375.2,388.8,16.7,269,9289,0.00,2.38,0.00,0.000,6,0.000,0.036,3104,2417,1971,0,0,0,0,0,0
$GC,9560,1.84,375.2,346.3,15.8,276,9561,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2418,1971,0,0,0,0,0,0
$GC,9795,1.84,375.2,307.5,15.9,282,9799,0.00,2.42,0.00,0.000,4,0.000,0.058,3104,990,1971,0,0,0,0,0,0
$GC,9812,1.84,375.2,304.7,15.6,282,9816,0.00,2.30,0.00,0.000,6,0.000,0.032,3104,2406,1970,0,0,0,0,0,0
$GC,10078,1.84,375.2,262.2,16.0,289,10082,0.00,2.38,0.00,0.000,4,0.000,0.062,3104,3801,1970,0,0,0,0,0,0
$GC,10121,1.84,375.2,255.0,16.6,290,10125,0.00,2.30,0.00,0.000,6,0.000,0.031,3104,2389,1970,0,0,0,0,0,0
$GC,10406,1.84,375.2,212.4,14.8,297,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2389,1970,0,0,0,0,0,0
$GC,10679,1.84,375.2,171.8,15.4,315,10683,0.00,2.40,0.00,0.000,4,0.000,0.075,3104,993,1970,0,0,0,0,0,0
$GC,10707,1.84,375.2,166.1,15.4,316,10720,0.00,2.30,0.00,0.000,6,0.000,0.031,3104,2404,1970,0,0,0,0,0,0
$GC,11008,1.84,375.2,125.4,11.8,341,11012,0.00,2.35,0.00,0.000,4,0.000,0.054,3104,3807,1971,0,0,0,0,0,0
$GC,11018,1.84,375.2,123.0,11.5,341,11031,0.00,2.30,0.00,0.000,6,0.000,0.029,3104,2394,1971,0,0,0,0,0,0
$GC,11322,1.84,375.2,87.0,12.7,366,11327,0.00,2.40,0.00,0.000,4,0.000,0.069,3104,990,1972,0,0,0,0,0,0
$GC,11482,1.84,377.6,65.9,9.9,374,11497,0.00,2.30,0.00,0.000,6,0.000,0.031,3104,2406,1973,0,0,0,0,0,0
$GC,11815,1.86,393.2,37.7,9.0,399,11844,0.00,0.00,14.98,0.524,6,0.000,0.000,3103,2406,1914,0,0,0,0,0,0
$RESTART_TIME,Thu Jul 22 10:31:07 2010