version: 66.11
glider: 144
mission: 21
dive: 13
start: 3 27 113 12 3 7
data:
$ID,144
$MISSION,21
$DIVE,13
$N_DIVES,0
$D_SURF,2
$D_FLARE,2
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56256
$MASS_COMP,1141.9
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-87373.242
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3920
$C_PITCH,3135
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.1
$PITCH_ADJ_DBAND,2
$ROLL_MIN,364
$ROLL_MAX,3945
$ROLL_DEG,15
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2550
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,1
$DBDW,1
$PITCH_W_GAIN,1
$PITCH_W_DBAND,1
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.062218
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043491465
$SEABIRD_T_H,0.00063627562
$SEABIRD_T_I,2.5639563e-05
$SEABIRD_T_J,2.8485167e-06
$SEABIRD_C_G,-10.038045
$SEABIRD_C_H,1.1273739
$SEABIRD_C_I,-0.0018486013
$SEABIRD_C_J,0.00022594928
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,270313,114453,2443.756,-3750.474,40,0.9,40,-13.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-78.3
$GPS2,270313,120207,2443.847,-3750.497,4,0.9,4,-13.7
$SPEED_LIMITS,0.100,0.238
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.237,-0.028
$KALMAN_X,-18502.0,129.4,-174.5,31855.0,-5266.0
$KALMAN_Y,1711.1,29.5,23.4,17804.0,-145.6
$MHEAD_RNG_PITCHd_Wd,110.4,8788,-19.5,-10.000,-22.76,2222
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.75,-146.6,33,2478,1207,1431,0.0,0.0,0,71,0.00,0.00,-46.00,0.000,16386,0.000,0.000,34,2478,2633,2684,2582,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.75,-146.6,33,2478,2684,2584,2.2,-2.4,3,108,14.00,0.77,-13.98,0.000,19204,0.425,0.122,2960,2984,3148,3238,3058,0,0,0,0,0,0,14.53,14.74,14.90
$GC,339,1.43,-146.6,1904,2982,3220,3058,59.8,-28.0,20,345,1.88,0.88,0.00,0.000,3078,0.330,0.055,3439,2419,3152,3240,3064,0,0,0,0,0,0,14.64,14.80,28.83
$GC,653,1.43,-146.6,3439,2417,3240,3066,95.3,-13.5,41,659,0.00,0.73,0.00,0.000,516,0.000,0.050,3443,1929,3153,3240,3066,0,0,0,0,0,0,28.83,14.85,28.83
$GC,749,1.43,-146.6,3443,1924,3240,3066,107.5,-13.5,47,754,0.00,0.85,0.00,0.000,1030,0.000,0.067,3443,2443,3153,3240,3066,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1068,1.43,-146.6,3444,2447,3237,3069,158.2,-15.1,68,1073,0.00,0.80,0.00,0.000,516,0.000,0.059,3448,1941,3153,3237,3069,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1102,1.43,-146.6,3449,1936,3237,3069,163.9,-16.2,70,1107,0.00,0.82,0.00,0.000,1030,0.000,0.066,3448,2445,3153,3237,3069,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1421,1.43,-146.6,3449,2449,3237,3071,217.2,-17.7,91,1426,0.00,0.80,0.00,0.000,516,0.000,0.060,3449,1941,3153,3237,3070,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1655,1.43,-146.6,3449,1937,3237,3067,251.9,-16.4,105,1660,0.00,0.82,0.00,0.000,1030,0.000,0.060,3449,2452,3153,3237,3070,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1971,1.43,-146.6,3449,2456,3236,3070,307.1,-16.5,116,1976,0.00,0.80,0.00,0.000,516,0.000,0.049,3449,1930,3153,3236,3070,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2024,1.43,-146.6,3449,1925,3236,3070,313.9,-16.9,117,2029,0.00,0.82,0.00,0.000,1030,0.000,0.046,3450,2472,3152,3235,3070,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2339,1.43,-146.6,3450,2477,3230,3075,369.1,-15.6,128,2344,0.00,0.85,0.00,0.000,516,0.000,0.067,3449,1948,3152,3230,3075,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2523,1.43,-146.6,3450,1942,3230,3075,399.7,-15.1,134,2529,0.00,0.80,0.00,0.000,1030,0.000,0.075,3450,2424,3152,3230,3075,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2860,1.43,-146.6,3450,2429,3227,3075,453.7,-15.6,145,2865,0.00,0.88,0.00,0.000,260,0.000,0.048,3450,3006,3151,3227,3075,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2917,1.43,-146.6,3453,3012,3226,3075,460.5,-16.2,146,2924,0.00,0.88,0.00,0.000,1030,0.000,0.090,3450,2497,3150,3226,3075,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3226,1.43,-146.6,3450,2493,3224,3073,512.5,-16.0,157,3231,0.00,0.95,0.00,0.000,516,0.000,0.080,3450,1914,3148,3225,3072,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3290,1.43,-146.6,3450,1909,3225,3074,523.5,-16.4,159,3295,0.00,0.88,0.00,0.000,1030,0.000,0.070,3450,2448,3149,3224,3075,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3625,1.43,-146.6,3452,2453,3220,3075,581.2,-17.5,170,3630,0.00,0.88,0.00,0.000,516,0.000,0.057,3452,1894,3147,3220,3075,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3859,-2.56,-146.6,3452,1889,3217,3075,624.2,-19.8,177,3870,2.92,0.93,0.00,0.000,5126,0.236,0.073,2576,2453,3146,3219,3074,0,0,0,0,0,0,14.94,15.00,28.83
$RESTART_TIME,Sun Dec 13 09:05:51 1914
$RESTART_TIME,Sun Dec 13 09:11:33 1914