version: 66.10
glider: 200
mission: 4
dive: 20
start: 8 12 114 2 40 40
data:
$ID,200
$MISSION,4
$DIVE,20
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,30
$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,480
$T_MISSION,500
$T_ABORT,720
$T_TURN,225
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52177
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0134447
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,48.400002
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3219.3999
$TGT_DEFAULT_LON,-6434.1001
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,73
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1104.8502
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,197
$PITCH_MAX,3889
$C_PITCH,2973
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.700001
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,282
$ROLL_MAX,3852
$ROLL_DEG,40
$C_ROLL_DIVE,2660
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,129
$R_STBD_OVSHOOT,72
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2737
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.711494
$PRESSURE_SLOPE,0.0001160319
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.77999997
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$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,0.004400372
$SEABIRD_T_H,0.00063770427
$SEABIRD_T_I,2.5625237e-05
$SEABIRD_T_J,3.1304903e-06
$SEABIRD_C_G,-9.9220228
$SEABIRD_C_H,1.1569983
$SEABIRD_C_I,-0.00090645044
$SEABIRD_C_J,0.00015506662
$GPS1,120814,023135,2738.147,-7001.261,24,1.2,24,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-65.1
$GPS2,120814,023943,2738.060,-7001.262,5,1.2,5,-12.3
$SPEED_LIMITS,0.119,0.177
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.027,-0.175
$KALMAN_X,-14783.0,628.0,181.1,21187.3,-4642.5
$KALMAN_Y,-18804.5,374.5,122.5,-21496.2,-4390.5
$MHEAD_RNG_PITCHd_Wd,183.5,16141,-15.1,-6.875
$D_GRID,990
$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,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.91,-116.8,0.0,0.0,0,87,0.00,0.00,-70.32,0.000,2,0.000,0.000,165,2670,3177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.91,-116.8,4.4,-8.3,9,106,8.93,1.67,-0.65,0.000,4,0.202,0.047,2666,3826,3214,0,0,0,0,0,0,26.79,27.01,27.14
$GC,121,-0.91,-116.8,19.6,-44.2,13,130,0.00,1.55,0.00,0.000,6,0.000,0.017,2665,2613,3214,0,0,0,0,0,0,28.83,27.08,28.83
$GC,194,-0.91,-116.8,38.5,-22.4,22,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2613,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,267,-0.91,-116.8,49.8,-15.1,31,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2613,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,339,-0.91,-116.8,59.3,-12.5,40,348,0.00,1.77,0.00,0.000,4,0.000,0.020,2664,1333,3214,0,0,0,0,0,0,28.83,27.16,28.83
$GC,355,-0.91,-116.8,61.2,-12.4,42,364,0.00,1.90,0.00,0.000,6,0.000,0.025,2657,2644,3215,0,0,0,0,0,0,28.83,27.13,28.83
$GC,429,-0.91,-116.8,70.9,-12.5,51,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2645,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,501,-0.91,-116.8,81.2,-14.6,60,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2645,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,574,-0.91,-116.8,91.1,-13.6,69,582,0.00,1.83,0.00,0.000,4,0.000,0.020,2657,1336,3215,0,0,0,0,0,0,28.83,27.20,28.83
$GC,682,-0.91,-116.8,105.2,-12.6,87,691,0.00,1.92,0.00,0.000,6,0.000,0.025,2651,2668,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,755,-0.91,-116.8,114.7,-12.9,96,763,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2668,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,828,-0.91,-116.8,123.9,-12.6,105,836,0.00,1.85,0.00,0.000,4,0.000,0.020,2652,1339,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,896,-0.91,-116.8,132.7,-13.2,116,905,0.10,1.90,0.00,0.000,6,0.125,0.025,2678,2663,3216,0,0,0,0,0,0,27.11,27.24,28.83
$GC,970,-0.91,-116.8,141.5,-11.4,125,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2663,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1042,-0.91,-116.8,149.9,-11.6,134,1051,0.00,1.85,0.00,0.000,4,0.000,0.020,2678,1333,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1088,-0.91,-116.8,155.6,-12.7,141,1096,0.00,1.90,0.00,0.000,6,0.000,0.025,2672,2660,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1160,-0.91,-116.8,164.5,-12.4,150,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2660,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1233,-0.91,-116.8,173.2,-11.9,159,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2660,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-0.91,-116.8,182.3,-11.8,165,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2660,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1490,-0.91,-116.8,203.2,-11.8,177,1493,0.00,1.80,0.00,0.000,4,0.000,0.020,2672,1356,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1572,-0.91,-116.8,212.6,-11.6,182,1577,0.00,1.88,0.00,0.000,6,0.000,0.025,2665,2673,3215,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1767,-0.91,-116.8,234.2,-11.0,195,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2673,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,-0.91,-116.8,254.3,-11.2,207,1950,0.00,1.80,0.00,0.000,4,0.000,0.020,2665,1367,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1996,-0.91,-116.8,259.8,-11.1,210,2002,0.00,1.85,0.00,0.000,6,0.000,0.025,2662,2665,3214,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2193,-0.91,-116.8,281.9,-11.3,223,2196,0.00,1.80,0.00,0.000,4,0.000,0.020,2662,1362,3214,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2242,-0.91,-116.8,287.8,-11.7,226,2247,0.00,1.85,0.00,0.000,6,0.000,0.025,2658,2659,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2450,-0.91,-116.8,312.0,-11.6,237,2453,0.00,1.80,0.00,0.000,4,0.000,0.020,2658,1357,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2488,-0.91,-116.8,315.5,-11.6,238,2493,0.00,1.90,0.00,0.000,6,0.000,0.025,2655,2654,3212,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2810,-0.91,-116.8,354.5,-11.8,249,2813,0.00,1.77,0.00,0.000,4,0.000,0.020,2655,1358,3212,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2962,-0.91,-116.8,372.4,-11.8,254,2968,0.08,1.90,0.00,0.000,6,0.129,0.025,2676,2665,3211,0,0,0,0,0,0,27.23,27.36,28.83
$GC,3290,-0.91,-116.8,406.8,-10.3,265,3293,0.00,1.80,0.00,0.000,4,0.000,0.021,2675,1362,3210,0,0,0,0,0,0,28.83,27.38,28.83
$GC,3380,-0.91,-116.8,416.1,-10.3,268,3384,0.00,1.85,0.00,0.000,6,0.000,0.026,2669,2663,3210,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3705,-0.91,-116.8,449.7,-10.2,279,3708,0.00,1.80,0.00,0.000,4,0.000,0.020,2669,1361,3209,0,0,0,0,0,0,28.83,27.39,28.83
$GC,3797,-0.91,-116.8,458.9,-10.2,282,3802,0.00,1.90,0.00,0.000,6,0.000,0.025,2663,2655,3209,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4125,-0.91,-116.8,492.5,-10.2,293,4129,0.00,1.80,0.00,0.000,4,0.000,0.021,2663,1342,3208,0,0,0,0,0,0,28.83,27.39,28.83
$GC,4223,-0.91,-116.8,502.0,-10.4,296,4228,0.00,1.90,0.00,0.000,6,0.000,0.025,2658,2662,3207,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4545,-0.91,-116.8,538.7,-11.3,307,4548,0.00,1.80,0.00,0.000,4,0.000,0.021,2658,1359,3206,0,0,0,0,0,0,28.83,27.39,28.83
$GC,4665,-0.91,-116.8,552.3,-11.3,311,4669,0.00,1.88,0.00,0.000,6,0.000,0.026,2657,2672,3206,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4990,-0.91,-116.8,587.8,-10.7,322,4993,0.00,1.83,0.00,0.000,4,0.000,0.021,2656,1358,3205,0,0,0,0,0,0,28.83,27.39,28.83
$GC,5063,-0.91,-116.8,594.4,-10.9,324,5067,0.00,1.90,0.00,0.000,6,0.000,0.026,2648,2654,3205,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5380,-0.91,-116.8,629.7,-10.7,335,5384,0.12,1.80,0.00,0.000,4,0.155,0.019,2690,1329,3204,0,0,0,0,0,0,27.25,27.39,28.83
$GC,5474,-0.91,-116.8,637.8,-9.7,338,5478,0.00,1.92,0.00,0.000,6,0.000,0.026,2684,2665,3204,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5796,-0.91,-116.8,666.7,-8.6,349,5799,0.00,1.80,0.00,0.000,4,0.000,0.021,2684,1365,3203,0,0,0,0,0,0,28.83,27.39,28.83
$GC,5880,-0.91,-116.8,672.0,-8.7,351,5887,0.00,1.88,0.00,0.000,6,0.000,0.027,2680,2663,3203,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6186,-0.91,-116.8,700.4,-8.7,362,6189,0.00,1.80,0.00,0.000,4,0.000,0.021,2680,1366,3202,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6218,-0.91,-116.8,703.1,-8.9,363,6224,0.00,1.90,0.00,0.000,6,0.000,0.026,2678,2659,3201,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6546,-0.91,-116.8,733.8,-9.6,374,6549,0.00,1.80,0.00,0.000,4,0.000,0.022,2678,1362,3199,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6714,-0.91,-116.8,749.1,-10.1,379,6718,0.00,1.90,0.00,0.000,6,0.000,0.026,2670,2658,3199,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7026,-0.91,-116.8,782.5,-10.1,390,7029,0.00,1.80,0.00,0.000,4,0.000,0.022,2670,1363,3198,0,0,0,0,0,0,28.83,27.39,28.83
$GC,7058,-0.91,-116.8,785.4,-10.0,391,7063,0.00,1.90,0.00,0.000,6,0.000,0.026,2668,2657,3197,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7386,-0.91,-116.8,818.0,-9.8,402,7389,0.00,1.80,0.00,0.000,4,0.000,0.021,2668,1363,3196,0,0,0,0,0,0,28.83,27.39,28.83
$GC,7524,-0.91,-116.8,829.6,-9.7,406,7528,0.00,1.90,0.00,0.000,6,0.000,0.027,2664,2659,3195,0,0,0,0,0,0,28.83,27.38,28.83
$GC,7836,-0.91,-116.8,860.3,-9.1,417,7839,0.00,1.80,0.00,0.000,4,0.000,0.022,2663,1368,3193,0,0,0,0,0,0,28.83,27.39,28.83
$GC,7874,-0.91,-116.8,862.9,-8.9,418,7878,0.00,1.90,0.00,0.000,6,0.000,0.027,2660,2655,3193,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8196,-0.91,-116.8,891.5,-8.6,429,8199,0.00,1.80,0.00,0.000,4,0.000,0.022,2659,1365,3192,0,0,0,0,0,0,28.83,27.38,28.83
$GC,8324,-0.91,-116.8,902.2,-8.9,433,8328,0.00,1.90,0.00,0.000,6,0.000,0.027,2657,2655,3191,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8646,-0.91,-116.8,932.4,-9.2,444,8649,0.00,1.80,0.00,0.000,4,0.000,0.023,2658,1366,3190,0,0,0,0,0,0,28.83,27.38,28.83
$GC,8714,-0.91,-116.8,937.7,-9.1,446,8718,0.00,1.92,0.00,0.000,6,0.000,0.028,2658,2667,3190,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9036,-0.91,-116.8,967.8,-8.9,457,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2666,3188,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9305,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9305,begin apogee
$GC,9309,-0.25,0.0,992.4,-9.1,466,9399,0.65,0.00,85.10,1.307,6,0.104,0.000,2886,2360,2734,0,0,0,0,0,0,27.23,28.83,24.92
$STATE,9400,end apogee,CONTROL_FINISHED_OK
$STATE,9401,begin climb
$GC,9402,0.91,116.8,995.1,0.0,469,9504,1.05,2.20,92.90,1.268,4,0.059,0.036,3268,3723,2256,0,0,0,0,0,0,25.74,25.46,24.71
$GC,9559,0.91,119.9,987.6,6.7,474,9563,0.00,1.98,0.00,0.000,6,0.000,0.018,3273,2338,2251,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9876,0.91,119.9,958.8,8.8,485,9880,0.00,1.98,0.00,0.000,4,0.000,0.028,3277,970,2249,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9934,0.91,119.9,953.8,8.8,487,9939,0.00,2.00,0.00,0.000,6,0.000,0.023,3276,2339,2248,0,0,0,0,0,0,28.83,26.82,28.83
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$STATE,21721,end climb,SURFACE_DEPTH_REACHED
$STATE,21721,begin surface coast
$FINISH,1.1,1.023471
$STATE,21729,end surface coast,CONTROL_FINISHED_OK
$STATE,21729,begin surface
$SM_CCo,21745,23.65,0.119,0,0,1204,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,44.99
$INTERNAL_PRESSURE,9.09343
$TCM_TEMP,23.60
$XPDR_PINGS,26
$24V_AH,24.7,7.593
$10V_AH,10.5,5.360
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334096
$DATA_FILE_SIZE,66934,1182
$CAP_FILE_SIZE,216354,0
$CFSIZE,1024393216,1019559936
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120814,084436,2733.951,-7001.459,32,1.2,32,-12.3