version: 66.06
glider: 147
mission: 5
dive: 127
start: 7 21 110 17 4 4
data:
$ID,147
$MISSION,5
$DIVE,127
$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,-21268.498
$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,25
$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
$GPS1,165736,2231.452,-15802.648,36,1.0,37,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-59.0
$GPS2,170314,2231.495,-15802.594,10,1.6,10,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT5
$TGT_LATLONG,2253.000,-15757.500
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.220
$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,2.3,40765,-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,-107.5,0.0,0.0,0,150,0.00,0.00,-131.30,0.000,2,0.000,0.000,476,2409,3437,0,0,0,0,0,0
$GC,154,-1.51,-107.5,4.4,-3.8,9,184,11.02,2.30,-9.30,0.000,4,0.186,0.055,2364,3785,3953,0,0,0,0,0,0
$GC,298,-1.51,-107.5,54.7,-26.8,18,313,0.00,2.28,0.00,0.000,6,0.000,0.032,2364,2386,3954,0,0,0,0,0,0
$GC,611,-1.51,-107.5,125.3,-19.9,43,615,0.00,2.30,0.00,0.000,4,0.000,0.047,2364,970,3954,0,0,0,0,0,0
$GC,777,-1.51,-107.5,159.5,-17.6,52,790,0.00,2.28,0.00,0.000,6,0.000,0.031,2364,2381,3954,0,0,0,0,0,0
$GC,1074,-1.51,-107.5,216.0,-18.0,73,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2381,3955,0,0,0,0,0,0
$GC,1318,-1.51,-107.5,257.5,-16.6,79,1322,0.00,2.35,0.00,0.000,4,0.000,0.054,2364,975,3955,0,0,0,0,0,0
$GC,1367,-1.51,-107.5,265.7,-15.4,80,1371,0.00,2.25,0.00,0.000,6,0.000,0.033,2364,2385,3955,0,0,0,0,0,0
$GC,1645,-1.51,-107.5,309.4,-15.7,87,1649,0.00,2.38,0.00,0.000,4,0.000,0.065,2364,3788,3955,0,0,0,0,0,0
$GC,1660,-1.51,-107.5,312.0,-16.0,87,1665,0.00,2.28,0.00,0.000,6,0.000,0.032,2364,2385,3955,0,0,0,0,0,0
$GC,1928,-1.51,-107.5,355.6,-16.4,94,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2385,3955,0,0,0,0,0,0
$GC,2171,-1.51,-107.5,394.8,-16.0,100,2175,0.00,2.50,0.00,0.000,4,0.000,0.088,2364,980,3954,0,0,0,0,0,0
$GC,2219,-1.51,-107.5,400.9,-15.3,101,2223,0.00,2.30,0.00,0.000,6,0.000,0.047,2364,2373,3954,0,0,0,0,0,0
$GC,2502,-1.51,-107.5,442.3,-14.1,108,2506,0.00,2.53,0.00,0.000,4,0.000,0.086,2364,3793,3952,0,0,0,0,0,0
$GC,2529,-1.51,-107.5,446.4,-14.4,108,2533,0.00,2.30,0.00,0.000,6,0.000,0.041,2364,2388,3952,0,0,0,0,0,0
$GC,2784,-1.51,-107.5,481.8,-13.9,115,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2388,3950,0,0,0,0,0,0
$GC,3037,-1.51,-107.5,515.6,-13.6,121,3042,0.00,2.60,0.00,0.000,4,0.000,0.108,2364,974,3947,0,0,0,0,0,0
$GC,3086,-1.51,-107.5,524.1,-14.2,122,3091,0.00,2.42,0.00,0.000,6,0.000,0.067,2364,2379,3946,0,0,0,0,0,0
$GC,3360,-1.51,-107.5,562.2,-14.1,129,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2380,3945,0,0,0,0,0,0
$GC,3603,-1.51,-107.5,595.4,-13.5,135,3607,0.00,2.67,0.00,0.000,4,0.000,0.114,2364,975,3942,0,0,0,0,0,0
$GC,3623,-1.51,-107.5,598.5,-13.8,135,3628,0.00,2.55,0.00,0.000,6,0.000,0.090,2364,2384,3942,0,0,0,0,0,0
$GC,3878,-1.51,-107.5,630.9,-12.6,142,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2384,3939,0,0,0,0,0,0
$GC,4123,-1.51,-107.5,661.7,-12.6,148,4128,0.00,2.83,0.00,0.000,4,0.000,0.142,2364,974,3937,0,0,0,0,0,0
$GC,4155,-1.51,-107.5,666.3,-13.4,148,4161,0.00,2.72,0.00,0.000,6,0.000,0.123,2364,2385,3937,0,0,0,0,0,0
$GC,4405,-1.51,-107.5,698.8,-13.1,155,4410,0.00,2.95,0.00,0.000,4,0.000,0.161,2364,972,3935,0,0,0,0,0,0
$GC,4427,-1.51,-107.5,701.8,-13.5,155,4432,0.00,2.83,0.00,0.000,6,0.000,0.143,2364,2379,3934,0,0,0,0,0,0
$GC,4681,-1.51,-107.5,734.7,-12.9,162,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2380,3932,0,0,0,0,0,0
$GC,4925,-1.51,-107.5,764.5,-12.1,168,4930,0.00,3.20,0.00,0.000,4,0.000,0.201,2364,978,3930,0,0,1,0,0,0
$GC,4981,-1.51,-107.5,771.5,-12.4,169,4986,0.00,3.15,0.00,0.000,6,0.000,0.190,2364,2379,3930,0,0,0,0,0,0
$GC,5255,-1.51,-107.5,802.8,-11.7,176,5260,0.00,3.72,0.00,0.000,4,0.000,0.262,2364,3793,3927,0,0,0,0,0,0
$GC,5288,-1.51,-107.5,807.6,-11.4,176,5294,0.00,3.28,0.00,0.000,6,0.000,0.208,2364,2392,3927,0,0,1,0,0,0
$GC,5539,-1.51,-107.5,836.2,-11.6,183,5544,0.00,3.65,0.00,0.000,4,0.000,0.254,2364,967,3926,0,0,0,0,0,0
$GC,5578,-1.51,-107.5,840.8,-11.6,184,5584,0.00,3.58,0.00,0.000,6,0.000,0.237,2364,2381,3925,0,0,1,0,0,0
$GC,5870,-1.51,-107.5,874.5,-12.1,191,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2382,3923,0,0,0,0,0,0
$STATE,6104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6104,begin apogee
$GC,6110,-0.33,0.0,904.4,12.2,197,6203,1.23,0.00,89.50,1.232,6,0.097,0.000,2623,2400,3519,0,0,0,0,0,0
$STATE,6204,end apogee,CONTROL_FINISHED_OK
$STATE,6204,begin climb
$GC,6206,1.51,107.5,907.9,0.0,199,6310,1.70,0.00,96.32,1.214,6,0.027,0.000,3041,2399,3080,0,0,0,0,0,0
$GC,6531,1.84,379.9,932.3,-7.0,207,6792,0.25,4.65,247.43,1.228,4,0.056,0.313,3110,993,1969,0,0,1,0,0,0
$GC,6910,1.84,379.9,891.8,21.5,215,6923,0.00,4.07,0.00,0.000,6,0.000,0.278,3110,2398,1961,0,0,1,0,0,0
$GC,7160,1.84,379.9,840.8,20.4,222,7168,0.00,3.90,0.00,0.000,4,0.000,0.272,3110,3815,1959,0,0,0,0,0,0
$GC,7175,1.84,379.9,837.5,20.7,222,7180,0.00,3.50,0.00,0.000,6,0.000,0.223,3110,2401,1958,0,0,1,0,0,0
$GC,7441,1.84,379.9,783.0,20.4,229,7447,0.00,3.47,0.00,0.000,4,0.000,0.225,3110,3815,1956,0,0,0,0,0,0
$GC,7469,1.84,379.9,777.1,20.8,229,7474,0.00,3.12,0.00,0.000,6,0.000,0.179,3110,2397,1956,0,0,1,0,0,0
$GC,7719,1.84,379.9,725.1,20.8,235,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,1956,0,0,0,0,0,0
$GC,7970,1.84,379.9,675.5,20.4,241,7971,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,1954,0,0,0,0,0,0
$GC,8207,1.84,379.9,627.2,19.7,247,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2397,1954,0,0,0,0,0,0
$GC,8451,1.84,379.9,581.1,18.7,253,8455,0.00,2.65,0.00,0.000,4,0.000,0.100,3110,3819,1953,0,0,0,0,0,0
$GC,8472,1.84,379.9,576.7,19.0,253,8476,0.00,2.45,0.00,0.000,6,0.000,0.055,3110,2392,1953,0,0,0,0,0,0
$GC,8728,1.84,379.9,531.3,17.7,260,8732,0.00,2.55,0.00,0.000,4,0.000,0.077,3110,3826,1952,0,0,0,0,0,0
$GC,8743,1.84,379.9,528.2,17.8,260,8747,0.00,2.35,0.00,0.000,6,0.000,0.039,3110,2396,1952,0,0,0,0,0,0
$GC,9010,1.84,379.9,479.8,17.9,267,9011,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2395,1952,0,0,0,0,0,0
$GC,9255,1.84,379.9,437.6,17.4,273,9256,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2395,1951,0,0,0,0,0,0
$GC,9498,1.84,379.9,396.2,16.8,279,9502,0.00,2.47,0.00,0.000,4,0.000,0.064,3110,3827,1951,0,0,0,0,0,0
$GC,9537,1.84,379.9,389.6,17.1,280,9541,0.00,2.38,0.00,0.000,6,0.000,0.038,3110,2390,1951,0,0,0,0,0,0
$GC,9820,1.84,379.9,342.4,16.8,287,9824,0.00,2.45,0.00,0.000,4,0.000,0.079,3110,986,1950,0,0,0,0,0,0
$GC,9841,1.84,379.9,338.5,17.1,287,9846,0.00,2.35,0.00,0.000,6,0.000,0.035,3110,2427,1950,0,0,0,0,0,0
$GC,10097,1.84,379.9,295.6,16.6,294,10102,0.00,2.33,0.00,0.000,4,0.000,0.061,3110,3810,1950,0,0,0,0,0,0
$GC,10126,1.84,379.9,290.5,17.8,294,10130,0.00,2.30,0.00,0.000,6,0.000,0.030,3110,2392,1950,0,0,0,0,0,0
$GC,10375,1.84,379.9,252.4,14.7,300,10379,0.00,2.40,0.00,0.000,4,0.000,0.073,3110,999,1950,0,0,0,0,0,0
$GC,10428,1.84,379.9,245.5,15.5,301,10432,0.00,2.28,0.00,0.000,6,0.000,0.032,3110,2405,1950,0,0,0,0,0,0
$GC,10712,1.84,379.9,201.2,15.2,308,10716,0.00,2.40,0.00,0.000,4,0.000,0.056,3110,989,1950,0,0,0,0,0,0
$GC,10727,1.84,379.9,198.4,15.2,308,10732,0.00,2.30,0.00,0.000,6,0.000,0.031,3110,2399,1950,0,0,0,0,0,0
$GC,11025,1.84,379.9,155.6,15.3,332,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2399,1950,0,0,0,0,0,0
$GC,11330,1.84,379.9,112.8,13.7,357,11334,0.00,2.35,0.00,0.000,4,0.000,0.056,3110,3805,1951,0,0,0,0,0,0
$GC,11388,1.84,379.9,105.3,12.5,360,11392,0.00,2.25,0.00,0.000,6,0.000,0.030,3110,2400,1951,0,0,0,0,0,0
$GC,11703,1.84,379.9,68.7,12.0,385,11708,0.00,2.40,0.00,0.000,4,0.000,0.070,3110,988,1953,0,0,0,0,0,0
$GC,11770,1.84,379.9,60.4,10.8,388,11785,0.00,2.30,0.00,0.000,6,0.000,0.030,3110,2407,1954,0,0,0,0,0,0
$GC,12102,1.84,379.9,30.0,10.1,413,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2407,1955,0,0,0,0,0,0
$RESTART_TIME,Wed Jul 21 20:31:17 2010