version: 66.10
glider: 200
mission: 4
dive: 15
start: 8 11 114 9 46 1
data:
$ID,200
$MISSION,4
$DIVE,15
$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,330
$T_MISSION,350
$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,175
$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,450
$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,-1098.5745
$T_RSLEEP,4
$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,40
$C_ROLL_DIVE,2660
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,131
$R_STBD_OVSHOOT,54
$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
$GPS1,110814,093705,2747.712,-7004.604,25,1.1,25,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-63.9
$GPS2,110814,094504,2747.677,-7004.621,5,1.1,5,-12.3
$SPEED_LIMITS,0.173,0.240
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.224,-0.085
$KALMAN_X,-10449.4,734.0,181.8,11260.6,-4519.7
$KALMAN_Y,-13811.7,-173.4,325.7,-8342.2,-2904.6
$MHEAD_RNG_PITCHd_Wd,123.1,32744,-17.9,-10.000
$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,13,begin dive
$GC,14,-1.12,-170.3,0.0,0.0,0,94,0.00,0.00,-77.97,0.000,2,0.000,0.000,175,2652,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.12,-170.3,3.3,-6.7,10,122,8.60,1.75,-8.43,0.000,4,0.200,0.052,2595,3835,3432,0,0,0,0,0,0,26.74,26.96,27.24
$GC,333,-1.12,-170.3,66.7,-20.8,50,342,0.00,1.55,0.00,0.000,6,0.000,0.018,2595,2623,3433,0,0,0,0,0,0,28.83,27.15,28.83
$GC,407,-1.12,-170.3,82.2,-21.5,59,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2623,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,479,-1.12,-170.3,96.9,-19.6,68,488,0.00,1.80,0.00,0.000,4,0.000,0.021,2594,1330,3433,0,0,0,0,0,0,28.83,27.14,28.83
$GC,565,-1.12,-170.3,112.8,-17.6,82,574,0.00,1.92,0.00,0.000,6,0.000,0.025,2585,2664,3432,0,0,0,0,0,0,28.83,27.13,28.83
$GC,638,-1.12,-170.3,126.7,-19.1,91,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2664,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,710,-1.12,-170.3,139.8,-18.1,100,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2663,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-1.12,-170.3,152.7,-17.5,109,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2664,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-1.12,-170.3,165.6,-18.1,118,864,0.00,1.85,0.00,0.000,4,0.000,0.020,2585,1338,3433,0,0,0,0,0,0,28.83,27.22,28.83
$GC,901,-1.12,-170.3,173.7,-18.0,125,910,0.10,1.90,0.00,0.000,6,0.127,0.025,2610,2659,3433,0,0,0,0,0,0,27.06,27.20,28.83
$GC,978,-1.12,-170.3,186.3,-16.0,131,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2659,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1158,-1.12,-170.3,214.4,-15.1,143,1162,0.00,1.80,0.00,0.000,4,0.000,0.020,2610,1361,3433,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1208,-1.12,-170.3,222.0,-15.8,146,1213,0.00,1.88,0.00,0.000,6,0.000,0.024,2602,2672,3433,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1404,-1.12,-170.3,252.8,-15.6,159,1409,0.00,1.83,0.00,0.000,4,0.000,0.020,2602,1327,3433,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1490,-1.12,-170.3,265.2,-15.6,164,1499,0.00,1.92,0.00,0.000,6,0.000,0.025,2593,2667,3432,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1679,-1.12,-170.3,296.7,-16.4,177,1682,0.00,1.83,0.00,0.000,4,0.000,0.020,2593,1356,3432,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1734,-1.12,-170.3,302.1,-16.4,179,1741,0.00,1.92,0.00,0.000,6,0.000,0.025,2584,2664,3432,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2041,-1.12,-170.3,357.4,-16.8,190,2044,0.00,1.80,0.00,0.000,4,0.000,0.021,2584,1362,3431,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2119,-1.12,-170.3,367.5,-16.8,192,2124,0.10,1.90,0.00,0.000,6,0.129,0.024,2611,2654,3430,0,0,0,0,0,0,27.17,27.31,28.83
$GC,2431,-1.12,-170.3,416.9,-14.9,203,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2653,3430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2731,-1.12,-170.3,462.0,-15.0,213,2734,0.00,1.80,0.00,0.000,4,0.000,0.021,2611,1355,3428,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2795,-1.12,-170.3,471.1,-15.0,215,2799,0.00,1.90,0.00,0.000,6,0.000,0.026,2603,2672,3428,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3121,-1.12,-170.3,523.1,-15.7,226,3125,0.00,1.83,0.00,0.000,4,0.000,0.021,2603,1328,3426,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3224,-1.12,-170.3,536.6,-15.9,229,3229,0.00,1.92,0.00,0.000,6,0.000,0.025,2595,2662,3426,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3536,-1.12,-170.3,588.1,-15.3,240,3539,0.00,1.80,0.00,0.000,4,0.000,0.021,2595,1361,3425,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3620,-1.12,-170.3,597.4,-15.5,242,3627,0.00,1.88,0.00,0.000,6,0.000,0.026,2587,2670,3425,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3926,-1.12,-170.3,648.7,-15.5,253,3930,0.00,1.83,0.00,0.000,4,0.000,0.021,2587,1331,3424,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4004,-1.12,-170.3,657.3,-15.7,255,4012,0.08,1.90,0.00,0.000,6,0.132,0.026,2607,2653,3424,0,0,0,0,0,0,27.22,27.36,28.83
$GC,4311,-1.12,-170.3,704.4,-14.2,266,4314,0.00,1.80,0.00,0.000,4,0.000,0.021,2607,1358,3422,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4414,-1.12,-170.3,716.6,-13.6,269,4419,0.00,1.92,0.00,0.000,6,0.000,0.026,2602,2664,3422,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4731,-1.12,-170.3,761.9,-13.7,280,4735,0.00,1.83,0.00,0.000,4,0.000,0.021,2601,1332,3420,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4794,-1.12,-170.3,770.2,-13.8,282,4799,0.00,1.90,0.00,0.000,6,0.000,0.026,2593,2654,3420,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5121,-1.12,-170.3,816.3,-13.7,293,5125,0.00,1.80,0.00,0.000,4,0.000,0.022,2594,1362,3418,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5190,-1.12,-170.3,824.7,-14.0,295,5194,0.00,1.92,0.00,0.000,6,0.000,0.027,2585,2664,3417,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5511,-1.12,-170.3,872.4,-14.7,306,5515,0.00,1.83,0.00,0.000,4,0.000,0.022,2585,1359,3415,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5579,-1.12,-170.3,880.9,-14.4,308,5584,0.00,1.92,0.00,0.000,6,0.000,0.028,2582,2658,3415,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5901,-1.12,-170.3,928.2,-14.4,319,5906,0.12,1.85,0.00,0.000,4,0.162,0.021,2622,1330,3413,0,0,0,0,0,0,27.24,27.37,28.83
$GC,5995,-1.12,-170.3,939.9,-13.1,322,5999,0.00,1.92,0.00,0.000,6,0.000,0.027,2615,2657,3412,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6322,-1.12,-170.3,979.6,-11.9,333,6326,0.00,1.83,0.00,0.000,4,0.000,0.023,2616,1332,3409,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6390,-1.12,-170.3,986.1,-11.9,335,6395,0.00,1.92,0.00,0.000,6,0.000,0.028,2606,2655,3409,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,6436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6436,begin apogee
$GC,6440,-0.25,0.0,993.2,-11.7,337,6573,0.80,0.00,127.60,1.242,6,0.105,0.000,2887,2349,2735,0,0,0,0,0,0,27.23,28.83,24.75
$STATE,6574,end apogee,CONTROL_FINISHED_OK
$STATE,6574,begin climb
$GC,6575,1.12,170.3,996.8,0.0,341,6720,1.25,0.00,135.32,1.629,6,0.057,0.000,3338,2349,2042,0,0,0,0,1,0,25.58,28.83,24.15
$GC,7002,1.12,170.3,950.1,13.2,356,7006,0.00,1.98,0.00,0.000,4,0.000,0.028,3343,991,2046,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7071,1.12,170.3,942.8,13.1,358,7075,0.00,1.98,0.00,0.000,6,0.000,0.024,3343,2331,2046,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7387,1.12,170.3,901.1,12.3,369,7391,0.00,1.95,0.00,0.000,4,0.000,0.030,3343,983,2044,0,0,0,0,0,0,28.83,26.89,28.83
$GC,7443,1.12,170.3,894.0,12.5,371,7446,0.00,1.92,0.00,0.000,6,0.000,0.024,3344,2333,2044,0,0,0,0,0,0,28.83,26.94,28.83
$GC,7768,1.12,170.3,853.8,12.1,382,7772,0.00,1.92,0.00,0.000,4,0.000,0.030,3343,989,2043,0,0,0,0,0,0,28.83,27.03,28.83
$GC,7811,1.12,170.3,850.8,12.2,383,7815,0.00,1.95,0.00,0.000,6,0.000,0.024,3344,2332,2043,0,0,0,0,0,0,28.83,27.05,28.83
$GC,8123,1.12,170.3,808.5,13.0,394,8127,0.00,1.92,0.00,0.000,4,0.000,0.030,3344,989,2042,0,0,0,0,0,0,28.83,27.10,28.83
$GC,8171,1.12,170.3,805.3,13.0,395,8179,0.00,1.95,0.00,0.000,6,0.000,0.024,3344,2333,2041,0,0,0,0,0,0,28.83,27.13,28.83
$GC,8478,1.12,170.3,763.6,12.9,406,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2333,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8778,1.12,170.3,725.9,12.4,416,8782,0.00,1.92,0.00,0.000,4,0.000,0.028,3352,980,2040,0,0,0,0,0,0,28.83,27.17,28.83
$GC,8852,1.12,170.3,718.6,12.9,418,8856,0.00,1.95,0.00,0.000,6,0.000,0.024,3351,2329,2039,0,0,0,0,0,0,28.83,27.21,28.83
$GC,9163,1.12,170.3,677.1,12.6,429,9167,0.00,1.92,0.00,0.000,4,0.000,0.029,3352,979,2039,0,0,0,0,0,0,28.83,27.21,28.83
$GC,9221,1.12,170.3,669.8,12.9,431,9226,0.00,1.92,0.00,0.000,6,0.000,0.023,3352,2321,2039,0,0,0,0,0,0,28.83,27.24,28.83
$GC,9548,1.12,170.3,626.5,13.0,442,9550,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2322,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9848,1.12,170.3,586.9,13.1,452,9852,0.00,1.90,0.00,0.000,4,0.000,0.029,3356,986,2039,0,0,0,0,0,0,28.83,27.24,28.83
$GC,9942,1.12,170.3,575.8,13.1,455,9946,0.00,1.92,0.00,0.000,6,0.000,0.023,3356,2329,2039,0,0,0,0,0,0,28.83,27.28,28.83
$GC,10264,1.12,170.3,534.3,12.5,466,10267,0.00,1.90,0.00,0.000,4,0.000,0.028,3356,987,2039,0,0,0,0,0,0,28.83,27.27,28.83
$GC,10322,1.12,170.3,527.3,12.6,468,10326,0.00,1.92,0.00,0.000,6,0.000,0.023,3356,2330,2039,0,0,0,0,0,0,28.83,27.29,28.83
$GC,10649,1.12,170.3,485.6,12.5,479,10652,0.00,1.90,0.00,0.000,4,0.000,0.028,3356,988,2040,0,0,0,0,0,0,28.83,27.27,28.83
$GC,10722,1.12,170.3,479.0,12.2,481,10726,0.00,1.92,0.00,0.000,6,0.000,0.022,3356,2335,2040,0,0,0,0,0,0,28.83,27.29,28.83
$GC,11034,1.12,170.3,437.7,12.4,492,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2334,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11334,1.12,170.3,400.3,12.3,502,11338,0.00,1.90,0.00,0.000,4,0.000,0.028,3357,988,2043,0,0,0,0,0,0,28.83,27.29,28.83
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$STATE,14861,end climb,SURFACE_DEPTH_REACHED
$STATE,14861,begin surface coast
$FINISH,0.2,1.023457
$STATE,14878,end surface coast,CONTROL_FINISHED_OK
$STATE,14878,begin surface
$SM_CCo,14892,51.95,0.119,0,0,898,450.13
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$IRIDIUM_FIX,2737.23,-7017.66,110814,090936
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.22
$INTERNAL_PRESSURE,9.05436
$TCM_TEMP,22.70
$XPDR_PINGS,32
$24V_AH,24.1,7.032
$10V_AH,10.5,4.769
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.050,140.400,323.075,51.950,0.000,30.165,45.144,112.577,8.000,0.000,6.640,2178.466,9443.329,539.120,2967.540,92.330,33.243,1675.377,0.000,2751.763,0.000,0.551,0.000
$DEVICE_MAMPS,199.665,52.020,1628.685,118.575,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.558,1572.112,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334132
$DATA_FILE_SIZE,46798,827
$CAP_FILE_SIZE,149644,0
$CFSIZE,1024393216,1020035072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,110814,135605,2746.159,-7003.042,25,1.4,25,-12.3