version: 66.06
glider: 147
mission: 5
dive: 108
start: 7 19 110 22 5 26
data:
$ID,147
$MISSION,5
$DIVE,108
$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,-20957.943
$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,2320
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$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
$GPS1,215728,2213.229,-15808.023,82,99.0,102,10.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.2
$GPS2,220436,2213.215,-15808.057,94,1.1,94,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.055,0.219
$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,4.1,21545,-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,-107.5,0.0,0.0,0,75,0.00,0.00,-57.58,0.000,2,0.000,0.000,478,2402,3057,0,0,0,0,0,0
$GC,78,-1.51,-107.5,3.1,-2.5,4,122,10.90,0.00,-19.65,0.000,6,0.183,0.000,2361,2402,3954,0,0,0,0,0,0
$GC,469,-1.51,-107.5,102.1,-22.1,34,473,0.00,2.15,0.00,0.000,4,0.000,0.039,2361,3736,3956,0,0,0,0,0,0
$GC,492,-1.51,-107.5,109.4,-23.2,35,505,0.00,2.20,0.00,0.000,6,0.000,0.028,2361,2368,3957,0,0,0,0,0,0
$GC,790,-1.51,-107.5,170.5,-22.5,60,794,0.00,2.40,0.00,0.000,4,0.000,0.050,2361,913,3958,0,0,0,0,0,0
$GC,833,-1.51,-107.5,180.2,-22.9,62,837,0.00,2.25,0.00,0.000,6,0.000,0.030,2361,2331,3958,0,0,0,0,0,0
$GC,1126,-1.51,-107.5,243.2,-21.1,75,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2331,3958,0,0,0,0,0,0
$GC,1379,-1.51,-107.5,290.2,-18.6,81,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2331,3959,0,0,0,0,0,0
$GC,1614,-1.51,-107.5,329.5,-16.0,87,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2331,3959,0,0,0,0,0,0
$GC,1858,-1.51,-107.5,367.4,-15.4,93,1862,0.00,2.47,0.00,0.000,4,0.000,0.074,2361,915,3959,0,0,0,0,0,0
$GC,1885,-1.51,-107.5,371.8,-15.4,93,1889,0.00,2.30,0.00,0.000,6,0.000,0.043,2361,2309,3959,0,0,0,0,0,0
$GC,2140,-1.51,-107.5,410.1,-15.0,100,2145,0.00,2.50,0.00,0.000,4,0.000,0.083,2362,3731,3958,0,0,0,0,0,0
$GC,2188,-1.51,-107.5,416.0,-14.8,101,2193,0.00,2.33,0.00,0.000,6,0.000,0.047,2361,2329,3959,0,0,0,0,0,0
$GC,2472,-1.51,-107.5,460.0,-15.2,108,2477,0.00,2.58,0.00,0.000,4,0.000,0.102,2361,913,3957,0,0,0,0,0,0
$GC,2505,-1.51,-107.5,465.0,-14.9,108,2511,0.00,2.35,0.00,0.000,6,0.000,0.054,2361,2315,3957,0,0,0,0,0,0
$GC,2754,-1.51,-107.5,500.1,-14.1,115,2759,0.00,2.55,0.00,0.000,4,0.000,0.096,2361,3729,3955,0,0,0,0,0,0
$GC,2802,-1.51,-107.5,505.7,-13.9,116,2806,0.00,2.38,0.00,0.000,6,0.000,0.054,2361,2323,3955,0,0,0,0,0,0
$GC,3085,-1.51,-107.5,545.3,-13.6,123,3089,0.00,2.62,0.00,0.000,4,0.000,0.114,2361,911,3953,0,0,0,0,0,0
$GC,3111,-1.51,-107.5,549.1,-13.3,123,3115,0.00,2.45,0.00,0.000,6,0.000,0.071,2361,2321,3952,0,0,0,0,0,0
$GC,3362,-1.51,-107.5,579.0,-11.8,129,3366,0.00,2.70,0.00,0.000,4,0.000,0.121,2360,3732,3950,0,0,0,0,0,0
$GC,3383,-1.51,-107.5,581.7,-12.0,129,3387,0.00,2.47,0.00,0.000,6,0.000,0.074,2361,2322,3949,0,0,0,0,0,0
$GC,3646,-1.51,-107.5,611.5,-11.7,136,3650,0.00,2.72,0.00,0.000,4,0.000,0.130,2361,904,3947,0,0,0,0,0,0
$GC,3667,-1.51,-107.5,615.2,-12.7,136,3672,0.00,2.58,0.00,0.000,6,0.000,0.093,2361,2322,3947,0,0,0,0,0,0
$GC,3922,-1.51,-107.5,646.5,-12.5,143,3927,0.00,2.83,0.00,0.000,4,0.000,0.150,2361,3730,3945,0,0,0,0,0,0
$GC,3949,-1.51,-107.5,650.1,-13.1,143,3953,0.00,2.65,0.00,0.000,6,0.000,0.106,2361,2323,3945,0,0,0,0,0,0
$GC,4199,-1.51,-107.5,681.9,-12.8,149,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2323,3943,0,0,0,0,0,0
$GC,4442,-1.51,-107.5,711.1,-11.9,155,4447,0.00,3.03,0.00,0.000,4,0.000,0.175,2361,902,3941,0,0,0,0,0,0
$GC,4475,-1.51,-107.5,715.3,-12.8,155,4488,0.00,2.95,0.00,0.000,6,0.000,0.151,2361,2320,3941,0,0,0,0,0,0
$GC,4725,-1.51,-107.5,742.9,-11.0,162,4730,0.00,3.10,0.00,0.000,4,0.000,0.186,2361,910,3939,0,0,1,0,0,0
$GC,4746,-1.51,-107.5,745.5,-11.4,162,4751,0.00,3.03,0.00,0.000,6,0.000,0.169,2361,2318,3939,0,0,0,0,0,0
$GC,5001,-1.51,-107.5,772.7,-10.6,169,5007,0.00,3.42,0.00,0.000,4,0.000,0.229,2361,3732,3937,0,0,0,0,0,0
$GC,5023,-1.51,-107.5,775.1,-11.1,169,5028,0.00,3.10,0.00,0.000,6,0.000,0.181,2361,2321,3937,0,0,1,0,0,0
$GC,5286,-1.51,-107.5,803.0,-11.2,176,5288,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2321,3935,0,0,0,0,0,0
$GC,5522,-1.51,-107.5,830.6,-11.3,182,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2320,3934,0,0,0,0,0,0
$GC,5765,-1.51,-107.5,859.0,-11.6,188,5771,0.00,3.85,0.00,0.000,4,0.000,0.272,2361,908,3932,0,0,1,0,0,0
$GC,5788,-1.51,-107.5,862.0,-12.9,188,5793,0.00,3.72,0.00,0.000,6,0.000,0.255,2361,2320,3932,0,0,1,0,0,0
$GC,6043,-1.51,-107.5,893.5,-12.4,195,6051,0.00,4.65,0.00,0.000,4,0.000,0.329,2362,3732,3931,0,0,1,0,0,0
$GC,6070,-1.51,-107.5,897.1,-13.1,195,6076,0.00,4.00,0.00,0.000,6,0.000,0.277,2361,2323,3930,0,0,1,0,0,0
$STATE,6120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6120,begin apogee
$GC,6127,-0.33,0.0,903.6,12.5,197,6222,1.25,0.00,91.82,1.240,6,0.100,0.000,2623,2399,3519,0,0,0,0,0,0
$STATE,6223,end apogee,CONTROL_FINISHED_OK
$STATE,6223,begin climb
$GC,6226,1.51,107.5,907.5,0.0,199,6327,1.70,0.00,96.90,1.218,6,0.030,0.000,3034,2399,3081,0,0,0,0,0,0
$GC,6551,1.84,374.8,932.4,-6.7,207,6811,0.25,4.62,245.73,1.228,4,0.059,0.310,3101,986,1989,0,0,1,0,0,0
$GC,6816,1.84,374.8,914.0,20.9,213,6825,0.00,4.40,0.00,0.000,6,0.000,0.297,3101,2399,1987,0,0,1,0,0,0
$GC,7087,1.84,374.8,855.0,21.9,220,7095,0.00,4.07,0.00,0.000,4,0.000,0.285,3101,3813,1981,0,0,0,0,0,0
$GC,7119,1.84,374.8,847.8,22.3,220,7124,0.00,3.60,0.00,0.000,6,0.000,0.233,3101,2399,1980,0,0,1,0,0,0
$GC,7378,1.84,374.8,793.7,21.6,226,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,1978,0,0,0,0,0,0
$GC,7612,1.84,374.8,741.0,21.3,232,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,1977,0,0,0,0,0,0
$GC,7857,1.84,374.8,690.5,20.5,238,7861,0.00,2.88,0.00,0.000,4,0.000,0.147,3101,976,1976,0,0,0,0,0,0
$GC,7872,1.84,374.8,687.1,20.4,238,7877,0.00,2.80,0.00,0.000,6,0.000,0.123,3100,2406,1976,0,0,0,0,0,0
$GC,8133,1.84,374.8,637.4,18.8,245,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2406,1975,0,0,0,0,0,0
$GC,8385,1.84,374.8,592.6,18.1,251,8390,0.00,2.60,0.00,0.000,4,0.000,0.105,3101,3821,1975,0,0,0,0,0,0
$GC,8412,1.84,374.8,586.0,18.8,251,8416,0.00,2.47,0.00,0.000,6,0.000,0.062,3101,2384,1975,0,0,0,0,0,0
$GC,8662,1.84,374.8,542.1,17.5,257,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2384,1974,0,0,0,0,0,0
$GC,8905,1.84,374.8,497.1,18.5,263,8910,0.00,2.53,0.00,0.000,4,0.000,0.074,3101,3814,1974,0,0,0,0,0,0
$GC,8946,1.84,374.8,489.6,18.9,264,8950,0.00,2.35,0.00,0.000,6,0.000,0.040,3101,2388,1974,0,0,0,0,0,0
$GC,9237,1.84,374.8,435.5,19.0,271,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2388,1973,0,0,0,0,0,0
$GC,9473,1.84,374.8,389.6,18.4,277,9477,0.00,2.47,0.00,0.000,4,0.000,0.068,3101,3819,1972,0,0,0,0,0,0
$GC,9528,1.84,374.8,379.4,18.3,278,9532,0.00,2.33,0.00,0.000,6,0.000,0.038,3101,2398,1973,0,0,0,0,0,0
$GC,9793,1.84,374.8,338.7,14.5,285,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2398,1972,0,0,0,0,0,0
$GC,10046,1.84,374.8,300.1,16.3,291,10050,0.00,2.42,0.00,0.000,4,0.000,0.074,3101,990,1972,0,0,0,0,0,0
$GC,10066,1.84,374.8,294.8,17.8,291,10071,0.00,2.33,0.00,0.000,6,0.000,0.035,3101,2426,1972,0,0,0,0,0,0
$GC,10328,1.84,374.8,246.4,18.7,298,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2426,1972,0,0,0,0,0,0
$GC,10571,1.84,374.8,206.8,15.8,304,10576,0.00,2.33,0.00,0.000,4,0.000,0.061,3101,3802,1972,0,0,0,0,0,0
$GC,10594,1.84,374.8,203.2,16.0,304,10598,0.00,2.28,0.00,0.000,6,0.000,0.031,3101,2397,1972,0,0,0,0,0,0
$GC,10885,1.84,374.8,161.1,15.0,326,10889,0.00,2.42,0.00,0.000,4,0.000,0.074,3101,986,1972,0,0,0,0,0,0
$GC,10911,1.84,374.8,157.5,14.6,327,10915,0.00,2.30,0.00,0.000,6,0.000,0.032,3101,2410,1971,0,0,0,0,0,0
$GC,11212,1.84,374.8,114.1,12.2,351,11216,0.00,2.38,0.00,0.000,4,0.000,0.056,3101,988,1972,0,0,0,0,0,0
$GC,11271,1.84,374.8,106.5,13.0,354,11275,0.00,2.28,0.00,0.000,6,0.000,0.031,3101,2405,1972,0,0,0,0,0,0
$GC,11585,1.84,374.8,70.3,10.3,379,11590,0.00,2.38,0.00,0.000,4,0.000,0.052,3101,985,1973,0,0,0,0,0,0
$GC,11596,1.84,378.7,68.3,9.8,379,11611,0.00,2.28,0.00,0.000,6,0.000,0.029,3101,2395,1973,0,0,0,0,0,0
$GC,11928,1.85,387.4,41.3,9.5,404,11944,0.00,0.00,9.90,0.519,6,0.000,0.000,3101,2395,1938,0,0,0,0,0,0
$RESTART_TIME,Tue Jul 20 01:29:50 2010