version: 66.10
glider: 200
mission: 4
dive: 61
start: 8 19 114 11 26 24
data:
$ID,200
$MISSION,4
$DIVE,61
$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,-1256.793
$T_RSLEEP,60
$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,164
$R_STBD_OVSHOOT,79
$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
$GPS1,190814,111704,2601.092,-7008.297,32,0.9,32,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.4
$GPS2,190814,112528,2601.060,-7008.239,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.104,0.140
$KALMAN_X,26982.6,-222.9,83.8,-31010.4,3143.2
$KALMAN_Y,-92913.4,194.4,352.2,-127088.3,-4089.0
$MHEAD_RNG_PITCHd_Wd,335.3,53864,-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,-116.8,0.0,0.0,0,79,0.00,0.00,-62.58,0.000,2,0.000,0.000,158,2436,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.6,-8.8,4,102,8.80,1.52,-5.25,0.000,4,0.194,0.053,2682,3470,3215,0,0,0,0,0,0,26.74,26.99,27.26
$GC,326,-0.87,-116.8,61.0,-17.9,20,334,0.00,1.30,0.00,0.000,6,0.000,0.016,2682,2394,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,393,-0.87,-116.8,73.5,-16.6,25,397,0.00,1.50,0.00,0.000,4,0.000,0.033,2675,3458,3216,0,0,0,0,0,0,28.83,27.10,28.83
$GC,596,-0.87,-116.8,102.9,-14.6,38,604,0.00,1.25,0.00,0.000,6,0.000,0.016,2675,2413,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,663,-0.87,-116.8,113.6,-14.2,43,667,0.00,1.25,0.00,0.000,4,0.000,0.020,2674,1485,3217,0,0,0,0,0,0,28.83,27.22,28.83
$GC,726,-0.87,-116.8,121.7,-13.4,47,731,0.00,1.30,0.00,0.000,6,0.000,0.024,2669,2416,3217,0,0,0,0,0,0,28.83,27.22,28.83
$GC,798,-0.87,-116.8,132.0,-14.0,52,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,858,-0.87,-116.8,140.0,-13.5,56,862,0.00,1.25,0.00,0.000,4,0.000,0.021,2669,1490,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,911,-0.87,-116.8,146.3,-13.7,59,919,0.00,1.33,0.00,0.000,6,0.000,0.024,2664,2432,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,978,-0.87,-116.8,156.4,-13.5,64,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2432,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1038,-0.87,-116.8,164.7,-13.7,68,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2432,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.87,-116.8,172.6,-13.1,72,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2432,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1158,-0.87,-116.8,180.6,-13.3,75,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2432,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1338,-0.87,-116.8,202.6,-12.0,81,1342,0.00,1.48,0.00,0.000,4,0.000,0.034,2657,3459,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1446,-0.87,-116.8,213.7,-12.2,84,1451,0.08,1.23,0.00,0.000,6,0.118,0.016,2686,2431,3216,0,0,0,0,0,0,27.15,27.36,28.83
$GC,1638,-0.87,-116.8,236.9,-10.8,91,1642,0.00,1.27,0.00,0.000,4,0.000,0.021,2686,1486,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1801,-0.87,-116.8,253.6,-11.2,96,1806,0.00,1.33,0.00,0.000,6,0.000,0.024,2682,2433,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1998,-0.87,-116.8,275.8,-10.4,103,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2433,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2178,-0.87,-116.8,294.1,-10.1,109,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2433,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.87,-116.8,312.5,-10.2,113,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2433,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2658,-0.87,-116.8,343.3,-10.3,118,2662,0.00,1.30,0.00,0.000,4,0.000,0.021,2682,1478,3212,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2711,-0.87,-116.8,343.3,-10.3,118,2719,0.00,1.33,0.00,0.000,6,0.000,0.024,2678,2423,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3018,-0.87,-116.8,380.2,-10.2,124,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2422,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3318,-0.87,-116.8,410.3,-10.0,129,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2423,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3618,-0.87,-116.8,441.9,-10.6,134,3622,0.00,1.27,0.00,0.000,4,0.000,0.021,2678,1486,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3671,-0.87,-116.8,441.9,-10.6,134,3679,0.00,1.33,0.00,0.000,6,0.000,0.024,2678,2426,3208,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3978,-0.87,-116.8,478.6,-10.0,140,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2426,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4278,-0.87,-116.8,509.4,-10.3,145,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2426,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4578,-0.87,-116.8,540.5,-10.4,150,4582,0.00,1.27,0.00,0.000,4,0.000,0.021,2678,1490,3204,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4648,-0.87,-116.8,546.8,-10.3,151,4651,0.00,1.33,0.00,0.000,6,0.000,0.025,2673,2431,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4998,-0.87,-116.8,582.9,-9.9,157,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2431,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,-0.87,-116.8,612.8,-10.0,162,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2431,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.87,-116.8,642.9,-10.0,167,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2430,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5898,-0.87,-116.8,670.9,-9.3,172,5902,0.00,1.30,0.00,0.000,4,0.000,0.021,2672,1483,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5961,-0.87,-116.8,676.4,-9.2,173,5966,0.00,1.33,0.00,0.000,6,0.000,0.025,2668,2423,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6318,-0.87,-116.8,708.7,-8.9,179,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2424,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6618,-0.87,-116.8,735.9,-9.1,184,6622,0.00,1.27,0.00,0.000,4,0.000,0.022,2667,1493,3198,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6696,-0.87,-116.8,741.2,-9.0,185,6701,0.00,1.33,0.00,0.000,6,0.000,0.025,2665,2431,3197,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7038,-0.87,-116.8,774.5,-9.3,191,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2431,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7338,-0.87,-116.8,802.8,-9.5,196,7339,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2431,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7638,-0.87,-116.8,831.4,-9.5,201,7642,0.00,1.30,0.00,0.000,4,0.000,0.022,2665,1490,3193,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7691,-0.87,-116.8,831.4,-9.5,201,7699,0.00,1.33,0.00,0.000,6,0.000,0.026,2665,2422,3193,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7999,-0.87,-116.8,865.9,-9.6,207,8002,0.00,1.50,0.00,0.000,4,0.000,0.036,2661,3483,3192,0,0,0,0,0,0,28.83,27.30,28.83
$GC,8051,-0.87,-116.8,865.9,-9.6,207,8059,0.08,1.27,0.00,0.000,6,0.114,0.018,2690,2486,3191,0,0,0,0,0,0,27.19,27.41,28.83
$GC,8358,-0.87,-116.8,897.4,-8.4,213,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2486,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8658,-0.87,-116.8,921.9,-8.2,218,8662,0.00,1.38,0.00,0.000,4,0.000,0.023,2690,1492,3188,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8718,-0.87,-116.8,926.8,-8.1,219,8722,0.00,1.33,0.00,0.000,6,0.000,0.027,2690,2424,3188,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9078,-0.87,-116.8,953.4,-7.2,225,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2424,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9378,-0.87,-116.8,974.6,-7.0,230,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2424,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9617,begin apogee
$GC,9620,-0.25,0.0,993.1,-7.7,234,9708,0.55,0.00,83.60,1.305,6,0.097,0.000,2886,2424,2736,0,0,0,0,0,0,27.17,28.83,24.95
$STATE,9709,end apogee,CONTROL_FINISHED_OK
$STATE,9709,begin climb
$GC,9710,0.87,116.8,995.0,0.0,235,9809,1.00,1.60,92.03,1.273,4,0.058,0.024,3255,1401,2257,0,0,0,0,0,0,25.75,25.52,24.78
$GC,9880,0.88,124.3,989.6,6.3,238,9889,0.00,1.38,5.22,1.196,6,0.000,0.024,3255,2327,2230,0,0,0,0,0,0,28.83,26.20,25.13
$GC,10211,0.88,124.3,961.4,7.9,244,10212,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2327,2232,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10511,0.88,124.3,937.9,7.9,249,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2327,2231,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10811,0.88,124.3,913.2,8.4,254,10815,0.00,1.33,0.00,0.000,4,0.000,0.026,3256,1401,2230,0,0,0,0,0,0,28.83,27.05,28.83
$GC,10894,0.88,124.3,908.0,8.4,255,10899,0.00,1.33,0.00,0.000,6,0.000,0.024,3256,2328,2230,0,0,0,0,0,0,28.83,27.08,28.83
$GC,11231,0.88,124.3,876.9,8.7,261,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2328,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11531,0.88,124.3,851.9,8.2,266,11532,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2328,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11832,0.88,124.3,826.7,8.4,271,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2328,2229,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12131,0.88,124.3,802.4,8.1,276,12135,0.00,1.33,0.00,0.000,4,0.000,0.027,3256,1397,2228,0,0,0,0,0,0,28.83,27.22,28.83
$GC,12229,0.88,124.3,797.5,8.1,277,12234,0.00,1.33,0.00,0.000,6,0.000,0.024,3255,2330,2228,0,0,0,0,0,0,28.83,27.24,28.83
$GC,12551,0.88,124.3,768.8,8.1,283,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2330,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12852,0.88,124.3,745.0,7.9,288,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2330,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13151,0.88,124.3,720.7,8.1,293,13152,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2330,2228,0,0,0,0,0,0,28.83,28.83,28.83
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