version: 66.10
glider: 200
mission: 4
dive: 47
start: 8 15 114 20 3 1
data:
$ID,200
$MISSION,4
$DIVE,47
$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,500
$T_MISSION,530
$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,-1239.2104
$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,2425
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,157
$R_STBD_OVSHOOT,48
$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
$GPS1,150814,195607,2640.460,-7009.268,17,0.9,17,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.8
$GPS2,150814,200205,2640.422,-7009.233,19,0.9,19,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.029,-0.172
$KALMAN_X,6971.3,-614.0,-403.4,-11752.8,5900.7
$KALMAN_Y,-72181.8,928.3,566.0,-75872.4,-8840.3
$MHEAD_RNG_PITCHd_Wd,201.8,20537,-14.4,-6.600
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.87,-116.8,0.0,0.0,0,80,0.00,0.00,-63.05,0.000,2,0.000,0.000,188,2639,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.87,-116.8,3.3,-5.2,8,108,8.75,1.77,-6.00,0.000,4,0.197,0.053,2674,3845,3215,0,0,0,0,0,0,26.88,27.09,27.37
$GC,127,-0.87,-116.8,17.0,-27.6,14,135,0.00,1.55,0.00,0.000,6,0.000,0.016,2674,2606,3214,0,0,0,0,0,0,28.83,27.21,28.83
$GC,201,-0.87,-116.8,33.9,-21.6,23,210,0.00,1.77,0.00,0.000,4,0.000,0.019,2674,1316,3214,0,0,0,0,0,0,28.83,27.17,28.83
$GC,241,-0.87,-116.8,42.2,-19.9,29,249,0.00,1.95,0.00,0.000,6,0.000,0.024,2666,2668,3215,0,0,0,0,0,0,28.83,27.15,28.83
$GC,314,-0.87,-116.8,55.8,-19.2,38,323,0.00,1.70,0.00,0.000,4,0.000,0.037,2658,3830,3214,0,0,0,0,0,0,28.83,27.16,28.83
$GC,382,-0.87,-116.8,68.3,-17.9,49,392,0.08,1.50,0.00,0.000,6,0.127,0.016,2685,2621,3215,0,0,0,0,0,0,27.06,27.28,28.83
$GC,456,-0.87,-116.8,79.7,-13.8,58,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2621,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,529,-0.87,-116.8,89.8,-14.1,67,537,0.00,1.77,0.00,0.000,4,0.000,0.037,2678,3829,3215,0,0,0,0,0,0,28.83,27.20,28.83
$GC,568,-0.87,-116.8,95.2,-13.9,73,577,0.00,1.45,0.00,0.000,6,0.000,0.017,2678,2649,3215,0,0,0,0,0,0,28.83,27.31,28.83
$GC,641,-0.87,-116.8,104.8,-13.3,82,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2649,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,714,-0.87,-116.8,113.8,-11.9,91,722,0.00,1.77,0.00,0.000,4,0.000,0.019,2678,1353,3215,0,0,0,0,0,0,28.83,27.28,28.83
$GC,840,-0.87,-116.8,129.4,-12.9,112,848,0.00,1.88,0.00,0.000,6,0.000,0.024,2670,2666,3215,0,0,0,0,0,0,28.83,27.27,28.83
$GC,913,-0.87,-116.8,139.0,-12.7,121,922,0.00,1.80,0.00,0.000,4,0.000,0.018,2670,1358,3215,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1022,-0.87,-116.8,152.0,-11.4,139,1030,0.00,1.85,0.00,0.000,6,0.000,0.024,2667,2657,3215,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1095,-0.87,-116.8,160.3,-11.1,148,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2657,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1167,-0.87,-116.8,168.8,-11.7,157,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2657,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1239,-0.87,-116.8,177.0,-11.2,165,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2657,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1419,-0.87,-116.8,198.6,-12.3,177,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2657,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-0.87,-116.8,221.2,-12.5,189,1602,0.00,1.75,0.00,0.000,4,0.000,0.018,2667,1367,3213,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1698,-0.87,-116.8,233.3,-12.3,195,1704,0.12,1.83,0.00,0.000,6,0.150,0.024,2695,2666,3213,0,0,0,0,0,0,27.18,27.33,28.83
$GC,1894,-0.87,-116.8,253.6,-10.0,208,1897,0.00,1.75,0.00,0.000,4,0.000,0.018,2695,1375,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1960,-0.87,-116.8,260.3,-10.0,212,1965,0.00,1.83,0.00,0.000,6,0.000,0.024,2690,2663,3211,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2155,-0.87,-116.8,279.5,-9.8,225,2156,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2663,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,-0.87,-116.8,296.5,-9.3,237,2338,0.00,1.75,0.00,0.000,4,0.000,0.019,2690,1374,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2407,-0.87,-116.8,302.6,-9.4,241,2411,0.00,1.85,0.00,0.000,6,0.000,0.024,2689,2654,3209,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2729,-0.87,-116.8,332.4,-9.1,252,2732,0.00,1.75,0.00,0.000,4,0.000,0.019,2689,1370,3207,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2857,-0.87,-116.8,343.7,-9.5,256,2861,0.00,1.88,0.00,0.000,6,0.000,0.024,2689,2657,3206,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3179,-0.87,-116.8,377.3,-10.4,267,3182,0.00,1.75,0.00,0.000,4,0.000,0.019,2689,1371,3204,0,0,0,0,0,0,28.83,27.37,28.83
$GC,3287,-0.87,-116.8,387.0,-10.7,270,3291,0.00,1.88,0.00,0.000,6,0.000,0.024,2685,2660,3204,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3599,-0.87,-116.8,422.0,-10.6,281,3602,0.00,1.77,0.00,0.000,4,0.000,0.019,2685,1376,3203,0,0,0,0,0,0,28.83,27.38,28.83
$GC,3682,-0.87,-116.8,428.5,-10.7,283,3689,0.00,1.88,0.00,0.000,6,0.000,0.024,2685,2658,3203,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3989,-0.87,-116.8,462.4,-9.8,294,3992,0.00,1.75,0.00,0.000,4,0.000,0.019,2685,1373,3201,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4092,-0.87,-116.8,470.9,-9.5,297,4096,0.00,1.88,0.00,0.000,6,0.000,0.024,2677,2667,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4409,-0.87,-116.8,502.1,-9.5,308,4412,0.00,1.77,0.00,0.000,4,0.000,0.020,2677,1373,3200,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4472,-0.87,-116.8,508.0,-9.7,310,4476,0.00,1.88,0.00,0.000,6,0.000,0.024,2671,2658,3200,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4799,-0.87,-116.8,541.9,-10.3,321,4802,0.00,1.80,0.00,0.000,4,0.000,0.020,2670,1340,3198,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4897,-0.87,-116.8,551.3,-10.2,324,4902,0.00,1.90,0.00,0.000,6,0.000,0.024,2666,2661,3198,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5219,-0.87,-116.8,583.9,-10.1,335,5222,0.00,1.77,0.00,0.000,4,0.000,0.020,2666,1370,3196,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5287,-0.87,-116.8,590.2,-10.3,337,5291,0.00,1.90,0.00,0.000,6,0.000,0.024,2661,2667,3196,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5609,-0.87,-116.8,624.0,-10.1,348,5613,0.12,1.77,0.00,0.000,4,0.155,0.018,2702,1359,3195,0,0,0,0,0,0,27.24,27.38,28.83
$GC,5698,-0.87,-116.8,631.8,-9.4,351,5702,0.00,1.88,0.00,0.000,6,0.000,0.025,2702,2660,3195,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6025,-0.87,-116.8,660.5,-8.7,362,6028,0.00,1.77,0.00,0.000,4,0.000,0.020,2702,1354,3194,0,0,0,0,0,0,28.83,27.38,28.83
$GC,6115,-0.87,-116.8,668.5,-8.7,365,6118,0.00,1.88,0.00,0.000,6,0.000,0.025,2701,2667,3194,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6440,-0.87,-116.8,695.4,-8.2,376,6443,0.00,1.77,0.00,0.000,4,0.000,0.020,2701,1376,3192,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6623,-0.87,-116.8,710.7,-8.5,382,6627,0.00,1.88,0.00,0.000,6,0.000,0.025,2699,2655,3192,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6950,-0.87,-116.8,737.5,-8.2,393,6953,0.00,1.80,0.00,0.000,4,0.000,0.021,2700,1342,3190,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7070,-0.87,-116.8,747.4,-8.2,397,7074,0.00,1.88,0.00,0.000,6,0.000,0.026,2699,2674,3189,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7395,-0.87,-116.8,775.5,-9.2,408,7398,0.00,1.80,0.00,0.000,4,0.000,0.020,2699,1389,3188,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7468,-0.87,-116.8,781.5,-9.6,410,7473,0.00,1.90,0.00,0.000,6,0.000,0.026,2699,2667,3187,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7785,-0.87,-116.8,811.4,-8.6,421,7789,0.00,1.77,0.00,0.000,4,0.000,0.021,2699,1381,3186,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7888,-0.87,-116.8,818.5,-8.0,424,7892,0.00,1.90,0.00,0.000,6,0.000,0.026,2698,2669,3186,0,0,0,0,0,0,28.83,27.33,28.83
$GC,8205,-0.87,-116.8,843.1,-7.6,435,8209,0.00,1.77,0.00,0.000,4,0.000,0.021,2699,1383,3184,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8295,-0.87,-116.8,850.3,-7.8,438,8299,0.00,1.83,0.00,0.000,6,0.000,0.027,2698,2662,3184,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8620,-0.87,-116.8,876.8,-8.4,449,8624,0.00,1.77,0.00,0.000,4,0.000,0.021,2698,1381,3182,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8710,-0.87,-116.8,884.6,-8.4,452,8714,0.00,1.85,0.00,0.000,6,0.000,0.027,2699,2673,3182,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9035,-0.87,-116.8,911.2,-8.0,463,9039,0.00,1.80,0.00,0.000,4,0.000,0.021,2699,1385,3180,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9108,-0.87,-116.8,915.8,-7.8,465,9113,0.00,1.88,0.00,0.000,6,0.000,0.026,2699,2654,3180,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9425,-0.87,-116.8,939.8,-7.2,476,9429,0.00,1.77,0.00,0.000,4,0.000,0.021,2698,1376,3178,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9485,-0.87,-116.8,944.0,-7.1,478,9489,0.00,1.88,0.00,0.000,6,0.000,0.027,2699,2668,3178,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9810,-0.87,-116.8,966.7,-6.9,489,9814,0.00,1.80,0.00,0.000,4,0.000,0.022,2699,1366,3177,0,0,0,0,0,0,28.83,27.35,28.83
$GC,9933,-0.87,-116.8,975.4,-7.3,493,9938,0.00,1.88,0.00,0.000,6,0.000,0.027,2699,2652,3177,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,10169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10169,begin apogee
$GC,10173,-0.25,0.0,991.8,-6.7,501,10262,0.52,0.00,82.32,1.314,6,0.099,0.000,2887,2491,2734,0,0,0,0,0,0,27.19,28.83,24.96
$STATE,10263,end apogee,CONTROL_FINISHED_OK
$STATE,10263,begin climb
$GC,10264,0.87,116.8,993.4,0.0,504,10364,1.00,2.12,91.82,1.263,4,0.059,0.037,3254,3811,2256,0,0,0,0,0,0,25.78,25.49,24.77
$GC,10411,0.87,116.8,985.5,6.8,509,10415,0.00,1.83,0.00,0.000,6,0.000,0.018,3254,2493,2254,0,0,0,0,0,0,28.83,26.13,28.83
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$STATE,23566,end climb,SURFACE_DEPTH_REACHED
$STATE,23566,begin surface coast
$FINISH,0.2,1.023244
$STATE,23591,end surface coast,CONTROL_FINISHED_OK
$STATE,23591,begin surface
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$XPDR_PINGS,33
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$10V_AH,10.5,9.142
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,70123,1266
$CAP_FILE_SIZE,241719,0
$CFSIZE,1024393216,1017413632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160814,023804,2636.385,-7008.574,34,1.1,35,-12.1