version: 66.10
glider: 200
mission: 4
dive: 73
start: 8 22 114 16 14 13
data:
$ID,200
$MISSION,4
$DIVE,73
$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,-1279.2721
$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,143
$R_STBD_OVSHOOT,71
$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
$GPS1,220814,160553,2614.879,-7007.049,36,1.0,36,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.9
$GPS2,220814,161316,2614.880,-7007.034,4,1.0,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.172,0.032
$KALMAN_X,46199.8,-24.1,-484.5,-47897.3,4400.9
$KALMAN_Y,-119345.9,210.9,1186.3,-75906.2,-7280.5
$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,-64.28,0.000,2,0.000,0.000,159,2438,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.87,-116.8,4.3,-8.6,4,101,8.82,1.35,-4.25,0.000,4,0.196,0.037,2687,1406,3212,0,0,0,0,0,0,26.75,27.08,27.30
$GC,345,-0.87,-116.8,61.5,-18.0,20,355,0.00,1.45,0.00,0.000,6,0.000,0.023,2682,2429,3214,0,0,0,0,0,0,28.83,27.16,28.83
$GC,414,-0.87,-116.8,74.2,-16.8,25,418,0.00,1.38,0.00,0.000,4,0.000,0.020,2682,1425,3214,0,0,0,0,0,0,28.83,27.18,28.83
$GC,662,-0.87,-116.8,108.3,-12.4,40,667,0.00,1.45,0.00,0.000,6,0.000,0.023,2675,2442,3215,0,0,0,0,0,0,28.83,27.22,28.83
$GC,736,-0.87,-116.8,118.4,-13.4,45,740,0.00,1.48,0.00,0.000,4,0.000,0.034,2667,3464,3215,0,0,0,0,0,0,28.83,27.18,28.83
$GC,810,-0.87,-116.8,127.7,-14.0,49,819,0.00,1.33,0.00,0.000,6,0.000,0.015,2668,2366,3215,0,0,0,0,0,0,28.83,27.31,28.83
$GC,879,-0.87,-116.8,137.7,-13.0,54,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2366,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,939,-0.87,-116.8,145.2,-12.6,58,940,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2366,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,999,-0.87,-116.8,153.0,-13.1,62,1002,0.00,1.55,0.00,0.000,4,0.000,0.034,2662,3466,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1034,-0.87,-116.8,157.5,-13.1,64,1038,0.00,1.35,0.00,0.000,6,0.000,0.015,2662,2370,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1108,-0.87,-116.8,167.0,-12.5,69,1112,0.00,1.27,0.00,0.000,4,0.000,0.021,2662,1424,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1214,-0.87,-116.8,178.7,-11.7,75,1225,0.08,1.40,0.00,0.000,6,0.123,0.023,2685,2425,3216,0,0,0,0,0,0,27.10,27.27,28.83
$GC,1283,-0.87,-116.8,187.4,-11.3,80,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2426,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1343,-0.87,-116.8,194.2,-11.4,84,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2425,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1403,-0.87,-116.8,200.8,-11.0,88,1407,0.00,1.50,0.00,0.000,4,0.000,0.034,2679,3503,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1463,-0.87,-116.8,208.2,-11.7,90,1466,0.00,1.38,0.00,0.000,6,0.000,0.016,2679,2379,3216,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1673,-0.87,-116.8,231.6,-11.1,97,1677,0.00,1.60,0.00,0.000,4,0.000,0.033,2671,3473,3215,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1733,-0.87,-116.8,238.5,-11.3,99,1737,0.00,1.33,0.00,0.000,6,0.000,0.016,2672,2380,3215,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1943,-0.87,-116.8,261.9,-11.1,106,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2379,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.87,-116.8,281.9,-11.1,112,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2379,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2305,-0.87,-116.8,302.4,-11.4,118,2308,0.00,1.20,0.00,0.000,4,0.000,0.021,2672,1476,3213,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2398,-0.87,-116.8,309.6,-11.6,119,2402,0.00,1.35,0.00,0.000,6,0.000,0.024,2666,2433,3213,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2725,-0.87,-116.8,350.0,-11.1,125,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2433,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3025,-0.87,-116.8,382.4,-10.8,130,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2433,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3325,-0.87,-116.8,414.8,-10.8,135,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2433,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3625,-0.87,-116.8,447.4,-10.9,140,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2433,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3925,-0.87,-116.8,480.0,-10.9,145,3928,0.00,1.30,0.00,0.000,4,0.000,0.021,2666,1476,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4013,-0.87,-116.8,486.6,-10.9,146,4017,0.00,1.35,0.00,0.000,6,0.000,0.024,2665,2427,3207,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4345,-0.87,-116.8,524.3,-10.4,152,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2427,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.87,-116.8,554.7,-10.1,157,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2427,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.87,-116.8,585.4,-10.3,162,4946,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2428,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5245,-0.87,-116.8,614.0,-9.5,167,5246,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2428,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5545,-0.87,-116.8,643.7,-9.9,172,5548,0.00,1.30,0.00,0.000,4,0.000,0.021,2665,1475,3202,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5598,-0.87,-116.8,643.7,-9.9,172,5605,0.00,1.35,0.00,0.000,6,0.000,0.025,2665,2430,3202,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5905,-0.87,-116.8,679.7,-10.0,178,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2430,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6205,-0.87,-116.8,709.5,-10.0,183,6208,0.00,1.30,0.00,0.000,4,0.000,0.021,2665,1477,3200,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6253,-0.87,-116.8,709.5,-10.0,183,6257,0.00,1.35,0.00,0.000,6,0.000,0.025,2664,2431,3200,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6565,-0.87,-116.8,743.7,-9.5,189,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2431,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6865,-0.87,-116.8,770.1,-8.8,194,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2431,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7165,-0.87,-116.8,798.1,-9.4,199,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2431,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7465,-0.87,-116.8,827.6,-9.8,204,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2431,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7765,-0.87,-116.8,856.1,-9.5,209,7768,0.00,1.50,0.00,0.000,4,0.000,0.036,2658,3462,3192,0,0,0,0,0,0,28.83,27.29,28.83
$GC,7827,-0.87,-116.8,861.8,-9.5,210,7833,0.12,1.27,0.00,0.000,6,0.136,0.018,2695,2475,3192,0,0,0,0,0,0,27.17,27.39,28.83
$GC,8185,-0.87,-116.8,890.5,-7.7,216,8188,0.00,1.42,0.00,0.000,4,0.000,0.022,2695,1443,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8228,-0.87,-116.8,890.5,-7.7,216,8232,0.00,1.40,0.00,0.000,6,0.000,0.026,2692,2424,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8545,-0.87,-116.8,918.1,-7.7,222,8548,0.00,1.50,0.00,0.000,4,0.000,0.036,2683,3485,3188,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8623,-0.87,-116.8,923.2,-7.9,223,8628,0.00,1.38,0.00,0.000,6,0.000,0.018,2684,2425,3187,0,0,0,0,0,0,28.83,27.39,28.83
$GC,8965,-0.87,-116.8,952.6,-8.1,229,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2425,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9265,-0.87,-116.8,976.9,-8.1,234,9268,0.00,1.52,0.00,0.000,4,0.000,0.036,2678,3481,3185,0,0,0,0,0,0,28.83,27.27,28.83
$GC,9313,-0.87,-116.8,976.9,-8.1,234,9317,0.00,1.38,0.00,0.000,6,0.000,0.019,2678,2427,3184,0,0,0,0,0,0,28.83,27.38,28.83
$STATE,9444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9444,begin apogee
$GC,9447,-0.25,0.0,992.7,-8.7,237,9535,0.60,0.00,83.30,1.287,6,0.096,0.000,2890,2426,2736,0,0,0,0,0,0,27.13,28.83,24.96
$STATE,9536,end apogee,CONTROL_FINISHED_OK
$STATE,9536,begin climb
$GC,9537,0.87,116.8,994.7,0.0,238,9633,1.00,0.00,92.40,1.262,6,0.056,0.000,3259,2427,2259,0,0,0,0,0,0,25.78,28.83,24.82
$GC,9920,0.87,116.8,970.1,7.9,245,9924,0.00,1.55,0.00,0.000,4,0.000,0.025,3265,1328,2251,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9998,0.87,116.8,965.3,8.0,246,10003,0.00,1.45,0.00,0.000,6,0.000,0.024,3265,2325,2250,0,0,0,0,0,0,28.83,26.78,28.83
$GC,10340,0.87,116.8,935.0,8.5,252,10344,0.00,1.42,0.00,0.000,4,0.000,0.027,3265,1341,2249,0,0,0,0,0,0,28.83,26.97,28.83
$GC,10460,0.87,116.8,925.2,8.3,254,10464,0.00,1.42,0.00,0.000,6,0.000,0.024,3265,2330,2249,0,0,0,0,0,0,28.83,27.02,28.83
$GC,10820,0.87,116.8,896.8,7.8,260,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2330,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11120,0.87,116.8,871.7,8.4,265,11123,0.00,1.42,0.00,0.000,4,0.000,0.027,3267,1338,2246,0,0,0,0,0,0,28.83,27.15,28.83
$GC,11208,0.87,116.8,866.6,8.6,266,11213,0.00,1.40,0.00,0.000,6,0.000,0.024,3268,2323,2246,0,0,0,0,0,0,28.83,27.16,28.83
$GC,11540,0.87,116.8,834.7,9.0,272,11541,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2323,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11840,0.87,116.8,806.8,9.3,277,11844,0.00,1.40,0.00,0.000,4,0.000,0.027,3271,1339,2245,0,0,0,0,0,0,28.83,27.21,28.83
$GC,11948,0.87,116.8,801.5,9.2,278,11953,0.00,1.40,0.00,0.000,6,0.000,0.024,3271,2323,2245,0,0,0,0,0,0,28.83,27.22,28.83
$GC,12260,0.87,116.8,768.7,9.2,284,12261,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,2323,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12560,0.87,116.8,743.6,8.3,289,12564,0.00,1.42,0.00,0.000,4,0.000,0.026,3277,1325,2245,0,0,0,0,0,0,28.83,27.24,28.83
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$STATE,22612,end climb,SURFACE_DEPTH_REACHED
$STATE,22612,begin surface coast
$FINISH,1.7,1.023034
$STATE,22621,end surface coast,CONTROL_FINISHED_OK
$STATE,22622,begin surface
$SM_CCo,22637,25.85,0.117,0,0,1207,375.06
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$HUMID,44.48
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,25.10
$XPDR_PINGS,28
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$10V_AH,10.5,11.162
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334264
$DATA_FILE_SIZE,33588,614
$CAP_FILE_SIZE,193928,0
$CFSIZE,1024393216,1015234560
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
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