version: 66.10
glider: 200
mission: 4
dive: 63
start: 8 20 114 0 44 48
data:
$ID,200
$MISSION,4
$DIVE,63
$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,-1259.3071
$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,159
$R_STBD_OVSHOOT,83
$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
$GPS1,200814,003534,2603.873,-7007.929,30,1.1,30,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.7
$GPS2,200814,004352,2603.864,-7007.849,4,1.1,4,-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,31032.1,-129.3,-707.1,-33727.8,5538.3
$KALMAN_Y,-96850.1,111.4,386.9,-117901.6,-4924.6
$MHEAD_RNG_PITCHd_Wd,11.0,48634,-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,-62.65,0.000,2,0.000,0.000,161,2446,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.1,-7.1,4,102,8.80,1.48,-5.78,0.000,4,0.195,0.055,2681,3454,3215,0,0,0,0,0,0,26.75,27.00,27.26
$GC,326,-0.87,-116.8,61.4,-20.1,20,334,0.00,1.27,0.00,0.000,6,0.000,0.016,2681,2394,3215,0,0,0,0,0,0,28.83,27.19,28.83
$GC,393,-0.87,-116.8,74.1,-16.1,25,397,0.00,1.50,0.00,0.000,4,0.000,0.033,2673,3457,3215,0,0,0,0,0,0,28.83,27.10,28.83
$GC,611,-0.87,-116.8,108.3,-14.5,39,619,0.00,1.23,0.00,0.000,6,0.000,0.016,2673,2427,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,678,-0.87,-116.8,117.8,-12.4,44,682,0.00,1.50,0.00,0.000,4,0.000,0.034,2665,3491,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,747,-0.87,-116.8,125.8,-13.4,48,754,0.00,1.27,0.00,0.000,6,0.000,0.016,2665,2431,3216,0,0,0,0,0,0,28.83,27.28,28.83
$GC,813,-0.87,-116.8,135.6,-12.9,53,817,0.00,1.27,0.00,0.000,4,0.000,0.020,2663,1484,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,903,-0.87,-116.8,147.5,-13.5,59,907,0.08,1.30,0.00,0.000,6,0.125,0.024,2687,2415,3216,0,0,0,0,0,0,27.08,27.24,28.83
$GC,979,-0.87,-116.8,156.9,-12.5,64,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2415,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1039,-0.87,-116.8,164.1,-12.0,68,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2415,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-0.87,-116.8,171.2,-11.8,72,1102,0.00,1.25,0.00,0.000,4,0.000,0.021,2688,1488,3216,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1146,-0.87,-116.8,176.6,-11.9,75,1151,0.00,1.35,0.00,0.000,6,0.000,0.024,2682,2438,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1339,-0.87,-116.8,200.0,-11.8,82,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2438,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-0.87,-116.8,220.4,-11.2,88,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2438,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1699,-0.87,-116.8,239.9,-10.8,94,1702,0.00,1.30,0.00,0.000,4,0.000,0.021,2683,1480,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1767,-0.87,-116.8,246.5,-11.0,96,1771,0.00,1.33,0.00,0.000,6,0.000,0.024,2677,2426,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1969,-0.87,-116.8,269.4,-11.1,103,1972,0.00,1.50,0.00,0.000,4,0.000,0.034,2669,3498,3215,0,0,0,0,0,0,28.83,27.28,28.83
$GC,2017,-0.87,-116.8,272.9,-11.2,104,2021,0.00,1.27,0.00,0.000,6,0.000,0.016,2669,2442,3214,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2209,-0.87,-116.8,296.2,-11.0,111,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2443,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2390,-0.87,-116.8,315.1,-10.5,115,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2443,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.87,-116.8,346.6,-10.5,120,2692,0.00,1.30,0.00,0.000,4,0.000,0.021,2669,1478,3211,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2787,-0.87,-116.8,352.8,-10.4,121,2791,0.00,1.33,0.00,0.000,6,0.000,0.024,2665,2423,3211,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3109,-0.87,-116.8,388.6,-9.8,127,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2423,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3409,-0.87,-116.8,418.2,-9.8,132,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2423,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3709,-0.87,-116.8,448.7,-10.1,137,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2423,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4009,-0.87,-116.8,479.4,-10.2,142,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2423,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4309,-0.87,-116.8,509.9,-10.2,147,4312,0.00,1.50,0.00,0.000,4,0.000,0.034,2659,3494,3204,0,0,0,0,0,0,28.83,27.32,28.83
$GC,4347,-0.87,-116.8,509.9,-10.2,147,4352,0.08,1.30,0.00,0.000,6,0.116,0.017,2688,2444,3204,0,0,0,0,0,0,27.24,27.41,28.83
$GC,4669,-0.87,-116.8,545.5,-9.8,153,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2444,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.87,-116.8,574.0,-9.4,158,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2444,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.87,-116.8,601.1,-9.0,163,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2444,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-0.87,-116.8,628.2,-9.1,168,5573,0.00,1.35,0.00,0.000,4,0.000,0.021,2688,1453,3201,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5668,-0.87,-116.8,633.8,-9.1,169,5672,0.00,1.38,0.00,0.000,6,0.000,0.025,2685,2427,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5989,-0.87,-116.8,666.5,-9.1,175,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,-0.87,-116.8,694.4,-9.3,180,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6589,-0.87,-116.8,722.0,-9.2,185,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6889,-0.87,-116.8,748.7,-8.9,190,6892,0.00,1.50,0.00,0.000,4,0.000,0.035,2677,3492,3196,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6932,-0.87,-116.8,748.7,-8.9,190,6937,0.00,1.33,0.00,0.000,6,0.000,0.018,2677,2448,3196,0,0,0,0,0,0,28.83,27.41,28.83
$GC,7249,-0.87,-116.8,782.2,-9.4,196,7252,0.00,1.50,0.00,0.000,4,0.000,0.035,2671,3507,3194,0,0,0,0,0,0,28.83,27.31,28.83
$GC,7309,-0.87,-116.8,788.1,-9.5,197,7313,0.00,1.38,0.00,0.000,6,0.000,0.018,2671,2428,3193,0,0,0,0,0,0,28.83,27.40,28.83
$GC,7669,-0.87,-116.8,822.5,-9.5,203,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2427,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7969,-0.87,-116.8,849.3,-8.9,208,7972,0.00,1.35,0.00,0.000,4,0.000,0.023,2670,1447,3191,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8022,-0.87,-116.8,849.3,-8.9,208,8030,0.00,1.40,0.00,0.000,6,0.000,0.025,2667,2430,3191,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8329,-0.87,-116.8,881.6,-9.0,214,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2430,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8629,-0.87,-116.8,909.2,-9.2,219,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2430,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,-0.87,-116.8,936.0,-8.9,224,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2429,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9229,-0.87,-116.8,962.6,-8.8,229,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2430,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9529,-0.87,-116.8,988.7,-8.7,234,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2430,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9588,begin apogee
$GC,9591,-0.25,0.0,993.9,-8.6,235,9679,0.62,0.00,83.80,1.304,6,0.099,0.000,2888,2430,2736,0,0,0,0,0,0,27.15,28.83,24.96
$STATE,9680,end apogee,CONTROL_FINISHED_OK
$STATE,9680,begin climb
$GC,9681,0.87,116.8,995.6,0.0,236,9778,1.00,0.00,92.82,1.263,6,0.057,0.000,3254,2430,2259,0,0,0,0,0,0,25.76,28.83,24.79
$GC,10064,0.87,116.8,969.5,8.2,243,10068,0.00,1.55,0.00,0.000,4,0.000,0.024,3260,1341,2251,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10203,0.87,116.8,959.6,8.2,245,10207,0.00,1.42,0.00,0.000,6,0.000,0.024,3260,2321,2250,0,0,0,0,0,0,28.83,26.83,28.83
$GC,10544,0.87,116.8,930.5,8.1,251,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2322,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10844,0.87,116.8,907.1,7.8,256,10846,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2321,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11144,0.87,116.8,882.7,8.2,261,11148,0.00,1.40,0.00,0.000,4,0.000,0.027,3263,1352,2247,0,0,0,0,0,0,28.83,27.13,28.83
$GC,11237,0.87,116.8,877.7,8.3,262,11242,0.00,1.40,0.00,0.000,6,0.000,0.024,3263,2327,2247,0,0,0,0,0,0,28.83,27.15,28.83
$GC,11564,0.87,116.8,847.9,8.3,268,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2327,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11864,0.87,116.8,824.7,7.7,273,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2327,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12164,0.87,116.8,802.0,7.6,278,12165,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2327,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12464,0.87,116.8,779.2,7.6,283,12468,0.00,1.40,0.00,0.000,4,0.000,0.027,3265,1355,2245,0,0,0,0,0,0,28.83,27.24,28.83
$GC,12598,0.87,116.8,770.6,7.5,285,12602,0.00,1.38,0.00,0.000,6,0.000,0.024,3265,2326,2245,0,0,0,0,0,0,28.83,27.27,28.83
$GC,12944,0.87,116.8,743.1,7.7,291,12948,0.00,1.52,0.00,0.000,4,0.000,0.034,3265,3391,2245,0,0,0,0,0,0,28.83,27.23,28.83
$GC,12997,0.87,116.8,743.1,7.7,291,13005,0.00,1.38,0.00,0.000,6,0.000,0.019,3271,2350,2245,0,0,0,0,0,0,28.83,27.31,28.83
$GC,13304,0.87,116.8,714.2,7.9,297,13305,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2350,2245,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22843,end climb,SURFACE_DEPTH_REACHED
$STATE,22843,begin surface coast
$FINISH,0.3,1.020216
$STATE,22859,end surface coast,CONTROL_FINISHED_OK
$STATE,22859,begin surface
$SM_CCo,22873,27.17,0.117,0,0,1204,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,44.05
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,24.90
$XPDR_PINGS,22
$24V_AH,24.8,12.333
$10V_AH,10.4,10.474
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.650,97.675,274.875,27.175,0.000,22.961,48.901,104.984,5.500,0.000,5.484,1948.456,18648.445,418.599,2049.206,100.109,33.247,1501.766,0.000,1821.280,0.000,0.554,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334200
$DATA_FILE_SIZE,33571,613
$CAP_FILE_SIZE,175495,0
$CFSIZE,1024393216,1016070144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200814,070734,2605.567,-7006.774,30,1.2,30,-12.0