version: 66.10
glider: 200
mission: 4
dive: 85
start: 8 25 114 3 20 43
data:
$ID,200
$MISSION,4
$DIVE,85
$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,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,-1294.4337
$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,2988
$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,156
$R_STBD_OVSHOOT,85
$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
$GPS1,250814,030258,2610.484,-7004.210,36,1.0,36,-12.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.3
$GPS2,250814,032020,2610.375,-7003.981,4,1.7,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2619.801,-7003.094
$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,27.0,20000,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.78,0.000,2,0.000,0.000,114,2349,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.87,-116.8,4.1,-6.7,4,103,9.02,1.58,-5.05,0.000,4,0.193,0.049,2695,3456,3215,0,0,0,0,0,0,26.65,26.92,27.21
$GC,350,-0.87,-116.8,65.7,-18.2,20,354,0.00,1.30,0.00,0.000,6,0.000,0.017,2695,2377,3215,0,0,0,0,0,0,28.83,27.16,28.83
$GC,427,-0.87,-116.8,76.9,-14.4,25,430,0.00,1.55,0.00,0.000,4,0.000,0.033,2687,3457,3215,0,0,0,0,0,0,28.83,27.07,28.83
$GC,582,-0.87,-116.8,99.0,-14.5,34,591,0.00,1.30,0.00,0.000,6,0.000,0.016,2687,2367,3215,0,0,0,0,0,0,28.83,27.22,28.83
$GC,651,-0.87,-116.8,109.8,-14.4,39,654,0.00,1.25,0.00,0.000,4,0.000,0.021,2687,1439,3215,0,0,0,0,0,0,28.83,27.19,28.83
$GC,766,-0.87,-116.8,124.5,-12.4,46,769,0.00,1.38,0.00,0.000,6,0.000,0.025,2680,2417,3215,0,0,0,0,0,0,28.83,27.20,28.83
$GC,843,-0.87,-116.8,133.7,-11.9,51,846,0.00,1.50,0.00,0.000,4,0.000,0.034,2672,3485,3216,0,0,0,0,0,0,28.83,27.16,28.83
$GC,909,-0.87,-116.8,142.7,-13.7,55,913,0.08,1.33,0.00,0.000,6,0.120,0.016,2701,2388,3215,0,0,0,0,0,0,27.05,27.29,28.83
$GC,986,-0.87,-116.8,151.1,-10.6,60,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2380,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1046,-0.87,-116.8,157.4,-10.4,64,1050,0.00,1.55,0.00,0.000,4,0.000,0.034,2695,3476,3215,0,0,0,0,0,0,28.83,27.18,28.83
$GC,1179,-0.87,-116.8,172.4,-11.7,72,1184,0.00,1.27,0.00,0.000,6,0.000,0.016,2695,2429,3215,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1255,-0.87,-116.8,181.4,-11.5,77,1259,0.00,1.27,0.00,0.000,4,0.000,0.021,2695,1480,3215,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1321,-0.87,-116.8,189.2,-11.7,81,1325,0.00,1.33,0.00,0.000,6,0.000,0.027,2691,2420,3215,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1398,-0.87,-116.8,197.8,-11.1,86,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2420,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1456,-0.87,-116.8,205.0,-11.8,89,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2420,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1636,-0.87,-116.8,224.8,-11.0,95,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2420,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1816,-0.87,-116.8,244.0,-10.5,101,1820,0.00,1.27,0.00,0.000,4,0.000,0.021,2691,1483,3214,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1889,-0.87,-116.8,250.5,-10.8,103,1894,0.00,1.35,0.00,0.000,6,0.000,0.025,2686,2439,3213,0,0,0,0,0,0,28.83,27.30,28.83
$GC,2086,-0.87,-116.8,273.8,-11.1,110,2090,0.00,1.30,0.00,0.000,4,0.000,0.021,2686,1475,3213,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2125,-0.87,-116.8,277.2,-11.1,111,2129,0.00,1.35,0.00,0.000,6,0.000,0.025,2685,2426,3212,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2327,-0.87,-116.8,300.0,-10.7,118,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2627,-0.87,-116.8,332.1,-10.7,123,2630,0.00,1.27,0.00,0.000,4,0.000,0.020,2684,1480,3210,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2687,-0.87,-116.8,338.8,-10.7,124,2690,0.00,1.35,0.00,0.000,6,0.000,0.025,2685,2437,3209,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3047,-0.87,-116.8,375.2,-10.0,130,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2437,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3347,-0.87,-116.8,405.3,-10.0,135,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2436,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3647,-0.87,-116.8,435.6,-10.1,140,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2437,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3947,-0.87,-116.8,465.9,-10.2,145,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2436,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4247,-0.87,-116.8,496.3,-10.2,150,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2436,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4547,-0.87,-116.8,526.6,-10.1,155,4550,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1478,3202,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4590,-0.87,-116.8,526.6,-10.1,155,4594,0.00,1.35,0.00,0.000,6,0.000,0.026,2679,2429,3201,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4907,-0.87,-116.8,562.1,-9.7,161,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2429,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5207,-0.87,-116.8,591.5,-9.8,166,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2429,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5507,-0.87,-116.8,621.0,-9.8,171,5510,0.00,1.27,0.00,0.000,4,0.000,0.021,2680,1487,3198,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5600,-0.87,-116.8,626.9,-9.9,172,5605,0.08,1.33,0.00,0.000,6,0.114,0.025,2704,2425,3198,0,0,0,0,0,0,27.13,27.33,28.83
$GC,5927,-0.87,-116.8,659.4,-9.0,178,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2426,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,-0.87,-116.8,686.8,-9.1,183,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2426,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6527,-0.87,-116.8,712.4,-8.4,188,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2425,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6827,-0.87,-116.8,735.3,-7.5,193,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2426,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7127,-0.87,-116.8,757.0,-7.2,198,7128,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2425,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7427,-0.87,-116.8,780.8,-8.0,203,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2426,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7727,-0.87,-116.8,806.0,-8.5,208,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2425,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8027,-0.87,-116.8,830.7,-8.2,213,8030,0.00,1.30,0.00,0.000,4,0.000,0.022,2703,1480,3187,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8135,-0.87,-116.8,835.6,-8.2,214,8139,0.00,1.35,0.00,0.000,6,0.000,0.027,2702,2422,3187,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8447,-0.87,-116.8,864.5,-8.0,220,8450,0.00,1.50,0.00,0.000,4,0.000,0.037,2696,3476,3185,0,0,0,0,0,0,28.83,27.26,28.83
$GC,8475,-0.87,-116.8,864.5,-8.0,220,8479,0.00,1.27,0.00,0.000,6,0.000,0.019,2695,2485,3185,0,0,0,0,0,0,28.83,27.37,28.83
$GC,8807,-0.87,-116.8,893.4,-7.9,226,8810,0.00,1.38,0.00,0.000,4,0.000,0.023,2696,1486,3184,0,0,0,0,0,0,28.83,27.33,28.83
$GC,8910,-0.87,-116.8,898.2,-7.9,227,8914,0.00,1.38,0.00,0.000,6,0.000,0.027,2694,2439,3183,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9227,-0.87,-116.8,926.8,-7.8,233,9230,0.00,1.50,0.00,0.000,4,0.000,0.037,2686,3493,3181,0,0,0,0,0,0,28.83,27.25,28.83
$GC,9280,-0.87,-116.8,926.8,-7.8,233,9287,0.00,1.30,0.00,0.000,6,0.000,0.019,2686,2486,3181,0,0,0,0,0,0,28.83,27.37,28.83
$GC,9587,-0.87,-116.8,956.2,-8.2,239,9590,0.00,1.38,0.00,0.000,4,0.000,0.023,2686,1490,3180,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9635,-0.87,-116.8,956.2,-8.2,239,9639,0.00,1.35,0.00,0.000,6,0.000,0.027,2681,2432,3180,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9947,-0.87,-116.8,984.9,-7.9,245,9950,0.00,1.30,0.00,0.000,4,0.000,0.023,2681,1494,3179,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9995,-0.87,-116.8,984.9,-7.9,245,9999,0.00,1.35,0.00,0.000,6,0.000,0.028,2676,2434,3179,0,0,0,0,0,0,28.83,27.31,28.83
$STATE,10066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10066,begin apogee
$GC,10069,-0.25,0.0,994.7,-8.1,247,10156,0.65,0.00,82.65,1.291,6,0.097,0.000,2906,2435,2736,0,0,0,0,0,0,27.09,28.83,24.96
$STATE,10157,end apogee,CONTROL_FINISHED_OK
$STATE,10157,begin climb
$GC,10158,0.87,116.8,996.0,0.0,248,10255,0.98,0.00,92.85,1.268,6,0.054,0.000,3269,2435,2259,0,0,0,0,0,0,25.77,28.83,24.80
$GC,10542,0.87,116.8,968.2,8.6,255,10546,0.00,1.52,0.00,0.000,4,0.000,0.024,3271,1362,2252,0,0,0,0,0,0,28.83,26.69,28.83
$GC,10700,0.87,116.8,958.3,8.4,257,10705,0.00,1.40,0.00,0.000,6,0.000,0.024,3271,2326,2250,0,0,0,0,0,0,28.83,26.84,28.83
$GC,11022,0.87,116.8,929.5,8.0,263,11023,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2326,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11322,0.87,116.8,905.4,8.1,268,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2326,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11622,0.87,116.8,880.3,8.4,273,11625,0.00,1.33,0.00,0.000,4,0.000,0.027,3271,1395,2248,0,0,0,0,0,0,28.83,27.13,28.83
$GC,11771,0.87,116.8,870.1,8.5,275,11775,0.00,1.33,0.00,0.000,6,0.000,0.026,3271,2321,2247,0,0,0,0,0,0,28.83,27.15,28.83
$GC,12102,0.87,116.8,838.4,8.9,281,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2321,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12402,0.87,116.8,813.9,8.1,286,12405,0.00,1.33,0.00,0.000,4,0.000,0.026,3276,1393,2246,0,0,0,0,0,0,28.83,27.20,28.83
$GC,12582,0.87,116.8,800.4,7.6,289,12585,0.00,1.33,0.00,0.000,6,0.000,0.026,3275,2324,2246,0,0,0,0,0,0,28.83,27.22,28.83
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$STATE,22765,end climb,SURFACE_DEPTH_REACHED
$STATE,22765,begin surface coast
$FINISH,0.2,1.009926
$STATE,22782,end surface coast,CONTROL_FINISHED_OK
$STATE,22782,begin surface
$SM_CCo,22796,26.20,0.116,0,0,1206,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,44.68
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$TCM_TEMP,24.80
$XPDR_PINGS,20
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$10V_AH,10.4,12.155
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334360
$DATA_FILE_SIZE,33545,606
$CAP_FILE_SIZE,180882,0
$CFSIZE,1024393216,1014317056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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