version: 66.12
glider: 204
mission: 15
dive: 140
start: 11 30 104 5 32 42
data:
$ID,204
$MISSION,15
$DIVE,140
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$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,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1030
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52154
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,29
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,88
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00145
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,22.5
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-71.557899
$PRESSURE_SLOPE,0.0001157966
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,270315,182304,1435.5533,14639.1230,39,0.9,39,1.2,0.6,210.7,9,14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.8
$GPS2,270315,182957,1435.5085,14639.0479,8,0.7,8,1.2,0.0,12.0,12,-1.0
$SPEED_LIMITS,0.191,0.291
$TGT_NAME,N7
$TGT_LATLONG,1511.580,14553.100
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,303.5,105862,-17.3,-11.000,-20.71,2428
$D_GRID,1030
$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,92,end surface,CONTROL_FINISHED_OK
$STATE,92,begin dive
$GC,94,-0.85,-175.2,191,2612,800,797,0.0,0.0,0,147,0.00,0.00,-46.65,0.000,16386,0.000,0.000,191,2612,2038,2015,2062,0,0,0,0,0,0,26.13,28.83,26.19
$GC,149,-0.85,-175.2,192,2614,2016,2066,3.1,-4.0,6,217,11.77,1.70,-38.83,0.000,18692,0.230,0.060,2981,3691,3556,3530,3582,0,0,0,0,0,0,25.61,24.33,25.79
$GC,392,-0.85,-175.2,2987,3691,3531,3582,62.3,-28.0,40,401,0.00,1.58,0.00,0.000,1030,0.000,0.020,2985,2594,3556,3529,3583,0,0,0,0,0,0,26.20,26.19,26.22
$GC,706,-0.85,-175.2,2989,2590,3531,3583,146.1,-26.8,71,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2591,3556,3531,3582,0,0,0,0,0,0,26.18,26.26,26.25
$GC,1009,-0.85,-175.2,2989,2592,3534,3585,206.5,-19.1,99,1016,0.00,1.73,0.00,0.000,260,0.000,0.044,2981,3686,3558,3533,3584,0,0,0,0,0,0,26.22,26.06,26.27
$GC,1241,-0.85,-175.2,2983,3687,3534,3587,248.7,-19.5,106,1248,0.00,1.55,0.00,0.000,1030,0.000,0.020,2988,2597,3559,3533,3586,0,0,0,0,0,0,26.24,26.24,26.25
$GC,1553,-0.85,-175.2,2989,2598,3536,3587,298.7,-13.7,117,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2597,3560,3535,3586,0,0,0,0,0,0,26.23,26.29,26.28
$GC,1853,-0.85,-175.2,2988,2597,3537,3586,339.4,-13.3,127,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2596,3561,3536,3586,0,0,0,0,0,0,26.23,26.30,26.29
$GC,2153,-0.85,-175.2,2988,2599,3537,3585,377.2,-12.4,137,2160,0.00,2.05,0.00,0.000,516,0.000,0.028,2996,1226,3560,3535,3586,0,0,0,0,0,0,26.22,26.11,26.28
$GC,2194,-0.85,-175.2,2996,1226,3537,3585,381.1,-12.4,138,2205,0.00,2.10,0.00,0.000,1030,0.000,0.031,2987,2598,3560,3535,3585,0,0,0,0,0,0,26.18,26.11,26.20
$GC,2515,-0.85,-175.2,2987,2598,3536,3581,420.6,-11.9,149,2522,0.00,1.73,0.00,0.000,260,0.000,0.043,2979,3700,3558,3535,3581,0,0,0,0,0,0,26.20,26.06,26.27
$GC,2572,-0.85,-175.2,2979,3700,3535,3581,424.7,-12.1,150,2582,0.00,1.58,0.00,0.000,1030,0.000,0.023,2986,2615,3557,3534,3581,0,0,0,0,0,0,26.27,26.23,26.26
$GC,2877,-0.85,-175.2,2986,2615,3532,3576,467.3,-13.3,161,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2615,3553,3531,3576,0,0,0,0,0,0,26.23,26.29,26.28
$GC,3177,-0.85,-175.2,2985,2614,3528,3573,505.8,-12.3,171,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2615,3551,3528,3574,0,0,0,0,0,0,26.20,26.27,26.26
$GC,3481,-0.85,-175.2,2986,2616,3524,3572,540.6,-11.4,181,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2615,3546,3523,3570,0,0,0,0,0,0,26.18,26.24,26.23
$GC,3777,-0.85,-175.2,2986,2615,3522,3568,575.5,-11.6,191,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2616,3544,3521,3568,0,0,0,0,0,0,26.08,26.14,26.13
$GC,4077,-0.85,-175.2,2985,2615,3519,3564,610.8,-11.5,201,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2615,3540,3517,3564,0,0,0,0,0,0,26.15,26.21,26.20
$GC,4377,-0.85,-175.2,2987,2616,3512,3564,643.3,-10.7,211,4385,0.00,1.73,0.00,0.000,260,0.000,0.044,2979,3692,3539,3515,3563,0,0,0,0,0,0,26.16,25.95,26.22
$GC,4434,-0.85,-175.2,2979,3693,3515,3563,646.7,-10.5,212,4445,0.00,1.60,0.00,0.000,1030,0.000,0.022,2985,2591,3538,3514,3562,0,0,0,0,0,0,26.16,26.15,26.17
$GC,4740,-0.85,-175.2,2986,2590,3513,3560,681.8,-10.8,223,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2591,3535,3511,3560,0,0,0,0,0,0,26.13,26.20,26.18
$GC,5040,-0.85,-175.2,2985,2590,3510,3557,712.9,-10.3,233,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2591,3533,3509,3557,0,0,0,0,0,0,26.13,26.20,26.18
$GC,5340,-0.85,-175.2,2986,2592,3507,3556,744.9,-10.8,243,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2588,3531,3507,3555,0,0,0,0,0,0,26.12,26.19,26.18
$GC,5640,-0.85,-175.2,2986,2592,3506,3554,779.8,-11.9,253,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2591,3531,3505,3557,0,0,0,0,0,0,26.12,26.19,26.17
$GC,5940,-0.85,-175.2,2985,2590,3504,3550,817.3,-12.6,263,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2590,3529,3508,3551,0,0,0,0,0,0,26.08,26.15,26.14
$GC,6239,-0.85,-175.2,2986,2592,3502,3550,854.4,-12.0,273,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2590,3525,3501,3549,0,0,0,0,0,0,26.10,26.16,26.15
$GC,6540,-0.85,-175.2,2986,2592,3500,3549,887.0,-10.3,283,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2591,3523,3499,3547,0,0,0,0,0,0,26.09,26.16,26.15
$GC,6840,-0.85,-175.2,2985,2590,3499,3546,916.2,-9.7,293,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2595,3522,3498,3546,0,0,0,0,0,0,26.07,26.13,26.13
$GC,7140,-0.85,-175.2,2985,2590,3498,3544,945.3,-9.7,303,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2590,3520,3496,3545,0,0,0,0,0,0,26.08,26.14,26.13
$GC,7440,-0.85,-175.2,2986,2592,3495,3545,974.9,-9.9,313,7447,0.00,1.77,0.00,0.000,260,0.000,0.044,2978,3717,3518,3494,3543,0,0,0,0,0,0,26.07,25.82,26.13
$GC,7497,-0.85,-175.2,2978,3717,3495,3543,978.1,-9.9,314,7508,0.00,1.65,0.00,0.000,1030,0.000,0.023,2985,2607,3518,3493,3544,0,0,0,0,0,0,26.04,26.03,26.05
$RESTART_TIME,Tue Nov 30 07:50:31 2004