version: 66.10
glider: 200
mission: 4
dive: 86
start: 8 25 114 9 55 26
data:
$ID,200
$MISSION,4
$DIVE,86
$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,-1295.7843
$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,166
$R_STBD_OVSHOOT,69
$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
$GPS1,250814,094204,2611.511,-7001.978,23,1.2,24,-12.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.8
$GPS2,250814,095503,2611.403,-7001.897,4,1.1,4,-12.1
$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,27.1,20000,-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,14,-0.87,-116.8,0.0,0.0,0,82,0.00,0.00,-64.97,0.000,2,0.000,0.000,114,2421,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.87,-116.8,3.8,-6.2,4,103,9.10,1.50,-5.15,0.000,4,0.195,0.051,2699,3469,3211,0,0,0,0,0,0,26.63,26.90,27.18
$GC,309,-0.87,-116.8,58.5,-17.9,17,318,0.00,1.30,0.00,0.000,6,0.000,0.016,2699,2399,3211,0,0,0,0,0,0,28.83,27.13,28.83
$GC,378,-0.87,-116.8,70.5,-15.7,22,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2399,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,438,-0.87,-116.8,78.5,-13.4,26,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2399,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,498,-0.87,-116.8,86.3,-13.0,30,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2399,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,558,-0.87,-116.8,93.3,-11.6,34,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2399,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,618,-0.87,-116.8,100.1,-11.4,38,621,0.00,1.52,0.00,0.000,4,0.000,0.034,2692,3476,3212,0,0,0,0,0,0,28.83,27.11,28.83
$GC,651,-0.87,-116.8,103.9,-11.5,40,654,0.00,1.25,0.00,0.000,6,0.000,0.017,2692,2426,3212,0,0,0,0,0,0,28.83,27.23,28.83
$GC,729,-0.87,-116.8,113.1,-11.8,45,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2425,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,788,-0.87,-116.8,121.0,-13.3,49,791,0.00,1.50,0.00,0.000,4,0.000,0.034,2685,3486,3212,0,0,0,0,0,0,28.83,27.14,28.83
$GC,889,-0.87,-116.8,135.2,-14.7,55,893,0.00,1.30,0.00,0.000,6,0.000,0.016,2686,2430,3212,0,0,0,0,0,0,28.83,27.27,28.83
$GC,965,-0.87,-116.8,144.9,-12.3,60,968,0.00,1.27,0.00,0.000,4,0.000,0.019,2685,1478,3213,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1016,-0.87,-116.8,150.9,-11.8,63,1021,0.00,1.38,0.00,0.000,6,0.000,0.024,2679,2440,3213,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1092,-0.87,-116.8,160.4,-12.6,68,1095,0.00,1.48,0.00,0.000,4,0.000,0.034,2672,3461,3213,0,0,0,0,0,0,28.83,27.19,28.83
$GC,1165,-0.87,-116.8,168.7,-12.4,72,1175,0.08,1.25,0.00,0.000,6,0.114,0.016,2701,2421,3212,0,0,0,0,0,0,27.09,27.30,28.83
$GC,1234,-0.87,-116.8,176.8,-10.4,77,1237,0.00,1.27,0.00,0.000,4,0.000,0.020,2701,1469,3212,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1324,-0.87,-116.8,184.9,-9.9,82,1333,0.00,1.35,0.00,0.000,6,0.000,0.024,2697,2428,3213,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1394,-0.87,-116.8,192.7,-10.3,87,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2428,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1453,-0.87,-116.8,198.8,-10.2,91,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2428,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1526,-0.87,-116.8,206.9,-10.7,94,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2428,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1706,-0.87,-116.8,226.6,-11.0,100,1709,0.00,1.27,0.00,0.000,4,0.000,0.020,2698,1480,3212,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1769,-0.87,-116.8,232.9,-10.8,102,1773,0.00,1.35,0.00,0.000,6,0.000,0.024,2692,2433,3211,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1976,-0.87,-116.8,255.0,-10.5,109,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2433,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.87,-116.8,273.7,-10.3,115,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2433,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.87,-116.8,292.0,-10.1,121,2339,0.00,1.30,0.00,0.000,4,0.000,0.020,2692,1472,3209,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2404,-0.87,-116.8,298.1,-10.1,123,2408,0.00,1.35,0.00,0.000,6,0.000,0.025,2692,2425,3209,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2606,-0.87,-116.8,319.0,-9.9,127,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2425,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2906,-0.87,-116.8,348.3,-9.7,132,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2425,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3206,-0.87,-116.8,376.6,-9.4,137,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2425,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3506,-0.87,-116.8,405.0,-9.5,142,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2425,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3806,-0.87,-116.8,433.8,-9.6,147,3809,0.00,1.27,0.00,0.000,4,0.000,0.020,2692,1479,3203,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3894,-0.87,-116.8,439.7,-9.7,148,3898,0.00,1.35,0.00,0.000,6,0.000,0.025,2692,2429,3203,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4226,-0.87,-116.8,474.9,-9.8,154,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2429,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4526,-0.87,-116.8,504.8,-9.9,159,4529,0.00,1.30,0.00,0.000,4,0.000,0.021,2692,1469,3200,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4574,-0.87,-116.8,504.8,-9.9,159,4578,0.00,1.38,0.00,0.000,6,0.000,0.025,2692,2430,3201,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4886,-0.87,-116.8,540.3,-9.8,165,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2431,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5186,-0.87,-116.8,569.3,-9.7,170,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2430,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5486,-0.87,-116.8,596.8,-9.2,175,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2430,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5786,-0.87,-116.8,623.3,-8.8,180,5789,0.00,1.30,0.00,0.000,4,0.000,0.021,2692,1475,3196,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5854,-0.87,-116.8,628.8,-8.9,181,5858,0.00,1.35,0.00,0.000,6,0.000,0.026,2687,2429,3196,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6206,-0.87,-116.8,662.2,-9.4,187,6209,0.00,1.50,0.00,0.000,4,0.000,0.037,2680,3490,3195,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6266,-0.87,-116.8,668.1,-9.5,188,6269,0.00,1.27,0.00,0.000,6,0.000,0.018,2680,2468,3194,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6626,-0.87,-116.8,703.3,-9.7,194,6629,0.00,1.40,0.00,0.000,4,0.000,0.021,2679,1444,3193,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6659,-0.87,-116.8,703.3,-9.7,194,6663,0.00,1.42,0.00,0.000,6,0.000,0.025,2678,2437,3193,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6986,-0.87,-116.8,737.1,-9.3,200,6989,0.00,1.50,0.00,0.000,4,0.000,0.036,2670,3498,3191,0,0,0,0,0,0,28.83,27.27,28.83
$GC,7024,-0.87,-116.8,737.1,-9.3,200,7029,0.08,1.35,0.00,0.000,6,0.109,0.018,2701,2438,3191,0,0,0,0,0,0,27.15,27.39,28.83
$GC,7346,-0.87,-116.8,768.1,-8.5,206,7349,0.00,1.38,0.00,0.000,4,0.000,0.022,2702,1438,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7409,-0.87,-116.8,773.3,-8.5,207,7413,0.00,1.42,0.00,0.000,6,0.000,0.025,2700,2433,3190,0,0,0,0,0,0,28.83,27.33,28.83
$GC,7766,-0.87,-116.8,804.2,-8.6,213,7769,0.00,1.38,0.00,0.000,4,0.000,0.022,2700,1440,3188,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7809,-0.87,-116.8,804.2,-8.6,213,7813,0.00,1.42,0.00,0.000,6,0.000,0.025,2700,2431,3187,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8126,-0.87,-116.8,834.2,-8.2,219,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2432,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8426,-0.87,-116.8,857.9,-7.9,224,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2432,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8726,-0.87,-116.8,880.7,-7.6,229,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2432,3184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,-0.87,-116.8,902.9,-7.4,234,9029,0.00,1.50,0.00,0.000,4,0.000,0.037,2696,3490,3182,0,0,0,0,0,0,28.83,27.25,28.83
$GC,9074,-0.87,-116.8,902.9,-7.4,234,9078,0.00,1.35,0.00,0.000,6,0.000,0.019,2695,2442,3182,0,0,0,0,0,0,28.83,27.37,28.83
$GC,9386,-0.87,-116.8,930.5,-7.7,240,9389,0.00,1.40,0.00,0.000,4,0.000,0.023,2695,1435,3180,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9430,-0.87,-116.8,930.5,-7.7,240,9434,0.00,1.42,0.00,0.000,6,0.000,0.027,2692,2427,3180,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9746,-0.87,-116.8,959.4,-8.0,246,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2427,3179,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10046,-0.87,-116.8,983.2,-7.9,251,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2427,3177,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10165,begin apogee
$GC,10168,-0.25,0.0,992.3,-7.7,253,10254,0.60,0.00,82.32,1.284,6,0.096,0.000,2904,2427,2736,0,0,0,0,0,0,27.10,28.83,24.96
$STATE,10255,end apogee,CONTROL_FINISHED_OK
$STATE,10255,begin climb
$GC,10257,0.87,116.8,993.8,0.0,254,10355,0.98,1.62,92.35,1.246,4,0.055,0.022,3268,1337,2257,0,0,0,0,0,0,25.78,25.54,24.80
$GC,10400,0.87,116.8,986.9,7.4,257,10404,0.00,1.50,0.00,0.000,6,0.000,0.024,3269,2333,2253,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10757,0.87,116.8,954.0,9.2,263,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2333,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11057,0.87,116.8,927.4,8.8,268,11060,0.00,1.42,0.00,0.000,4,0.000,0.027,3269,1342,2248,0,0,0,0,0,0,28.83,26.96,28.83
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$STATE,22780,end climb,SURFACE_DEPTH_REACHED
$STATE,22780,begin surface coast
$FINISH,0.2,1.022994
$STATE,22794,end surface coast,CONTROL_FINISHED_OK
$STATE,22794,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,44.44
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,24.80
$XPDR_PINGS,26
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$10V_AH,10.4,12.259
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,334360
$DATA_FILE_SIZE,33598,615
$CAP_FILE_SIZE,187086,0
$CFSIZE,1024393216,1014235136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250814,161728,2612.771,-6959.869,50,0.9,50,-12.1