version: 66.10
glider: 200
mission: 4
dive: 62
start: 8 19 114 18 4 3
data:
$ID,200
$MISSION,4
$DIVE,62
$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,-1258.0509
$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,160
$R_STBD_OVSHOOT,76
$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
$GPS1,190814,175504,2602.125,-7008.815,26,0.9,26,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.5
$GPS2,190814,180307,2602.140,-7008.757,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.003,0.175
$KALMAN_X,29569.3,23.8,-519.6,-34101.6,5247.1
$KALMAN_Y,-94757.5,-46.4,336.8,-122978.4,-4180.8
$MHEAD_RNG_PITCHd_Wd,12.9,51972,-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,-62.55,0.000,2,0.000,0.000,156,2427,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.9,-9.4,4,101,8.82,1.40,-4.72,0.000,4,0.195,0.043,2688,1426,3215,0,0,0,0,0,0,26.76,27.04,27.25
$GC,231,-0.87,-116.8,42.1,-20.1,14,236,0.00,1.40,0.00,0.000,6,0.000,0.023,2682,2416,3216,0,0,0,0,0,0,28.83,27.09,28.83
$GC,303,-0.87,-116.8,57.3,-20.7,19,304,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2416,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,363,-0.87,-116.8,68.1,-18.1,23,364,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2416,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,423,-0.87,-116.8,77.6,-15.9,27,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2416,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,483,-0.87,-116.8,87.0,-15.6,31,487,0.00,1.50,0.00,0.000,4,0.000,0.034,2676,3486,3217,0,0,0,0,0,0,28.83,27.13,28.83
$GC,506,-0.87,-116.8,89.3,-15.7,32,514,0.00,1.33,0.00,0.000,6,0.000,0.015,2676,2384,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,575,-0.87,-116.8,100.3,-14.7,37,578,0.00,1.20,0.00,0.000,4,0.000,0.020,2676,1489,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,668,-0.87,-116.8,112.9,-13.6,43,672,0.00,1.33,0.00,0.000,6,0.000,0.023,2670,2437,3218,0,0,0,0,0,0,28.83,27.21,28.83
$GC,739,-0.87,-116.8,123.4,-14.2,48,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2437,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,799,-0.87,-116.8,131.7,-13.8,52,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2437,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-0.87,-116.8,139.7,-13.2,56,863,0.00,1.27,0.00,0.000,4,0.000,0.020,2670,1491,3218,0,0,0,0,0,0,28.83,27.24,28.83
$GC,952,-0.87,-116.8,152.0,-13.9,62,957,0.00,1.33,0.00,0.000,6,0.000,0.024,2664,2434,3218,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1024,-0.87,-116.8,162.1,-13.3,67,1028,0.00,1.48,0.00,0.000,4,0.000,0.033,2657,3460,3218,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1058,-0.87,-116.8,165.9,-13.1,69,1062,0.08,1.23,0.00,0.000,6,0.119,0.016,2685,2430,3218,0,0,0,0,0,0,27.11,27.32,28.83
$GC,1129,-0.87,-116.8,175.0,-12.0,74,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2430,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1309,-0.87,-116.8,195.6,-11.4,80,1310,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2430,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1489,-0.87,-116.8,214.4,-10.3,86,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1669,-0.87,-116.8,232.6,-10.0,92,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1849,-0.87,-116.8,250.7,-10.1,98,1853,0.00,1.25,0.00,0.000,4,0.000,0.020,2686,1495,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1954,-0.87,-116.8,260.2,-10.4,101,1957,0.00,1.30,0.00,0.000,6,0.000,0.024,2683,2425,3215,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2149,-0.87,-116.8,282.2,-10.5,108,2153,0.00,1.50,0.00,0.000,4,0.000,0.034,2678,3498,3215,0,0,0,0,0,0,28.83,27.28,28.83
$GC,2198,-0.87,-116.8,285.5,-10.5,109,2202,0.00,1.27,0.00,0.000,6,0.000,0.016,2678,2448,3215,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2389,-0.87,-116.8,307.0,-10.3,115,2393,0.00,1.33,0.00,0.000,4,0.000,0.021,2678,1467,3214,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2453,-0.87,-116.8,313.3,-10.3,116,2457,0.00,1.35,0.00,0.000,6,0.000,0.024,2678,2425,3214,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2809,-0.87,-116.8,350.7,-10.5,122,2811,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2424,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-0.87,-116.8,381.1,-10.2,127,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2425,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3409,-0.87,-116.8,411.8,-10.2,132,3413,0.00,1.30,0.00,0.000,4,0.000,0.021,2678,1469,3209,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3457,-0.87,-116.8,411.8,-10.2,132,3462,0.00,1.35,0.00,0.000,6,0.000,0.024,2674,2426,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3769,-0.87,-116.8,450.0,-10.7,138,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2426,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,-0.87,-116.8,481.6,-10.5,143,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2427,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4369,-0.87,-116.8,512.8,-10.4,148,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2426,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.87,-116.8,543.8,-10.3,153,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2427,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.87,-116.8,575.3,-10.5,158,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2426,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.87,-116.8,605.3,-9.9,163,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2427,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-0.87,-116.8,633.0,-9.1,168,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2426,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5870,-0.87,-116.8,660.9,-9.4,173,5873,0.00,1.30,0.00,0.000,4,0.000,0.021,2674,1477,3201,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5948,-0.87,-116.8,666.8,-9.6,174,5952,0.00,1.35,0.00,0.000,6,0.000,0.024,2669,2429,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6290,-0.87,-116.8,702.2,-9.9,180,6293,0.00,1.50,0.00,0.000,4,0.000,0.035,2662,3496,3199,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6343,-0.87,-116.8,702.2,-9.9,180,6350,0.00,1.30,0.00,0.000,6,0.000,0.018,2661,2462,3198,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6650,-0.87,-116.8,738.3,-9.9,186,6653,0.00,1.40,0.00,0.000,4,0.000,0.021,2662,1441,3197,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6710,-0.87,-116.8,744.2,-9.9,187,6713,0.00,1.40,0.00,0.000,6,0.000,0.025,2661,2430,3197,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7070,-0.87,-116.8,778.6,-9.6,193,7074,0.12,1.48,0.00,0.000,4,0.150,0.033,2699,3476,3195,0,0,0,0,0,0,27.21,27.31,28.83
$GC,7133,-0.87,-116.8,783.6,-9.2,194,7138,0.00,1.35,0.00,0.000,6,0.000,0.018,2699,2426,3195,0,0,0,0,0,0,28.83,27.40,28.83
$GC,7490,-0.87,-116.8,811.6,-7.7,200,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2426,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7790,-0.87,-116.8,836.4,-8.4,205,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2426,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,-0.87,-116.8,861.2,-8.2,210,8093,0.00,1.35,0.00,0.000,4,0.000,0.023,2698,1447,3191,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8128,-0.87,-116.8,861.2,-8.2,210,8133,0.00,1.40,0.00,0.000,6,0.000,0.025,2699,2425,3190,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8450,-0.87,-116.8,890.4,-8.1,216,8454,0.00,1.50,0.00,0.000,4,0.000,0.037,2697,3484,3188,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8528,-0.87,-116.8,895.3,-8.1,217,8533,0.00,1.35,0.00,0.000,6,0.000,0.018,2697,2437,3188,0,0,0,0,0,0,28.83,27.39,28.83
$GC,8870,-0.87,-116.8,924.1,-8.1,223,8874,0.00,1.38,0.00,0.000,4,0.000,0.023,2697,1440,3187,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8958,-0.87,-116.8,929.1,-8.1,224,8963,0.00,1.42,0.00,0.000,6,0.000,0.026,2696,2427,3187,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9290,-0.87,-116.8,958.6,-8.2,230,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2427,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9590,-0.87,-116.8,982.4,-7.9,235,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2427,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9709,begin apogee
$GC,9712,-0.25,0.0,991.6,-7.7,237,9800,0.55,0.00,83.72,1.312,6,0.097,0.000,2892,2427,2736,0,0,0,0,0,0,27.17,28.83,24.94
$STATE,9801,end apogee,CONTROL_FINISHED_OK
$STATE,9801,begin climb
$GC,9802,0.87,116.8,993.0,0.0,238,9899,1.00,0.00,92.82,1.274,6,0.057,0.000,3257,2427,2259,0,0,0,0,0,0,25.75,28.83,24.78
$GC,10185,0.87,116.8,965.6,8.7,245,10189,0.00,1.55,0.00,0.000,4,0.000,0.025,3262,1342,2252,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10273,0.87,116.8,960.5,8.7,246,10278,0.00,1.45,0.00,0.000,6,0.000,0.024,3263,2337,2251,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10605,0.87,116.8,928.3,9.0,252,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2337,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10905,0.87,116.8,903.5,8.2,257,10909,0.00,1.42,0.00,0.000,4,0.000,0.026,3267,1341,2248,0,0,0,0,0,0,28.83,27.07,28.83
$GC,11025,0.87,116.8,893.9,8.0,259,11029,0.00,1.42,0.00,0.000,6,0.000,0.024,3267,2330,2247,0,0,0,0,0,0,28.83,27.10,28.83
$GC,11385,0.87,116.8,865.6,7.9,265,11389,0.00,1.52,0.00,0.000,4,0.000,0.034,3267,3392,2247,0,0,0,0,0,0,28.83,27.12,28.83
$GC,11445,0.87,116.8,860.5,8.1,266,11449,0.00,1.40,0.00,0.000,6,0.000,0.020,3270,2340,2247,0,0,0,0,0,0,28.83,27.20,28.83
$GC,11806,0.87,116.8,830.1,8.4,272,11809,0.00,1.45,0.00,0.000,4,0.000,0.028,3270,1321,2246,0,0,0,0,0,0,28.83,27.20,28.83
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$STATE,23358,end climb,SURFACE_DEPTH_REACHED
$STATE,23359,begin surface coast
$FINISH,0.6,1.023001
$STATE,23375,end surface coast,CONTROL_FINISHED_OK
$STATE,23375,begin surface
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$HUMID,44.25
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,25.00
$XPDR_PINGS,23
$24V_AH,24.8,12.227
$10V_AH,10.4,10.409
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334240
$DATA_FILE_SIZE,33662,624
$CAP_FILE_SIZE,186249,0
$CFSIZE,1024393216,1016135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200814,003534,2603.873,-7007.929,30,1.1,30,-12.0