version: 66.10
glider: 200
mission: 4
dive: 56
start: 8 18 114 4 7 15
data:
$ID,200
$MISSION,4
$DIVE,56
$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,-1250.5131
$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,2430
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,174
$R_STBD_OVSHOOT,100
$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
$GPS1,180814,035134,2609.049,-7009.854,29,1.0,29,-12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.8
$GPS2,180814,040619,2609.065,-7009.711,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.051,-0.167
$KALMAN_X,19575.7,-334.9,-924.6,-24900.0,5814.2
$KALMAN_Y,-84944.9,305.9,546.3,-120530.1,-4340.6
$MHEAD_RNG_PITCHd_Wd,208.9,18529,-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,-116.8,0.0,0.0,0,79,0.00,0.00,-62.35,0.000,2,0.000,0.000,160,2460,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.4,-8.4,4,102,8.85,1.40,-5.53,0.000,4,0.195,0.043,2689,1445,3216,0,0,0,0,0,0,26.68,26.97,27.18
$GC,273,-0.87,-116.8,49.6,-18.9,17,277,0.00,1.35,0.00,0.000,6,0.000,0.024,2684,2402,3217,0,0,0,0,0,0,28.83,27.06,28.83
$GC,348,-0.87,-116.8,62.8,-17.4,22,349,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2402,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,408,-0.87,-116.8,72.4,-16.0,26,412,0.00,1.50,0.00,0.000,4,0.000,0.033,2676,3471,3217,0,0,0,0,0,0,28.83,27.06,28.83
$GC,438,-0.87,-116.8,77.4,-16.2,28,442,0.00,1.27,0.00,0.000,6,0.000,0.017,2676,2418,3217,0,0,0,0,0,0,28.83,27.17,28.83
$GC,513,-0.87,-116.8,89.3,-16.1,33,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2418,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,573,-0.87,-116.8,97.9,-14.3,37,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2417,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,634,-0.87,-116.8,106.0,-13.4,41,637,0.00,1.27,0.00,0.000,4,0.000,0.021,2676,1474,3217,0,0,0,0,0,0,28.83,27.18,28.83
$GC,656,-0.87,-116.8,108.2,-13.5,42,664,0.00,1.35,0.00,0.000,6,0.000,0.024,2670,2434,3217,0,0,0,0,0,0,28.83,27.17,28.83
$GC,723,-0.87,-116.8,117.7,-12.9,47,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2435,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-0.87,-116.8,125.1,-12.3,51,787,0.00,1.48,0.00,0.000,4,0.000,0.034,2662,3461,3217,0,0,0,0,0,0,28.83,27.17,28.83
$GC,831,-0.87,-116.8,131.4,-13.6,54,836,0.00,1.25,0.00,0.000,6,0.000,0.016,2662,2428,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,903,-0.87,-116.8,141.4,-13.4,59,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-0.87,-116.8,149.5,-13.5,63,965,0.10,0.00,0.00,0.000,6,0.158,0.000,2689,2428,3217,0,0,0,0,0,0,27.12,28.83,28.83
$GC,1023,-0.87,-116.8,156.5,-11.7,67,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-0.87,-116.8,163.4,-11.6,71,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.87,-116.8,170.2,-11.4,75,1147,0.00,1.50,0.00,0.000,4,0.000,0.034,2683,3496,3217,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1241,-0.87,-116.8,180.9,-11.8,80,1246,0.00,1.30,0.00,0.000,6,0.000,0.016,2683,2442,3218,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1443,-0.87,-116.8,203.1,-9.8,87,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2442,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1623,-0.87,-116.8,221.4,-10.3,93,1627,0.00,1.33,0.00,0.000,4,0.000,0.021,2683,1458,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1671,-0.87,-116.8,224.6,-10.4,94,1676,0.00,1.38,0.00,0.000,6,0.000,0.024,2678,2439,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1863,-0.87,-116.8,247.0,-10.8,101,1867,0.00,1.33,0.00,0.000,4,0.000,0.021,2678,1461,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1906,-0.87,-116.8,250.3,-11.0,102,1911,0.00,1.35,0.00,0.000,6,0.000,0.024,2671,2427,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2103,-0.87,-116.8,274.7,-11.6,109,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2427,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.87,-116.8,295.9,-11.7,115,2287,0.00,1.50,0.00,0.000,4,0.000,0.034,2664,3502,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2336,-0.87,-116.8,299.5,-11.7,116,2344,0.00,1.33,0.00,0.000,6,0.000,0.017,2663,2424,3213,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2523,-0.87,-116.8,323.1,-11.2,120,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2424,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2823,-0.87,-116.8,355.5,-10.7,125,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2424,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-0.87,-116.8,388.0,-10.9,130,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2424,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-0.87,-116.8,421.7,-11.2,135,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2424,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3723,-0.87,-116.8,455.6,-11.3,140,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2424,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4023,-0.87,-116.8,488.6,-11.0,145,4027,0.00,1.30,0.00,0.000,4,0.000,0.021,2664,1464,3205,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4083,-0.87,-116.8,495.0,-11.0,146,4087,0.00,1.35,0.00,0.000,6,0.000,0.025,2660,2428,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4444,-0.87,-116.8,531.9,-10.1,152,4446,0.12,0.00,0.00,0.000,6,0.151,0.000,2696,2428,3203,0,0,0,0,0,0,27.23,28.83,28.83
$GC,4743,-0.87,-116.8,558.1,-8.7,157,4747,0.00,1.50,0.00,0.000,4,0.000,0.035,2692,3499,3203,0,0,0,0,0,0,28.83,27.32,28.83
$GC,4773,-0.87,-116.8,558.1,-8.7,157,4776,0.00,1.33,0.00,0.000,6,0.000,0.018,2693,2437,3203,0,0,0,0,0,0,28.83,27.41,28.83
$GC,5103,-0.87,-116.8,591.3,-9.3,163,5107,0.00,1.35,0.00,0.000,4,0.000,0.021,2693,1445,3202,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5141,-0.87,-116.8,591.3,-9.3,163,5146,0.00,1.40,0.00,0.000,6,0.000,0.025,2691,2429,3201,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5463,-0.87,-116.8,625.7,-9.5,169,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2430,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5763,-0.87,-116.8,652.6,-8.9,174,5767,0.00,1.50,0.00,0.000,4,0.000,0.035,2684,3498,3199,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5806,-0.87,-116.8,652.6,-8.9,174,5811,0.00,1.35,0.00,0.000,6,0.000,0.018,2684,2428,3199,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6124,-0.87,-116.8,684.5,-8.8,180,6127,0.00,1.35,0.00,0.000,4,0.000,0.022,2684,1439,3198,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6186,-0.87,-116.8,690.1,-8.8,181,6191,0.00,1.40,0.00,0.000,6,0.000,0.025,2681,2427,3197,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6543,-0.87,-116.8,721.8,-8.7,187,6547,0.00,1.35,0.00,0.000,4,0.000,0.021,2681,1444,3196,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6606,-0.87,-116.8,727.0,-8.6,188,6611,0.00,1.40,0.00,0.000,6,0.000,0.025,2679,2432,3195,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6963,-0.87,-116.8,759.0,-8.9,194,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2433,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7263,-0.87,-116.8,786.0,-9.1,199,7267,0.00,1.35,0.00,0.000,4,0.000,0.022,2679,1449,3193,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7311,-0.87,-116.8,786.0,-9.1,199,7316,0.00,1.40,0.00,0.000,6,0.000,0.025,2672,2440,3193,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7623,-0.87,-116.8,818.4,-9.0,205,7627,0.00,1.38,0.00,0.000,4,0.000,0.023,2673,1444,3191,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7706,-0.87,-116.8,823.8,-9.0,206,7711,0.00,1.40,0.00,0.000,6,0.000,0.026,2670,2427,3191,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8043,-0.87,-116.8,855.1,-8.7,212,8047,0.00,1.35,0.00,0.000,4,0.000,0.023,2669,1450,3188,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8086,-0.87,-116.8,855.1,-8.7,212,8091,0.00,1.40,0.00,0.000,6,0.000,0.026,2668,2430,3188,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8403,-0.87,-116.8,888.8,-9.5,218,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2430,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8704,-0.87,-116.8,916.6,-9.2,223,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2430,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9003,-0.87,-116.8,944.2,-9.2,228,9007,0.00,1.35,0.00,0.000,4,0.000,0.023,2668,1449,3184,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9076,-0.87,-116.8,949.8,-9.1,229,9081,0.00,1.40,0.00,0.000,6,0.000,0.027,2665,2425,3184,0,0,0,0,0,0,28.83,27.35,28.83
$GC,9423,-0.87,-116.8,982.2,-9.0,235,9427,0.00,1.35,0.00,0.000,4,0.000,0.024,2665,1454,3183,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9462,-0.87,-116.8,982.2,-9.0,235,9466,0.08,1.40,0.00,0.000,6,0.120,0.027,2689,2429,3182,0,0,0,0,0,0,27.17,27.34,28.83
$STATE,9542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9542,begin apogee
$GC,9546,-0.25,0.0,992.3,-8.7,237,9633,0.55,0.00,83.28,1.291,6,0.097,0.000,2887,2429,2736,0,0,0,0,0,0,27.18,28.83,24.98
$STATE,9634,end apogee,CONTROL_FINISHED_OK
$STATE,9634,begin climb
$GC,9635,0.87,116.8,994.0,0.0,238,9732,1.00,0.00,92.60,1.252,6,0.059,0.000,3254,2429,2259,0,0,0,0,0,0,25.76,28.83,24.78
$GC,10019,0.87,116.8,967.4,8.3,245,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2429,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10318,0.87,116.8,943.0,8.2,250,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2429,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10618,0.87,116.8,917.9,8.3,255,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2429,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10918,0.87,116.8,892.0,8.7,260,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2429,2247,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23079,end climb,SURFACE_DEPTH_REACHED
$STATE,23079,begin surface coast
$FINISH,0.6,1.023093
$STATE,23095,end surface coast,CONTROL_FINISHED_OK
$STATE,23095,begin surface
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$HUMID,44.52
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,25.10
$XPDR_PINGS,25
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$10V_AH,10.5,10.010
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334176
$DATA_FILE_SIZE,33673,615
$CAP_FILE_SIZE,201728,0
$CFSIZE,1024393216,1016627200
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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