version: 66.06
glider: 147
mission: 5
dive: 115
start: 7 20 110 12 35 51
data:
$ID,147
$MISSION,5
$DIVE,115
$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,-21087.855
$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,37
$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
$GPS1,122536,2219.448,-15804.967,51,1.0,56,10.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-64.8
$GPS2,123501,2219.455,-15804.949,10,1.0,15,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,0.226
$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,349.5,9344,-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,-107.5,0.0,0.0,0,89,0.00,0.00,-71.95,0.000,2,0.000,0.000,479,2335,3522,0,0,0,0,0,0
$GC,94,-1.51,-107.5,4.9,-4.5,5,124,11.00,2.33,-7.43,0.000,4,0.186,0.056,2360,3720,3953,0,0,0,0,0,0
$GC,194,-1.51,-107.5,44.9,-25.7,11,210,0.00,2.28,0.00,0.000,6,0.000,0.030,2360,2323,3955,0,0,0,0,0,0
$GC,510,-1.51,-107.5,122.9,-21.7,36,514,0.00,2.33,0.00,0.000,4,0.000,0.050,2360,912,3955,0,0,0,0,0,0
$GC,568,-1.51,-107.5,136.5,-19.3,39,581,0.00,2.25,0.00,0.000,6,0.000,0.030,2360,2313,3956,0,0,0,0,0,0
$GC,865,-1.51,-107.5,189.9,-18.0,64,869,0.00,2.33,0.00,0.000,4,0.000,0.046,2360,3728,3957,0,0,0,0,0,0
$GC,906,-1.51,-107.5,197.8,-18.7,66,910,0.00,2.25,0.00,0.000,6,0.000,0.029,2360,2314,3958,0,0,0,0,0,0
$GC,1161,-1.51,-107.5,246.6,-18.5,73,1165,0.00,2.35,0.00,0.000,4,0.000,0.064,2360,914,3958,0,0,0,0,0,0
$GC,1187,-1.51,-107.5,251.8,-19.0,73,1191,0.00,2.22,0.00,0.000,6,0.000,0.030,2360,2324,3958,0,0,0,0,0,0
$GC,1443,-1.51,-107.5,293.3,-15.9,80,1447,0.00,2.38,0.00,0.000,4,0.000,0.067,2360,3716,3958,0,0,0,0,0,0
$GC,1458,-1.51,-107.5,295.8,-15.1,80,1462,0.00,2.22,0.00,0.000,6,0.000,0.032,2361,2319,3958,0,0,0,0,0,0
$GC,1725,-1.51,-107.5,337.1,-15.2,87,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2319,3958,0,0,0,0,0,0
$GC,1970,-1.51,-107.5,371.1,-14.0,93,1974,0.00,2.53,0.00,0.000,4,0.000,0.088,2360,920,3958,0,0,0,0,0,0
$GC,2002,-1.51,-107.5,375.8,-14.5,93,2008,0.00,2.28,0.00,0.000,6,0.000,0.044,2360,2308,3958,0,0,0,0,0,0
$GC,2252,-1.51,-107.5,409.9,-13.7,100,2256,0.00,2.53,0.00,0.000,4,0.000,0.087,2360,3726,3958,0,0,0,0,0,0
$GC,2284,-1.51,-107.5,414.8,-14.9,100,2298,0.00,2.35,0.00,0.000,6,0.000,0.045,2360,2334,3958,0,0,0,0,0,0
$GC,2534,-1.51,-107.5,451.9,-15.3,107,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2333,3956,0,0,0,0,0,0
$GC,2778,-1.51,-107.5,489.8,-15.7,113,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2333,3954,0,0,0,0,0,0
$GC,3022,-1.51,-107.5,527.9,-15.5,119,3026,0.00,2.58,0.00,0.000,4,0.000,0.100,2360,3725,3952,0,0,0,0,0,0
$GC,3049,-1.51,-107.5,532.4,-16.2,119,3053,0.00,2.40,0.00,0.000,6,0.000,0.059,2360,2318,3952,0,0,0,0,0,0
$GC,3298,-1.51,-107.5,570.1,-15.1,125,3303,0.00,2.70,0.00,0.000,4,0.000,0.127,2360,912,3950,0,0,0,0,0,0
$GC,3319,-1.51,-107.5,573.4,-15.0,125,3324,0.00,2.47,0.00,0.000,6,0.000,0.077,2360,2317,3950,0,0,0,0,0,0
$GC,3576,-1.51,-107.5,609.3,-14.0,132,3580,0.00,2.78,0.00,0.000,4,0.000,0.137,2360,3731,3947,0,0,0,0,0,0
$GC,3608,-1.51,-107.5,614.3,-15.4,132,3614,0.00,2.58,0.00,0.000,6,0.000,0.091,2360,2317,3947,0,0,0,0,0,0
$GC,3858,-1.51,-107.5,649.6,-14.2,139,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2317,3945,0,0,0,0,0,0
$GC,4102,-1.51,-107.5,684.7,-14.4,145,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2317,3943,0,0,0,0,0,0
$GC,4354,-1.51,-107.5,718.6,-13.7,151,4359,0.00,3.10,0.00,0.000,4,0.000,0.186,2360,3728,3942,0,0,0,0,0,0
$GC,4387,-1.51,-107.5,724.8,-14.7,151,4393,0.00,2.90,0.00,0.000,6,0.000,0.152,2360,2323,3941,0,0,0,0,0,0
$GC,4637,-1.51,-107.5,759.0,-13.8,158,4642,0.00,3.25,0.00,0.000,4,0.000,0.206,2360,903,3939,0,0,0,0,0,0
$GC,4676,-1.51,-107.5,764.6,-13.9,159,4682,0.00,3.12,0.00,0.000,6,0.000,0.186,2360,2314,3939,0,0,0,0,0,0
$GC,4967,-1.51,-107.5,803.2,-13.6,166,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2315,3937,0,0,0,0,0,0
$GC,5204,-1.51,-107.5,836.2,-13.5,172,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2315,3936,0,0,0,0,0,0
$GC,5447,-1.51,-107.5,868.0,-12.8,178,5455,0.00,4.30,0.00,0.000,4,0.000,0.308,2360,3731,3934,0,0,0,0,0,0
$GC,5478,-1.51,-107.5,872.3,-13.2,178,5484,0.00,3.75,0.00,0.000,6,0.000,0.258,2361,2324,3934,0,0,1,0,0,0
$STATE,5726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5726,begin apogee
$GC,5733,-0.33,0.0,903.4,12.5,184,5828,1.25,0.00,91.47,1.235,6,0.099,0.000,2623,2398,3519,0,0,0,0,0,0
$STATE,5829,end apogee,CONTROL_FINISHED_OK
$STATE,5829,begin climb
$GC,5832,1.51,107.5,907.1,0.0,186,5939,1.70,5.15,96.30,1.213,4,0.027,0.344,3040,3813,3079,0,0,17,0,0,0
$GC,5947,1.86,389.9,917.0,-7.7,188,6216,0.28,4.35,258.55,1.210,6,0.057,0.291,3107,2400,1929,0,0,1,0,0,0
$GC,6485,1.86,389.9,844.8,20.6,202,6492,0.00,4.00,0.00,0.000,4,0.000,0.276,3107,3814,1919,0,0,1,0,0,0
$GC,6522,1.86,389.9,836.5,21.5,202,6528,0.00,3.55,0.00,0.000,6,0.000,0.228,3107,2399,1919,0,0,1,0,0,0
$GC,6772,1.86,389.9,785.5,20.6,209,6773,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,1917,0,0,0,0,0,0
$GC,7015,1.86,389.9,736.8,19.8,215,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2399,1916,0,0,0,0,0,0
$GC,7269,1.86,389.9,688.4,19.9,221,7274,0.00,2.95,0.00,0.000,4,0.000,0.154,3107,3815,1915,0,0,0,0,0,0
$GC,7284,1.86,389.9,683.0,20.6,221,7289,0.00,2.72,0.00,0.000,6,0.000,0.114,3107,2397,1915,0,0,0,0,0,0
$GC,7550,1.86,389.9,627.5,21.2,228,7555,0.00,2.75,0.00,0.000,4,0.000,0.117,3107,3818,1914,0,0,0,0,0,0
$GC,7583,1.86,389.9,620.3,22.4,228,7589,0.00,2.58,0.00,0.000,6,0.000,0.082,3107,2394,1914,0,0,0,0,0,0
$GC,7833,1.86,389.9,568.3,21.0,235,7838,0.00,2.60,0.00,0.000,4,0.000,0.090,3107,3822,1914,0,0,0,0,0,0
$GC,7888,1.86,389.9,556.3,21.2,236,7892,0.00,2.42,0.00,0.000,6,0.000,0.052,3107,2391,1914,0,0,0,0,0,0
$GC,8160,1.86,389.9,503.2,19.3,243,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,1913,0,0,0,0,0,0
$GC,8403,1.86,389.9,456.6,19.1,249,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,1913,0,0,0,0,0,0
$GC,8647,1.86,389.9,411.0,18.5,255,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2391,1912,0,0,0,0,0,0
$GC,8898,1.86,389.9,366.3,18.5,261,8902,0.00,2.47,0.00,0.000,4,0.000,0.063,3108,3824,1913,0,0,0,0,0,0
$GC,8926,1.86,389.9,359.7,18.7,261,8930,0.00,2.38,0.00,0.000,6,0.000,0.039,3107,2394,1912,0,0,0,0,0,0
$GC,9176,1.86,389.9,316.7,17.3,267,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2394,1911,0,0,0,0,0,0
$GC,9419,1.86,389.9,273.8,17.5,273,9423,0.00,2.45,0.00,0.000,4,0.000,0.061,3107,3823,1911,0,0,0,0,0,0
$GC,9441,1.86,389.9,270.0,16.7,273,9446,0.00,2.33,0.00,0.000,6,0.000,0.034,3107,2398,1911,0,0,0,0,0,0
$GC,9697,1.86,389.9,230.6,15.1,280,9701,0.00,2.45,0.00,0.000,4,0.000,0.076,3108,986,1910,0,0,0,0,0,0
$GC,9717,1.86,389.9,227.3,15.6,280,9722,0.00,2.35,0.00,0.000,6,0.000,0.033,3107,2430,1910,0,0,0,0,0,0
$GC,9982,1.86,389.9,190.8,15.1,289,9986,0.00,2.42,0.00,0.000,4,0.000,0.058,3107,990,1910,0,0,0,0,0,0
$GC,10022,1.86,389.9,183.8,15.8,291,10027,0.00,2.28,0.00,0.000,6,0.000,0.031,3107,2410,1909,0,0,0,0,0,0
$GC,10324,1.86,389.9,136.8,16.7,316,10328,0.00,2.38,0.00,0.000,4,0.000,0.055,3107,989,1910,0,0,0,0,0,0
$GC,10352,1.86,389.9,130.9,16.1,317,10365,0.00,2.30,0.00,0.000,6,0.000,0.031,3107,2402,1910,0,0,0,0,0,0
$GC,10654,1.86,389.9,86.7,15.7,342,10658,0.00,2.38,0.00,0.000,4,0.000,0.054,3107,986,1910,0,0,0,0,0,0
$GC,10678,1.86,389.9,82.6,13.4,343,10690,0.00,2.30,0.00,0.000,6,0.000,0.031,3108,2400,1911,0,0,0,0,0,0
$GC,11006,1.86,389.9,50.0,11.5,368,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2400,1912,0,0,0,0,0,0
$RESTART_TIME,Tue Jul 20 15:45:31 2010