version: 66.10
glider: 200
mission: 4
dive: 57
start: 8 18 114 10 43 44
data:
$ID,200
$MISSION,4
$DIVE,57
$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,-1251.7698
$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,157
$R_STBD_OVSHOOT,80
$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
$GPS1,180814,103404,2605.352,-7009.352,39,0.9,39,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.1
$GPS2,180814,104248,2605.311,-7009.284,3,0.9,3,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.074,-0.158
$KALMAN_X,20758.2,-16.8,-329.5,-26299.1,4000.6
$KALMAN_Y,-86350.8,-105.6,512.9,-125626.1,-3995.1
$MHEAD_RNG_PITCHd_Wd,166.9,12149,-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,-116.8,0.0,0.0,0,80,0.00,0.00,-62.72,0.000,2,0.000,0.000,157,2437,2969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.7,-9.4,4,101,8.82,1.40,-4.70,0.000,4,0.195,0.042,2689,1429,3215,0,0,0,0,0,0,26.74,27.03,27.24
$GC,206,-0.87,-116.8,36.6,-22.7,12,214,0.00,1.40,0.00,0.000,6,0.000,0.024,2683,2420,3215,0,0,0,0,0,0,28.83,27.08,28.83
$GC,273,-0.87,-116.8,52.8,-21.8,17,277,0.00,1.52,0.00,0.000,4,0.000,0.034,2675,3473,3215,0,0,0,0,0,0,28.83,27.05,28.83
$GC,296,-0.87,-116.8,56.2,-21.5,18,304,0.00,1.33,0.00,0.000,6,0.000,0.016,2675,2391,3215,0,0,0,0,0,0,28.83,27.15,28.83
$GC,363,-0.87,-116.8,69.3,-17.2,23,367,0.00,1.23,0.00,0.000,4,0.000,0.020,2676,1480,3215,0,0,0,0,0,0,28.83,27.13,28.83
$GC,408,-0.87,-116.8,77.0,-17.1,26,411,0.00,1.35,0.00,0.000,6,0.000,0.024,2669,2437,3215,0,0,0,0,0,0,28.83,27.13,28.83
$GC,483,-0.87,-116.8,89.5,-17.0,31,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2438,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,543,-0.87,-116.8,98.8,-15.5,35,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2438,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,603,-0.87,-116.8,107.6,-14.7,39,607,0.00,1.50,0.00,0.000,4,0.000,0.034,2661,3506,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,686,-0.87,-116.8,118.2,-14.0,44,694,0.00,1.33,0.00,0.000,6,0.000,0.016,2661,2417,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,753,-0.87,-116.8,128.7,-14.1,49,755,0.12,0.00,0.00,0.000,6,0.145,0.000,2697,2416,3216,0,0,0,0,0,0,27.08,28.83,28.83
$GC,813,-0.87,-116.8,136.3,-12.6,53,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,873,-0.87,-116.8,143.4,-11.8,57,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,933,-0.87,-116.8,150.0,-11.1,61,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.87,-116.8,156.9,-11.4,65,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1053,-0.87,-116.8,163.8,-11.6,69,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1113,-0.87,-116.8,170.9,-11.9,73,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2416,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1188,-0.87,-116.8,179.7,-11.7,77,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1368,-0.87,-116.8,198.9,-10.7,83,1372,0.00,1.27,0.00,0.000,4,0.000,0.021,2696,1471,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1481,-0.87,-116.8,207.4,-9.5,86,1489,0.00,1.35,0.00,0.000,6,0.000,0.024,2694,2431,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1668,-0.87,-116.8,226.8,-9.3,93,1672,0.00,1.50,0.00,0.000,4,0.000,0.034,2686,3505,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1761,-0.87,-116.8,235.8,-9.9,96,1766,0.00,1.30,0.00,0.000,6,0.000,0.016,2686,2437,3216,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1968,-0.87,-116.8,258.2,-10.6,103,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2437,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2148,-0.87,-116.8,277.5,-10.6,109,2152,0.00,1.50,0.00,0.000,4,0.000,0.035,2681,3504,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2211,-0.87,-116.8,284.2,-11.0,111,2216,0.00,1.33,0.00,0.000,6,0.000,0.016,2681,2427,3214,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2418,-0.87,-116.8,307.3,-11.0,117,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2426,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2718,-0.87,-116.8,340.2,-10.9,122,2722,0.00,1.30,0.00,0.000,4,0.000,0.021,2681,1466,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2771,-0.87,-116.8,340.2,-10.9,122,2779,0.00,1.35,0.00,0.000,6,0.000,0.024,2678,2424,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3078,-0.87,-116.8,379.0,-10.7,128,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2424,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3378,-0.87,-116.8,409.9,-10.2,133,3382,0.00,1.30,0.00,0.000,4,0.000,0.021,2678,1469,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3427,-0.87,-116.8,409.9,-10.2,133,3431,0.00,1.38,0.00,0.000,6,0.000,0.024,2674,2438,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3738,-0.87,-116.8,447.8,-10.5,139,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2437,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4038,-0.87,-116.8,478.9,-10.4,144,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2438,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4339,-0.87,-116.8,509.1,-10.0,149,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2438,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4638,-0.87,-116.8,538.8,-9.9,154,4642,0.00,1.33,0.00,0.000,4,0.000,0.021,2675,1470,3204,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4698,-0.87,-116.8,544.9,-9.9,155,4702,0.00,1.38,0.00,0.000,6,0.000,0.025,2671,2438,3204,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5058,-0.87,-116.8,581.4,-10.2,161,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2438,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.87,-116.8,610.9,-9.8,166,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2438,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5658,-0.87,-116.8,640.3,-9.9,171,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2438,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5958,-0.87,-116.8,670.3,-10.0,176,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2438,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6258,-0.87,-116.8,698.9,-9.4,181,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2438,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6559,-0.87,-116.8,727.5,-9.5,186,6562,0.00,1.50,0.00,0.000,4,0.000,0.035,2665,3501,3198,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6586,-0.87,-116.8,727.5,-9.5,186,6591,0.00,1.33,0.00,0.000,6,0.000,0.018,2664,2454,3198,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6918,-0.87,-116.8,762.3,-9.5,192,6922,0.00,1.38,0.00,0.000,4,0.000,0.022,2665,1452,3196,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6956,-0.87,-116.8,762.3,-9.5,192,6961,0.00,1.40,0.00,0.000,6,0.000,0.025,2664,2433,3196,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7279,-0.87,-116.8,796.1,-9.4,198,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2433,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7578,-0.87,-116.8,823.8,-9.2,203,7582,0.00,1.50,0.00,0.000,4,0.000,0.036,2657,3497,3194,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7663,-0.87,-116.8,830.1,-9.5,204,7667,0.08,1.35,0.00,0.000,6,0.115,0.019,2687,2442,3193,0,0,0,0,0,0,27.21,27.41,28.83
$GC,7999,-0.87,-116.8,864.3,-9.3,210,8002,0.00,1.40,0.00,0.000,4,0.000,0.023,2686,1429,3192,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8087,-0.87,-116.8,869.7,-9.1,211,8091,0.00,1.42,0.00,0.000,6,0.000,0.025,2683,2433,3191,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8419,-0.87,-116.8,899.0,-8.0,217,8422,0.00,1.50,0.00,0.000,4,0.000,0.035,2675,3496,3189,0,0,0,0,0,0,28.83,27.31,28.83
$GC,8452,-0.87,-116.8,899.0,-8.0,217,8456,0.00,1.38,0.00,0.000,6,0.000,0.019,2676,2431,3189,0,0,0,0,0,0,28.83,27.40,28.83
$GC,8779,-0.87,-116.8,928.4,-8.2,223,8782,0.00,1.50,0.00,0.000,4,0.000,0.035,2668,3488,3187,0,0,0,0,0,0,28.83,27.31,28.83
$GC,8817,-0.87,-116.8,928.4,-8.2,223,8821,0.00,1.38,0.00,0.000,6,0.000,0.019,2668,2426,3187,0,0,0,0,0,0,28.83,27.40,28.83
$GC,9139,-0.87,-116.8,959.1,-8.4,229,9142,0.00,1.38,0.00,0.000,4,0.000,0.024,2668,1436,3185,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9182,-0.87,-116.8,959.1,-8.4,229,9186,0.00,1.42,0.00,0.000,6,0.000,0.026,2667,2433,3185,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9499,-0.87,-116.8,989.6,-8.4,235,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2434,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9558,begin apogee
$GC,9561,-0.25,0.0,994.4,-8.4,236,9649,0.62,0.00,83.82,1.303,6,0.100,0.000,2888,2433,2736,0,0,0,0,0,0,27.17,28.83,24.96
$STATE,9650,end apogee,CONTROL_FINISHED_OK
$STATE,9650,begin climb
$GC,9651,0.87,116.8,995.8,0.0,237,9747,1.00,0.00,92.68,1.261,6,0.057,0.000,3253,2433,2259,0,0,0,0,0,0,25.76,28.83,24.79
$GC,10034,0.87,116.8,969.3,8.2,244,10037,0.00,1.55,0.00,0.000,4,0.000,0.026,3255,1342,2251,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10107,0.87,116.8,964.6,8.1,245,10111,0.00,1.45,0.00,0.000,6,0.000,0.024,3255,2335,2250,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10454,0.87,116.8,935.8,8.0,251,10457,0.00,1.45,0.00,0.000,4,0.000,0.027,3255,1338,2249,0,0,0,0,0,0,28.83,26.98,28.83
$GC,10527,0.87,116.8,931.1,7.9,252,10531,0.00,1.42,0.00,0.000,6,0.000,0.024,3255,2327,2249,0,0,0,0,0,0,28.83,27.01,28.83
$GC,10874,0.87,116.8,901.3,8.4,258,10877,0.00,1.50,0.00,0.000,4,0.000,0.035,3255,3380,2247,0,0,0,0,0,0,28.83,27.06,28.83
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$STATE,23176,end climb,SURFACE_DEPTH_REACHED
$STATE,23176,begin surface coast
$FINISH,0.3,1.022844
$STATE,23193,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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$CFSIZE,1024393216,1016545280
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