version: 66.06
glider: 147
mission: 5
dive: 70
start: 7 16 110 2 53 54
data:
$ID,147
$MISSION,5
$DIVE,70
$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,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,290
$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,-20178.258
$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,2250
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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
$GPS1,024728,2143.593,-15820.220,9,2.1,29,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.7
$GPS2,025334,2143.576,-15820.248,16,2.1,35,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,HEADING
$TGT_LATLONG,2147.270,-15831.177
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.204,-0.095
$KALMAN_X,2184.8,943.7,425.3,-1676.0,507.1
$KALMAN_Y,527.9,14.2,-117.3,904.5,220.7
$MHEAD_RNG_PITCHd_Wd,280.1,20000,-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,-107.5,0.0,0.0,0,91,0.00,0.00,-71.80,0.000,2,0.000,0.000,475,2232,3450,0,0,0,0,0,0
$GC,96,-1.51,-107.5,4.0,-3.9,5,127,10.85,2.38,-8.88,0.000,4,0.181,0.051,2360,3660,3953,0,0,0,0,0,0
$GC,204,-1.51,-107.5,43.6,-23.7,12,219,0.00,2.28,0.00,0.000,6,0.000,0.032,2360,2260,3954,0,0,0,0,0,0
$GC,533,-1.51,-107.5,122.8,-25.4,37,537,0.00,2.33,0.00,0.000,4,0.000,0.049,2360,840,3954,0,0,0,0,0,0
$GC,572,-1.51,-107.5,135.5,-25.9,39,586,0.00,2.25,0.00,0.000,6,0.000,0.028,2361,2249,3954,0,0,0,0,0,0
$GC,887,-1.51,-107.5,197.7,-19.9,64,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2249,3956,0,0,0,0,0,0
$GC,1149,-1.51,-107.5,242.7,-16.2,71,1153,0.00,2.35,0.00,0.000,4,0.000,0.053,2360,3650,3957,0,0,0,0,0,0
$GC,1221,-1.51,-107.5,255.7,-15.5,72,1225,0.00,2.25,0.00,0.000,6,0.000,0.035,2360,2243,3957,0,0,0,0,0,0
$GC,1478,-1.51,-107.5,297.7,-16.6,79,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2242,3957,0,0,0,0,0,0
$GC,1720,-1.51,-107.5,335.1,-15.2,85,1727,0.00,2.45,0.00,0.000,4,0.000,0.069,2360,3659,3957,0,0,0,0,0,0
$GC,1761,-1.51,-107.5,341.4,-14.6,85,1774,0.00,2.38,0.00,0.000,6,0.000,0.048,2360,2260,3958,0,0,0,0,0,0
$GC,2013,-1.51,-107.5,378.1,-14.9,92,2020,0.00,2.50,0.00,0.000,4,0.000,0.091,2360,845,3957,0,0,0,0,0,0
$GC,2036,-1.51,-107.5,382.2,-15.7,92,2040,0.00,2.28,0.00,0.000,6,0.000,0.042,2360,2244,3957,0,0,0,0,0,0
$GC,2307,-1.51,-107.5,425.2,-16.3,99,2312,0.00,2.45,0.00,0.000,4,0.000,0.083,2360,3647,3955,0,0,0,0,0,0
$GC,2379,-1.51,-107.5,437.5,-15.0,100,2383,0.00,2.35,0.00,0.000,6,0.000,0.052,2360,2239,3955,0,0,0,0,0,0
$GC,2643,-1.51,-107.5,473.5,-13.6,107,2647,0.00,2.50,0.00,0.000,4,0.000,0.084,2361,3653,3953,0,0,0,0,0,0
$GC,2680,-1.51,-107.5,479.3,-13.5,107,2686,0.00,2.40,0.00,0.000,6,0.000,0.057,2360,2244,3953,0,0,0,0,0,0
$GC,2932,-1.51,-107.5,514.4,-14.5,114,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2243,3951,0,0,0,0,0,0
$GC,3175,-1.51,-107.5,550.1,-14.9,120,3179,0.00,2.58,0.00,0.000,4,0.000,0.106,2360,3646,3948,0,0,0,0,0,0
$GC,3208,-1.51,-107.5,555.0,-14.3,120,3213,0.00,2.45,0.00,0.000,6,0.000,0.077,2360,2252,3948,0,0,0,0,0,0
$GC,3469,-1.51,-107.5,591.3,-14.3,126,3474,0.00,2.65,0.00,0.000,4,0.000,0.120,2360,3643,3946,0,0,0,0,0,0
$GC,3490,-1.51,-107.5,596.0,-13.9,126,3494,0.00,2.55,0.00,0.000,6,0.000,0.090,2361,2243,3946,0,0,0,0,0,0
$GC,3756,-1.51,-107.5,630.8,-13.1,133,3762,0.00,2.78,0.00,0.000,4,0.000,0.140,2360,3647,3944,0,0,0,0,0,0
$GC,3785,-1.51,-107.5,635.3,-13.3,133,3789,0.00,2.62,0.00,0.000,6,0.000,0.109,2360,2249,3943,0,0,0,0,0,0
$GC,4042,-1.51,-107.5,666.3,-11.9,140,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2249,3941,0,0,0,0,0,0
$GC,4292,-1.51,-107.5,695.4,-12.0,146,4296,0.00,3.00,0.00,0.000,4,0.000,0.172,2360,3648,3939,0,0,0,0,0,0
$GC,4331,-1.51,-107.5,701.6,-13.3,147,4336,0.00,2.83,0.00,0.000,6,0.000,0.142,2360,2252,3939,0,0,0,0,0,0
$GC,4616,-1.51,-107.5,739.8,-13.5,154,4621,0.00,3.10,0.00,0.000,4,0.000,0.198,2360,3647,3937,0,0,0,0,0,0
$GC,4637,-1.51,-107.5,743.0,-13.3,154,4642,0.00,2.95,0.00,0.000,6,0.000,0.164,2360,2246,3937,0,0,1,0,0,0
$GC,4904,-1.51,-107.5,776.0,-13.0,161,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2246,3934,0,0,0,0,0,0
$GC,5137,-1.51,-107.5,808.0,-13.1,167,5144,0.00,3.42,0.00,0.000,4,0.000,0.241,2360,3647,3933,0,0,0,0,0,0
$GC,5178,-1.51,-107.5,813.6,-13.4,167,5183,0.00,3.25,0.00,0.000,6,0.000,0.206,2361,2248,3933,0,0,1,0,0,0
$GC,5428,-1.51,-107.5,845.4,-12.6,174,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2249,3931,0,0,0,0,0,0
$GC,5673,-1.51,-107.5,876.6,-12.9,180,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2249,3930,0,0,0,0,0,0
$STATE,5873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5873,begin apogee
$GC,5879,-0.33,0.0,902.2,12.5,185,5971,1.25,0.00,87.78,1.226,6,0.097,0.000,2623,2485,3519,0,0,0,0,0,0
$STATE,5972,end apogee,CONTROL_FINISHED_OK
$STATE,5972,begin climb
$GC,5975,1.51,107.5,905.9,0.0,187,6080,1.75,4.25,92.72,1.202,4,0.028,0.292,3044,1091,3080,0,0,1,0,0,0
$GC,6250,1.84,373.0,926.4,-6.6,193,6496,0.22,4.20,233.62,1.211,6,0.061,0.291,3102,2498,1999,0,0,1,0,0,0
$GC,6754,1.84,373.0,856.7,21.7,206,6759,0.00,3.58,0.00,0.000,4,0.000,0.240,3102,1088,1988,0,0,1,0,0,0
$GC,6832,1.84,373.0,837.7,22.3,207,6838,0.00,3.45,0.00,0.000,6,0.000,0.220,3102,2502,1987,0,0,1,0,0,0
$GC,7082,1.84,373.0,781.7,22.7,214,7087,0.00,3.20,0.00,0.000,4,0.000,0.192,3102,1086,1986,0,0,0,0,0,0
$GC,7098,1.84,373.0,777.7,22.9,214,7103,0.00,3.15,0.00,0.000,6,0.000,0.179,3102,2506,1985,0,0,0,0,0,0
$GC,7367,1.84,373.0,720.1,21.5,221,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2507,1984,0,0,0,0,0,0
$GC,7603,1.84,373.0,668.2,21.4,227,7608,0.00,2.83,0.00,0.000,4,0.000,0.144,3102,3919,1984,0,0,0,0,0,0
$GC,7653,1.84,373.0,656.7,22.2,228,7658,0.00,2.67,0.00,0.000,6,0.000,0.104,3103,2495,1984,0,0,0,0,0,0
$GC,7926,1.84,373.0,601.9,19.7,235,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2495,1983,0,0,0,0,0,0
$GC,8177,1.84,373.0,556.5,18.4,241,8182,0.00,2.58,0.00,0.000,4,0.000,0.098,3102,1078,1982,0,0,0,0,0,0
$GC,8204,1.84,373.0,549.9,18.6,241,8208,0.00,2.45,0.00,0.000,6,0.000,0.063,3102,2509,1982,0,0,0,0,0,0
$GC,8460,1.84,373.0,503.4,18.4,248,8464,0.00,2.47,0.00,0.000,4,0.000,0.083,3102,3912,1982,0,0,0,0,0,0
$GC,8499,1.84,373.0,496.1,18.9,249,8503,0.00,2.38,0.00,0.000,6,0.000,0.044,3102,2484,1981,0,0,0,0,0,0
$GC,8789,1.84,373.0,446.9,18.0,256,8794,0.00,2.42,0.00,0.000,4,0.000,0.082,3102,1091,1981,0,0,0,0,0,0
$GC,8800,1.84,373.0,443.6,17.8,256,8804,0.00,2.35,0.00,0.000,6,0.000,0.042,3102,2514,1981,0,0,0,0,0,0
$GC,9072,1.84,373.0,400.8,15.7,263,9076,0.00,2.42,0.00,0.000,4,0.000,0.063,3103,1093,1980,0,0,0,0,0,0
$GC,9105,1.84,373.0,395.6,15.3,263,9111,0.00,2.33,0.00,0.000,6,0.000,0.042,3103,2501,1980,0,0,0,0,0,0
$GC,9355,1.84,373.0,353.5,17.7,270,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2501,1980,0,0,0,0,0,0
$GC,9607,1.84,373.0,310.1,17.8,276,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2501,1979,0,0,0,0,0,0
$GC,9842,1.84,373.0,269.9,16.0,282,9847,0.00,2.38,0.00,0.000,4,0.000,0.055,3102,1087,1979,0,0,0,0,0,0
$GC,9858,1.84,373.0,267.3,15.1,282,9863,0.00,2.33,0.00,0.000,6,0.000,0.038,3103,2497,1979,0,0,0,0,0,0
$GC,10126,1.84,373.0,230.3,13.5,289,10130,0.00,2.38,0.00,0.000,4,0.000,0.061,3103,3905,1979,0,0,0,0,0,0
$GC,10153,1.84,373.0,226.0,15.3,289,10157,0.00,2.25,0.00,0.000,6,0.000,0.032,3102,2493,1979,0,0,0,0,0,0
$GC,10419,1.84,373.0,189.3,13.3,298,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2493,1978,0,0,0,0,0,0
$GC,10711,1.84,373.0,151.3,12.5,323,10715,0.00,2.35,0.00,0.000,4,0.000,0.064,3102,1098,1978,0,0,0,0,0,0
$GC,10804,1.84,373.0,139.0,12.9,328,10820,0.00,2.30,0.00,0.000,6,0.000,0.034,3103,2507,1979,0,0,0,0,0,0
$GC,11110,1.84,373.0,104.1,10.2,353,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2507,1980,0,0,0,0,0,0
$GC,11417,1.84,373.0,71.4,12.3,378,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2507,1981,0,0,0,0,0,0
$GC,11749,1.84,373.0,32.5,11.4,403,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2507,1983,0,0,0,0,0,0
$RESTART_TIME,Fri Jul 16 06:13:56 2010