version: 66.10
glider: 200
mission: 4
dive: 53
start: 8 17 114 8 13 17
data:
$ID,200
$MISSION,4
$DIVE,53
$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,-1246.7454
$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,72
$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
$GPS1,170814,080134,2619.550,-7010.220,36,1.2,36,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.3
$GPS2,170814,081221,2619.510,-7010.151,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.035,-0.171
$KALMAN_X,14457.3,-243.5,-60.8,-21447.3,3029.8
$KALMAN_Y,-80976.9,310.4,108.0,-104734.6,-3422.2
$MHEAD_RNG_PITCHd_Wd,203.4,37136,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.87,-116.8,0.0,0.0,0,81,0.00,0.00,-62.75,0.000,2,0.000,0.000,162,2437,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.87,-116.8,4.2,-8.1,4,103,8.82,1.40,-5.50,0.000,4,0.195,0.044,2689,1433,3215,0,0,0,0,0,0,26.73,27.00,27.23
$GC,267,-0.87,-116.8,45.9,-19.6,16,275,0.00,1.42,0.00,0.000,6,0.000,0.024,2683,2431,3216,0,0,0,0,0,0,28.83,27.08,28.83
$GC,334,-0.87,-116.8,58.5,-16.8,21,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2431,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,394,-0.87,-116.8,67.8,-15.6,25,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2431,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,454,-0.87,-116.8,76.8,-14.9,29,458,0.00,1.50,0.00,0.000,4,0.000,0.034,2676,3500,3216,0,0,0,0,0,0,28.83,27.10,28.83
$GC,574,-0.87,-116.8,93.9,-13.7,37,578,0.00,1.38,0.00,0.000,6,0.000,0.017,2676,2380,3216,0,0,0,0,0,0,28.83,27.23,28.83
$GC,649,-0.87,-116.8,103.9,-13.5,42,653,0.00,1.55,0.00,0.000,4,0.000,0.033,2667,3473,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,667,-0.87,-116.8,105.9,-13.6,43,672,0.00,1.27,0.00,0.000,6,0.000,0.016,2668,2421,3217,0,0,0,0,0,0,28.83,27.25,28.83
$GC,739,-0.87,-116.8,115.9,-13.3,48,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2421,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,799,-0.87,-116.8,123.6,-12.9,52,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2421,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,859,-0.87,-116.8,131.3,-12.7,56,863,0.00,1.27,0.00,0.000,4,0.000,0.021,2668,1476,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,907,-0.87,-116.8,137.5,-13.8,59,912,0.00,1.35,0.00,0.000,6,0.000,0.024,2663,2435,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,979,-0.87,-116.8,148.0,-14.0,64,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2435,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1040,-0.87,-116.8,156.1,-13.5,68,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2435,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-0.87,-116.8,163.7,-12.7,72,1103,0.00,1.30,0.00,0.000,4,0.000,0.021,2663,1476,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1177,-0.87,-116.8,173.6,-12.9,77,1182,0.08,1.33,0.00,0.000,6,0.123,0.024,2686,2423,3216,0,0,0,0,0,0,27.10,27.26,28.83
$GC,1249,-0.87,-116.8,182.4,-12.0,80,1253,0.00,1.50,0.00,0.000,4,0.000,0.034,2681,3496,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1309,-0.87,-116.8,190.2,-12.3,82,1313,0.00,1.30,0.00,0.000,6,0.000,0.017,2681,2422,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1519,-0.87,-116.8,214.1,-11.2,89,1523,0.00,1.50,0.00,0.000,4,0.000,0.034,2675,3461,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1573,-0.87,-116.8,217.6,-11.3,90,1580,0.00,1.25,0.00,0.000,6,0.000,0.016,2675,2425,3216,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1759,-0.87,-116.8,241.6,-11.5,97,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2425,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1939,-0.87,-116.8,262.3,-11.4,103,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2425,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2119,-0.87,-116.8,282.9,-11.4,109,2123,0.00,1.27,0.00,0.000,4,0.000,0.021,2675,1480,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2187,-0.87,-116.8,289.6,-11.3,111,2192,0.00,1.33,0.00,0.000,6,0.000,0.024,2669,2426,3214,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2419,-0.87,-116.8,314.7,-10.2,117,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2426,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,-0.87,-116.8,346.4,-10.6,122,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2426,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-0.87,-116.8,379.8,-11.1,127,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2426,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,-0.87,-116.8,412.1,-10.7,132,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2425,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.87,-116.8,444.6,-10.9,137,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2426,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3919,-0.87,-116.8,477.2,-10.8,142,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2426,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4219,-0.87,-116.8,509.4,-10.8,147,4223,0.00,1.50,0.00,0.000,4,0.000,0.034,2661,3497,3205,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4252,-0.87,-116.8,509.4,-10.8,147,4258,0.08,1.30,0.00,0.000,6,0.114,0.018,2691,2456,3205,0,0,0,0,0,0,27.22,27.42,28.83
$GC,4580,-0.87,-116.8,543.6,-9.1,153,4583,0.00,1.38,0.00,0.000,4,0.000,0.021,2691,1447,3204,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4647,-0.87,-116.8,549.0,-9.0,154,4652,0.00,1.40,0.00,0.000,6,0.000,0.024,2687,2435,3204,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4999,-0.87,-116.8,582.0,-9.3,160,5003,0.00,1.50,0.00,0.000,4,0.000,0.035,2681,3506,3203,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5047,-0.87,-116.8,582.0,-9.3,160,5052,0.00,1.35,0.00,0.000,6,0.000,0.017,2681,2423,3203,0,0,0,0,0,0,28.83,27.41,28.83
$GC,5360,-0.87,-116.8,615.7,-9.4,166,5363,0.00,1.33,0.00,0.000,4,0.000,0.022,2681,1449,3201,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5483,-0.87,-116.8,627.7,-9.7,168,5487,0.00,1.40,0.00,0.000,6,0.000,0.025,2679,2434,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5840,-0.87,-116.8,661.2,-9.2,174,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2433,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.87,-116.8,689.7,-9.5,179,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2434,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6440,-0.87,-116.8,716.8,-9.0,184,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2434,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6739,-0.87,-116.8,743.0,-8.8,189,6743,0.00,1.50,0.00,0.000,4,0.000,0.036,2674,3501,3196,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6783,-0.87,-116.8,743.0,-8.8,189,6787,0.00,1.35,0.00,0.000,6,0.000,0.018,2674,2440,3196,0,0,0,0,0,0,28.83,27.41,28.83
$GC,7100,-0.87,-116.8,777.7,-9.7,195,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2439,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7399,-0.87,-116.8,805.2,-9.1,200,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2440,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7699,-0.87,-116.8,831.4,-8.8,205,7703,0.00,1.38,0.00,0.000,4,0.000,0.023,2674,1440,3191,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7728,-0.87,-116.8,831.4,-8.8,205,7732,0.00,1.42,0.00,0.000,6,0.000,0.026,2669,2435,3192,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8060,-0.87,-116.8,864.5,-9.3,211,8061,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2435,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8359,-0.87,-116.8,892.5,-9.4,216,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2435,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8660,-0.87,-116.8,920.6,-9.3,221,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2435,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8960,-0.87,-116.8,948.0,-9.0,226,8963,0.00,1.38,0.00,0.000,4,0.000,0.024,2669,1448,3185,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8993,-0.87,-116.8,948.0,-9.0,226,8997,0.00,1.40,0.00,0.000,6,0.000,0.027,2666,2424,3185,0,0,0,0,0,0,28.83,27.35,28.83
$GC,9320,-0.87,-116.8,978.8,-8.4,232,9323,0.00,1.50,0.00,0.000,4,0.000,0.037,2658,3487,3184,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9358,-0.87,-116.8,978.8,-8.4,232,9363,0.08,1.35,0.00,0.000,6,0.116,0.020,2688,2451,3184,0,0,0,0,0,0,27.20,27.40,28.83
$STATE,9498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9499,begin apogee
$GC,9502,-0.25,0.0,993.0,-8.1,235,9589,0.55,0.00,83.68,1.291,6,0.096,0.000,2887,2449,2736,0,0,0,0,0,0,27.20,28.83,24.98
$STATE,9590,end apogee,CONTROL_FINISHED_OK
$STATE,9590,begin climb
$GC,9592,0.87,116.8,994.5,0.0,236,9688,1.00,0.00,92.50,1.258,6,0.059,0.000,3254,2449,2259,0,0,0,0,0,0,25.75,28.83,24.77
$GC,9975,0.87,116.8,966.5,8.6,243,9978,0.00,1.60,0.00,0.000,4,0.000,0.026,3255,1329,2251,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10013,0.87,116.8,966.5,8.6,243,10017,0.00,1.45,0.00,0.000,6,0.000,0.024,3255,2323,2250,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10335,0.87,116.8,937.4,8.0,249,10338,0.00,1.52,0.00,0.000,4,0.000,0.035,3255,3374,2250,0,0,0,0,0,0,28.83,26.91,28.83
$GC,10408,0.87,116.8,932.3,8.1,250,10412,0.00,1.40,0.00,0.000,6,0.000,0.020,3255,2336,2250,0,0,0,0,0,0,28.83,27.01,28.83
$GC,10755,0.87,116.8,902.9,8.1,256,10758,0.00,1.48,0.00,0.000,4,0.000,0.028,3255,1313,2247,0,0,0,0,0,0,28.83,27.07,28.83
$GC,10815,0.87,116.8,898.2,8.0,257,10818,0.00,1.48,0.00,0.000,6,0.000,0.026,3255,2332,2247,0,0,0,0,0,0,28.83,27.08,28.83
$GC,11175,0.87,116.8,868.9,8.2,263,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2332,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11475,0.87,116.8,844.4,8.1,268,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2332,2246,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23062,end climb,SURFACE_DEPTH_REACHED
$STATE,23062,begin surface coast
$FINISH,0.3,1.008260
$STATE,23078,end surface coast,CONTROL_FINISHED_OK
$STATE,23078,begin surface
$SM_CCo,23093,29.38,0.115,0,0,1205,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,43.69
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,25.00
$XPDR_PINGS,20
$24V_AH,24.8,11.246
$10V_AH,10.5,9.793
$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
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334248
$DATA_FILE_SIZE,33646,613
$CAP_FILE_SIZE,189147,0
$CFSIZE,1024393216,1016922112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170814,143952,2615.734,-7009.648,39,0.8,39,-12.0