version: 66.10
glider: 200
mission: 4
dive: 65
start: 8 20 114 13 44 15
data:
$ID,200
$MISSION,4
$DIVE,65
$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,-1261.818
$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,149
$R_STBD_OVSHOOT,77
$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
$GPS1,200814,133428,2605.167,-7008.758,45,1.1,45,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.9
$GPS2,200814,134319,2605.139,-7008.712,4,1.0,5,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.000,0.175
$KALMAN_X,34589.6,50.2,-978.9,-38612.0,6162.0
$KALMAN_Y,-101291.9,-33.2,767.8,-111333.8,-6351.2
$MHEAD_RNG_PITCHd_Wd,11.9,46452,-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,-62.28,0.000,2,0.000,0.000,162,2435,2889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.2,-8.4,4,102,8.77,1.50,-6.70,0.000,4,0.194,0.055,2678,3456,3214,0,0,0,0,0,0,26.72,26.97,27.24
$GC,326,-0.87,-116.8,59.6,-18.7,20,334,0.00,1.33,0.00,0.000,6,0.000,0.015,2677,2368,3215,0,0,0,0,0,0,28.83,27.17,28.83
$GC,393,-0.87,-116.8,71.9,-16.2,25,397,0.00,1.55,0.00,0.000,4,0.000,0.033,2670,3463,3215,0,0,0,0,0,0,28.83,27.09,28.83
$GC,441,-0.87,-116.8,79.6,-16.7,28,446,0.00,1.33,0.00,0.000,6,0.000,0.015,2670,2370,3215,0,0,0,0,0,0,28.83,27.20,28.83
$GC,513,-0.87,-116.8,91.9,-16.0,33,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2370,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,573,-0.87,-116.8,101.0,-15.4,37,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2370,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,633,-0.87,-116.8,109.9,-14.8,41,637,0.00,1.27,0.00,0.000,4,0.000,0.021,2670,1425,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,681,-0.87,-116.8,116.0,-13.9,44,686,0.00,1.40,0.00,0.000,6,0.000,0.023,2665,2424,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,753,-0.87,-116.8,126.4,-13.8,49,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2424,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,813,-0.87,-116.8,134.3,-13.2,53,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2424,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,873,-0.87,-116.8,141.6,-12.2,57,877,0.00,1.35,0.00,0.000,4,0.000,0.020,2665,1429,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,956,-0.87,-116.8,150.3,-11.7,62,965,0.08,1.40,0.00,0.000,6,0.126,0.023,2687,2420,3216,0,0,0,0,0,0,27.07,27.24,28.83
$GC,1023,-0.87,-116.8,158.6,-11.1,67,1027,0.00,1.50,0.00,0.000,4,0.000,0.034,2681,3494,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1086,-0.87,-116.8,165.4,-11.3,71,1091,0.00,1.35,0.00,0.000,6,0.000,0.015,2680,2380,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1158,-0.87,-116.8,174.1,-11.6,76,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2380,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1233,-0.87,-116.8,182.8,-11.6,79,1237,0.00,1.20,0.00,0.000,4,0.000,0.021,2681,1482,3216,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1293,-0.87,-116.8,189.7,-11.7,81,1297,0.00,1.33,0.00,0.000,6,0.000,0.024,2678,2429,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1503,-0.87,-116.8,213.1,-11.3,88,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2429,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1683,-0.87,-116.8,234.0,-11.7,94,1687,0.00,1.50,0.00,0.000,4,0.000,0.034,2670,3502,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1715,-0.87,-116.8,237.5,-11.8,95,1718,0.00,1.27,0.00,0.000,6,0.000,0.017,2670,2442,3216,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1924,-0.87,-116.8,262.3,-11.5,102,1928,0.00,1.30,0.00,0.000,4,0.000,0.020,2670,1474,3215,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1998,-0.87,-116.8,269.1,-11.4,104,2002,0.00,1.35,0.00,0.000,6,0.000,0.024,2667,2433,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2194,-0.87,-116.8,292.2,-11.0,111,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2433,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2405,-0.87,-116.8,315.1,-10.9,116,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2432,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2704,-0.87,-116.8,347.8,-11.0,121,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2433,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3005,-0.87,-116.8,380.4,-10.8,126,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2434,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3304,-0.87,-116.8,411.4,-10.3,131,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2433,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3604,-0.87,-116.8,441.3,-10.0,136,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2434,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3904,-0.87,-116.8,471.5,-10.1,141,3908,0.00,1.30,0.00,0.000,4,0.000,0.021,2666,1479,3205,0,0,0,0,0,0,28.83,27.37,28.83
$GC,3982,-0.87,-116.8,477.8,-10.2,142,3987,0.00,1.33,0.00,0.000,6,0.000,0.024,2661,2424,3206,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4324,-0.87,-116.8,514.8,-10.3,148,4328,0.12,1.30,0.00,0.000,4,0.151,0.018,2703,1472,3204,0,0,0,0,0,0,27.22,27.37,28.83
$GC,4385,-0.87,-116.8,520.4,-10.1,149,4388,0.00,1.35,0.00,0.000,6,0.000,0.025,2701,2433,3204,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4745,-0.87,-116.8,552.2,-8.9,155,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2433,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5045,-0.87,-116.8,579.7,-9.1,160,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2433,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5345,-0.87,-116.8,606.4,-8.9,165,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2433,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5645,-0.87,-116.8,632.8,-8.8,170,5648,0.00,1.50,0.00,0.000,4,0.000,0.035,2695,3500,3200,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5705,-0.87,-116.8,638.3,-8.9,171,5708,0.00,1.30,0.00,0.000,6,0.000,0.018,2695,2458,3200,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6065,-0.87,-116.8,671.3,-9.1,177,6068,0.00,1.38,0.00,0.000,4,0.000,0.022,2695,1452,3199,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6153,-0.87,-116.8,676.8,-9.1,178,6158,0.00,1.38,0.00,0.000,6,0.000,0.024,2693,2422,3199,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6485,-0.87,-116.8,708.4,-8.8,184,6488,0.00,1.50,0.00,0.000,4,0.000,0.035,2687,3487,3198,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6523,-0.87,-116.8,708.4,-8.8,184,6527,0.00,1.33,0.00,0.000,6,0.000,0.018,2686,2435,3198,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6845,-0.87,-116.8,740.1,-8.8,190,6848,0.00,1.35,0.00,0.000,4,0.000,0.022,2686,1447,3196,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6907,-0.87,-116.8,745.6,-8.9,191,6912,0.00,1.42,0.00,0.000,6,0.000,0.025,2685,2434,3196,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7265,-0.87,-116.8,777.6,-8.8,197,7268,0.00,1.35,0.00,0.000,4,0.000,0.022,2685,1453,3194,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7325,-0.87,-116.8,782.7,-8.7,198,7329,0.00,1.40,0.00,0.000,6,0.000,0.025,2679,2432,3194,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7685,-0.87,-116.8,815.0,-9.0,204,7688,0.00,1.50,0.00,0.000,4,0.000,0.034,2672,3496,3193,0,0,0,0,0,0,28.83,27.30,28.83
$GC,7747,-0.87,-116.8,821.0,-9.1,205,7752,0.00,1.38,0.00,0.000,6,0.000,0.018,2673,2435,3191,0,0,0,0,0,0,28.83,27.40,28.83
$GC,8105,-0.87,-116.8,855.1,-9.4,211,8108,0.00,1.38,0.00,0.000,4,0.000,0.022,2672,1434,3190,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8173,-0.87,-116.8,860.8,-9.4,212,8177,0.00,1.42,0.00,0.000,6,0.000,0.025,2671,2428,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8525,-0.87,-116.8,894.3,-9.3,218,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2429,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8825,-0.87,-116.8,921.4,-9.0,223,8828,0.00,1.50,0.00,0.000,4,0.000,0.035,2664,3490,3187,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8878,-0.87,-116.8,921.4,-9.0,223,8886,0.00,1.35,0.00,0.000,6,0.000,0.019,2664,2445,3186,0,0,0,0,0,0,28.83,27.39,28.83
$GC,9185,-0.87,-116.8,954.3,-9.0,229,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2445,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9485,-0.87,-116.8,980.3,-8.6,234,9486,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2445,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9604,begin apogee
$GC,9607,-0.25,0.0,990.4,-8.5,236,9695,0.62,0.00,83.78,1.297,6,0.099,0.000,2886,2445,2736,0,0,0,0,0,0,27.15,28.83,24.96
$STATE,9696,end apogee,CONTROL_FINISHED_OK
$STATE,9696,begin climb
$GC,9697,0.87,116.8,992.0,0.0,237,9794,1.00,0.00,92.95,1.265,6,0.058,0.000,3253,2445,2259,0,0,0,0,0,0,25.76,28.83,24.79
$GC,10080,0.87,116.8,964.3,8.8,244,10084,0.00,1.58,0.00,0.000,4,0.000,0.026,3257,1339,2251,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10143,0.87,116.8,959.2,8.8,245,10148,0.00,1.48,0.00,0.000,6,0.000,0.024,3257,2342,2251,0,0,0,0,0,0,28.83,26.75,28.83
$GC,10500,0.87,116.8,927.5,8.7,251,10501,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2342,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10800,0.87,116.8,903.1,8.1,256,10804,0.00,1.45,0.00,0.000,4,0.000,0.026,3263,1337,2249,0,0,0,0,0,0,28.83,27.07,28.83
$GC,10863,0.87,116.8,898.5,8.0,257,10868,0.00,1.42,0.00,0.000,6,0.000,0.024,3262,2325,2248,0,0,0,0,0,0,28.83,27.08,28.83
$GC,11220,0.87,116.8,871.4,7.5,263,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2325,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11520,0.87,116.8,848.2,7.7,268,11524,0.00,1.42,0.00,0.000,4,0.000,0.028,3262,1340,2246,0,0,0,0,0,0,28.83,27.17,28.83
$GC,11613,0.87,116.8,843.8,7.7,269,11618,0.00,1.40,0.00,0.000,6,0.000,0.024,3262,2321,2246,0,0,0,0,0,0,28.83,27.20,28.83
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$STATE,22676,end climb,SURFACE_DEPTH_REACHED
$STATE,22676,begin surface coast
$FINISH,0.3,1.022704
$STATE,22692,end surface coast,CONTROL_FINISHED_OK
$STATE,22692,begin surface
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$10V_AH,10.4,10.608
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$FG_AHR_10Vo,0.000
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$MEM,334260
$DATA_FILE_SIZE,33554,609
$CAP_FILE_SIZE,190272,0
$CFSIZE,1024393216,1015889920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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