version: 66.10
glider: 201
mission: 5
dive: 310
start: 10 14 114 22 52 38
data:
$ID,201
$MISSION,5
$DIVE,310
$N_DIVES,0
$D_SURF,3
$D_FLARE,2
$D_TGT,500
$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,250
$T_MISSION,280
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,7
$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,52153
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026760499
$HD_B,0.0099998498
$HD_C,9.6916501e-06
$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,65
$N_NOCOMM,5
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,30
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2378.8162
$T_RSLEEP,7
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,207
$PITCH_MAX,3879
$C_PITCH,2840
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,224
$ROLL_MAX,3758
$ROLL_DEG,20
$C_ROLL_DIVE,2630
$C_ROLL_CLIMB,2520
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,142
$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,2872
$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,-68.568054
$PRESSURE_SLOPE,0.000115772
$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,-1.28
$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,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923352
$SEABIRD_T_H,0.00063288247
$SEABIRD_T_I,2.48167e-05
$SEABIRD_T_J,2.9461089e-06
$SEABIRD_C_G,-9.7773972
$SEABIRD_C_H,1.1424111
$SEABIRD_C_I,-0.0015250822
$SEABIRD_C_J,0.00019393132
$GPS1,141014,223653,2642.725,-6957.729,67,0.9,67,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-60.2
$GPS2,141014,225215,2642.841,-6957.721,5,0.9,5,-12.2
$SPEED_LIMITS,0.115,0.203
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.075,0.222
$KALMAN_X,70971.9,31.7,-219.0,-81211.8,336.1
$KALMAN_Y,-63526.2,149.8,159.9,28139.1,-443.7
$MHEAD_RNG_PITCHd_Wd,4.4,88154,-12.7,-6.667
$D_GRID,500
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.79,-116.8,0.0,0.0,0,44,0.00,0.00,-26.70,0.000,2,0.000,0.000,135,2658,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,47,-0.79,-116.8,2.2,-3.2,3,111,8.62,1.00,-49.05,0.000,4,0.187,0.067,2575,3311,3349,0,0,0,0,0,0,26.07,26.68,27.08
$GC,205,-0.79,-116.8,19.9,-16.4,24,214,0.00,0.85,0.00,0.000,6,0.000,0.022,2575,2631,3350,0,0,0,0,0,0,28.83,26.91,28.83
$GC,295,-0.79,-116.8,34.1,-16.4,35,304,0.00,0.85,0.00,0.000,4,0.000,0.021,2575,1951,3350,0,0,0,0,0,0,28.83,26.96,28.83
$GC,496,-0.79,-116.8,59.5,-9.6,63,505,0.00,0.93,0.00,0.000,6,0.000,0.031,2572,2608,3350,0,0,0,0,0,0,28.83,26.93,28.83
$GC,588,-0.79,-116.8,68.4,-9.8,74,596,0.00,1.05,0.00,0.000,4,0.000,0.036,2566,3328,3350,0,0,0,0,0,0,28.83,26.90,28.83
$GC,723,-0.79,-116.8,82.3,-9.6,93,732,0.00,0.85,0.00,0.000,6,0.000,0.022,2566,2618,3350,0,0,0,0,0,0,28.83,27.11,28.83
$GC,814,-0.79,-116.8,91.3,-10.3,104,822,0.00,0.80,0.00,0.000,4,0.000,0.021,2566,1955,3351,0,0,0,0,0,0,28.83,27.13,28.83
$GC,1042,-0.79,-116.8,114.2,-9.8,136,1051,0.00,0.95,0.00,0.000,6,0.000,0.031,2564,2627,3351,0,0,0,0,0,0,28.83,27.04,28.83
$GC,1132,-0.79,-116.8,122.7,-9.6,147,1141,0.00,1.02,0.00,0.000,4,0.000,0.036,2558,3334,3351,0,0,0,0,0,0,28.83,26.99,28.83
$GC,1227,-0.79,-116.8,131.6,-9.4,160,1236,0.00,0.85,0.00,0.000,6,0.000,0.022,2558,2638,3351,0,0,0,0,0,0,28.83,27.19,28.83
$GC,1317,-0.79,-116.8,139.7,-8.5,171,1326,0.00,0.85,0.00,0.000,4,0.000,0.021,2558,1938,3351,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1433,-0.79,-116.8,150.3,-9.0,187,1442,0.00,0.98,0.00,0.000,6,0.000,0.031,2555,2627,3351,0,0,0,0,0,0,28.83,27.07,28.83
$GC,1523,-0.79,-116.8,158.5,-9.3,198,1532,0.00,0.85,0.00,0.000,4,0.000,0.020,2555,1935,3351,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1652,-0.79,-116.8,169.7,-8.3,216,1661,0.08,0.98,0.00,0.000,6,0.110,0.031,2584,2627,3350,0,0,0,0,0,0,26.79,27.08,28.83
$GC,1742,-0.79,-116.8,176.2,-7.2,227,1751,0.00,1.00,0.00,0.000,4,0.000,0.036,2581,3319,3350,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1810,-0.79,-116.8,181.1,-7.4,236,1819,0.00,0.85,0.00,0.000,6,0.000,0.021,2581,2621,3350,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1900,-0.79,-116.8,187.7,-7.7,247,1908,0.00,1.02,0.00,0.000,4,0.000,0.036,2576,3318,3349,0,0,0,0,0,0,28.83,27.03,28.83
$GC,1945,-0.79,-116.8,191.3,-8.1,253,1954,0.00,0.82,0.00,0.000,6,0.000,0.022,2576,2638,3350,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2035,-0.79,-116.8,198.5,-8.1,264,2044,0.00,0.85,0.00,0.000,4,0.000,0.020,2577,1936,3349,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2095,-0.79,-116.8,203.5,-8.4,270,2099,0.00,1.00,0.00,0.000,6,0.000,0.030,2573,2633,3349,0,0,0,0,0,0,28.83,27.09,28.83
$GC,2184,-0.79,-116.8,211.2,-8.9,276,2188,0.00,0.85,0.00,0.000,4,0.000,0.021,2573,1940,3348,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2283,-0.79,-116.8,219.7,-8.6,283,2286,0.00,1.00,0.00,0.000,6,0.000,0.031,2569,2634,3348,0,0,0,0,0,0,28.83,27.09,28.83
$GC,2371,-0.79,-116.8,227.3,-8.3,289,2374,0.00,1.00,0.00,0.000,4,0.000,0.037,2564,3322,3348,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2472,-0.79,-116.8,235.7,-8.7,296,2475,0.00,0.88,0.00,0.000,6,0.000,0.021,2565,2620,3347,0,0,0,0,0,0,28.83,27.23,28.83
$GC,2567,-0.79,-116.8,244.1,-8.6,302,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2615,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2656,-0.79,-116.8,251.8,-8.7,308,2659,0.00,1.05,0.00,0.000,4,0.000,0.036,2560,3326,3346,0,0,0,0,0,0,28.83,27.03,28.83
$GC,2799,-0.79,-116.8,264.3,-8.8,318,2802,0.00,0.88,0.00,0.000,6,0.000,0.021,2560,2627,3346,0,0,0,0,0,0,28.83,27.23,28.83
$GC,2894,-0.79,-116.8,272.9,-8.9,324,2897,0.00,0.82,0.00,0.000,4,0.000,0.021,2560,1945,3346,0,0,0,0,0,0,28.83,27.22,28.83
$GC,3019,-0.79,-116.8,284.1,-8.7,333,3023,0.00,1.00,0.00,0.000,6,0.000,0.031,2557,2637,3345,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3108,-0.79,-116.8,292.4,-9.3,339,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2637,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3199,-0.79,-116.8,301.0,-9.5,345,3202,0.00,0.85,0.00,0.000,4,0.000,0.021,2557,1950,3344,0,0,0,0,0,0,28.83,27.23,28.83
$GC,3280,-0.79,-116.8,309.0,-9.6,348,3284,0.00,0.98,0.00,0.000,6,0.000,0.030,2554,2629,3344,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3368,-0.79,-116.8,317.6,-9.7,351,3370,0.12,0.00,0.00,0.000,6,0.142,0.000,2592,2631,3343,0,0,0,0,0,0,27.01,28.83,28.83
$GC,3458,-0.79,-116.8,325.3,-8.9,354,3462,0.00,0.85,0.00,0.000,4,0.000,0.021,2593,1936,3343,0,0,0,0,0,0,28.83,27.24,28.83
$GC,3571,-0.79,-116.8,334.5,-8.2,358,3575,0.00,1.00,0.00,0.000,6,0.000,0.030,2592,2631,3342,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3658,-0.79,-116.8,341.9,-8.2,361,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2631,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3748,-0.79,-116.8,349.2,-8.3,364,3752,0.00,0.85,0.00,0.000,4,0.000,0.020,2592,1938,3341,0,0,0,0,0,0,28.83,27.22,28.83
$GC,3861,-0.79,-116.8,358.2,-8.0,368,3864,0.00,1.00,0.00,0.000,6,0.000,0.031,2589,2631,3341,0,0,0,0,0,0,28.83,27.09,28.83
$GC,3948,-0.79,-116.8,365.1,-7.8,371,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2631,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4038,-0.79,-116.8,371.7,-7.5,374,4042,0.00,0.85,0.00,0.000,4,0.000,0.020,2589,1938,3341,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4115,-0.79,-116.8,375.8,-7.4,376,4122,0.00,1.00,0.00,0.000,6,0.000,0.030,2585,2632,3340,0,0,0,0,0,0,28.83,27.09,28.83
$GC,4213,-0.79,-116.8,384.1,-7.0,380,4216,0.00,1.00,0.00,0.000,4,0.000,0.037,2581,3320,3340,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4231,-0.79,-116.8,384.1,-7.0,380,4234,0.00,0.88,0.00,0.000,6,0.000,0.021,2581,2623,3340,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4325,-0.79,-116.8,392.1,-7.2,383,4328,0.00,1.05,0.00,0.000,4,0.000,0.036,2577,3328,3339,0,0,0,0,0,0,28.83,27.02,28.83
$GC,4391,-0.79,-116.8,396.0,-7.1,385,4394,0.00,0.88,0.00,0.000,6,0.000,0.021,2577,2631,3339,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4491,-0.79,-116.8,403.9,-7.2,389,4495,0.00,0.82,0.00,0.000,4,0.000,0.021,2577,1948,3339,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4575,-0.79,-116.8,410.0,-7.2,392,4578,0.00,0.98,0.00,0.000,6,0.000,0.030,2574,2632,3339,0,0,0,0,0,0,28.83,27.08,28.83
$GC,4663,-0.79,-116.8,416.5,-7.4,395,4666,0.00,1.00,0.00,0.000,4,0.000,0.037,2570,3322,3339,0,0,0,0,0,0,28.83,27.01,28.83
$GC,4692,-0.79,-116.8,418.6,-7.4,396,4695,0.00,0.85,0.00,0.000,6,0.000,0.021,2569,2635,3339,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4780,-0.79,-116.8,425.4,-7.7,399,4784,0.00,0.85,0.00,0.000,4,0.000,0.021,2569,1938,3339,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4868,-0.79,-116.8,432.4,-8.1,402,4871,0.00,1.02,0.00,0.000,6,0.000,0.030,2569,2641,3338,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4975,-0.79,-116.8,441.5,-8.2,406,4978,0.00,1.00,0.00,0.000,4,0.000,0.038,2564,3324,3337,0,0,0,0,0,0,28.83,26.99,28.83
$GC,5031,-0.79,-116.8,446.2,-8.4,408,5035,0.00,0.88,0.00,0.000,6,0.000,0.021,2564,2619,3337,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5119,-0.79,-116.8,453.4,-8.2,411,5122,0.00,0.82,0.00,0.000,4,0.000,0.021,2564,1937,3337,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5203,-0.79,-116.8,460.6,-8.5,414,5206,0.00,1.00,0.00,0.000,6,0.000,0.030,2562,2634,3336,0,0,0,0,0,0,28.83,27.07,28.83
$GC,5291,-0.79,-116.8,468.2,-8.5,417,5294,0.00,1.00,0.00,0.000,4,0.000,0.038,2558,3322,3336,0,0,0,0,0,0,28.83,26.98,28.83
$GC,5324,-0.79,-116.8,470.7,-8.6,418,5326,0.00,0.88,0.00,0.000,6,0.000,0.021,2557,2631,3336,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5431,-0.79,-116.8,480.3,-8.5,422,5434,0.00,0.85,0.00,0.000,4,0.000,0.021,2556,1938,3336,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5555,-0.79,-116.8,489.9,-8.5,426,5560,0.10,1.02,0.00,0.000,6,0.147,0.031,2585,2640,3336,0,0,0,0,0,0,26.82,27.06,28.83
$GC,5660,-0.79,-116.8,498.7,-7.4,430,5664,0.00,1.00,0.00,0.000,4,0.000,0.037,2582,3324,3335,0,0,0,0,0,0,28.83,26.99,28.83
$STATE,5687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5687,begin apogee
$GC,5693,-0.26,0.0,500.5,-7.2,431,5780,0.47,0.00,84.35,0.919,6,0.086,0.000,2757,2494,2871,0,0,0,0,0,0,26.69,28.83,25.18
$STATE,5781,end apogee,CONTROL_FINISHED_OK
$STATE,5781,begin climb
$GC,5784,0.79,116.8,502.8,0.0,434,5880,0.90,0.00,87.25,0.900,6,0.057,0.000,3102,2494,2392,0,0,0,0,0,0,26.01,28.83,25.03
$GC,5970,0.79,116.8,491.5,7.6,441,5973,0.00,1.10,0.00,0.000,4,0.000,0.035,3102,3213,2390,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6054,0.79,116.8,484.4,8.3,444,6058,0.00,0.95,0.00,0.000,6,0.000,0.020,3106,2487,2390,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6141,0.79,116.8,477.3,8.1,447,6145,0.00,0.82,0.00,0.000,4,0.000,0.024,3110,1855,2390,0,0,0,0,0,0,28.83,26.73,28.83
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$STATE,12324,end climb,SURFACE_DEPTH_REACHED
$STATE,12324,begin surface coast
$FINISH,1.0,0.996468
$STATE,12359,end surface coast,CONTROL_FINISHED_OK
$STATE,12359,begin surface
$SM_CCo,12376,26.08,0.114,0,0,1340,375.06
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$TT8_MAMPS,0.026215,0.026215
$HUMID,53.15
$INTERNAL_PRESSURE,9.4919
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,25.0,27.862
$10V_AH,10.4,36.116
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,354648
$DATA_FILE_SIZE,53530,960
$CAP_FILE_SIZE,192813,0
$CFSIZE,260034560,226541568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151014,022014,2644.368,-6957.487,16,0.9,16,-12.2