version: 66.10
glider: 200
mission: 4
dive: 49
start: 8 16 114 9 29 54
data:
$ID,200
$MISSION,4
$DIVE,49
$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,-1241.722
$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,30
$C_ROLL_DIVE,2660
$C_ROLL_CLIMB,2425
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,168
$R_STBD_OVSHOOT,57
$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
$GPS1,160814,091828,2632.391,-7006.721,38,1.1,38,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-66.8
$GPS2,160814,092858,2632.335,-7006.631,3,1.1,3,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.054,-0.166
$KALMAN_X,9147.8,-98.0,130.3,-10725.0,1977.4
$KALMAN_Y,-74909.2,72.9,-42.6,-86651.0,-3147.1
$MHEAD_RNG_PITCHd_Wd,210.1,59946,-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,15,-0.87,-116.8,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,2,0.000,0.000,158,2648,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.87,-116.8,3.8,-6.1,6,106,8.98,1.33,-4.45,0.000,4,0.199,0.038,2689,1669,3214,0,0,0,0,0,0,26.70,26.99,27.20
$GC,153,-0.87,-116.8,24.5,-24.5,12,157,0.00,1.42,0.00,0.000,6,0.000,0.027,2683,2662,3213,0,0,0,0,0,0,28.83,27.00,28.83
$GC,225,-0.87,-116.8,39.6,-21.2,19,228,0.00,1.50,0.00,0.000,4,0.000,0.037,2676,3716,3214,0,0,0,0,0,0,28.83,27.00,28.83
$GC,248,-0.87,-116.8,44.2,-20.9,21,251,0.00,1.33,0.00,0.000,6,0.000,0.017,2676,2639,3214,0,0,0,0,0,0,28.83,27.12,28.83
$GC,320,-0.87,-116.8,56.5,-16.0,28,323,0.00,1.25,0.00,0.000,4,0.000,0.018,2676,1703,3214,0,0,0,0,0,0,28.83,27.10,28.83
$GC,422,-0.87,-116.8,71.7,-15.1,37,425,0.00,1.38,0.00,0.000,6,0.000,0.027,2669,2669,3214,0,0,0,0,0,0,28.83,27.10,28.83
$GC,494,-0.87,-116.8,82.4,-14.8,44,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2669,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,554,-0.87,-116.8,91.2,-14.5,50,557,0.00,1.30,0.00,0.000,4,0.000,0.018,2669,1704,3214,0,0,0,0,0,0,28.83,27.17,28.83
$GC,634,-0.87,-116.8,102.7,-14.8,57,637,0.00,1.35,0.00,0.000,6,0.000,0.027,2663,2658,3214,0,0,0,0,0,0,28.83,27.16,28.83
$GC,705,-0.87,-116.8,113.0,-14.2,64,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2659,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,765,-0.87,-116.8,121.2,-13.6,70,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2659,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,825,-0.87,-116.8,129.1,-13.0,76,829,0.00,1.27,0.00,0.000,4,0.000,0.018,2663,1708,3215,0,0,0,0,0,0,28.83,27.22,28.83
$GC,916,-0.87,-116.8,140.4,-11.6,84,920,0.08,1.35,0.00,0.000,6,0.127,0.027,2686,2662,3215,0,0,0,0,0,0,27.05,27.22,28.83
$GC,989,-0.87,-116.8,148.3,-11.0,91,992,0.00,1.50,0.00,0.000,4,0.000,0.037,2680,3726,3215,0,0,0,0,0,0,28.83,27.18,28.83
$GC,1102,-0.87,-116.8,162.2,-12.3,101,1106,0.00,1.30,0.00,0.000,6,0.000,0.018,2680,2661,3215,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1174,-0.87,-116.8,170.0,-10.6,108,1177,0.00,1.27,0.00,0.000,4,0.000,0.018,2680,1705,3215,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1219,-0.87,-116.8,174.5,-10.1,112,1223,0.00,1.35,0.00,0.000,6,0.000,0.027,2674,2661,3215,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1291,-0.87,-116.8,181.9,-10.3,115,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2661,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-0.87,-116.8,200.3,-10.4,121,1474,0.00,1.27,0.00,0.000,4,0.000,0.018,2674,1710,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1565,-0.87,-116.8,210.8,-11.0,124,1569,0.00,1.35,0.00,0.000,6,0.000,0.028,2668,2667,3215,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1777,-0.87,-116.8,235.7,-11.7,131,1781,0.00,1.30,0.00,0.000,4,0.000,0.018,2668,1702,3214,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1847,-0.87,-116.8,242.8,-11.7,133,1852,0.00,1.35,0.00,0.000,6,0.000,0.026,2664,2656,3213,0,0,0,0,0,0,28.83,27.30,28.83
$GC,2051,-0.87,-116.8,268.1,-12.2,140,2055,0.00,1.27,0.00,0.000,4,0.000,0.018,2663,1706,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2163,-0.87,-116.8,279.5,-12.0,143,2168,0.08,1.35,0.00,0.000,6,0.125,0.027,2687,2661,3212,0,0,0,0,0,0,27.16,27.32,28.83
$GC,2357,-0.87,-116.8,302.4,-10.6,150,2361,0.00,1.27,0.00,0.000,4,0.000,0.018,2687,1710,3211,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2477,-0.87,-116.8,314.6,-10.1,152,2481,0.00,1.35,0.00,0.000,6,0.000,0.027,2683,2665,3211,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2837,-0.87,-116.8,349.5,-9.7,158,2841,0.00,1.30,0.00,0.000,4,0.000,0.018,2683,1701,3209,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2950,-0.87,-116.8,355.7,-9.9,159,2958,0.00,1.38,0.00,0.000,6,0.000,0.027,2676,2669,3209,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3257,-0.87,-116.8,395.7,-11.3,165,3261,0.00,1.30,0.00,0.000,4,0.000,0.018,2677,1704,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3345,-0.87,-116.8,402.4,-11.3,166,3350,0.00,1.35,0.00,0.000,6,0.000,0.027,2671,2659,3207,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3677,-0.87,-116.8,441.2,-10.7,172,3681,0.00,1.27,0.00,0.000,4,0.000,0.019,2671,1711,3206,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3816,-0.87,-116.8,453.3,-10.3,174,3820,0.00,1.35,0.00,0.000,6,0.000,0.028,2666,2664,3206,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4157,-0.87,-116.8,488.6,-9.9,180,4161,0.00,1.30,0.00,0.000,4,0.000,0.019,2666,1702,3205,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4345,-0.87,-116.8,506.9,-10.1,183,4350,0.00,1.35,0.00,0.000,6,0.000,0.027,2662,2654,3205,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4697,-0.87,-116.8,546.3,-11.3,189,4701,0.00,1.27,0.00,0.000,4,0.000,0.019,2661,1709,3203,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4915,-0.87,-116.8,566.2,-11.1,192,4920,0.08,1.35,0.00,0.000,6,0.124,0.027,2686,2656,3202,0,0,0,0,0,0,27.20,27.35,28.83
$GC,5237,-0.87,-116.8,597.4,-8.2,198,5241,0.00,1.27,0.00,0.000,4,0.000,0.019,2686,1711,3200,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5365,-0.87,-116.8,607.8,-8.4,200,5370,0.00,1.35,0.00,0.000,6,0.000,0.028,2683,2658,3200,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5717,-0.87,-116.8,641.1,-9.3,206,5721,0.00,1.30,0.00,0.000,4,0.000,0.019,2683,1702,3199,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5840,-0.87,-116.8,652.5,-9.5,208,5845,0.00,1.38,0.00,0.000,6,0.000,0.028,2678,2665,3199,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6197,-0.87,-116.8,687.3,-9.6,214,6201,0.00,1.30,0.00,0.000,4,0.000,0.020,2677,1708,3197,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6290,-0.87,-116.8,692.7,-9.3,215,6295,0.00,1.35,0.00,0.000,6,0.000,0.028,2671,2658,3197,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6618,-0.87,-116.8,726.4,-9.6,221,6621,0.00,1.30,0.00,0.000,4,0.000,0.020,2671,1703,3196,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6705,-0.87,-116.8,732.5,-9.8,222,6710,0.00,1.35,0.00,0.000,6,0.000,0.028,2666,2652,3195,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7038,-0.87,-116.8,767.5,-9.5,228,7041,0.00,1.27,0.00,0.000,4,0.000,0.020,2667,1713,3194,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7162,-0.87,-116.8,779.1,-9.4,230,7165,0.00,1.35,0.00,0.000,6,0.000,0.028,2663,2662,3193,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7517,-0.87,-116.8,816.4,-10.6,236,7521,0.00,1.30,0.00,0.000,4,0.000,0.020,2661,1709,3192,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7712,-0.87,-116.8,834.0,-10.0,239,7716,0.08,1.35,0.00,0.000,6,0.122,0.029,2688,2655,3191,0,0,0,0,0,0,27.18,27.34,28.83
$GC,8058,-0.87,-116.8,861.8,-7.7,245,8061,0.00,1.30,0.00,0.000,4,0.000,0.021,2688,1707,3190,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8106,-0.87,-116.8,861.8,-7.7,245,8110,0.00,1.38,0.00,0.000,6,0.000,0.029,2684,2660,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8418,-0.87,-116.8,894.9,-9.4,251,8421,0.00,1.30,0.00,0.000,4,0.000,0.021,2684,1705,3188,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8511,-0.87,-116.8,900.2,-9.2,252,8515,0.00,1.38,0.00,0.000,6,0.000,0.028,2678,2666,3187,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8838,-0.87,-116.8,928.9,-7.6,258,8841,0.00,1.30,0.00,0.000,4,0.000,0.021,2678,1717,3185,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8976,-0.87,-116.8,938.3,-7.6,260,8980,0.00,1.35,0.00,0.000,6,0.000,0.028,2672,2661,3185,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9318,-0.87,-116.8,969.8,-8.8,266,9321,0.00,1.30,0.00,0.000,4,0.000,0.021,2672,1715,3183,0,0,0,0,0,0,28.83,27.35,28.83
$GC,9361,-0.87,-116.8,969.8,-8.8,266,9365,0.00,1.35,0.00,0.000,6,0.000,0.028,2669,2658,3182,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,9557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9557,begin apogee
$GC,9560,-0.25,0.0,990.8,-8.8,270,9650,0.62,0.00,83.72,1.304,6,0.100,0.000,2890,2478,2734,0,0,0,0,0,0,27.16,28.83,24.90
$STATE,9651,end apogee,CONTROL_FINISHED_OK
$STATE,9651,begin climb
$GC,9652,0.87,116.8,992.6,0.0,271,9751,1.00,1.58,92.47,1.281,4,0.057,0.037,3257,3491,2256,0,0,0,0,0,0,25.75,25.46,24.73
$GC,9791,1.08,285.6,990.4,0.0,273,9932,0.12,1.40,133.77,1.203,6,0.040,0.018,3337,2485,1570,0,0,0,0,0,0,26.00,26.04,24.72
$GC,10279,1.08,285.6,914.4,15.6,282,10282,0.00,1.45,0.00,0.000,4,0.000,0.025,3343,1489,1557,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10507,1.08,285.6,886.2,15.7,285,10511,0.00,1.38,0.00,0.000,6,0.000,0.027,3343,2431,1555,0,0,0,0,0,0,28.83,26.89,28.83
$GC,10818,1.08,285.6,826.3,16.8,291,10822,0.00,1.35,0.00,0.000,4,0.000,0.027,3344,1493,1554,0,0,0,0,0,0,28.83,27.01,28.83
$GC,10901,1.08,285.6,816.6,16.7,292,10906,0.00,1.35,0.00,0.000,6,0.000,0.026,3344,2424,1553,0,0,0,0,0,0,28.83,27.03,28.83
$GC,11239,1.08,285.6,757.8,16.4,298,11242,0.00,1.35,0.00,0.000,4,0.000,0.027,3346,1487,1552,0,0,0,0,0,0,28.83,27.10,28.83
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$STATE,16465,end climb,SURFACE_DEPTH_REACHED
$STATE,16465,begin surface coast
$FINISH,0.1,1.004263
$STATE,16486,end surface coast,CONTROL_FINISHED_OK
$STATE,16486,begin surface
$SM_CCo,16501,31.33,0.118,0,0,1204,375.06
$SM_GC,0.95,7.82,0.28,31.33,0.024,0.046,0.118,161,2659,1204,-8.65,-1.87,375.06,0,0,0,0,0,0,27.31,27.34,27.05
$IRIDIUM_FIX,2627.01,-7010.07,160814,020245
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.18
$INTERNAL_PRESSURE,9.11296
$TCM_TEMP,23.90
$XPDR_PINGS,12
$24V_AH,24.7,10.763
$10V_AH,10.4,9.426
$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,18.925,121.450,309.975,31.325,0.000,24.809,44.512,144.491,3.000,0.000,4.630,1769.430,11442.876,393.380,3125.919,100.698,33.257,1659.697,0.000,2861.626,0.000,0.553,0.000
$DEVICE_MAMPS,198.900,67.320,1303.560,117.810,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.972,1071.279,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334280
$DATA_FILE_SIZE,30213,521
$CAP_FILE_SIZE,169466,0
$CFSIZE,1024393216,1017298944
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160814,140634,2629.067,-7007.004,33,1.0,33,-12.1