version: 66.10
glider: 200
mission: 4
dive: 75
start: 8 23 114 5 14 54
data:
$ID,200
$MISSION,4
$DIVE,75
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0134447
$HD_C,1.6100001e-05
$HEADING,0
$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,-1281.7874
$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,163
$R_STBD_OVSHOOT,76
$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
$GPS1,230814,050552,2612.625,-7010.858,36,0.9,36,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.8
$GPS2,230814,051431,2612.563,-7010.867,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.067
$KALMAN_X,48125.1,-221.1,-147.7,-52835.9,4085.6
$KALMAN_Y,-120993.6,343.5,463.0,-75393.1,-5795.5
$MHEAD_RNG_PITCHd_Wd,292.6,28205,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.87,-116.8,0.0,0.0,0,81,0.00,0.00,-64.25,0.000,2,0.000,0.000,131,2434,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.87,-116.8,4.6,-8.9,4,101,8.98,1.30,-3.78,0.000,4,0.197,0.039,2685,1429,3214,0,0,0,0,0,0,26.70,27.01,27.22
$GC,346,-0.87,-116.8,64.1,-17.4,20,355,0.00,1.40,0.00,0.000,6,0.000,0.023,2680,2419,3215,0,0,0,0,0,0,28.83,27.11,28.83
$GC,414,-0.87,-116.8,76.3,-15.8,25,418,0.00,1.33,0.00,0.000,4,0.000,0.020,2681,1443,3215,0,0,0,0,0,0,28.83,27.15,28.83
$GC,595,-0.87,-116.8,102.9,-13.5,36,598,0.00,1.38,0.00,0.000,6,0.000,0.024,2675,2423,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,673,-0.87,-116.8,113.0,-13.0,41,676,0.00,1.50,0.00,0.000,4,0.000,0.034,2667,3495,3215,0,0,0,0,0,0,28.83,27.15,28.83
$GC,739,-0.87,-116.8,122.2,-13.9,45,742,0.00,1.33,0.00,0.000,6,0.000,0.016,2666,2394,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,816,-0.87,-116.8,132.7,-13.5,50,819,0.00,1.23,0.00,0.000,4,0.000,0.020,2667,1476,3216,0,0,0,0,0,0,28.83,27.23,28.83
$GC,898,-0.87,-116.8,143.4,-13.0,55,901,0.00,1.35,0.00,0.000,6,0.000,0.024,2661,2434,3216,0,0,0,0,0,0,28.83,27.23,28.83
$GC,976,-0.87,-116.8,153.9,-13.9,60,980,0.12,1.45,0.00,0.000,4,0.152,0.031,2696,3472,3216,0,0,0,0,0,0,27.08,27.19,28.83
$GC,1027,-0.87,-116.8,160.5,-13.1,63,1030,0.00,1.25,0.00,0.000,6,0.000,0.017,2696,2427,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1105,-0.87,-116.8,169.0,-10.9,68,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2427,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1163,-0.87,-116.8,175.4,-10.8,72,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2427,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.87,-116.8,181.9,-10.8,76,1227,0.00,1.50,0.00,0.000,4,0.000,0.034,2690,3461,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1291,-0.87,-116.8,189.5,-11.5,80,1296,0.00,1.25,0.00,0.000,6,0.000,0.016,2689,2434,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1366,-0.87,-116.8,198.1,-11.2,85,1369,0.00,1.30,0.00,0.000,4,0.000,0.019,2690,1463,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1446,-0.87,-116.8,205.2,-10.9,88,1451,0.00,1.35,0.00,0.000,6,0.000,0.024,2684,2427,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1638,-0.87,-116.8,227.9,-11.0,95,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2427,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-0.87,-116.8,245.9,-9.9,101,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2427,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-0.87,-116.8,263.6,-9.7,107,2002,0.00,1.30,0.00,0.000,4,0.000,0.020,2683,1462,3214,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2068,-0.87,-116.8,269.5,-9.7,109,2071,0.00,1.35,0.00,0.000,6,0.000,0.024,2681,2426,3214,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2268,-0.87,-116.8,290.6,-10.3,116,2272,0.00,1.50,0.00,0.000,4,0.000,0.034,2676,3499,3213,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2333,-0.87,-116.8,297.1,-10.6,118,2336,0.00,1.30,0.00,0.000,6,0.000,0.017,2676,2432,3212,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2538,-0.87,-116.8,319.1,-10.4,122,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2431,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2838,-0.87,-116.8,350.8,-10.6,127,2839,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2431,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3138,-0.87,-116.8,382.7,-10.6,132,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2431,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.87,-116.8,413.5,-10.2,137,3442,0.00,1.30,0.00,0.000,4,0.000,0.021,2676,1466,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3506,-0.87,-116.8,419.7,-10.2,138,3511,0.00,1.35,0.00,0.000,6,0.000,0.024,2671,2425,3207,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3858,-0.87,-116.8,458.1,-10.7,144,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2426,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4158,-0.87,-116.8,490.9,-10.9,149,4162,0.00,1.30,0.00,0.000,4,0.000,0.021,2670,1466,3204,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4206,-0.87,-116.8,490.9,-10.9,149,4211,0.00,1.38,0.00,0.000,6,0.000,0.024,2667,2436,3204,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4518,-0.87,-116.8,531.6,-11.3,155,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2436,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4818,-0.87,-116.8,565.8,-11.5,160,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2435,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5118,-0.87,-116.8,601.1,-11.8,165,5122,0.00,1.33,0.00,0.000,4,0.000,0.021,2667,1462,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5171,-0.87,-116.8,601.1,-11.8,165,5179,0.00,1.38,0.00,0.000,6,0.000,0.024,2667,2434,3202,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5479,-0.87,-116.8,640.5,-10.7,171,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2434,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5778,-0.87,-116.8,671.0,-10.1,176,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2434,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6078,-0.87,-116.8,700.8,-10.0,181,6082,0.00,1.33,0.00,0.000,4,0.000,0.021,2667,1462,3199,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6126,-0.87,-116.8,700.8,-10.0,181,6131,0.00,1.38,0.00,0.000,6,0.000,0.025,2667,2435,3198,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6439,-0.87,-116.8,736.2,-9.8,187,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2435,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6738,-0.87,-116.8,765.0,-9.5,192,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2435,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7038,-0.87,-116.8,792.7,-9.1,197,7042,0.00,1.33,0.00,0.000,4,0.000,0.022,2667,1469,3194,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7076,-0.87,-116.8,792.7,-9.1,197,7081,0.00,1.38,0.00,0.000,6,0.000,0.024,2662,2436,3194,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7398,-0.87,-116.8,825.8,-9.1,203,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2436,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7698,-0.87,-116.8,852.9,-9.0,208,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2436,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,-0.87,-116.8,880.5,-9.2,213,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2436,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8298,-0.87,-116.8,907.3,-8.9,218,8302,0.00,1.33,0.00,0.000,4,0.000,0.023,2662,1475,3188,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8351,-0.87,-116.8,907.3,-8.9,218,8360,0.08,1.35,0.00,0.000,6,0.119,0.025,2688,2424,3188,0,0,0,0,0,0,27.15,27.34,28.83
$GC,8659,-0.87,-116.8,936.6,-7.9,224,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2424,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8958,-0.87,-116.8,961.9,-8.5,229,8962,0.00,1.50,0.00,0.000,4,0.000,0.036,2683,3481,3185,0,0,0,0,0,0,28.83,27.27,28.83
$GC,9043,-0.87,-116.8,967.3,-8.6,230,9046,0.00,1.30,0.00,0.000,6,0.000,0.020,2681,2475,3184,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,9317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9317,begin apogee
$GC,9321,-0.25,0.0,993.6,-8.7,235,9410,0.57,0.00,83.43,1.287,6,0.096,0.000,2887,2342,2735,0,0,0,0,0,0,27.14,28.83,24.98
$STATE,9411,end apogee,CONTROL_FINISHED_OK
$STATE,9411,begin climb
$GC,9413,0.87,116.8,995.6,0.0,236,9509,1.00,0.00,92.10,1.250,6,0.057,0.000,3254,2342,2258,0,0,0,0,0,0,25.80,28.83,24.82
$GC,9799,0.87,116.8,969.0,8.4,243,9802,0.00,1.50,0.00,0.000,4,0.000,0.025,3255,1313,2251,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9836,0.87,116.8,969.0,8.4,243,9841,0.00,1.48,0.00,0.000,6,0.000,0.024,3255,2323,2251,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10158,0.87,116.8,939.8,8.1,249,10160,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2323,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10458,0.87,116.8,916.1,8.0,254,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2324,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10759,0.87,116.8,891.6,8.3,259,10762,0.00,1.45,0.00,0.000,4,0.000,0.026,3258,1316,2247,0,0,0,0,0,0,28.83,27.11,28.83
$GC,10913,0.87,116.8,881.7,8.3,261,10916,0.00,1.45,0.00,0.000,6,0.000,0.025,3258,2330,2247,0,0,0,0,0,0,28.83,27.15,28.83
$GC,11239,0.87,116.8,852.2,8.2,267,11242,0.00,1.52,0.00,0.000,4,0.000,0.035,3258,3393,2246,0,0,0,0,0,0,28.83,27.14,28.83
$GC,11287,0.87,116.8,852.2,8.2,267,11291,0.00,1.42,0.00,0.000,6,0.000,0.019,3263,2323,2247,0,0,0,0,0,0,28.83,27.22,28.83
$GC,11599,0.87,116.8,823.5,7.8,273,11602,0.00,1.42,0.00,0.000,4,0.000,0.027,3263,1323,2246,0,0,0,0,0,0,28.83,27.20,28.83
$GC,11692,0.87,116.8,818.9,7.7,274,11696,0.00,1.42,0.00,0.000,6,0.000,0.024,3264,2321,2246,0,0,0,0,0,0,28.83,27.22,28.83
$GC,12019,0.87,116.8,791.7,7.6,280,12022,0.00,1.52,0.00,0.000,4,0.000,0.035,3263,3384,2246,0,0,0,0,0,0,28.83,27.20,28.83
$GC,12072,0.87,116.8,791.7,7.6,280,12079,0.00,1.40,0.00,0.000,6,0.000,0.018,3264,2325,2245,0,0,0,0,0,0,28.83,27.28,28.83
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$STATE,22737,end climb,SURFACE_DEPTH_REACHED
$STATE,22737,begin surface coast
$FINISH,0.8,1.023001
$STATE,22752,end surface coast,CONTROL_FINISHED_OK
$STATE,22752,begin surface
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$HUMID,44.21
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,25.20
$XPDR_PINGS,19
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$10V_AH,10.4,11.367
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334384
$DATA_FILE_SIZE,37008,618
$CAP_FILE_SIZE,190004,0
$CFSIZE,1024393216,1015054336
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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