version: 66.10
glider: 200
mission: 4
dive: 50
start: 8 16 114 14 15 36
data:
$ID,200
$MISSION,4
$DIVE,50
$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,-1242.9757
$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,30
$C_ROLL_DIVE,2660
$C_ROLL_CLIMB,2425
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,152
$R_STBD_OVSHOOT,61
$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
$GPS1,160814,140634,2629.067,-7007.004,33,1.0,33,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-66.7
$GPS2,160814,141440,2629.035,-7006.979,3,1.1,3,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.137,-0.108
$KALMAN_X,10965.6,-392.9,-369.9,-12321.5,4669.2
$KALMAN_Y,-76946.0,554.6,429.2,-91677.4,-5888.1
$MHEAD_RNG_PITCHd_Wd,244.0,53873,-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,14,-0.87,-116.8,0.0,0.0,0,82,0.00,0.00,-64.70,0.000,2,0.000,0.000,160,2661,3003,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.87,-116.8,4.1,-7.2,6,105,8.88,1.35,-4.07,0.000,4,0.197,0.038,2689,1662,3214,0,0,0,0,0,0,26.79,27.08,27.29
$GC,360,-0.87,-116.8,62.8,-15.3,30,370,0.00,1.45,0.00,0.000,6,0.000,0.025,2684,2668,3214,0,0,0,0,0,0,28.83,27.15,28.83
$GC,431,-0.87,-116.8,73.1,-14.6,37,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2668,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,499,-0.87,-116.8,82.8,-13.8,44,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2668,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,559,-0.87,-116.8,91.3,-14.4,50,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2668,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,619,-0.87,-116.8,99.5,-13.7,56,623,0.00,1.35,0.00,0.000,4,0.000,0.018,2684,1671,3215,0,0,0,0,0,0,28.83,27.22,28.83
$GC,699,-0.87,-116.8,110.3,-13.7,63,703,0.00,1.40,0.00,0.000,6,0.000,0.026,2677,2659,3215,0,0,0,0,0,0,28.83,27.22,28.83
$GC,771,-0.87,-116.8,119.9,-13.3,70,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2659,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-0.87,-116.8,128.0,-13.3,76,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2658,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-0.87,-116.8,136.0,-13.2,82,894,0.00,1.35,0.00,0.000,4,0.000,0.018,2677,1660,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,972,-0.87,-116.8,146.4,-12.9,89,982,0.00,1.45,0.00,0.000,6,0.000,0.025,2670,2667,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1043,-0.87,-116.8,155.9,-13.2,96,1047,0.00,1.50,0.00,0.000,4,0.000,0.037,2662,3732,3216,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1089,-0.87,-116.8,162.6,-14.2,100,1092,0.00,1.38,0.00,0.000,6,0.000,0.017,2662,2619,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1161,-0.87,-116.8,172.4,-13.4,107,1164,0.00,1.23,0.00,0.000,4,0.000,0.018,2662,1693,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1244,-0.87,-116.8,181.3,-13.6,111,1249,0.08,1.38,0.00,0.000,6,0.124,0.026,2686,2662,3216,0,0,0,0,0,0,27.12,27.28,28.83
$GC,1438,-0.87,-116.8,206.1,-11.2,118,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2662,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-0.87,-116.8,224.9,-10.5,124,1621,0.00,1.30,0.00,0.000,4,0.000,0.018,2686,1698,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1776,-0.87,-116.8,241.4,-10.4,129,1779,0.00,1.35,0.00,0.000,6,0.000,0.027,2682,2656,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1988,-0.87,-116.8,263.4,-10.4,136,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2656,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-0.87,-116.8,282.5,-10.6,142,2171,0.00,1.27,0.00,0.000,4,0.000,0.018,2682,1710,3214,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2280,-0.87,-116.8,292.6,-10.7,145,2284,0.00,1.35,0.00,0.000,6,0.000,0.027,2676,2664,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2472,-0.87,-116.8,316.3,-11.2,150,2475,0.00,1.30,0.00,0.000,4,0.000,0.018,2675,1701,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2546,-0.87,-116.8,323.1,-11.3,151,2550,0.00,1.35,0.00,0.000,6,0.000,0.028,2669,2658,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2892,-0.87,-116.8,364.9,-11.6,157,2896,0.00,1.30,0.00,0.000,4,0.000,0.018,2669,1695,3211,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3035,-0.87,-116.8,378.7,-11.7,159,3039,0.00,1.38,0.00,0.000,6,0.000,0.027,2664,2662,3211,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3372,-0.87,-116.8,419.6,-11.2,165,3375,0.00,1.30,0.00,0.000,4,0.000,0.018,2663,1699,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3492,-0.87,-116.8,431.9,-10.7,167,3496,0.08,1.35,0.00,0.000,6,0.121,0.028,2688,2655,3209,0,0,0,0,0,0,27.20,27.34,28.83
$GC,3852,-0.87,-116.8,465.1,-9.2,173,3856,0.00,1.27,0.00,0.000,4,0.000,0.018,2688,1710,3208,0,0,0,0,0,0,28.83,27.38,28.83
$GC,3996,-0.87,-116.8,476.4,-9.4,175,4000,0.00,1.35,0.00,0.000,6,0.000,0.027,2685,2660,3208,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4332,-0.87,-116.8,511.2,-9.7,181,4336,0.00,1.30,0.00,0.000,4,0.000,0.019,2684,1700,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4505,-0.87,-116.8,523.3,-9.9,183,4513,0.00,1.38,0.00,0.000,6,0.000,0.027,2678,2666,3206,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4812,-0.87,-116.8,559.1,-10.0,189,4816,0.00,1.30,0.00,0.000,4,0.000,0.019,2677,1706,3205,0,0,0,0,0,0,28.83,27.39,28.83
$GC,4980,-0.87,-116.8,571.3,-10.1,191,4985,0.00,1.38,0.00,0.000,6,0.000,0.027,2673,2668,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5292,-0.87,-116.8,606.7,-9.8,197,5296,0.00,1.30,0.00,0.000,4,0.000,0.019,2673,1707,3204,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5400,-0.87,-116.8,612.4,-9.6,198,5405,0.00,1.35,0.00,0.000,6,0.000,0.028,2668,2659,3203,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5712,-0.87,-116.8,648.5,-10.1,204,5716,0.00,1.30,0.00,0.000,4,0.000,0.019,2668,1701,3202,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5776,-0.87,-116.8,654.7,-10.3,205,5780,0.00,1.35,0.00,0.000,6,0.000,0.028,2663,2652,3202,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6132,-0.87,-116.8,692.0,-10.3,211,6136,0.00,1.27,0.00,0.000,4,0.000,0.019,2663,1712,3200,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6252,-0.87,-116.8,703.0,-9.4,213,6256,0.08,1.35,0.00,0.000,6,0.122,0.028,2688,2654,3200,0,0,0,0,0,0,27.20,27.36,28.83
$GC,6613,-0.87,-116.8,732.7,-8.3,219,6616,0.00,1.30,0.00,0.000,4,0.000,0.020,2688,1700,3199,0,0,0,0,0,0,28.83,27.38,28.83
$GC,6686,-0.87,-116.8,738.1,-8.6,220,6690,0.00,1.38,0.00,0.000,6,0.000,0.028,2685,2660,3198,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7033,-0.87,-116.8,773.8,-10.2,226,7036,0.00,1.30,0.00,0.000,4,0.000,0.020,2685,1700,3197,0,0,0,0,0,0,28.83,27.38,28.83
$GC,7161,-0.87,-116.8,785.5,-10.0,228,7165,0.00,1.38,0.00,0.000,6,0.000,0.028,2679,2659,3197,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7513,-0.87,-116.8,818.0,-8.8,234,7516,0.00,1.30,0.00,0.000,4,0.000,0.020,2679,1707,3195,0,0,0,0,0,0,28.83,27.38,28.83
$GC,7671,-0.87,-116.8,828.8,-8.9,236,7675,0.00,1.38,0.00,0.000,6,0.000,0.028,2673,2663,3193,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7993,-0.87,-116.8,860.6,-8.8,242,7996,0.00,1.30,0.00,0.000,4,0.000,0.021,2673,1712,3192,0,0,0,0,0,0,28.83,27.37,28.83
$GC,8076,-0.87,-116.8,865.6,-8.6,243,8080,0.00,1.35,0.00,0.000,6,0.000,0.028,2670,2657,3192,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8413,-0.87,-116.8,895.1,-8.3,249,8416,0.00,1.30,0.00,0.000,4,0.000,0.021,2670,1707,3190,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8546,-0.87,-116.8,905.1,-8.3,251,8550,0.00,1.38,0.00,0.000,6,0.000,0.028,2666,2666,3189,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8893,-0.87,-116.8,935.3,-8.5,257,8896,0.00,1.33,0.00,0.000,4,0.000,0.021,2666,1702,3187,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8941,-0.87,-116.8,935.3,-8.5,257,8945,0.00,1.38,0.00,0.000,6,0.000,0.029,2663,2658,3187,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9253,-0.87,-116.8,966.4,-8.5,263,9256,0.00,1.30,0.00,0.000,4,0.000,0.021,2663,1712,3186,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9433,-0.87,-116.8,982.6,-8.9,266,9437,0.08,1.35,0.00,0.000,6,0.122,0.029,2688,2654,3185,0,0,0,0,0,0,27.18,27.37,28.83
$STATE,9552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9552,begin apogee
$GC,9556,-0.25,0.0,992.8,-8.7,268,9646,0.55,0.00,84.12,1.307,6,0.096,0.000,2886,2472,2734,0,0,0,0,0,0,27.20,28.83,24.94
$STATE,9647,end apogee,CONTROL_FINISHED_OK
$STATE,9647,begin climb
$GC,9648,0.87,116.8,994.9,0.0,269,9745,1.00,0.00,92.30,1.271,6,0.059,0.000,3252,2472,2259,0,0,0,0,0,0,25.77,28.83,24.75
$GC,10034,0.87,116.8,970.3,8.1,276,10037,0.00,1.52,0.00,0.000,4,0.000,0.026,3255,1399,2250,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10162,0.87,116.8,961.0,7.9,278,10166,0.00,1.52,0.00,0.000,6,0.000,0.025,3255,2433,2249,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10514,0.87,116.8,931.5,8.2,284,10517,0.00,1.45,0.00,0.000,4,0.000,0.026,3256,1435,2248,0,0,0,0,0,0,28.83,26.97,28.83
$GC,10574,0.87,116.8,926.6,8.2,285,10577,0.00,1.45,0.00,0.000,6,0.000,0.027,3256,2434,2247,0,0,0,0,0,0,28.83,27.01,28.83
$GC,10934,0.87,116.8,896.6,8.4,291,10937,0.00,1.45,0.00,0.000,4,0.000,0.026,3255,1432,2246,0,0,0,0,0,0,28.83,27.09,28.83
$GC,11062,0.87,116.8,886.7,8.4,293,11066,0.00,1.45,0.00,0.000,6,0.000,0.026,3256,2434,2246,0,0,0,0,0,0,28.83,27.13,28.83
$GC,11414,0.87,116.8,856.6,8.3,299,11417,0.00,1.45,0.00,0.000,4,0.000,0.027,3256,1432,2245,0,0,0,0,0,0,28.83,27.16,28.83
$GC,11527,0.87,116.8,851.6,8.3,300,11534,0.00,1.45,0.00,0.000,6,0.000,0.026,3256,2435,2245,0,0,0,0,0,0,28.83,27.17,28.83
$GC,11834,0.87,116.8,824.5,7.4,306,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2435,2245,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22987,end climb,SURFACE_DEPTH_REACHED
$STATE,22987,begin surface coast
$FINISH,1.9,1.023092
$STATE,22990,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.5,9.563
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$FG_AHR_10Vo,0.000
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$DATA_FILE_SIZE,40252,712
$CAP_FILE_SIZE,220429,0
$CFSIZE,1024393216,1017151488
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