version: 66.10
glider: 200
mission: 4
dive: 69
start: 8 21 114 15 46 11
data:
$ID,200
$MISSION,4
$DIVE,69
$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,-1266.845
$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,57
$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
$GPS1,210814,153704,2611.578,-7005.400,40,0.9,40,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.6
$GPS2,210814,154515,2611.565,-7005.342,5,0.8,5,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.142,0.102
$KALMAN_X,40053.2,-2.5,-419.3,-39070.7,4183.6
$KALMAN_Y,-109983.9,94.9,930.5,-91033.7,-7657.9
$MHEAD_RNG_PITCHd_Wd,317.6,34147,-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,-62.12,0.000,2,0.000,0.000,159,2415,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.1,-7.4,4,102,8.82,1.58,-6.22,0.000,4,0.195,0.054,2678,3484,3215,0,0,0,0,0,0,26.72,26.99,27.27
$GC,326,-0.87,-116.8,58.6,-17.7,20,334,0.00,1.33,0.00,0.000,6,0.000,0.015,2678,2384,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,393,-0.87,-116.8,71.4,-17.3,25,397,0.00,1.55,0.00,0.000,4,0.000,0.033,2670,3478,3216,0,0,0,0,0,0,28.83,27.10,28.83
$GC,544,-0.87,-116.8,95.5,-14.6,35,547,0.00,1.25,0.00,0.000,6,0.000,0.016,2670,2431,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,618,-0.87,-116.8,105.3,-12.9,40,622,0.00,1.27,0.00,0.000,4,0.000,0.020,2670,1485,3217,0,0,0,0,0,0,28.83,27.21,28.83
$GC,708,-0.87,-116.8,117.2,-13.2,46,712,0.00,1.35,0.00,0.000,6,0.000,0.024,2665,2443,3217,0,0,0,0,0,0,28.83,27.21,28.83
$GC,783,-0.87,-116.8,127.2,-13.2,51,787,0.00,1.48,0.00,0.000,4,0.000,0.034,2657,3467,3217,0,0,0,0,0,0,28.83,27.17,28.83
$GC,821,-0.87,-116.8,131.3,-13.6,53,830,0.10,1.25,0.00,0.000,6,0.115,0.015,2694,2430,3217,0,0,0,0,0,0,27.05,27.29,28.83
$GC,890,-0.87,-116.8,140.6,-12.0,58,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.87,-116.8,147.3,-11.0,62,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1008,-0.87,-116.8,153.8,-10.9,66,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1070,-0.87,-116.8,160.2,-10.7,70,1073,0.00,1.27,0.00,0.000,4,0.000,0.021,2694,1480,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1102,-0.87,-116.8,163.4,-10.7,72,1107,0.00,1.35,0.00,0.000,6,0.000,0.024,2691,2438,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1174,-0.87,-116.8,171.2,-10.5,77,1176,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2438,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1249,-0.87,-116.8,179.3,-10.8,81,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2438,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-0.87,-116.8,197.9,-10.3,87,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2437,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1609,-0.87,-116.8,217.0,-10.7,93,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2438,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1789,-0.87,-116.8,236.1,-10.7,99,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2438,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1969,-0.87,-116.8,255.3,-10.8,105,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2438,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2149,-0.87,-116.8,274.4,-10.6,111,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2438,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2329,-0.87,-116.8,293.2,-10.4,117,2333,0.00,1.30,0.00,0.000,4,0.000,0.021,2691,1478,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2389,-0.87,-116.8,299.5,-10.5,119,2393,0.00,1.35,0.00,0.000,6,0.000,0.025,2686,2431,3214,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2600,-0.87,-116.8,320.5,-10.0,123,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2431,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2900,-0.87,-116.8,350.4,-10.0,128,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2431,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.87,-116.8,381.0,-10.3,133,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2431,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.87,-116.8,412.1,-10.3,138,3503,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1473,3210,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3559,-0.87,-116.8,418.4,-10.4,139,3563,0.00,1.35,0.00,0.000,6,0.000,0.024,2680,2429,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3920,-0.87,-116.8,456.0,-10.4,145,3923,0.00,1.30,0.00,0.000,4,0.000,0.021,2680,1472,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3958,-0.87,-116.8,456.0,-10.4,145,3962,0.00,1.35,0.00,0.000,6,0.000,0.024,2673,2432,3207,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4280,-0.87,-116.8,491.3,-9.7,151,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2432,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4580,-0.87,-116.8,520.4,-9.7,156,4583,0.00,1.30,0.00,0.000,4,0.000,0.021,2673,1473,3205,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4633,-0.87,-116.8,520.4,-9.7,156,4640,0.00,1.35,0.00,0.000,6,0.000,0.024,2671,2430,3205,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4940,-0.87,-116.8,554.5,-9.5,162,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2430,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5240,-0.87,-116.8,584.3,-10.0,167,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2430,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5540,-0.87,-116.8,615.6,-10.4,172,5543,0.00,1.30,0.00,0.000,4,0.000,0.021,2671,1474,3203,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5593,-0.87,-116.8,615.6,-10.4,172,5600,0.00,1.35,0.00,0.000,6,0.000,0.024,2671,2430,3202,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5900,-0.87,-116.8,652.9,-10.3,178,5903,0.00,1.30,0.00,0.000,4,0.000,0.021,2671,1473,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5959,-0.87,-116.8,659.0,-10.3,179,5963,0.00,1.35,0.00,0.000,6,0.000,0.024,2666,2428,3201,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6320,-0.87,-116.8,694.8,-9.9,185,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2428,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6620,-0.87,-116.8,723.6,-9.6,190,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2428,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,-0.87,-116.8,750.9,-9.1,195,6923,0.00,1.30,0.00,0.000,4,0.000,0.021,2665,1476,3198,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7019,-0.87,-116.8,756.4,-9.1,196,7022,0.00,1.35,0.00,0.000,6,0.000,0.025,2660,2432,3198,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7340,-0.87,-116.8,789.8,-9.3,202,7344,0.12,1.30,0.00,0.000,4,0.152,0.019,2701,1485,3196,0,0,0,0,0,0,27.20,27.36,28.83
$GC,7378,-0.87,-116.8,789.8,-9.3,202,7383,0.00,1.35,0.00,0.000,6,0.000,0.025,2702,2433,3196,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7700,-0.87,-116.8,817.8,-7.6,208,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2432,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8000,-0.87,-116.8,840.5,-7.6,213,8003,0.00,1.50,0.00,0.000,4,0.000,0.036,2699,3492,3192,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8038,-0.87,-116.8,840.5,-7.6,213,8043,0.00,1.30,0.00,0.000,6,0.000,0.018,2699,2473,3192,0,0,0,0,0,0,28.83,27.40,28.83
$GC,8360,-0.87,-116.8,869.4,-8.1,219,8364,0.00,1.42,0.00,0.000,4,0.000,0.022,2699,1440,3190,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8413,-0.87,-116.8,869.4,-8.1,219,8421,0.00,1.42,0.00,0.000,6,0.000,0.025,2699,2434,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8720,-0.87,-116.8,898.7,-8.2,225,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2434,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9020,-0.87,-116.8,924.2,-8.6,230,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2434,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9320,-0.87,-116.8,949.2,-8.3,235,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2434,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9620,-0.87,-116.8,972.1,-7.7,240,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2434,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9919,begin apogee
$GC,9923,-0.25,0.0,993.7,-7.2,245,10011,0.52,0.00,83.88,1.309,6,0.098,0.000,2887,2434,2736,0,0,0,0,0,0,27.15,28.83,24.98
$STATE,10011,end apogee,CONTROL_FINISHED_OK
$STATE,10012,begin climb
$GC,10013,0.87,116.8,995.2,0.0,246,10109,1.02,0.00,92.72,1.264,6,0.058,0.000,3259,2434,2259,0,0,0,0,0,0,25.77,28.83,24.79
$GC,10396,0.87,116.8,966.3,9.1,253,10399,0.00,1.55,0.00,0.000,4,0.000,0.026,3263,1339,2251,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10478,0.87,116.8,960.8,9.1,254,10483,0.00,1.42,0.00,0.000,6,0.000,0.024,3263,2329,2250,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10815,0.87,116.8,929.9,8.5,260,10819,0.00,1.42,0.00,0.000,4,0.000,0.027,3263,1346,2249,0,0,0,0,0,0,28.83,26.96,28.83
$GC,10868,0.87,116.8,929.9,8.5,260,10876,0.00,1.42,0.00,0.000,6,0.000,0.024,3263,2331,2249,0,0,0,0,0,0,28.83,26.99,28.83
$GC,11176,0.87,116.8,899.6,8.3,266,11179,0.00,1.52,0.00,0.000,4,0.000,0.034,3263,3392,2248,0,0,0,0,0,0,28.83,27.04,28.83
$GC,11220,0.87,116.8,899.6,8.3,266,11223,0.00,1.40,0.00,0.000,6,0.000,0.020,3264,2343,2247,0,0,0,0,0,0,28.83,27.13,28.83
$GC,11536,0.87,116.8,869.0,8.5,272,11537,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2343,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11836,0.87,116.8,843.9,8.4,277,11839,0.00,1.48,0.00,0.000,4,0.000,0.027,3263,1312,2246,0,0,0,0,0,0,28.83,27.17,28.83
$GC,11879,0.87,116.8,843.9,8.4,277,11883,0.00,1.45,0.00,0.000,6,0.000,0.024,3263,2333,2246,0,0,0,0,0,0,28.83,27.18,28.83
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$STATE,23384,end climb,SURFACE_DEPTH_REACHED
$STATE,23384,begin surface coast
$FINISH,0.5,1.023039
$STATE,23400,end surface coast,CONTROL_FINISHED_OK
$STATE,23400,begin surface
$SM_CCo,23414,33.15,0.116,0,0,1204,375.06
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$TT8_MAMPS,0.027713,0.027713
$HUMID,43.73
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,25.00
$XPDR_PINGS,23
$24V_AH,24.8,12.976
$10V_AH,10.4,10.867
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334180
$DATA_FILE_SIZE,36855,628
$CAP_FILE_SIZE,183326,0
$CFSIZE,1024393216,1015562240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210814,221804,2611.861,-7006.987,31,0.9,31,-12.0