version: 66.10
glider: 200
mission: 4
dive: 66
start: 8 20 114 20 13 47
data:
$ID,200
$MISSION,4
$DIVE,66
$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,-1263.0751
$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,155
$R_STBD_OVSHOOT,78
$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
$GPS1,200814,200428,2606.698,-7007.625,46,0.9,46,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.5
$GPS2,200814,201251,2606.744,-7007.562,4,0.7,4,-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,35965.8,-116.3,-458.1,-38461.8,5042.5
$KALMAN_Y,-103247.9,106.2,471.4,-106248.0,-5548.9
$MHEAD_RNG_PITCHd_Wd,11.0,43278,-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,-62.42,0.000,2,0.000,0.000,155,2433,2935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.2,-7.3,4,102,8.85,1.50,-5.68,0.000,4,0.195,0.054,2680,3455,3215,0,0,0,0,0,0,26.74,26.98,27.26
$GC,326,-0.87,-116.8,59.5,-18.8,20,334,0.00,1.30,0.00,0.000,6,0.000,0.016,2680,2383,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,393,-0.87,-116.8,71.7,-16.3,25,397,0.00,1.52,0.00,0.000,4,0.000,0.033,2672,3463,3216,0,0,0,0,0,0,28.83,27.10,28.83
$GC,621,-0.87,-116.8,105.0,-14.3,40,626,0.00,1.25,0.00,0.000,6,0.000,0.016,2672,2418,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,693,-0.87,-116.8,115.5,-14.0,45,694,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2419,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,753,-0.87,-116.8,124.1,-14.3,49,757,0.00,1.50,0.00,0.000,4,0.000,0.034,2665,3481,3217,0,0,0,0,0,0,28.83,27.17,28.83
$GC,783,-0.87,-116.8,128.4,-14.3,51,787,0.00,1.25,0.00,0.000,6,0.000,0.017,2665,2431,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,858,-0.87,-116.8,138.5,-13.5,56,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,918,-0.87,-116.8,146.3,-13.1,60,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.87,-116.8,154.2,-13.1,64,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1039,-0.87,-116.8,162.6,-14.0,68,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.87,-116.8,170.6,-13.3,72,1102,0.00,1.27,0.00,0.000,4,0.000,0.020,2665,1486,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1151,-0.87,-116.8,176.3,-12.8,75,1159,0.00,1.33,0.00,0.000,6,0.000,0.024,2664,2430,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1338,-0.87,-116.8,201.3,-12.4,82,1342,0.00,1.48,0.00,0.000,4,0.000,0.034,2656,3495,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1372,-0.87,-116.8,205.0,-12.4,83,1376,0.08,1.27,0.00,0.000,6,0.118,0.016,2685,2439,3217,0,0,0,0,0,0,27.14,27.35,28.83
$GC,1578,-0.87,-116.8,227.4,-10.6,90,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2438,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1758,-0.87,-116.8,246.9,-10.8,96,1762,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1474,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1820,-0.87,-116.8,253.3,-10.8,98,1823,0.00,1.33,0.00,0.000,6,0.000,0.024,2681,2423,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2029,-0.87,-116.8,275.4,-10.5,105,2033,0.00,1.27,0.00,0.000,4,0.000,0.020,2681,1481,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2077,-0.87,-116.8,278.6,-10.6,106,2082,0.00,1.35,0.00,0.000,6,0.000,0.024,2678,2433,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2269,-0.87,-116.8,301.0,-10.6,113,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2433,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-0.87,-116.8,333.1,-10.6,118,2573,0.00,1.30,0.00,0.000,4,0.000,0.020,2678,1473,3213,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2617,-0.87,-116.8,333.1,-10.6,118,2622,0.00,1.35,0.00,0.000,6,0.000,0.024,2677,2433,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2929,-0.87,-116.8,371.3,-10.7,124,2933,0.00,1.30,0.00,0.000,4,0.000,0.021,2677,1476,3211,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2977,-0.87,-116.8,371.3,-10.7,124,2982,0.00,1.33,0.00,0.000,6,0.000,0.024,2671,2422,3211,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3289,-0.87,-116.8,410.6,-10.9,130,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2423,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-0.87,-116.8,442.8,-10.8,135,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2423,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3889,-0.87,-116.8,473.7,-10.3,140,3893,0.00,1.27,0.00,0.000,4,0.000,0.021,2671,1481,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3953,-0.87,-116.8,479.7,-10.2,141,3957,0.00,1.35,0.00,0.000,6,0.000,0.024,2666,2434,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4309,-0.87,-116.8,515.8,-10.0,147,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2434,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4609,-0.87,-116.8,545.0,-9.7,152,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2434,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4909,-0.87,-116.8,574.4,-9.9,157,4913,0.00,1.30,0.00,0.000,4,0.000,0.021,2666,1475,3203,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4957,-0.87,-116.8,574.4,-9.9,157,4962,0.00,1.35,0.00,0.000,6,0.000,0.024,2664,2427,3203,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5269,-0.87,-116.8,611.1,-10.3,163,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2427,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5569,-0.87,-116.8,642.2,-10.5,168,5573,0.00,1.30,0.00,0.000,4,0.000,0.021,2665,1472,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5629,-0.87,-116.8,648.5,-10.5,169,5633,0.00,1.35,0.00,0.000,6,0.000,0.025,2664,2430,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5990,-0.87,-116.8,686.6,-10.7,175,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2430,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6289,-0.87,-116.8,718.3,-10.6,180,6293,0.00,1.30,0.00,0.000,4,0.000,0.021,2664,1478,3199,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6392,-0.87,-116.8,724.6,-10.4,181,6397,0.08,1.35,0.00,0.000,6,0.119,0.024,2687,2430,3199,0,0,0,0,0,0,27.18,27.35,28.83
$GC,6709,-0.87,-116.8,757.2,-8.7,187,6710,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2430,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7009,-0.87,-116.8,782.2,-8.3,192,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2430,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7309,-0.87,-116.8,807.3,-8.4,197,7313,0.00,1.50,0.00,0.000,4,0.000,0.036,2686,3494,3194,0,0,0,0,0,0,28.83,27.30,28.83
$GC,7362,-0.87,-116.8,807.3,-8.4,197,7370,0.00,1.30,0.00,0.000,6,0.000,0.018,2685,2479,3193,0,0,0,0,0,0,28.83,27.40,28.83
$GC,7669,-0.87,-116.8,841.1,-9.5,203,7673,0.00,1.45,0.00,0.000,4,0.000,0.022,2685,1429,3192,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7747,-0.87,-116.8,847.1,-9.6,204,7752,0.00,1.42,0.00,0.000,6,0.000,0.024,2679,2430,3192,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8089,-0.87,-116.8,881.8,-9.6,210,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2430,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8389,-0.87,-116.8,909.7,-9.2,215,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2430,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8689,-0.87,-116.8,935.5,-8.5,220,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2430,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8990,-0.87,-116.8,960.4,-8.3,225,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2430,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9289,-0.87,-116.8,984.9,-8.2,230,9290,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2430,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9408,begin apogee
$GC,9411,-0.25,0.0,994.3,-8.0,232,9499,0.60,0.00,83.68,1.287,6,0.099,0.000,2892,2430,2736,0,0,0,0,0,0,27.16,28.83,24.99
$STATE,9500,end apogee,CONTROL_FINISHED_OK
$STATE,9500,begin climb
$GC,9502,0.87,116.8,995.8,0.0,233,9598,1.00,0.00,92.35,1.247,6,0.057,0.000,3258,2430,2259,0,0,0,0,0,0,25.77,28.83,24.80
$GC,9885,0.87,116.8,968.9,8.4,240,9888,0.00,1.55,0.00,0.000,4,0.000,0.025,3264,1342,2251,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9972,0.87,116.8,964.1,8.2,241,9977,0.00,1.42,0.00,0.000,6,0.000,0.024,3264,2324,2250,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10304,0.87,116.8,935.6,7.8,247,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2325,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10604,0.87,116.8,911.6,8.1,252,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2324,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10905,0.87,116.8,885.6,8.7,257,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2324,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11204,0.87,116.8,858.1,9.2,262,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2324,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11504,0.87,116.8,831.1,9.0,267,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,2324,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11804,0.87,116.8,806.5,8.1,272,11808,0.00,1.40,0.00,0.000,4,0.000,0.027,3270,1350,2246,0,0,0,0,0,0,28.83,27.22,28.83
$GC,11864,0.87,116.8,801.8,7.9,273,11868,0.00,1.40,0.00,0.000,6,0.000,0.025,3270,2329,2245,0,0,0,0,0,0,28.83,27.23,28.83
$GC,12225,0.87,116.8,774.4,7.6,279,12228,0.00,1.52,0.00,0.000,4,0.000,0.034,3270,3393,2245,0,0,0,0,0,0,28.83,27.20,28.83
$GC,12284,0.87,116.8,769.7,7.7,280,12288,0.00,1.38,0.00,0.000,6,0.000,0.020,3275,2349,2244,0,0,0,0,0,0,28.83,27.29,28.83
$GC,12644,0.87,116.8,741.6,7.8,286,12646,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2347,2245,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22777,end climb,SURFACE_DEPTH_REACHED
$STATE,22777,begin surface coast
$FINISH,0.3,1.010896
$STATE,22793,end surface coast,CONTROL_FINISHED_OK
$STATE,22793,begin surface
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$10V_AH,10.4,10.672
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$FG_AHR_10Vo,0.000
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$MEM,334220
$DATA_FILE_SIZE,33596,609
$CAP_FILE_SIZE,176931,0
$CFSIZE,1024393216,1015824384
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