version: 66.12
glider: 37
mission: 20
dive: 9
start: 4 16 115 3 59 47
data:
$ID,37
$MISSION,20
$DIVE,9
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,2160
$D_ABORT,5500
$D_NO_BLEED,50
$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,720
$T_MISSION,750
$T_ABORT,2880
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,78758
$MASS_COMP,9226.7002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,12
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3950
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.089000002
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3830
$ROLL_DEG,45
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,66
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,280
$VBD_MAX,3960
$C_VBD,2181
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1071.2393
$PRESSURE_SLOPE,0.00091968128
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.75
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$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,0.0043942332
$SEABIRD_T_H,0.00063472748
$SEABIRD_T_I,2.5516978e-05
$SEABIRD_T_J,3.1090417e-06
$SEABIRD_C_G,-9.7554102
$SEABIRD_C_H,1.1208117
$SEABIRD_C_I,-0.001470977
$SEABIRD_C_J,0.00018870331
$GPS1,160415,035421,3216.1206,-6433.7939,33,0.9,37,-14.9,0.0,0.0,7,7.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.7
$GPS2,160415,035924,3216.1082,-6433.7695,15,0.8,16,-14.9,0.0,0.0,8,7.8
$SPEED_LIMITS,0.100,0.245
$TGT_NAME,HYDRO_S
$TGT_LATLONG,3210.000,-6430.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,167.3,12763,-19.7,-10.000,-22.23,2234
$D_GRID,2160
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.94,-146.6,114,1987,1105,1193,0.0,0.0,0,61,0.00,0.00,-44.08,0.146,16386,0.000,0.000,114,1989,1770,1754,1787,0,0,0,0,0,0,26.70,28.83,26.72
$GC,63,-0.94,-146.6,114,1991,1755,1787,3.4,-3.9,4,173,10.68,2.40,-91.62,0.142,18692,0.266,0.065,2884,3579,2685,2675,2696,0,0,0,0,0,0,26.11,26.32,26.20
$GC,579,-0.94,-146.6,2884,3579,2675,2696,46.4,-11.0,51,590,0.00,2.25,0.00,0.000,1030,0.000,0.052,2883,1930,2686,2676,2696,0,0,0,0,0,0,26.77,26.74,26.79
$GC,891,-0.94,-146.6,2884,1930,2676,2696,78.5,-9.3,82,901,0.00,2.20,0.00,0.000,516,0.000,0.065,2884,382,2686,2676,2696,0,0,0,0,0,0,27.07,26.79,27.08
$GC,971,-0.94,-146.6,2884,382,2676,2696,87.5,-11.6,89,981,0.00,2.20,0.00,0.000,1030,0.000,0.052,2872,2012,2686,2676,2696,0,0,0,0,0,0,26.89,26.86,26.91
$GC,1281,-0.94,-146.6,2871,2012,2676,2696,120.2,-11.0,120,1291,0.00,2.17,0.00,0.000,260,0.000,0.067,2860,3552,2686,2676,2696,0,0,0,0,0,0,27.15,26.89,27.17
$GC,1329,-0.94,-146.6,2860,3552,2676,2696,125.5,-11.2,124,1339,0.10,2.25,0.00,0.000,3078,0.174,0.050,2894,1927,2686,2676,2696,0,0,0,0,0,0,26.74,26.93,26.82
$GC,1639,-0.94,-146.6,2895,1927,2676,2696,156.7,-9.9,152,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1927,2685,2675,2696,0,0,0,0,0,0,27.20,27.21,27.21
$GC,1939,-0.94,-146.6,2895,1927,2675,2696,185.6,-9.9,167,1944,0.00,2.15,0.00,0.000,516,0.000,0.065,2896,383,2685,2675,2696,0,0,0,0,0,0,27.22,26.95,27.24
$GC,1982,-0.94,-146.6,2895,382,2675,2696,189.8,-10.1,169,1986,0.00,2.25,0.00,0.000,1030,0.000,0.052,2885,2003,2686,2676,2696,0,0,0,0,0,0,27.02,27.01,27.03
$GC,2303,-0.94,-146.6,2884,2002,2675,2696,223.0,-10.6,185,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2003,2686,2676,2696,0,0,0,0,0,0,27.24,27.26,27.26
$GC,2603,-0.94,-146.6,2885,2002,2676,2696,254.3,-10.0,200,2608,0.00,2.33,0.00,0.000,516,0.000,0.062,2885,373,2686,2676,2696,0,0,0,0,0,0,27.25,26.98,27.27
$GC,2714,-0.94,-146.6,2885,373,2676,2696,265.9,-11.2,205,2718,0.00,2.25,0.00,0.000,1030,0.000,0.052,2873,2011,2686,2676,2696,0,0,0,0,0,0,27.08,27.03,27.09
$GC,3029,-0.94,-146.6,2873,2011,2676,2696,300.1,-11.0,221,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2011,2686,2676,2696,0,0,0,0,0,0,27.27,27.29,27.28
$GC,3328,-0.94,-146.6,2873,2011,2676,2696,332.0,-10.6,231,3333,0.00,2.33,0.00,0.000,516,0.000,0.062,2873,377,2686,2676,2696,0,0,0,0,0,0,27.27,27.00,27.29
$GC,3389,-0.94,-146.6,2873,377,2676,2696,339.1,-10.9,233,3395,0.10,2.17,0.00,0.000,3078,0.171,0.052,2897,1999,2686,2676,2696,0,0,0,0,0,0,26.84,27.05,26.94
$GC,3719,-0.94,-146.6,2897,1999,2675,2696,370.6,-9.2,244,3724,0.00,2.28,0.00,0.000,516,0.000,0.062,2897,380,2686,2676,2696,0,0,0,0,0,0,27.28,27.01,27.29
$GC,3766,-0.94,-146.6,2897,379,2676,2696,374.1,-9.6,245,3770,0.00,2.20,0.00,0.000,1030,0.000,0.052,2887,1997,2686,2676,2696,0,0,0,0,0,0,27.10,27.05,27.11
$GC,4080,-0.94,-146.6,2886,2005,2676,2696,406.7,-9.9,256,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2005,2686,2676,2696,0,0,0,0,0,0,27.28,27.31,27.30
$GC,4382,-0.94,-146.6,2886,2006,2676,2696,435.3,-9.5,266,4387,0.00,2.33,0.00,0.000,516,0.000,0.062,2887,374,2686,2676,2696,0,0,0,0,0,0,27.29,27.02,27.31
$GC,4433,-0.94,-146.6,2886,374,2675,2696,438.4,-9.6,267,4442,0.00,2.28,0.00,0.000,1030,0.000,0.052,2875,2015,2686,2676,2696,0,0,0,0,0,0,27.08,27.06,27.10
$GC,4742,-0.94,-146.6,2875,2015,2676,2696,471.4,-10.0,278,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2016,2686,2676,2696,0,0,0,0,0,0,27.29,27.31,27.31
$GC,5043,-0.94,-146.6,2875,2016,2676,2696,501.0,-9.8,288,5048,0.00,2.33,0.00,0.000,516,0.000,0.062,2875,380,2685,2674,2696,0,0,0,0,0,0,27.29,27.02,27.31
$GC,5178,-0.94,-146.6,2875,380,2676,2696,513.7,-10.2,292,5183,0.10,2.22,0.00,0.000,3078,0.184,0.050,2898,2002,2686,2676,2696,0,0,0,0,0,0,26.88,27.07,27.01
$GC,5492,-0.94,-146.6,2898,2002,2676,2696,542.6,-8.8,303,5497,0.00,2.28,0.00,0.000,516,0.000,0.062,2898,385,2686,2676,2696,0,0,0,0,0,0,27.29,27.01,27.31
$GC,5553,-0.94,-146.6,2898,385,2676,2695,548.9,-9.4,305,5559,0.00,2.20,0.00,0.000,1030,0.000,0.052,2888,2005,2685,2675,2695,0,0,0,0,0,0,27.09,27.08,27.10
$GC,5885,-0.94,-146.6,2888,2004,2676,2695,581.5,-9.9,316,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2004,2685,2675,2696,0,0,0,0,0,0,27.29,27.32,27.32
$GC,6183,-0.94,-146.6,2888,2005,2675,2695,612.1,-10.7,326,6189,0.00,2.30,0.00,0.000,516,0.000,0.062,2888,377,2685,2675,2695,0,0,0,0,0,0,27.30,27.02,27.32
$GC,6307,-0.94,-146.6,2888,377,2675,2695,626.9,-12.0,330,6313,0.00,2.20,0.00,0.000,1030,0.000,0.052,2876,2006,2685,2676,2695,0,0,0,0,0,0,27.09,27.07,27.10
$GC,6639,-0.94,-146.6,2876,2006,2675,2695,664.0,-10.7,341,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2006,2685,2675,2695,0,0,0,0,0,0,27.29,27.32,27.32
$GC,6937,-0.94,-146.6,2876,2006,2674,2695,692.9,-9.4,351,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2006,2684,2674,2694,0,0,0,0,0,0,27.29,27.32,27.32
$GC,7237,-0.94,-146.6,2876,2006,2673,2694,723.9,-10.5,361,7243,0.00,2.20,0.00,0.000,260,0.000,0.067,2865,3563,2683,2672,2695,0,0,0,0,0,0,27.29,27.03,27.32
$GC,7306,-0.94,-146.6,2865,3563,2672,2695,731.6,-11.5,363,7311,0.10,2.22,0.00,0.000,3078,0.174,0.050,2900,1925,2683,2671,2695,0,0,0,0,0,0,26.89,27.08,27.01
$GC,7630,-0.94,-146.6,2900,1924,2671,2695,766.1,-10.1,374,7635,0.00,2.15,0.00,0.000,516,0.000,0.062,2901,383,2683,2671,2695,0,0,0,0,0,0,27.29,27.01,27.32
$GC,7772,-0.94,-146.6,2900,383,2671,2694,779.3,-10.7,378,7776,0.00,2.22,0.00,0.000,1030,0.000,0.052,2890,2010,2682,2671,2694,0,0,0,0,0,0,27.11,27.07,27.13
$GC,8080,-0.94,-146.6,2890,2010,2670,2694,812.1,-9.9,388,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2010,2682,2670,2694,0,0,0,0,0,0,27.29,27.32,27.32
$GC,8380,-0.94,-146.6,2890,2010,2668,2693,843.5,-10.5,398,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2010,2681,2668,2694,0,0,0,0,0,0,27.29,27.32,27.32
$GC,8682,-0.94,-146.6,2890,2009,2667,2693,874.1,-10.1,408,8687,0.00,2.20,0.00,0.000,260,0.000,0.067,2879,3556,2680,2667,2693,0,0,0,0,0,0,27.29,27.02,27.32
$GC,8723,-0.94,-146.6,2879,3556,2666,2693,877.5,-10.3,409,8727,0.00,2.25,0.00,0.000,1030,0.000,0.050,2879,1918,2679,2666,2693,0,0,0,0,0,0,27.12,27.08,27.13
$GC,9042,-0.94,-146.6,2878,1918,2666,2692,913.4,-11.0,420,9047,0.00,2.17,0.00,0.000,516,0.000,0.062,2879,382,2678,2665,2691,0,0,0,0,0,0,27.29,27.01,27.32
$GC,9103,-0.94,-146.6,2879,381,2666,2690,920.3,-11.2,422,9108,0.00,2.20,0.00,0.000,1030,0.000,0.055,2867,1996,2678,2666,2690,0,0,0,0,0,0,27.09,27.06,27.10
$GC,9433,-0.94,-146.6,2867,1995,2665,2689,957.9,-11.4,433,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,2676,2665,2688,0,0,0,0,0,0,27.29,27.32,27.31
$GC,9733,-0.94,-146.6,2867,1995,2663,2687,991.0,-11.4,443,9734,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,2675,2663,2688,0,0,0,0,0,0,27.29,27.32,27.31
$GC,10064,-0.94,-146.6,2867,1996,2663,2686,1030.5,-11.9,450,10070,0.00,2.30,0.00,0.000,516,0.000,0.065,2867,385,2674,2663,2686,0,0,0,0,0,0,27.26,27.01,27.28
$GC,10123,-0.94,-146.6,2867,385,2663,2685,1038.6,-12.2,451,10129,0.12,2.20,0.00,0.000,3078,0.151,0.055,2902,1993,2674,2663,2685,0,0,0,0,0,0,26.86,27.05,26.94
$GC,10486,-0.94,-146.6,2902,1993,2659,2685,1073.6,-9.5,457,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1993,2673,2661,2685,0,0,0,0,0,0,27.27,27.29,27.29
$GC,10784,-0.94,-146.6,2902,1993,2660,2684,1101.9,-9.4,462,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1993,2672,2660,2685,0,0,0,0,0,0,27.26,27.28,27.28
$GC,11084,-0.94,-146.6,2903,1993,2660,2681,1132.4,-9.9,467,11090,0.00,2.30,0.00,0.000,516,0.000,0.065,2903,387,2670,2660,2681,0,0,0,0,0,0,27.26,26.98,27.28
$GC,11130,-0.94,-146.6,2903,387,2660,2680,1132.4,-9.9,467,11134,0.00,2.25,0.00,0.000,1030,0.000,0.055,2892,2002,2670,2660,2680,0,0,0,0,0,0,27.10,27.04,27.10
$GC,11444,-0.94,-146.6,2892,2003,2657,2681,1168.4,-9.8,473,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2003,2668,2657,2680,0,0,0,0,0,0,27.28,27.31,27.31
$GC,11744,-0.94,-146.6,2892,2002,2657,2679,1196.1,-9.3,478,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2002,2667,2656,2679,0,0,0,0,0,0,27.29,27.31,27.30
$GC,12045,-0.94,-146.6,2892,2002,2655,2678,1224.9,-9.6,483,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2002,2666,2655,2678,0,0,0,0,0,0,27.25,27.28,27.27
$GC,12346,-0.94,-146.6,2892,2002,2655,2677,1254.4,-9.9,488,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2003,2665,2654,2677,0,0,0,0,0,0,27.27,27.29,27.29
$GC,12645,-0.94,-146.6,2892,2002,2654,2676,1283.3,-9.7,493,12650,0.00,2.33,0.00,0.000,516,0.000,0.065,2893,388,2665,2654,2676,0,0,0,0,0,0,27.25,26.98,27.27
$GC,12690,-0.94,-146.6,2892,388,2654,2675,1283.3,-9.7,493,12694,0.00,2.25,0.00,0.000,1030,0.000,0.055,2881,2001,2665,2655,2675,0,0,0,0,0,0,27.08,27.03,27.10
$GC,13004,-0.94,-146.6,2881,2001,2653,2675,1319.1,-9.9,499,13005,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2001,2664,2654,2675,0,0,0,0,0,0,27.28,27.31,27.30
$GC,13304,-0.94,-146.6,2881,2001,2652,2675,1347.8,-9.5,504,13309,0.00,2.33,0.00,0.000,516,0.000,0.065,2881,387,2663,2652,2674,0,0,0,0,0,0,27.28,26.97,27.30
$GC,13340,-0.94,-146.6,2880,387,2652,2673,1347.8,-9.5,504,13344,0.00,2.28,0.00,0.000,1030,0.000,0.055,2870,2007,2663,2652,2674,0,0,0,0,0,0,27.08,27.02,27.10
$RECOV_CODE,WATCHDOG_RESET
$RESTART_TIME,Sat Aug  7 09:48:56 1971