version: 66.10
glider: 200
mission: 4
dive: 64
start: 8 20 114 7 16 38
data:
$ID,200
$MISSION,4
$DIVE,64
$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,-1260.5635
$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,148
$R_STBD_OVSHOOT,71
$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
$GPS1,200814,070734,2605.567,-7006.774,30,1.2,30,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.9
$GPS2,200814,071542,2605.568,-7006.705,4,1.1,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.167,0.051
$KALMAN_X,32797.9,-271.0,-468.3,-33725.5,4788.4
$KALMAN_Y,-99063.9,258.5,445.1,-112734.9,-5183.9
$MHEAD_RNG_PITCHd_Wd,298.9,45336,-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,-62.50,0.000,2,0.000,0.000,163,2425,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.0,-6.9,4,102,8.80,1.38,-6.90,0.000,4,0.194,0.039,2690,1420,3215,0,0,0,0,0,0,26.74,27.04,27.27
$GC,326,-0.87,-116.8,56.9,-17.4,20,334,0.00,1.42,0.00,0.000,6,0.000,0.024,2684,2427,3216,0,0,0,0,0,0,28.83,27.12,28.83
$GC,393,-0.87,-116.8,68.7,-16.0,25,397,0.00,1.35,0.00,0.000,4,0.000,0.020,2684,1436,3216,0,0,0,0,0,0,28.83,27.16,28.83
$GC,513,-0.87,-116.8,86.5,-14.3,33,517,0.00,1.40,0.00,0.000,6,0.000,0.024,2677,2430,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,588,-0.87,-116.8,96.8,-13.6,38,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2431,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,648,-0.87,-116.8,105.0,-13.7,42,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2431,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,709,-0.87,-116.8,113.1,-13.5,46,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2431,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,768,-0.87,-116.8,121.0,-13.1,50,772,0.00,1.35,0.00,0.000,4,0.000,0.021,2677,1429,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,813,-0.87,-116.8,126.8,-12.9,53,817,0.00,1.40,0.00,0.000,6,0.000,0.024,2670,2429,3217,0,0,0,0,0,0,28.83,27.22,28.83
$GC,889,-0.87,-116.8,136.4,-13.0,58,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.87,-116.8,144.1,-12.8,62,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2429,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1010,-0.87,-116.8,151.6,-12.5,66,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2429,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1068,-0.87,-116.8,159.1,-12.6,70,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1128,-0.87,-116.8,166.6,-12.4,74,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2429,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1190,-0.87,-116.8,174.0,-12.5,78,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2429,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-0.87,-116.8,183.3,-12.3,81,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2429,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1443,-0.87,-116.8,204.4,-11.5,87,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2429,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1623,-0.87,-116.8,225.8,-11.9,93,1627,0.00,1.50,0.00,0.000,4,0.000,0.034,2663,3502,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1661,-0.87,-116.8,229.7,-12.2,94,1666,0.00,1.38,0.00,0.000,6,0.000,0.015,2663,2371,3216,0,0,0,0,0,0,28.83,27.37,28.83
$GC,1863,-0.87,-116.8,255.1,-12.2,101,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2371,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2043,-0.87,-116.8,276.5,-11.9,107,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2370,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,-0.87,-116.8,298.1,-12.0,113,2227,0.00,1.27,0.00,0.000,4,0.000,0.021,2663,1425,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2257,-0.87,-116.8,301.6,-11.9,114,2261,0.08,1.40,0.00,0.000,6,0.120,0.024,2689,2424,3214,0,0,0,0,0,0,27.16,27.32,28.83
$GC,2583,-0.87,-116.8,336.4,-10.4,120,2587,0.00,1.50,0.00,0.000,4,0.000,0.034,2684,3500,3213,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2626,-0.87,-116.8,336.4,-10.4,120,2631,0.00,1.38,0.00,0.000,6,0.000,0.016,2684,2382,3213,0,0,0,0,0,0,28.83,27.40,28.83
$GC,2943,-0.87,-116.8,374.3,-10.5,126,2947,0.00,1.23,0.00,0.000,4,0.000,0.021,2684,1471,3212,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2977,-0.87,-116.8,374.3,-10.5,126,2981,0.00,1.35,0.00,0.000,6,0.000,0.024,2679,2434,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3303,-0.87,-116.8,413.1,-10.7,132,3307,0.00,1.48,0.00,0.000,4,0.000,0.034,2672,3457,3210,0,0,0,0,0,0,28.83,27.31,28.83
$GC,3351,-0.87,-116.8,413.1,-10.7,132,3356,0.00,1.25,0.00,0.000,6,0.000,0.017,2672,2433,3210,0,0,0,0,0,0,28.83,27.41,28.83
$GC,3663,-0.87,-116.8,451.8,-10.7,138,3667,0.00,1.30,0.00,0.000,4,0.000,0.021,2672,1469,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3716,-0.87,-116.8,451.8,-10.7,138,3724,0.00,1.35,0.00,0.000,6,0.000,0.024,2667,2428,3208,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4023,-0.87,-116.8,489.9,-10.5,144,4027,0.00,1.33,0.00,0.000,4,0.000,0.021,2667,1456,3206,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4087,-0.87,-116.8,496.1,-10.4,145,4091,0.00,1.38,0.00,0.000,6,0.000,0.024,2662,2432,3206,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4443,-0.87,-116.8,532.9,-10.2,151,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2433,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4743,-0.87,-116.8,562.9,-10.0,156,4744,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2433,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5043,-0.87,-116.8,593.2,-10.1,161,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2432,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.87,-116.8,623.7,-10.2,166,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2433,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5643,-0.87,-116.8,655.0,-10.3,171,5647,0.00,1.50,0.00,0.000,4,0.000,0.035,2657,3501,3201,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5732,-0.87,-116.8,661.7,-10.5,172,5736,0.08,1.33,0.00,0.000,6,0.115,0.018,2687,2448,3201,0,0,0,0,0,0,27.20,27.41,28.83
$GC,6063,-0.87,-116.8,696.7,-9.5,178,6067,0.00,1.38,0.00,0.000,4,0.000,0.021,2687,1443,3200,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6111,-0.87,-116.8,696.7,-9.5,178,6116,0.00,1.40,0.00,0.000,6,0.000,0.024,2685,2426,3200,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6423,-0.87,-116.8,729.7,-8.9,184,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6723,-0.87,-116.8,756.4,-8.8,189,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7023,-0.87,-116.8,782.3,-8.5,194,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7324,-0.87,-116.8,807.8,-8.5,199,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7623,-0.87,-116.8,834.4,-8.9,204,7627,0.00,1.50,0.00,0.000,4,0.000,0.036,2681,3486,3193,0,0,0,0,0,0,28.83,27.29,28.83
$GC,7661,-0.87,-116.8,834.4,-8.9,204,7666,0.00,1.35,0.00,0.000,6,0.000,0.018,2680,2431,3192,0,0,0,0,0,0,28.83,27.41,28.83
$GC,7983,-0.87,-116.8,867.9,-9.3,210,7987,0.00,1.38,0.00,0.000,4,0.000,0.023,2680,1437,3190,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8047,-0.87,-116.8,873.3,-9.2,211,8051,0.00,1.42,0.00,0.000,6,0.000,0.026,2681,2430,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8403,-0.87,-116.8,906.3,-9.2,217,8407,0.00,1.50,0.00,0.000,4,0.000,0.036,2674,3491,3189,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8466,-0.87,-116.8,911.8,-9.2,218,8471,0.00,1.38,0.00,0.000,6,0.000,0.019,2674,2424,3188,0,0,0,0,0,0,28.83,27.39,28.83
$GC,8823,-0.87,-116.8,945.3,-9.2,224,8827,0.00,1.50,0.00,0.000,4,0.000,0.036,2668,3479,3187,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8883,-0.87,-116.8,950.8,-9.2,225,8887,0.00,1.35,0.00,0.000,6,0.000,0.020,2668,2438,3186,0,0,0,0,0,0,28.83,27.39,28.83
$GC,9243,-0.87,-116.8,982.4,-8.7,231,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2437,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9363,begin apogee
$GC,9366,-0.25,0.0,992.4,-8.6,233,9454,0.62,0.00,83.65,1.284,6,0.099,0.000,2888,2437,2736,0,0,0,0,0,0,27.15,28.83,24.96
$STATE,9455,end apogee,CONTROL_FINISHED_OK
$STATE,9455,begin climb
$GC,9456,0.87,116.8,993.9,0.0,234,9557,1.00,1.70,92.20,1.284,4,0.057,0.024,3258,1340,2256,0,0,0,0,0,0,25.77,25.52,24.77
$GC,9636,0.87,116.8,986.7,7.1,237,9641,0.00,1.48,0.00,0.000,6,0.000,0.024,3258,2330,2254,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9959,0.87,116.8,954.5,9.0,243,9962,0.00,1.50,0.00,0.000,4,0.000,0.034,3259,3370,2251,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10011,0.87,116.8,954.5,9.0,243,10019,0.00,1.40,0.00,0.000,6,0.000,0.019,3262,2336,2250,0,0,0,0,0,0,28.83,26.89,28.83
$GC,10319,0.87,116.8,923.4,8.4,249,10320,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2335,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10619,0.87,116.8,898.7,8.1,254,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2335,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10919,0.87,116.8,875.3,7.8,259,10922,0.00,1.50,0.00,0.000,4,0.000,0.034,3263,3382,2247,0,0,0,0,0,0,28.83,27.10,28.83
$GC,10972,0.87,116.8,875.3,7.8,259,10979,0.00,1.42,0.00,0.000,6,0.000,0.019,3263,2320,2247,0,0,0,0,0,0,28.83,27.18,28.83
$GC,11279,0.87,116.8,846.5,8.0,265,11282,0.00,1.42,0.00,0.000,4,0.000,0.026,3269,1318,2247,0,0,0,0,0,0,28.83,27.17,28.83
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$STATE,22526,end climb,SURFACE_DEPTH_REACHED
$STATE,22527,begin surface coast
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$STATE,22543,end surface coast,CONTROL_FINISHED_OK
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$FG_AHR_10Vo,0.000
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