version: 66.10
glider: 200
mission: 4
dive: 70
start: 8 21 114 22 27 14
data:
$ID,200
$MISSION,4
$DIVE,70
$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,-1268.1028
$T_RSLEEP,30
$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,157
$R_STBD_OVSHOOT,80
$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
$GPS1,210814,221804,2611.861,-7006.987,31,0.9,31,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.0
$GPS2,210814,222618,2611.819,-7006.956,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.008,0.174
$KALMAN_X,41836.1,8.2,-680.6,-43245.6,5119.1
$KALMAN_Y,-112031.7,-3.0,660.0,-88145.7,-6084.8
$MHEAD_RNG_PITCHd_Wd,9.2,33827,-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,-116.8,0.0,0.0,0,80,0.00,0.00,-62.62,0.000,2,0.000,0.000,151,2436,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.6,-9.0,4,102,8.82,1.50,-5.25,0.000,4,0.194,0.054,2682,3465,3216,0,0,0,0,0,0,26.73,26.98,27.25
$GC,326,-0.87,-116.8,58.8,-17.7,20,334,0.00,1.30,0.00,0.000,6,0.000,0.016,2683,2387,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,393,-0.87,-116.8,70.9,-16.2,25,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2387,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,453,-0.87,-116.8,80.1,-15.4,29,457,0.00,1.23,0.00,0.000,4,0.000,0.020,2683,1474,3217,0,0,0,0,0,0,28.83,27.17,28.83
$GC,581,-0.87,-116.8,97.7,-13.9,37,589,0.00,1.35,0.00,0.000,6,0.000,0.023,2676,2430,3217,0,0,0,0,0,0,28.83,27.19,28.83
$GC,648,-0.87,-116.8,107.7,-13.4,42,649,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,709,-0.87,-116.8,115.7,-13.3,46,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,768,-0.87,-116.8,123.8,-13.4,50,769,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,828,-0.87,-116.8,131.6,-13.0,54,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2429,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.87,-116.8,139.8,-13.8,58,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2430,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,948,-0.87,-116.8,147.7,-13.2,62,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2430,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1008,-0.87,-116.8,154.7,-11.8,66,1012,0.00,1.27,0.00,0.000,4,0.000,0.020,2676,1485,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1128,-0.87,-116.8,170.3,-12.6,74,1132,0.00,1.33,0.00,0.000,6,0.000,0.024,2671,2432,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1203,-0.87,-116.8,179.4,-12.2,78,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2432,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1383,-0.87,-116.8,200.2,-11.6,84,1387,0.00,1.48,0.00,0.000,4,0.000,0.033,2665,3461,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1447,-0.87,-116.8,207.2,-11.5,86,1451,0.00,1.23,0.00,0.000,6,0.000,0.016,2665,2434,3217,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1653,-0.87,-116.8,230.2,-10.9,93,1657,0.00,1.27,0.00,0.000,4,0.000,0.020,2664,1480,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1713,-0.87,-116.8,236.9,-11.3,95,1717,0.00,1.33,0.00,0.000,6,0.000,0.024,2664,2429,3217,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1923,-0.87,-116.8,261.3,-11.7,102,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2428,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2103,-0.87,-116.8,281.5,-11.1,108,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2428,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.87,-116.8,302.3,-11.6,114,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2428,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2583,-0.87,-116.8,336.4,-11.3,119,2587,0.00,1.30,0.00,0.000,4,0.000,0.020,2665,1465,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2636,-0.87,-116.8,336.4,-11.3,119,2644,0.08,1.35,0.00,0.000,6,0.122,0.023,2689,2424,3213,0,0,0,0,0,0,27.16,27.34,28.83
$GC,2944,-0.87,-116.8,371.7,-9.4,125,2947,0.00,1.27,0.00,0.000,4,0.000,0.021,2689,1478,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2996,-0.87,-116.8,371.7,-9.4,125,3004,0.00,1.33,0.00,0.000,6,0.000,0.024,2684,2420,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3303,-0.87,-116.8,405.7,-9.4,131,3307,0.00,1.50,0.00,0.000,4,0.000,0.034,2677,3493,3210,0,0,0,0,0,0,28.83,27.30,28.83
$GC,3363,-0.87,-116.8,411.6,-9.6,132,3367,0.00,1.27,0.00,0.000,6,0.000,0.017,2677,2449,3210,0,0,0,0,0,0,28.83,27.40,28.83
$GC,3724,-0.87,-116.8,447.8,-10.1,138,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2448,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4023,-0.87,-116.8,479.5,-10.5,143,4027,0.00,1.33,0.00,0.000,4,0.000,0.021,2677,1468,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4083,-0.87,-116.8,485.9,-10.6,144,4087,0.00,1.35,0.00,0.000,6,0.000,0.024,2672,2424,3207,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4443,-0.87,-116.8,523.8,-10.4,150,4447,0.00,1.30,0.00,0.000,4,0.000,0.021,2671,1462,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4516,-0.87,-116.8,530.0,-10.4,151,4521,0.00,1.38,0.00,0.000,6,0.000,0.024,2671,2435,3205,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4863,-0.87,-116.8,565.5,-9.8,157,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2435,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5163,-0.87,-116.8,594.7,-9.7,162,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2435,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5463,-0.87,-116.8,623.5,-9.7,167,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2435,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5764,-0.87,-116.8,652.4,-9.7,172,5767,0.00,1.33,0.00,0.000,4,0.000,0.021,2672,1465,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5808,-0.87,-116.8,652.4,-9.7,172,5811,0.00,1.38,0.00,0.000,6,0.000,0.025,2670,2437,3201,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6124,-0.87,-116.8,689.1,-10.3,178,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2437,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6424,-0.87,-116.8,719.4,-10.1,183,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2437,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6724,-0.87,-116.8,747.3,-9.3,188,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2437,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7024,-0.87,-116.8,774.4,-9.1,193,7027,0.00,1.33,0.00,0.000,4,0.000,0.022,2670,1472,3196,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7092,-0.87,-116.8,780.0,-9.1,194,7096,0.00,1.35,0.00,0.000,6,0.000,0.025,2667,2425,3195,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7444,-0.87,-116.8,816.1,-10.1,200,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2425,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7744,-0.87,-116.8,848.1,-10.7,205,7747,0.00,1.50,0.00,0.000,4,0.000,0.035,2660,3488,3193,0,0,0,0,0,0,28.83,27.29,28.83
$GC,7822,-0.87,-116.8,854.7,-10.8,206,7827,0.08,1.33,0.00,0.000,6,0.115,0.018,2690,2456,3192,0,0,0,0,0,0,27.18,27.39,28.83
$GC,8164,-0.87,-116.8,887.5,-8.7,212,8165,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2456,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8464,-0.87,-116.8,910.9,-7.8,217,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2456,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8764,-0.87,-116.8,934.7,-8.0,222,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2456,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9064,-0.87,-116.8,959.0,-8.1,227,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2456,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9364,-0.87,-116.8,982.8,-7.9,232,9367,0.00,1.50,0.00,0.000,4,0.000,0.037,2685,3506,3185,0,0,0,0,0,0,28.83,27.28,28.83
$GC,9417,-0.87,-116.8,982.8,-7.9,232,9424,0.00,1.40,0.00,0.000,6,0.000,0.019,2685,2439,3184,0,0,0,0,0,0,28.83,27.39,28.83
$STATE,9482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9483,begin apogee
$GC,9486,-0.25,0.0,992.4,-8.0,234,9574,0.57,0.00,83.68,1.310,6,0.096,0.000,2889,2439,2737,0,0,0,0,0,0,27.14,28.83,24.94
$STATE,9575,end apogee,CONTROL_FINISHED_OK
$STATE,9575,begin climb
$GC,9576,0.87,116.8,994.1,0.0,235,9673,1.00,0.00,92.85,1.276,6,0.058,0.000,3257,2439,2259,0,0,0,0,0,0,25.76,28.83,24.79
$GC,9959,0.87,116.8,967.5,8.5,242,9962,0.00,1.55,0.00,0.000,4,0.000,0.024,3257,1334,2252,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10117,0.87,116.8,957.7,8.3,244,10121,0.00,1.45,0.00,0.000,6,0.000,0.024,3257,2334,2250,0,0,0,0,0,0,28.83,26.82,28.83
$GC,10439,0.87,116.8,927.4,8.4,250,10442,0.00,1.45,0.00,0.000,4,0.000,0.025,3259,1332,2249,0,0,0,0,0,0,28.83,27.00,28.83
$GC,10472,0.87,116.8,927.4,8.4,250,10476,0.00,1.42,0.00,0.000,6,0.000,0.023,3258,2325,2249,0,0,0,0,0,0,28.83,27.02,28.83
$GC,10799,0.87,116.8,899.5,7.7,256,10802,0.00,1.42,0.00,0.000,4,0.000,0.027,3258,1329,2247,0,0,0,0,0,0,28.83,27.09,28.83
$GC,10877,0.87,116.8,895.2,7.5,257,10881,0.00,1.42,0.00,0.000,6,0.000,0.024,3258,2326,2247,0,0,0,0,0,0,28.83,27.11,28.83
$GC,11219,0.87,116.8,868.6,7.4,263,11222,0.00,1.42,0.00,0.000,4,0.000,0.028,3259,1329,2246,0,0,0,0,0,0,28.83,27.15,28.83
$GC,11307,0.87,116.8,864.2,7.3,264,11311,0.00,1.42,0.00,0.000,6,0.000,0.024,3259,2327,2246,0,0,0,0,0,0,28.83,27.17,28.83
$GC,11639,0.87,116.8,835.5,8.0,270,11642,0.00,1.52,0.00,0.000,4,0.000,0.034,3259,3393,2246,0,0,0,0,0,0,28.83,27.16,28.83
$GC,11668,0.87,116.8,835.5,8.0,270,11672,0.00,1.40,0.00,0.000,6,0.000,0.020,3264,2334,2246,0,0,0,0,0,0,28.83,27.25,28.83
$GC,11999,0.87,116.8,804.5,8.5,276,12002,0.00,1.42,0.00,0.000,4,0.000,0.026,3270,1324,2245,0,0,0,0,0,0,28.83,27.22,28.83
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$STATE,22586,end climb,SURFACE_DEPTH_REACHED
$STATE,22586,begin surface coast
$FINISH,0.5,1.023141
$STATE,22603,end surface coast,CONTROL_FINISHED_OK
$STATE,22603,begin surface
$SM_CCo,22617,32.72,0.116,0,0,1205,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,43.97
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,24.90
$XPDR_PINGS,21
$24V_AH,24.8,13.082
$10V_AH,10.4,10.934
$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,334248
$DATA_FILE_SIZE,33451,605
$CAP_FILE_SIZE,176499,0
$CFSIZE,1024393216,1015496704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220814,044558,2613.168,-7006.236,39,1.0,39,-12.0