version: 66.10
glider: 200
mission: 4
dive: 43
start: 8 15 114 1 43 7
data:
$ID,200
$MISSION,4
$DIVE,43
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,240
$T_MISSION,260
$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,-1189.9088
$T_RSLEEP,20
$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,2425
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,132
$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
$GPS1,150814,013813,2651.142,-7006.713,4,1.3,4,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.2
$GPS2,150814,014208,2651.109,-7006.666,7,1.4,7,-12.1
$SPEED_LIMITS,0.120,0.178
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.148,-0.100
$KALMAN_X,-496.3,221.8,-128.8,-1208.1,2455.5
$KALMAN_Y,-60490.2,-131.6,56.5,-66184.8,-3315.6
$MHEAD_RNG_PITCHd_Wd,248.1,39191,-15.3,-6.944
$D_GRID,500
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.92,-116.8,0.0,0.0,0,79,0.00,0.00,-62.62,0.000,2,0.000,0.000,187,2632,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.92,-116.8,3.5,-6.3,8,107,8.68,1.85,-6.22,0.000,4,0.198,0.037,2666,1290,3216,0,0,0,0,0,0,27.01,27.28,27.51
$GC,194,-0.92,-116.8,32.1,-21.6,26,202,0.00,1.92,0.00,0.000,6,0.000,0.024,2658,2642,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,268,-0.92,-116.8,46.9,-18.7,35,276,0.00,1.85,0.00,0.000,4,0.000,0.019,2658,1294,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,325,-0.92,-116.8,57.3,-17.8,44,333,0.00,1.95,0.00,0.000,6,0.000,0.024,2649,2660,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,398,-0.92,-116.8,70.7,-18.6,53,406,0.00,1.70,0.00,0.000,4,0.000,0.036,2640,3834,3216,0,0,0,0,0,0,28.83,27.28,28.83
$GC,426,-0.92,-116.8,75.9,-18.4,57,435,0.10,1.52,0.00,0.000,6,0.127,0.016,2676,2605,3215,0,0,0,0,0,0,27.16,27.38,28.83
$GC,500,-0.92,-116.8,86.7,-13.0,66,508,0.00,1.80,0.00,0.000,4,0.000,0.019,2676,1287,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,516,-0.92,-116.8,88.6,-12.0,68,525,0.00,1.95,0.00,0.000,6,0.000,0.024,2669,2658,3215,0,0,0,0,0,0,28.83,27.33,28.83
$GC,590,-0.92,-116.8,97.4,-12.2,77,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2658,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,662,-0.92,-116.8,106.2,-11.9,86,671,0.00,1.88,0.00,0.000,4,0.000,0.019,2669,1297,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,696,-0.92,-116.8,110.3,-11.6,91,704,0.00,1.92,0.00,0.000,6,0.000,0.024,2662,2657,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,769,-0.92,-116.8,119.2,-12.7,100,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2658,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,841,-0.92,-116.8,129.0,-13.4,109,849,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2657,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,914,-0.92,-116.8,138.9,-14.1,118,922,0.00,1.70,0.00,0.000,4,0.000,0.037,2653,3832,3214,0,0,0,0,0,0,28.83,27.32,28.83
$GC,971,-0.92,-116.8,147.1,-14.5,127,979,0.00,1.55,0.00,0.000,6,0.000,0.016,2653,2588,3214,0,0,0,0,0,0,28.83,27.43,28.83
$GC,1043,-0.92,-116.8,157.0,-13.2,136,1052,0.00,1.77,0.00,0.000,4,0.000,0.020,2653,1288,3214,0,0,0,0,0,0,28.83,27.37,28.83
$GC,1106,-0.92,-116.8,165.1,-12.1,146,1116,0.08,1.95,0.00,0.000,6,0.132,0.024,2672,2662,3214,0,0,0,0,0,0,27.20,27.36,28.83
$GC,1180,-0.92,-116.8,174.1,-12.0,155,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2662,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1257,-0.92,-116.8,182.8,-11.2,161,1262,0.00,1.85,0.00,0.000,4,0.000,0.019,2672,1287,3213,0,0,0,0,0,0,28.83,27.38,28.83
$GC,1306,-0.92,-116.8,188.3,-11.7,164,1311,0.00,1.95,0.00,0.000,6,0.000,0.024,2671,2653,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1502,-0.92,-116.8,210.0,-11.3,177,1505,0.00,1.83,0.00,0.000,4,0.000,0.019,2671,1329,3212,0,0,0,0,0,0,28.83,27.38,28.83
$GC,1584,-0.92,-116.8,219.1,-11.1,182,1589,0.00,1.92,0.00,0.000,6,0.000,0.024,2666,2673,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1779,-0.92,-116.8,241.1,-11.0,195,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2673,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,-0.92,-116.8,260.3,-10.7,207,1964,0.00,1.85,0.00,0.000,4,0.000,0.019,2666,1297,3209,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2007,-0.92,-116.8,265.5,-10.9,210,2012,0.00,1.90,0.00,0.000,6,0.000,0.024,2659,2666,3209,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2203,-0.92,-116.8,287.1,-11.3,223,2208,0.00,1.85,0.00,0.000,4,0.000,0.019,2659,1292,3207,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2239,-0.92,-116.8,290.6,-11.3,225,2249,0.00,1.95,0.00,0.000,6,0.000,0.024,2654,2658,3207,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2442,-0.92,-116.8,313.6,-10.7,235,2445,0.00,1.85,0.00,0.000,4,0.000,0.020,2655,1331,3205,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2534,-0.92,-116.8,323.4,-10.8,238,2539,0.00,1.95,0.00,0.000,6,0.000,0.024,2648,2660,3204,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2861,-0.92,-116.8,361.6,-11.9,249,2865,0.00,1.85,0.00,0.000,4,0.000,0.019,2648,1287,3203,0,0,0,0,0,0,28.83,27.40,28.83
$GC,2976,-0.92,-116.8,375.8,-12.4,253,2981,0.12,1.92,0.00,0.000,6,0.155,0.024,2674,2668,3202,0,0,0,0,0,0,27.22,27.37,28.83
$GC,3303,-0.92,-116.8,410.9,-10.4,264,3306,0.00,1.85,0.00,0.000,4,0.000,0.019,2674,1296,3201,0,0,0,0,0,0,28.83,27.39,28.83
$GC,3376,-0.92,-116.8,416.6,-10.3,266,3380,0.00,1.95,0.00,0.000,6,0.000,0.025,2671,2655,3201,0,0,0,0,0,0,28.83,27.37,28.83
$GC,3688,-0.92,-116.8,451.0,-10.4,277,3691,0.00,1.85,0.00,0.000,4,0.000,0.019,2671,1285,3199,0,0,0,0,0,0,28.83,27.40,28.83
$GC,3807,-0.92,-116.8,463.0,-10.4,281,3810,0.00,1.95,0.00,0.000,6,0.000,0.025,2669,2678,3199,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4133,-0.92,-116.8,496.0,-9.9,292,4137,0.00,1.88,0.00,0.000,4,0.000,0.020,2669,1293,3197,0,0,0,0,0,0,28.83,27.39,28.83
$STATE,4187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4187,begin apogee
$GC,4192,-0.25,0.0,501.7,-10.1,294,4279,0.62,0.00,81.15,0.939,6,0.102,0.000,2886,2449,2735,0,0,0,0,0,0,27.23,28.83,25.58
$STATE,4280,end apogee,CONTROL_FINISHED_OK
$STATE,4280,begin climb
$GC,4282,0.92,116.8,504.3,0.0,297,4376,1.02,2.12,85.47,0.909,4,0.059,0.034,3272,3807,2256,0,0,0,0,0,0,26.19,25.92,25.35
$GC,4398,0.93,127.9,498.6,6.5,301,4411,0.00,1.88,7.40,1.086,6,0.000,0.016,3280,2402,2217,0,0,0,0,0,0,28.83,26.30,25.29
$GC,4728,0.93,127.9,469.2,8.6,312,4732,0.00,1.83,0.00,0.000,4,0.000,0.024,3283,1104,2221,0,0,0,0,0,0,28.83,26.95,28.83
$GC,4790,0.93,127.9,464.1,8.5,314,4795,0.00,1.90,0.00,0.000,6,0.000,0.021,3283,2428,2220,0,0,0,0,0,0,28.83,27.00,28.83
$GC,5118,0.93,127.9,436.2,8.5,325,5122,0.00,1.85,0.00,0.000,4,0.000,0.024,3283,1101,2219,0,0,0,0,0,0,28.83,27.15,28.83
$GC,5166,0.93,127.9,434.2,8.5,326,5174,0.00,1.90,0.00,0.000,6,0.000,0.021,3283,2432,2219,0,0,0,0,0,0,28.83,27.17,28.83
$GC,5473,0.93,127.9,405.3,8.8,337,5477,0.00,1.85,0.00,0.000,4,0.000,0.024,3284,1102,2219,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5531,0.93,127.9,400.5,8.9,339,5536,0.00,1.88,0.00,0.000,6,0.000,0.021,3284,2426,2218,0,0,0,0,0,0,28.83,27.25,28.83
$GC,5858,0.93,127.9,372.4,8.5,350,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2426,2217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6158,0.93,127.9,348.0,8.0,360,6162,0.00,1.83,0.00,0.000,4,0.000,0.024,3283,1101,2217,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6213,0.93,127.9,343.7,7.8,362,6217,0.00,1.85,0.00,0.000,6,0.000,0.022,3283,2428,2216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6538,0.93,127.9,318.1,8.1,373,6542,0.00,1.83,0.00,0.000,4,0.000,0.024,3288,1122,2217,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6616,0.93,127.9,313.0,8.3,375,6621,0.00,1.88,0.00,0.000,6,0.000,0.021,3288,2432,2216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6930,0.93,127.9,284.0,9.4,391,6936,0.00,1.88,0.00,0.000,4,0.000,0.024,3289,1094,2216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7002,0.93,127.9,278.0,9.4,395,7011,0.00,1.88,0.00,0.000,6,0.000,0.021,3289,2424,2216,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7192,0.93,127.9,259.5,9.3,408,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2424,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7371,0.93,127.9,243.4,8.7,420,7376,0.00,1.95,0.00,0.000,4,0.000,0.035,3289,3807,2215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7453,0.93,127.9,236.0,9.4,425,7458,0.00,1.83,0.00,0.000,6,0.000,0.016,3289,2420,2216,0,0,0,0,0,0,28.83,27.41,28.83
$GC,7648,0.93,127.9,218.9,8.4,438,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2419,2216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,0.93,127.9,202.8,8.8,450,7831,0.00,1.83,0.00,0.000,4,0.000,0.024,3289,1110,2216,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7868,0.93,127.9,199.9,8.7,452,7878,0.00,1.88,0.00,0.000,6,0.000,0.021,3289,2424,2215,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8057,0.93,127.9,183.8,8.1,465,8061,0.00,1.83,0.00,0.000,4,0.000,0.024,3289,1120,2216,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8139,0.93,127.9,177.3,7.9,470,8144,0.00,1.85,0.00,0.000,6,0.000,0.021,3289,2430,2215,0,0,0,0,0,0,28.83,27.37,28.83
$GC,8329,0.93,127.9,162.9,7.2,492,8338,0.00,2.00,0.00,0.000,4,0.000,0.034,3289,3804,2216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,8380,0.93,127.9,158.6,8.3,500,8389,0.00,1.80,0.00,0.000,6,0.000,0.017,3289,2418,2216,0,0,0,0,0,0,28.83,27.41,28.83
$GC,8454,0.93,127.9,153.4,7.1,509,8462,0.00,1.85,0.00,0.000,4,0.000,0.024,3289,1106,2216,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8546,0.96,148.5,147.2,6.1,524,8571,0.00,1.88,14.52,0.933,6,0.000,0.021,3290,2432,2135,0,0,0,0,0,0,28.83,27.37,26.26
$GC,8636,0.96,148.5,140.7,7.6,535,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2432,2136,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,10469,end climb,SURFACE_DEPTH_REACHED
$STATE,10469,begin surface coast
$FINISH,0.2,1.023215
$STATE,10486,end surface coast,CONTROL_FINISHED_OK
$STATE,10487,begin surface
$SM_CCo,10501,23.05,0.117,0,0,1205,375.06
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$IRIDIUM_FIX,2641.48,-6946.99,150814,010131
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.00
$INTERNAL_PRESSURE,9.19109
$TCM_TEMP,24.20
$XPDR_PINGS,18
$24V_AH,25.3,9.939
$10V_AH,10.6,8.508
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.750,142.075,255.400,23.050,0.000,0.000,0.000,0.000,4.500,0.000,10.124,2015.517,5160.107,458.771,2873.028,84.759,33.242,1520.953,0.000,2863.404,0.000,0.554,0.000
$DEVICE_MAMPS,198.135,41.310,1086.300,117.045,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.962,2116.427,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334292
$DATA_FILE_SIZE,43560,792
$CAP_FILE_SIZE,150810,0
$CFSIZE,1024393216,1017921536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150814,043934,2649.208,-7007.213,29,1.1,29,-12.1