version: 66.10
glider: 200
mission: 4
dive: 54
start: 8 17 114 14 49 23
data:
$ID,200
$MISSION,4
$DIVE,54
$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,-1248.0035
$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,157
$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
$GPS1,170814,143952,2615.734,-7009.648,39,0.8,39,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.3
$GPS2,170814,144827,2615.716,-7009.567,3,0.8,3,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.065,-0.162
$KALMAN_X,16659.4,-243.1,-358.6,-22408.2,4741.2
$KALMAN_Y,-83310.1,444.6,544.0,-109982.6,-5992.2
$MHEAD_RNG_PITCHd_Wd,213.9,30082,-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,14,-0.87,-116.8,0.0,0.0,0,79,0.00,0.00,-62.70,0.000,2,0.000,0.000,152,2435,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.87,-116.8,3.6,-5.5,4,102,8.85,1.38,-6.53,0.000,4,0.196,0.040,2686,1436,3215,0,0,0,0,0,0,26.75,27.03,27.25
$GC,251,-0.87,-116.8,42.7,-22.3,15,259,0.00,1.40,0.00,0.000,6,0.000,0.024,2681,2422,3216,0,0,0,0,0,0,28.83,27.09,28.83
$GC,318,-0.87,-116.8,57.0,-18.8,20,319,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2423,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,378,-0.87,-116.8,67.7,-17.8,24,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2423,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,439,-0.87,-116.8,77.6,-16.4,28,442,0.00,1.50,0.00,0.000,4,0.000,0.034,2673,3494,3216,0,0,0,0,0,0,28.83,27.10,28.83
$GC,543,-0.87,-116.8,94.1,-15.2,35,547,0.00,1.35,0.00,0.000,6,0.000,0.017,2673,2385,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,618,-0.87,-116.8,104.2,-13.4,40,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2380,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,678,-0.87,-116.8,112.1,-13.2,44,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2380,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,738,-0.87,-116.8,120.0,-13.1,48,742,0.00,1.55,0.00,0.000,4,0.000,0.033,2665,3481,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,828,-0.87,-116.8,131.9,-13.0,54,832,0.00,1.27,0.00,0.000,6,0.000,0.017,2665,2416,3217,0,0,0,0,0,0,28.83,27.28,28.83
$GC,903,-0.87,-116.8,141.6,-13.1,59,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2414,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,964,-0.87,-116.8,149.0,-12.4,63,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2413,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1023,-0.87,-116.8,156.6,-12.7,67,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2413,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-0.87,-116.8,163.9,-12.2,71,1087,0.00,1.25,0.00,0.000,4,0.000,0.021,2665,1486,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1113,-0.87,-116.8,167.4,-11.6,73,1117,0.08,1.33,0.00,0.000,6,0.123,0.024,2688,2435,3217,0,0,0,0,0,0,27.11,27.27,28.83
$GC,1189,-0.87,-116.8,175.8,-10.9,78,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2435,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1369,-0.87,-116.8,195.4,-10.9,84,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2435,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1549,-0.87,-116.8,215.1,-11.1,90,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2435,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1729,-0.87,-116.8,234.9,-10.9,96,1732,0.00,1.48,0.00,0.000,4,0.000,0.034,2683,3462,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1782,-0.87,-116.8,238.2,-10.9,97,1789,0.00,1.23,0.00,0.000,6,0.000,0.016,2683,2437,3215,0,0,0,0,0,0,28.83,27.38,28.83
$GC,1969,-0.87,-116.8,260.9,-10.5,104,1972,0.00,1.30,0.00,0.000,4,0.000,0.021,2683,1476,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2032,-0.87,-116.8,267.3,-10.7,106,2036,0.00,1.33,0.00,0.000,6,0.000,0.024,2677,2428,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2239,-0.87,-116.8,289.7,-10.8,113,2242,0.00,1.27,0.00,0.000,4,0.000,0.021,2677,1487,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2272,-0.87,-116.8,293.1,-10.8,114,2276,0.00,1.33,0.00,0.000,6,0.000,0.024,2671,2430,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2479,-0.87,-116.8,316.4,-11.2,119,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2430,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2779,-0.87,-116.8,350.0,-11.2,124,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2430,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3079,-0.87,-116.8,381.6,-10.5,129,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2430,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3379,-0.87,-116.8,413.3,-10.6,134,3382,0.00,1.27,0.00,0.000,4,0.000,0.021,2671,1484,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3452,-0.87,-116.8,419.7,-10.6,135,3456,0.00,1.33,0.00,0.000,6,0.000,0.024,2666,2424,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3799,-0.87,-116.8,457.2,-10.5,141,3802,0.00,1.50,0.00,0.000,4,0.000,0.034,2658,3501,3207,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3843,-0.87,-116.8,457.2,-10.5,141,3847,0.08,1.30,0.00,0.000,6,0.118,0.018,2688,2453,3208,0,0,0,0,0,0,27.22,27.41,28.83
$GC,4159,-0.87,-116.8,492.2,-9.4,147,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2453,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.87,-116.8,520.2,-9.3,152,4462,0.00,1.35,0.00,0.000,4,0.000,0.021,2688,1459,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4532,-0.87,-116.8,525.9,-9.4,153,4536,0.00,1.38,0.00,0.000,6,0.000,0.024,2685,2427,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4879,-0.87,-116.8,560.9,-9.7,159,4882,0.00,1.33,0.00,0.000,4,0.000,0.021,2685,1458,3203,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4922,-0.87,-116.8,560.9,-9.7,159,4926,0.00,1.38,0.00,0.000,6,0.000,0.025,2680,2428,3204,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5239,-0.87,-116.8,596.1,-9.8,165,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2427,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5539,-0.87,-116.8,625.6,-9.8,170,5542,0.00,1.33,0.00,0.000,4,0.000,0.022,2680,1459,3202,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5592,-0.87,-116.8,625.6,-9.8,170,5599,0.00,1.38,0.00,0.000,6,0.000,0.024,2675,2432,3202,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5899,-0.87,-116.8,661.4,-10.0,176,5902,0.00,1.50,0.00,0.000,4,0.000,0.035,2667,3502,3201,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5932,-0.87,-116.8,661.4,-10.0,176,5936,0.00,1.35,0.00,0.000,6,0.000,0.018,2667,2435,3201,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6259,-0.87,-116.8,696.1,-9.5,182,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2435,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6559,-0.87,-116.8,725.0,-9.8,187,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2435,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6859,-0.87,-116.8,754.7,-9.8,192,6862,0.00,1.50,0.00,0.000,4,0.000,0.035,2659,3498,3197,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6919,-0.87,-116.8,760.7,-9.8,193,6923,0.08,1.35,0.00,0.000,6,0.115,0.019,2689,2435,3196,0,0,0,0,0,0,27.22,27.41,28.83
$GC,7280,-0.87,-116.8,790.8,-8.1,199,7283,0.00,1.38,0.00,0.000,4,0.000,0.023,2689,1436,3195,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7332,-0.87,-116.8,790.8,-8.1,199,7340,0.00,1.40,0.00,0.000,6,0.000,0.025,2688,2423,3195,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7639,-0.87,-116.8,819.3,-8.0,205,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2422,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7939,-0.87,-116.8,843.6,-8.1,210,7943,0.00,1.50,0.00,0.000,4,0.000,0.036,2681,3489,3192,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7993,-0.87,-116.8,843.6,-8.1,210,8000,0.00,1.35,0.00,0.000,6,0.000,0.018,2682,2434,3191,0,0,0,0,0,0,28.83,27.41,28.83
$GC,8300,-0.87,-116.8,875.1,-8.9,216,8301,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2434,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8599,-0.87,-116.8,902.5,-9.2,221,8603,0.00,1.38,0.00,0.000,4,0.000,0.024,2681,1440,3188,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8637,-0.87,-116.8,902.5,-9.2,221,8642,0.00,1.40,0.00,0.000,6,0.000,0.026,2677,2424,3188,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8959,-0.87,-116.8,934.5,-8.8,227,8963,0.00,1.50,0.00,0.000,4,0.000,0.036,2670,3488,3186,0,0,0,0,0,0,28.83,27.30,28.83
$GC,9019,-0.87,-116.8,939.9,-8.7,228,9023,0.00,1.35,0.00,0.000,6,0.000,0.020,2669,2439,3186,0,0,0,0,0,0,28.83,27.40,28.83
$GC,9380,-0.87,-116.8,970.0,-8.3,234,9383,0.00,1.40,0.00,0.000,4,0.000,0.024,2669,1430,3185,0,0,0,0,0,0,28.83,27.35,28.83
$GC,9453,-0.87,-116.8,975.1,-8.4,235,9457,0.00,1.42,0.00,0.000,6,0.000,0.026,2667,2424,3184,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,9678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9678,begin apogee
$GC,9682,-0.25,0.0,994.9,-8.2,239,9770,0.62,0.00,84.00,1.299,6,0.101,0.000,2887,2425,2736,0,0,0,0,0,0,27.18,28.83,24.98
$STATE,9771,end apogee,CONTROL_FINISHED_OK
$STATE,9771,begin climb
$GC,9772,0.87,116.8,996.3,0.0,240,9869,1.00,0.00,93.03,1.259,6,0.058,0.000,3252,2425,2258,0,0,0,0,0,0,25.75,28.83,24.77
$GC,10155,0.87,116.8,968.0,8.8,247,10158,0.00,1.55,0.00,0.000,4,0.000,0.026,3254,1332,2250,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10208,0.87,116.8,968.0,8.8,247,10215,0.00,1.45,0.00,0.000,6,0.000,0.024,3253,2333,2249,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10515,0.87,116.8,937.5,8.4,253,10518,0.00,1.42,0.00,0.000,4,0.000,0.027,3253,1342,2249,0,0,0,0,0,0,28.83,26.94,28.83
$GC,10584,0.87,116.8,932.5,8.3,254,10587,0.00,1.40,0.00,0.000,6,0.000,0.025,3253,2320,2248,0,0,0,0,0,0,28.83,26.97,28.83
$GC,10935,0.87,116.8,904.9,7.6,260,10938,0.00,1.52,0.00,0.000,4,0.000,0.035,3253,3378,2247,0,0,0,0,0,0,28.83,27.04,28.83
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$STATE,22931,end climb,SURFACE_DEPTH_REACHED
$STATE,22931,begin surface coast
$FINISH,0.3,1.010785
$STATE,22948,end surface coast,CONTROL_FINISHED_OK
$STATE,22948,begin surface
$SM_CCo,22962,31.65,0.118,0,0,1207,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,43.81
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,24.90
$XPDR_PINGS,20
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$10V_AH,10.4,9.867
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$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,334184
$DATA_FILE_SIZE,33609,612
$CAP_FILE_SIZE,200235,0
$CFSIZE,1024393216,1016823808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170814,211334,2612.485,-7009.791,22,1.0,22,-12.0