version: 66.10
glider: 200
mission: 4
dive: 16
start: 8 11 114 14 5 36
data:
$ID,200
$MISSION,4
$DIVE,16
$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,-1099.8319
$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,129
$R_STBD_OVSHOOT,75
$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
$GPS1,110814,135605,2746.159,-7003.042,25,1.4,25,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-64.3
$GPS2,110814,140439,2746.129,-7003.027,6,1.2,6,-12.3
$SPEED_LIMITS,0.173,0.240
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.199,-0.134
$KALMAN_X,-11799.0,293.1,373.0,15459.6,-4406.6
$KALMAN_Y,-14663.1,-105.5,90.8,-10181.6,-1766.0
$MHEAD_RNG_PITCHd_Wd,136.4,30046,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.12,-170.3,0.0,0.0,0,95,0.00,0.00,-78.53,0.000,2,0.000,0.000,165,2666,3022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.12,-170.3,3.5,-7.3,10,123,8.68,1.70,-8.02,0.000,4,0.200,0.052,2596,3816,3433,0,0,0,0,0,0,26.72,26.94,27.22
$GC,278,-1.12,-170.3,56.1,-22.5,40,286,0.00,1.52,0.00,0.000,6,0.000,0.018,2596,2620,3432,0,0,0,0,0,0,28.83,27.11,28.83
$GC,352,-1.12,-170.3,71.2,-20.6,49,360,0.00,1.77,0.00,0.000,4,0.000,0.021,2596,1341,3432,0,0,0,0,0,0,28.83,27.08,28.83
$GC,385,-1.12,-170.3,78.6,-21.0,54,394,0.00,1.88,0.00,0.000,6,0.000,0.024,2586,2633,3432,0,0,0,0,0,0,28.83,27.08,28.83
$GC,459,-1.12,-170.3,93.8,-20.8,63,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2633,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,531,-1.12,-170.3,108.1,-19.2,72,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2634,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,604,-1.12,-170.3,121.8,-18.9,81,612,0.00,1.80,0.00,0.000,4,0.000,0.020,2587,1345,3432,0,0,0,0,0,0,28.83,27.16,28.83
$GC,683,-1.12,-170.3,136.8,-18.3,94,693,0.10,1.90,0.00,0.000,6,0.129,0.025,2611,2661,3433,0,0,0,0,0,0,27.02,27.15,28.83
$GC,758,-1.12,-170.3,149.5,-16.5,103,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2662,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,830,-1.12,-170.3,162.0,-17.6,112,839,0.00,1.85,0.00,0.000,4,0.000,0.020,2611,1336,3433,0,0,0,0,0,0,28.83,27.20,28.83
$GC,881,-1.12,-170.3,170.9,-17.7,120,890,0.00,1.90,0.00,0.000,6,0.000,0.025,2603,2660,3433,0,0,0,0,0,0,28.83,27.20,28.83
$GC,951,-1.12,-170.3,182.8,-17.3,126,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2659,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-1.12,-170.3,213.2,-16.6,138,1134,0.00,1.80,0.00,0.000,4,0.000,0.020,2603,1359,3433,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1215,-1.12,-170.3,226.8,-16.7,143,1220,0.00,1.92,0.00,0.000,6,0.000,0.025,2602,2662,3433,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1411,-1.12,-170.3,258.3,-16.5,156,1414,0.00,1.80,0.00,0.000,4,0.000,0.020,2602,1361,3432,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1478,-1.12,-170.3,269.2,-16.3,160,1484,0.00,1.92,0.00,0.000,6,0.000,0.025,2600,2665,3432,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1673,-1.12,-170.3,300.7,-16.2,173,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2665,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1971,-1.12,-170.3,347.8,-15.4,183,1974,0.00,1.80,0.00,0.000,4,0.000,0.020,2600,1364,3430,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2063,-1.12,-170.3,361.7,-15.4,186,2068,0.00,1.90,0.00,0.000,6,0.000,0.024,2590,2655,3431,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2391,-1.12,-170.3,415.5,-16.5,197,2394,0.00,1.80,0.00,0.000,4,0.000,0.021,2591,1354,3429,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2455,-1.12,-170.3,425.5,-16.6,199,2459,0.00,1.88,0.00,0.000,6,0.000,0.025,2583,2662,3429,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2781,-1.12,-170.3,481.8,-17.2,210,2785,0.12,1.80,0.00,0.000,4,0.166,0.018,2621,1337,3428,0,0,0,0,0,0,27.21,27.36,28.83
$GC,2875,-1.12,-170.3,495.3,-16.0,213,2879,0.00,1.90,0.00,0.000,6,0.000,0.025,2614,2659,3428,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3197,-1.12,-170.3,544.9,-14.6,224,3200,0.00,1.80,0.00,0.000,4,0.000,0.021,2615,1358,3426,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3300,-1.12,-170.3,557.7,-14.1,227,3304,0.00,1.92,0.00,0.000,6,0.000,0.025,2606,2666,3426,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3617,-1.12,-170.3,604.6,-14.1,238,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2666,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3917,-1.12,-170.3,647.2,-14.4,248,3920,0.00,1.80,0.00,0.000,4,0.000,0.021,2606,1366,3423,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4037,-1.12,-170.3,664.4,-14.3,252,4041,0.00,1.85,0.00,0.000,6,0.000,0.027,2603,2658,3423,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4362,-1.12,-170.3,710.6,-14.2,263,4366,0.00,1.83,0.00,0.000,4,0.000,0.021,2602,1332,3421,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4455,-1.12,-170.3,723.8,-14.5,266,4460,0.00,1.92,0.00,0.000,6,0.000,0.026,2602,2667,3421,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4782,-1.12,-170.3,769.9,-13.7,277,4786,0.00,1.83,0.00,0.000,4,0.000,0.021,2602,1357,3419,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4830,-1.12,-170.3,774.3,-14.0,278,4834,0.00,1.92,0.00,0.000,6,0.000,0.027,2602,2660,3419,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5142,-1.12,-170.3,818.8,-13.2,289,5146,0.00,1.80,0.00,0.000,4,0.000,0.022,2601,1334,3417,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5235,-1.12,-170.3,830.1,-13.4,292,5240,0.00,1.92,0.00,0.000,6,0.000,0.026,2594,2666,3417,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5557,-1.12,-170.3,874.9,-13.7,303,5560,0.00,1.83,0.00,0.000,4,0.000,0.022,2594,1359,3415,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5620,-1.12,-170.3,883.2,-13.8,305,5625,0.00,1.92,0.00,0.000,6,0.000,0.027,2588,2657,3414,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5947,-1.12,-170.3,926.8,-12.8,316,5951,0.00,1.83,0.00,0.000,4,0.000,0.023,2588,1341,3411,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6001,-1.12,-170.3,930.9,-13.1,317,6008,0.08,1.92,0.00,0.000,6,0.126,0.027,2608,2667,3411,0,0,0,0,0,0,27.23,27.36,28.83
$GC,6307,-1.12,-170.3,970.3,-11.8,328,6311,0.00,1.83,0.00,0.000,4,0.000,0.023,2608,1367,3409,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6375,-1.12,-170.3,977.4,-12.0,330,6380,0.00,1.90,0.00,0.000,6,0.000,0.027,2603,2649,3409,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,6486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6486,begin apogee
$GC,6490,-0.25,0.0,992.5,-12.5,334,6624,0.80,0.00,127.95,1.241,6,0.105,0.000,2884,2359,2733,0,0,0,0,0,0,27.24,28.83,24.78
$STATE,6626,end apogee,CONTROL_FINISHED_OK
$STATE,6626,begin climb
$GC,6627,1.12,170.3,996.3,0.0,338,6771,1.25,2.15,135.80,1.209,4,0.058,0.028,3336,998,2038,0,0,0,0,0,0,25.61,25.39,24.65
$GC,6811,1.17,209.9,985.4,8.4,344,6849,0.00,1.98,28.65,1.593,6,0.000,0.023,3337,2338,1885,0,0,0,0,0,0,28.83,25.95,24.36
$GC,7148,1.17,209.9,934.3,14.1,356,7151,0.00,1.98,0.00,0.000,4,0.000,0.029,3337,987,1887,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7191,1.17,209.9,930.7,14.2,357,7195,0.00,1.98,0.00,0.000,6,0.000,0.023,3337,2326,1886,0,0,0,0,0,0,28.83,26.70,28.83
$GC,7503,1.17,209.9,883.9,14.3,368,7507,0.00,1.92,0.00,0.000,4,0.000,0.029,3339,992,1884,0,0,0,0,0,0,28.83,26.89,28.83
$GC,7528,1.17,209.9,880.3,14.3,369,7532,0.00,1.90,0.00,0.000,6,0.000,0.023,3338,2329,1883,0,0,0,0,0,0,28.83,26.93,28.83
$GC,7853,1.17,209.9,832.7,14.7,380,7857,0.00,1.92,0.00,0.000,4,0.000,0.030,3338,990,1883,0,0,0,0,0,0,28.83,27.02,28.83
$GC,7896,1.17,209.9,828.9,14.8,381,7901,0.00,1.92,0.00,0.000,6,0.000,0.023,3339,2319,1883,0,0,0,0,0,0,28.83,27.05,28.83
$GC,8208,1.17,209.9,780.4,14.2,392,8212,0.00,1.90,0.00,0.000,4,0.000,0.029,3346,989,1882,0,0,0,0,0,0,28.83,27.09,28.83
$GC,8263,1.17,209.9,772.6,14.2,394,8267,0.00,1.88,0.00,0.000,6,0.000,0.024,3346,2325,1882,0,0,0,0,0,0,28.83,27.11,28.83
$GC,8588,1.17,209.9,726.4,13.9,405,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2326,1881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8888,1.17,209.9,685.7,13.5,415,8892,0.00,1.92,0.00,0.000,4,0.000,0.029,3350,991,1881,0,0,0,0,0,0,28.83,27.17,28.83
$GC,8942,1.17,209.9,681.7,13.4,416,8949,0.00,1.92,0.00,0.000,6,0.000,0.023,3350,2324,1881,0,0,0,0,0,0,28.83,27.21,28.83
$GC,9249,1.17,209.9,636.6,13.7,427,9252,0.00,1.90,0.00,0.000,4,0.000,0.029,3349,991,1881,0,0,0,0,0,0,28.83,27.20,28.83
$GC,9317,1.17,209.9,628.6,14.0,429,9321,0.00,1.92,0.00,0.000,6,0.000,0.023,3350,2328,1880,0,0,0,0,0,0,28.83,27.23,28.83
$GC,9634,1.17,209.9,582.7,13.8,440,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2329,1880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9934,1.17,209.9,540.8,14.3,450,9937,0.00,1.90,0.00,0.000,4,0.000,0.028,3355,986,1881,0,0,0,0,0,0,28.83,27.25,28.83
$GC,10012,1.17,209.9,532.9,14.5,452,10019,0.00,1.92,0.00,0.000,6,0.000,0.022,3355,2333,1881,0,0,0,0,0,0,28.83,27.27,28.83
$GC,10319,1.17,209.9,484.6,14.7,463,10323,0.00,1.90,0.00,0.000,4,0.000,0.028,3358,991,1882,0,0,0,0,0,0,28.83,27.27,28.83
$GC,10387,1.17,209.9,476.4,14.8,465,10392,0.00,1.92,0.00,0.000,6,0.000,0.022,3358,2335,1882,0,0,0,0,0,0,28.83,27.29,28.83
$GC,10704,1.17,209.9,428.1,14.7,476,10708,0.00,1.90,0.00,0.000,4,0.000,0.028,3358,992,1882,0,0,0,0,0,0,28.83,27.27,28.83
$GC,10762,1.17,209.9,420.0,14.7,478,10767,0.00,1.92,0.00,0.000,6,0.000,0.022,3358,2336,1883,0,0,0,0,0,0,28.83,27.30,28.83
$GC,11089,1.17,209.9,371.4,15.0,489,11093,0.00,1.90,0.00,0.000,4,0.000,0.028,3364,989,1884,0,0,0,0,0,0,28.83,27.29,28.83
$GC,11144,1.17,209.9,363.0,15.2,491,11148,0.00,1.88,0.00,0.000,6,0.000,0.022,3364,2334,1883,0,0,0,0,0,0,28.83,27.31,28.83
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$STATE,13835,end climb,SURFACE_DEPTH_REACHED
$STATE,13835,begin surface coast
$FINISH,-0.3,1.023436
$STATE,13848,end surface coast,CONTROL_FINISHED_OK
$STATE,13848,begin surface
$SM_CCo,13864,47.35,0.119,0,0,898,450.13
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$TT8_MAMPS,0.028462,0.028462
$HUMID,46.73
$INTERNAL_PRESSURE,9.0446
$TCM_TEMP,22.50
$XPDR_PINGS,21
$24V_AH,24.4,7.176
$10V_AH,10.5,4.880
$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
$DEVICE_SECS,19.425,135.650,337.150,47.350,0.000,32.919,55.408,115.833,5.250,0.000,6.633,1996.849,8826.710,541.489,2752.687,85.557,33.248,1609.866,0.000,2518.040,0.000,0.551,0.000
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$MEM,334068
$DATA_FILE_SIZE,43626,756
$CAP_FILE_SIZE,139798,0
$CFSIZE,1024393216,1019985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110814,175835,2744.044,-7001.490,34,1.0,34,-12.3