version: 66.06
glider: 147
mission: 5
dive: 140
start: 7 22 110 21 22 0
data:
$ID,147
$MISSION,5
$DIVE,140
$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,-21433.951
$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,29
$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
$GPS1,210816,2248.024,-15757.378,74,2.1,93,10.1
$_CALLS,2
$_XMS_NAKs,37
$_XMS_TOUTs,1
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.8
$GPS2,212108,2248.146,-15757.352,12,2.0,12,10.1
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.007,0.225
$KALMAN_X,542.9,212.9,185.2,992.5,19.4
$KALMAN_Y,79.3,35.1,-8.8,8119.5,30.3
$MHEAD_RNG_PITCHd_Wd,348.1,8992,-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,17,-1.51,-107.5,0.0,0.0,0,90,0.00,0.00,-71.47,0.000,2,0.000,0.000,477,2362,3548,0,0,0,0,0,0
$GC,95,-1.51,-107.5,5.2,-5.0,5,126,10.90,2.38,-6.85,0.000,4,0.182,0.052,2363,3783,3953,0,0,0,0,0,0
$GC,196,-1.51,-107.5,45.9,-24.6,11,212,0.00,2.30,0.00,0.000,6,0.000,0.033,2363,2380,3955,0,0,0,0,0,0
$GC,512,-1.51,-107.5,114.2,-20.5,36,516,0.00,2.33,0.00,0.000,4,0.000,0.051,2363,972,3956,0,0,0,0,0,0
$GC,570,-1.51,-107.5,127.1,-19.0,39,583,0.00,2.28,0.00,0.000,6,0.000,0.031,2363,2380,3956,0,0,0,0,0,0
$GC,868,-1.51,-107.5,184.2,-19.6,64,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2380,3957,0,0,0,0,0,0
$GC,1154,-1.51,-107.5,241.6,-19.9,76,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2380,3957,0,0,0,0,0,0
$GC,1391,-1.51,-107.5,284.2,-17.1,82,1395,0.00,2.38,0.00,0.000,4,0.000,0.058,2363,977,3958,0,0,0,0,0,0
$GC,1445,-1.51,-107.5,292.9,-14.7,83,1449,0.00,2.25,0.00,0.000,6,0.000,0.035,2363,2380,3958,0,0,0,0,0,0
$GC,1718,-1.51,-107.5,332.5,-14.5,90,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2380,3958,0,0,0,0,0,0
$GC,1969,-1.51,-107.5,369.2,-15.1,96,1973,0.00,2.47,0.00,0.000,4,0.000,0.074,2363,979,3958,0,0,0,0,0,0
$GC,1995,-1.51,-107.5,374.7,-15.8,96,2000,0.00,2.30,0.00,0.000,6,0.000,0.043,2363,2373,3958,0,0,0,0,0,0
$GC,2252,-1.51,-107.5,413.4,-15.4,103,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2373,3957,0,0,0,0,0,0
$GC,2495,-1.51,-107.5,452.8,-16.3,109,2499,0.00,2.47,0.00,0.000,4,0.000,0.083,2363,982,3955,0,0,0,0,0,0
$GC,2534,-1.51,-107.5,459.2,-15.9,110,2538,0.00,2.38,0.00,0.000,6,0.000,0.052,2363,2384,3955,0,0,0,0,0,0
$GC,2817,-1.51,-107.5,501.4,-14.8,117,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2384,3953,0,0,0,0,0,0
$GC,3060,-1.51,-107.5,535.8,-14.0,123,3064,0.00,2.55,0.00,0.000,4,0.000,0.094,2363,984,3951,0,0,0,0,0,0
$GC,3109,-1.51,-107.5,542.8,-14.1,124,3114,0.00,2.42,0.00,0.000,6,0.000,0.069,2363,2377,3951,0,0,0,0,0,0
$GC,3390,-1.51,-107.5,578.8,-12.9,131,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2377,3948,0,0,0,0,0,0
$GC,3625,-1.51,-107.5,610.0,-12.8,137,3630,0.00,2.65,0.00,0.000,4,0.000,0.120,2363,985,3946,0,0,0,0,0,0
$GC,3647,-1.51,-107.5,613.1,-13.6,137,3651,0.00,2.55,0.00,0.000,6,0.000,0.092,2363,2378,3946,0,0,0,0,0,0
$GC,3909,-1.51,-107.5,646.6,-12.9,144,3913,0.00,2.78,0.00,0.000,4,0.000,0.137,2363,982,3944,0,0,0,0,0,0
$GC,3941,-1.51,-107.5,651.3,-13.8,144,3947,0.00,2.67,0.00,0.000,6,0.000,0.117,2363,2382,3944,0,0,0,0,0,0
$GC,4200,-1.51,-107.5,684.2,-13.2,151,4205,0.00,2.90,0.00,0.000,4,0.000,0.157,2363,985,3941,0,0,0,0,0,0
$GC,4240,-1.51,-107.5,691.0,-14.0,152,4245,0.00,2.80,0.00,0.000,6,0.000,0.138,2363,2378,3941,0,0,0,0,0,0
$GC,4522,-1.51,-107.5,730.0,-13.8,159,4527,0.00,3.05,0.00,0.000,4,0.000,0.182,2363,986,3939,0,0,0,0,0,0
$GC,4555,-1.51,-107.5,734.6,-13.9,159,4561,0.00,2.95,0.00,0.000,6,0.000,0.164,2363,2379,3939,0,0,0,0,0,0
$GC,4813,-1.51,-107.5,764.4,-11.4,166,4818,0.00,3.20,0.00,0.000,4,0.000,0.203,2363,987,3937,0,0,0,0,0,0
$GC,5076,-1.51,-107.5,798.0,-12.0,171,5082,0.00,3.22,0.00,0.000,6,0.000,0.203,2363,2378,3935,0,0,0,0,0,0
$GC,5326,-1.51,-107.5,825.7,-11.0,178,5331,0.00,3.78,0.00,0.000,4,0.000,0.266,2363,3793,3933,0,0,0,0,0,0
$GC,5404,-1.51,-107.5,834.7,-11.0,179,5410,0.00,3.42,0.00,0.000,6,0.000,0.227,2363,2401,3933,0,0,1,0,0,0
$GC,5664,-1.51,-107.5,862.7,-11.4,186,5671,0.00,3.92,0.00,0.000,4,0.000,0.275,2363,967,3931,0,0,0,0,0,0
$GC,5897,-1.51,-107.5,891.4,-11.7,191,5904,0.00,3.97,0.00,0.000,6,0.000,0.277,2363,2380,3929,0,0,1,0,0,0
$STATE,5973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5973,begin apogee
$GC,5980,-0.33,0.0,900.4,11.2,193,6076,1.23,0.00,91.65,1.231,6,0.096,0.000,2623,2399,3519,0,0,0,0,0,0
$STATE,6076,end apogee,CONTROL_FINISHED_OK
$STATE,6076,begin climb
$GC,6079,1.51,107.5,903.9,0.0,195,6189,1.70,4.90,97.10,1.210,4,0.031,0.330,3035,3811,3079,0,0,4,0,0,0
$GC,6228,1.84,375.1,915.6,-6.7,198,6489,0.28,4.22,249.35,1.203,6,0.053,0.288,3105,2400,1989,0,0,1,0,0,0
$GC,6747,1.84,375.1,845.9,21.0,211,6755,0.00,3.88,0.00,0.000,4,0.000,0.264,3105,3811,1979,0,0,1,0,0,0
$GC,6768,1.84,375.1,839.8,22.1,211,6773,0.00,3.53,0.00,0.000,6,0.000,0.225,3105,2400,1979,0,0,1,0,0,0
$GC,7029,1.84,375.1,787.8,19.7,218,7034,0.00,3.47,0.00,0.000,4,0.000,0.223,3105,3812,1977,0,0,0,0,0,0
$GC,7068,1.84,375.1,780.0,20.7,219,7073,0.00,3.15,0.00,0.000,6,0.000,0.181,3105,2399,1977,0,0,1,0,0,0
$GC,7360,1.84,375.1,726.7,18.5,226,7365,0.00,3.12,0.00,0.000,4,0.000,0.179,3105,3813,1975,0,0,0,0,0,0
$GC,7420,1.84,375.1,713.4,19.8,227,7425,0.00,2.85,0.00,0.000,6,0.000,0.135,3105,2398,1975,0,0,0,0,0,0
$GC,7682,1.84,375.1,664.1,19.1,234,7686,0.00,2.88,0.00,0.000,4,0.000,0.140,3105,3817,1974,0,0,0,0,0,0
$GC,7748,1.84,375.1,650.7,19.2,235,7753,0.00,2.65,0.00,0.000,6,0.000,0.097,3105,2397,1974,0,0,0,0,0,0
$GC,8010,1.84,375.1,600.8,19.0,242,8014,0.00,2.67,0.00,0.000,4,0.000,0.104,3105,3816,1974,0,0,0,0,0,0
$GC,8042,1.84,375.1,594.4,20.4,242,8048,0.00,2.50,0.00,0.000,6,0.000,0.067,3105,2391,1973,0,0,0,0,0,0
$GC,8292,1.84,375.1,548.5,18.3,249,8296,0.00,2.58,0.00,0.000,4,0.000,0.083,3105,3817,1973,0,0,0,0,0,0
$GC,8346,1.84,375.1,537.7,20.7,250,8350,0.00,2.40,0.00,0.000,6,0.000,0.044,3105,2393,1973,0,0,0,0,0,0
$GC,8619,1.84,375.1,488.6,17.8,257,8624,0.00,2.50,0.00,0.000,4,0.000,0.067,3105,3822,1972,0,0,0,0,0,0
$GC,8686,1.84,375.1,476.0,18.9,258,8690,0.00,2.38,0.00,0.000,6,0.000,0.040,3105,2397,1972,0,0,0,0,0,0
$GC,8946,1.84,375.1,432.0,16.5,265,8951,0.00,2.47,0.00,0.000,4,0.000,0.084,3105,990,1971,0,0,0,0,0,0
$GC,8969,1.84,375.1,428.1,16.8,265,8973,0.00,2.35,0.00,0.000,6,0.000,0.038,3105,2418,1971,0,0,0,0,0,0
$GC,9223,1.84,375.1,387.4,15.9,272,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2419,1971,0,0,0,0,0,0
$GC,9467,1.84,375.1,347.2,16.7,278,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2418,1970,0,0,0,0,0,0
$GC,9711,1.84,375.1,307.2,16.2,284,9716,0.00,2.38,0.00,0.000,4,0.000,0.064,3105,3808,1970,0,0,0,0,0,0
$GC,9744,1.84,375.1,301.6,16.7,284,9750,0.00,2.30,0.00,0.000,6,0.000,0.031,3105,2388,1971,0,0,0,0,0,0
$GC,10003,1.84,375.1,263.1,14.9,291,10007,0.00,2.42,0.00,0.000,4,0.000,0.075,3105,997,1970,0,0,0,0,0,0
$GC,10030,1.84,375.1,257.7,14.8,291,10034,0.00,2.30,0.00,0.000,6,0.000,0.033,3105,2408,1970,0,0,0,0,0,0
$GC,10279,1.84,375.1,220.4,14.8,297,10284,0.00,2.38,0.00,0.000,4,0.000,0.056,3105,997,1970,0,0,0,0,0,0
$GC,10290,1.84,375.1,218.7,14.1,297,10294,0.00,2.28,0.00,0.000,6,0.000,0.030,3105,2406,1970,0,0,0,0,0,0
$GC,10564,1.84,375.1,178.8,15.0,311,10568,0.00,2.38,0.00,0.000,4,0.000,0.054,3105,994,1970,0,0,0,0,0,0
$GC,10582,1.84,375.1,175.8,15.0,312,10586,0.00,2.25,0.00,0.000,6,0.000,0.030,3105,2400,1970,0,0,0,0,0,0
$GC,10886,1.84,375.1,131.5,13.5,337,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,1970,0,0,0,0,0,0
$GC,11189,1.84,375.1,90.7,12.2,362,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2400,1971,0,0,0,0,0,0
$GC,11515,1.86,396.8,59.9,8.6,387,11544,0.00,0.00,18.12,0.556,6,0.000,0.000,3105,2400,1900,0,0,0,0,0,0
$RESTART_TIME,Fri Jul 23 00:40:49 2010