version: 66.06
glider: 147
mission: 5
dive: 75
start: 7 16 110 13 0 47
data:
$ID,147
$MISSION,5
$DIVE,75
$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,-20242.84
$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,27
$R_STBD_OVSHOOT,32
$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
$GPS1,125355,2146.167,-15820.310,68,1.0,68,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-66.7
$GPS2,125956,2146.131,-15820.369,12,1.1,12,9.9
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT1
$TGT_LATLONG,2152.000,-15814.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,0.162
$KALMAN_X,7.9,7.9,7.9,2841.7,-7.8
$KALMAN_Y,-116.2,-116.2,-116.2,2791.4,114.5
$MHEAD_RNG_PITCHd_Wd,34.2,14829,-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,16,-1.51,-107.5,0.0,0.0,0,90,0.00,0.00,-72.22,0.000,2,0.000,0.000,478,2258,3512,0,0,0,0,0,0
$GC,95,-1.51,-107.5,4.7,-4.4,5,126,11.02,2.33,-7.47,0.000,4,0.186,0.054,2361,3658,3954,0,0,0,0,0,0
$GC,158,-1.51,-107.5,37.7,-41.4,9,173,0.00,2.30,0.00,0.000,6,0.000,0.032,2361,2249,3955,0,0,0,0,0,0
$GC,475,-1.51,-107.5,114.2,-24.9,34,479,0.00,2.30,0.00,0.000,4,0.000,0.044,2361,3655,3956,0,0,0,0,0,0
$GC,533,-1.51,-107.5,129.2,-22.4,37,546,0.00,2.28,0.00,0.000,6,0.000,0.033,2361,2255,3956,0,0,0,0,0,0
$GC,829,-1.51,-107.5,188.9,-20.3,62,833,0.00,2.33,0.00,0.000,4,0.000,0.053,2361,843,3957,0,0,0,0,0,0
$GC,868,-1.51,-107.5,198.8,-20.2,64,882,0.00,2.25,0.00,0.000,6,0.000,0.029,2361,2246,3958,0,0,0,0,0,0
$GC,1131,-1.51,-107.5,246.6,-18.2,72,1136,0.00,2.30,0.00,0.000,4,0.000,0.049,2361,3656,3958,0,0,0,0,0,0
$GC,1199,-1.51,-107.5,257.8,-16.5,73,1203,0.00,2.25,0.00,0.000,6,0.000,0.031,2361,2239,3958,0,0,0,0,0,0
$GC,1455,-1.51,-107.5,297.2,-15.1,80,1459,0.00,2.38,0.00,0.000,4,0.000,0.073,2361,850,3959,0,0,0,0,0,0
$GC,1487,-1.51,-107.5,302.5,-16.2,80,1500,0.00,2.30,0.00,0.000,6,0.000,0.039,2361,2237,3959,0,0,0,0,0,0
$GC,1737,-1.51,-107.5,340.3,-15.4,87,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2238,3959,0,0,0,0,0,0
$GC,1980,-1.51,-107.5,380.1,-16.4,93,1985,0.00,2.50,0.00,0.000,4,0.000,0.079,2361,3664,3959,0,0,0,0,0,0
$GC,2020,-1.51,-107.5,386.7,-16.7,94,2024,0.00,2.33,0.00,0.000,6,0.000,0.046,2360,2257,3959,0,0,0,0,0,0
$GC,2312,-1.51,-107.5,430.1,-15.1,101,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2257,3957,0,0,0,0,0,0
$GC,2546,-1.51,-107.5,467.8,-15.9,107,2550,0.00,2.47,0.00,0.000,4,0.000,0.081,2361,3659,3955,0,0,0,0,0,0
$GC,2618,-1.51,-107.5,479.4,-15.0,108,2622,0.00,2.40,0.00,0.000,6,0.000,0.056,2361,2250,3955,0,0,0,0,0,0
$GC,2875,-1.51,-107.5,514.2,-13.3,115,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2250,3953,0,0,0,0,0,0
$GC,3125,-1.51,-107.5,546.9,-13.3,121,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2250,3951,0,0,0,0,0,0
$GC,3361,-1.51,-107.5,579.6,-13.4,127,3366,0.00,2.67,0.00,0.000,4,0.000,0.115,2361,3655,3949,0,0,0,0,0,0
$GC,3401,-1.51,-107.5,584.9,-13.4,128,3406,0.00,2.50,0.00,0.000,6,0.000,0.084,2361,2252,3948,0,0,0,0,0,0
$GC,3684,-1.51,-107.5,621.7,-12.8,135,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2251,3947,0,0,0,0,0,0
$GC,3937,-1.51,-107.5,652.9,-12.7,141,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2251,3945,0,0,0,0,0,0
$GC,4172,-1.51,-107.5,684.2,-12.9,147,4177,0.00,2.95,0.00,0.000,4,0.000,0.165,2361,3655,3943,0,0,0,0,0,0
$GC,4216,-1.51,-107.5,690.1,-13.1,148,4220,0.00,2.78,0.00,0.000,6,0.000,0.132,2361,2254,3943,0,0,0,0,0,0
$GC,4494,-1.51,-107.5,725.7,-12.8,155,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2254,3940,0,0,0,0,0,0
$GC,4746,-1.51,-107.5,756.1,-12.3,161,4751,0.00,3.25,0.00,0.000,4,0.000,0.212,2361,3651,3939,0,0,0,0,0,0
$GC,4801,-1.51,-107.5,764.1,-12.6,162,4806,0.00,3.00,0.00,0.000,6,0.000,0.173,2361,2250,3938,0,0,1,0,0,0
$GC,5068,-1.51,-107.5,797.0,-12.2,169,5073,0.00,3.53,0.00,0.000,4,0.000,0.238,2361,3651,3937,0,0,1,0,0,0
$GC,5090,-1.51,-107.5,799.9,-12.4,169,5095,0.00,3.17,0.00,0.000,6,0.000,0.195,2361,2252,3936,0,0,1,0,0,0
$GC,5353,-1.51,-107.5,829.8,-11.7,176,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2252,3935,0,0,0,0,0,0
$GC,5589,-1.51,-107.5,857.3,-11.3,182,5596,0.00,4.03,0.00,0.000,4,0.000,0.288,2361,3649,3933,0,0,1,0,0,0
$GC,5609,-1.51,-107.5,859.8,-11.8,182,5615,0.00,3.55,0.00,0.000,6,0.000,0.237,2360,2248,3933,0,0,1,0,0,0
$GC,5870,-1.51,-107.5,891.1,-12.1,189,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2248,3931,0,0,0,0,0,0
$STATE,5956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5957,begin apogee
$GC,5963,-0.33,0.0,900.9,12.1,191,6056,1.25,0.00,89.12,1.222,6,0.100,0.000,2623,2486,3519,0,0,0,0,0,0
$STATE,6057,end apogee,CONTROL_FINISHED_OK
$STATE,6057,begin climb
$GC,6060,1.51,107.5,905.2,0.0,193,6167,1.75,5.12,94.28,1.198,4,0.030,0.341,3039,3913,3080,0,0,8,0,0,0
$GC,6276,1.88,405.5,924.9,-8.6,198,6550,0.30,4.12,264.15,1.220,6,0.051,0.281,3114,2501,1866,0,0,1,0,0,0
$GC,6824,1.88,405.5,844.7,22.7,212,6830,0.00,3.58,0.00,0.000,4,0.000,0.243,3114,1086,1858,0,0,0,0,0,0
$GC,6909,1.88,405.5,824.2,24.2,214,6914,0.00,3.47,0.00,0.000,6,0.000,0.225,3114,2501,1856,0,0,1,0,0,0
$GC,7200,1.88,405.5,759.9,22.6,221,7205,0.00,3.15,0.00,0.000,4,0.000,0.182,3114,1079,1854,0,0,0,0,0,0
$GC,7233,1.88,405.5,750.2,22.8,221,7239,0.00,3.10,0.00,0.000,6,0.000,0.170,3114,2507,1854,0,0,0,0,0,0
$GC,7484,1.88,405.5,693.8,22.9,228,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2507,1853,0,0,0,0,0,0
$GC,7727,1.88,405.5,638.3,22.7,234,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2508,1853,0,0,0,0,0,0
$GC,7970,1.88,405.5,583.7,22.2,240,7975,0.00,2.65,0.00,0.000,4,0.000,0.099,3114,1073,1852,0,0,0,0,0,0
$GC,8003,1.88,405.5,576.4,21.8,240,8016,0.00,2.55,0.00,0.000,6,0.000,0.071,3114,2506,1852,0,0,0,0,0,0
$GC,8254,1.88,405.5,526.7,19.7,247,8258,0.00,2.50,0.00,0.000,4,0.000,0.084,3114,3912,1852,0,0,0,0,0,0
$GC,8270,1.88,405.5,523.3,18.9,247,8275,0.00,2.35,0.00,0.000,6,0.000,0.041,3114,2484,1851,0,0,0,0,0,0
$GC,8531,1.88,405.5,474.4,18.4,254,8535,0.00,2.47,0.00,0.000,4,0.000,0.084,3114,1088,1851,0,0,0,0,0,0
$GC,8571,1.88,405.5,467.6,17.7,255,8575,0.00,2.38,0.00,0.000,6,0.000,0.045,3114,2509,1851,0,0,0,0,0,0
$GC,8853,1.88,405.5,417.3,18.0,262,8858,0.00,2.45,0.00,0.000,4,0.000,0.064,3114,1087,1850,0,0,0,0,0,0
$GC,8880,1.88,405.5,412.3,18.2,262,8885,0.00,2.35,0.00,0.000,6,0.000,0.040,3114,2495,1850,0,0,0,0,0,0
$GC,9137,1.88,405.5,368.5,17.7,269,9141,0.00,2.40,0.00,0.000,4,0.000,0.058,3114,1085,1850,0,0,0,0,0,0
$GC,9158,1.88,405.5,364.1,18.8,269,9162,0.00,2.33,0.00,0.000,6,0.000,0.038,3114,2502,1850,0,0,0,0,0,0
$GC,9426,1.88,405.5,313.4,19.9,276,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2502,1850,0,0,0,0,0,0
$GC,9663,1.88,405.5,265.6,19.3,282,9667,0.00,2.38,0.00,0.000,4,0.000,0.057,3114,1087,1850,0,0,0,0,0,0
$GC,9735,1.88,405.5,252.2,17.5,283,9739,0.00,2.33,0.00,0.000,6,0.000,0.036,3114,2509,1850,0,0,0,0,0,0
$GC,9991,1.88,405.5,213.3,14.3,290,9995,0.00,2.40,0.00,0.000,4,0.000,0.057,3114,1090,1849,0,0,0,0,0,0
$GC,10012,1.88,405.5,210.0,15.2,290,10017,0.00,2.30,0.00,0.000,6,0.000,0.034,3114,2504,1849,0,0,0,0,0,0
$GC,10296,1.88,405.5,165.2,16.4,309,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2504,1849,0,0,0,0,0,0
$GC,10597,1.88,405.5,113.0,15.4,334,10612,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2504,1848,0,0,0,0,0,0
$GC,10906,1.88,405.5,68.1,13.9,359,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2504,1849,0,0,0,0,0,0
$GC,11277,1.88,405.5,20.5,10.5,387,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2504,1850,0,0,0,0,0,0
$RESTART_TIME,Fri Jul 16 16:12:05 2010