version: 66.10
glider: 200
mission: 4
dive: 52
start: 8 17 114 1 37 21
data:
$ID,200
$MISSION,4
$DIVE,52
$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,-1245.4889
$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,2430
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,147
$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
$GPS1,170814,012834,2622.906,-7009.611,27,1.3,27,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.0
$GPS2,170814,013625,2622.860,-7009.530,3,1.3,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.091,-0.149
$KALMAN_X,13282.7,-57.0,-451.3,-19056.1,4525.9
$KALMAN_Y,-79966.5,21.5,639.6,-99777.6,-5881.5
$MHEAD_RNG_PITCHd_Wd,223.2,43002,-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,-116.8,0.0,0.0,0,79,0.00,0.00,-62.35,0.000,2,0.000,0.000,158,2397,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.87,-116.8,3.8,-6.6,4,102,8.80,1.35,-5.95,0.000,4,0.195,0.047,2690,1425,3214,0,0,0,0,0,0,26.78,27.06,27.29
$GC,326,-0.87,-116.8,58.5,-17.9,20,334,0.00,1.42,0.00,0.000,6,0.000,0.024,2685,2431,3216,0,0,0,0,0,0,28.83,27.14,28.83
$GC,393,-0.87,-116.8,70.2,-15.4,25,397,0.00,1.38,0.00,0.000,4,0.000,0.020,2685,1426,3215,0,0,0,0,0,0,28.83,27.17,28.83
$GC,558,-0.87,-116.8,92.7,-12.8,36,562,0.00,1.40,0.00,0.000,6,0.000,0.024,2677,2425,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,633,-0.87,-116.8,102.6,-13.4,41,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2425,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,693,-0.87,-116.8,110.8,-13.7,45,697,0.00,1.35,0.00,0.000,4,0.000,0.021,2677,1433,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,731,-0.87,-116.8,114.8,-13.4,47,739,0.00,1.40,0.00,0.000,6,0.000,0.024,2670,2426,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,798,-0.87,-116.8,125.1,-13.5,52,802,0.00,1.50,0.00,0.000,4,0.000,0.034,2663,3465,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,861,-0.87,-116.8,133.7,-14.3,56,866,0.00,1.33,0.00,0.000,6,0.000,0.016,2663,2374,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,933,-0.87,-116.8,143.6,-13.1,61,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2374,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.87,-116.8,151.3,-12.9,65,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2374,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1053,-0.87,-116.8,159.1,-12.9,69,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2375,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1113,-0.87,-116.8,166.9,-12.9,73,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2374,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1173,-0.87,-116.8,174.9,-13.2,77,1177,0.00,1.27,0.00,0.000,4,0.000,0.021,2663,1428,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1221,-0.87,-116.8,178.8,-13.0,79,1226,0.08,1.42,0.00,0.000,6,0.125,0.024,2686,2434,3217,0,0,0,0,0,0,27.12,27.27,28.83
$GC,1413,-0.87,-116.8,204.1,-12.0,86,1417,0.00,1.48,0.00,0.000,4,0.000,0.034,2681,3460,3217,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1446,-0.87,-116.8,207.6,-11.8,87,1451,0.00,1.33,0.00,0.000,6,0.000,0.016,2681,2383,3217,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1653,-0.87,-116.8,230.7,-10.6,94,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2383,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1833,-0.87,-116.8,250.5,-11.1,100,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2382,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2013,-0.87,-116.8,269.8,-10.7,106,2014,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2382,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-0.87,-116.8,289.0,-10.6,112,2197,0.00,1.58,0.00,0.000,4,0.000,0.034,2673,3468,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2266,-0.87,-116.8,295.5,-10.7,114,2271,0.00,1.25,0.00,0.000,6,0.000,0.017,2673,2447,3215,0,0,0,0,0,0,28.83,27.39,28.83
$GC,2493,-0.87,-116.8,321.3,-10.7,119,2497,0.00,1.35,0.00,0.000,4,0.000,0.021,2673,1449,3214,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2566,-0.87,-116.8,327.9,-10.8,120,2571,0.00,1.38,0.00,0.000,6,0.000,0.024,2668,2429,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2913,-0.87,-116.8,366.3,-10.6,126,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2429,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.87,-116.8,398.2,-10.7,131,3217,0.00,1.33,0.00,0.000,4,0.000,0.021,2668,1456,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3266,-0.87,-116.8,398.2,-10.7,131,3274,0.00,1.38,0.00,0.000,6,0.000,0.024,2666,2432,3212,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3574,-0.87,-116.8,437.7,-10.9,137,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2432,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3873,-0.87,-116.8,470.2,-10.8,142,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2432,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4173,-0.87,-116.8,502.1,-10.6,147,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2432,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-0.87,-116.8,535.5,-11.2,152,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2432,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-0.87,-116.8,569.6,-11.4,157,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2432,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-0.87,-116.8,601.1,-10.5,162,5077,0.00,1.48,0.00,0.000,4,0.000,0.035,2658,3457,3206,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5136,-0.87,-116.8,607.4,-10.4,163,5142,0.08,1.27,0.00,0.000,6,0.118,0.018,2688,2443,3206,0,0,0,0,0,0,27.22,27.42,28.83
$GC,5493,-0.87,-116.8,640.5,-9.1,169,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2442,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5794,-0.87,-116.8,666.7,-8.7,174,5797,0.00,1.48,0.00,0.000,4,0.000,0.036,2685,3457,3203,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5857,-0.87,-116.8,672.2,-8.7,175,5861,0.00,1.30,0.00,0.000,6,0.000,0.018,2685,2423,3203,0,0,0,0,0,0,28.83,27.42,28.83
$GC,6214,-0.87,-116.8,703.0,-8.5,181,6217,0.00,1.35,0.00,0.000,4,0.000,0.023,2686,1437,3201,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6274,-0.87,-116.8,708.1,-8.5,182,6277,0.00,1.40,0.00,0.000,6,0.000,0.026,2680,2429,3201,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6634,-0.87,-116.8,740.1,-9.0,188,6635,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2429,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,-0.87,-116.8,768.0,-9.3,193,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2428,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7234,-0.87,-116.8,795.0,-8.9,198,7237,0.00,1.50,0.00,0.000,4,0.000,0.036,2672,3495,3197,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7277,-0.87,-116.8,795.0,-8.9,198,7281,0.00,1.35,0.00,0.000,6,0.000,0.019,2672,2442,3197,0,0,0,0,0,0,28.83,27.41,28.83
$GC,7594,-0.87,-116.8,827.5,-9.1,204,7595,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2441,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7894,-0.87,-116.8,854.7,-9.0,209,7897,0.00,1.38,0.00,0.000,4,0.000,0.023,2672,1440,3194,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7937,-0.87,-116.8,854.7,-9.0,209,7941,0.00,1.40,0.00,0.000,6,0.000,0.026,2670,2424,3193,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8254,-0.87,-116.8,885.5,-8.5,215,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2424,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8554,-0.87,-116.8,912.6,-9.1,220,8557,0.00,1.50,0.00,0.000,4,0.000,0.036,2661,3488,3191,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8617,-0.87,-116.8,918.2,-9.1,221,8622,0.08,1.38,0.00,0.000,6,0.115,0.019,2691,2433,3190,0,0,0,0,0,0,27.20,27.41,28.83
$GC,8974,-0.87,-116.8,947.0,-7.9,227,8977,0.00,1.40,0.00,0.000,4,0.000,0.024,2691,1421,3189,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9012,-0.87,-116.8,947.0,-7.9,227,9016,0.00,1.45,0.00,0.000,6,0.000,0.027,2691,2427,3189,0,0,0,0,0,0,28.83,27.35,28.83
$GC,9334,-0.87,-116.8,976.9,-8.4,233,9337,0.00,1.50,0.00,0.000,4,0.000,0.037,2684,3487,3186,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9402,-0.87,-116.8,982.2,-8.5,234,9406,0.00,1.40,0.00,0.000,6,0.000,0.020,2684,2418,3186,0,0,0,0,0,0,28.83,27.40,28.83
$STATE,9513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9513,begin apogee
$GC,9516,-0.25,0.0,992.1,-8.4,236,9604,0.57,0.00,84.15,1.292,6,0.097,0.000,2888,2418,2735,0,0,0,0,0,0,27.19,28.83,25.00
$STATE,9605,end apogee,CONTROL_FINISHED_OK
$STATE,9605,begin climb
$GC,9606,0.87,116.8,993.8,0.0,237,9703,1.00,0.00,92.62,1.257,6,0.059,0.000,3253,2418,2259,0,0,0,0,0,0,25.77,28.83,24.79
$GC,9989,0.87,116.8,966.3,8.7,244,9992,0.00,1.55,0.00,0.000,4,0.000,0.026,3257,1326,2250,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10049,0.87,116.8,961.0,8.7,245,10052,0.00,1.48,0.00,0.000,6,0.000,0.025,3257,2330,2249,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10409,0.87,116.8,929.6,8.8,251,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2331,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10709,0.87,116.8,904.3,8.4,256,10712,0.00,1.42,0.00,0.000,4,0.000,0.028,3257,1338,2246,0,0,0,0,0,0,28.83,27.05,28.83
$GC,10752,0.87,116.8,904.3,8.4,256,10756,0.00,1.42,0.00,0.000,6,0.000,0.024,3257,2330,2246,0,0,0,0,0,0,28.83,27.07,28.83
$GC,11069,0.87,116.8,875.9,7.9,262,11072,0.00,1.50,0.00,0.000,4,0.000,0.034,3257,3381,2246,0,0,0,0,0,0,28.83,27.10,28.83
$GC,11153,0.87,116.8,870.7,8.1,263,11157,0.00,1.40,0.00,0.000,6,0.000,0.020,3262,2332,2246,0,0,0,0,0,0,28.83,27.17,28.83
$GC,11489,0.87,116.8,839.9,8.4,269,11493,0.00,1.45,0.00,0.000,4,0.000,0.028,3262,1319,2245,0,0,0,0,0,0,28.83,27.17,28.83
$GC,11637,0.87,116.8,830.3,8.2,271,11642,0.00,1.45,0.00,0.000,6,0.000,0.024,3263,2334,2245,0,0,0,0,0,0,28.83,27.20,28.83
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$STATE,22912,end climb,SURFACE_DEPTH_REACHED
$STATE,22912,begin surface coast
$FINISH,1.1,1.023168
$STATE,22928,end surface coast,CONTROL_FINISHED_OK
$STATE,22928,begin surface
$SM_CCo,22943,39.12,0.116,0,0,1204,375.06
$SM_GC,1.28,7.88,1.58,39.12,0.033,0.021,0.116,162,2436,1204,-8.64,-2.01,375.06,0,0,0,0,0,0,27.19,27.22,26.94
$IRIDIUM_FIX,2617.39,-7009.44,160814,202039
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.46
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,24.90
$XPDR_PINGS,20
$24V_AH,24.8,11.117
$10V_AH,10.4,9.725
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,412.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334188
$DATA_FILE_SIZE,33585,616
$CAP_FILE_SIZE,189653,0
$CFSIZE,1024393216,1017004032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170814,080134,2619.550,-7010.220,36,1.2,36,-12.0