version: 66.10
glider: 200
mission: 4
dive: 55
start: 8 17 114 21 23 14
data:
$ID,200
$MISSION,4
$DIVE,55
$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,-1249.2582
$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,77
$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
$GPS1,170814,211334,2612.485,-7009.791,22,1.0,22,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.0
$GPS2,170814,212218,2612.498,-7009.706,3,1.2,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.030,-0.172
$KALMAN_X,17892.8,-1.0,-337.6,-24124.5,4274.2
$KALMAN_Y,-83656.7,20.8,595.4,-115234.6,-5013.4
$MHEAD_RNG_PITCHd_Wd,201.8,24435,-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,-62.28,0.000,2,0.000,0.000,161,2429,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.87,-116.8,3.7,-5.7,4,102,8.80,1.38,-6.20,0.000,4,0.195,0.044,2687,1436,3216,0,0,0,0,0,0,26.74,27.02,27.24
$GC,138,-0.87,-116.8,19.8,-26.6,8,142,0.00,1.40,0.00,0.000,6,0.000,0.024,2682,2425,3216,0,0,0,0,0,0,28.83,27.03,28.83
$GC,213,-0.87,-116.8,36.9,-23.0,13,215,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2425,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,273,-0.87,-116.8,49.4,-20.7,17,277,0.00,1.50,0.00,0.000,4,0.000,0.033,2674,3495,3216,0,0,0,0,0,0,28.83,27.05,28.83
$GC,303,-0.87,-116.8,55.4,-19.7,19,307,0.00,1.35,0.00,0.000,6,0.000,0.016,2674,2390,3216,0,0,0,0,0,0,28.83,27.16,28.83
$GC,378,-0.87,-116.8,68.4,-17.1,24,382,0.00,1.52,0.00,0.000,4,0.000,0.033,2666,3468,3216,0,0,0,0,0,0,28.83,27.08,28.83
$GC,468,-0.87,-116.8,85.3,-19.3,30,472,0.00,1.25,0.00,0.000,6,0.000,0.017,2666,2426,3217,0,0,0,0,0,0,28.83,27.21,28.83
$GC,543,-0.87,-116.8,97.9,-16.6,35,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2425,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,603,-0.87,-116.8,106.5,-14.4,39,607,0.00,1.50,0.00,0.000,4,0.000,0.033,2658,3492,3217,0,0,0,0,0,0,28.83,27.14,28.83
$GC,678,-0.87,-116.8,117.5,-14.6,44,682,0.08,1.27,0.00,0.000,6,0.122,0.017,2686,2429,3217,0,0,0,0,0,0,27.05,27.26,28.83
$GC,754,-0.87,-116.8,126.6,-11.6,49,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,814,-0.87,-116.8,133.8,-12.0,53,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-0.87,-116.8,140.7,-11.5,57,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2428,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,934,-0.87,-116.8,147.4,-11.2,61,937,0.00,1.50,0.00,0.000,4,0.000,0.034,2681,3496,3218,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1002,-0.87,-116.8,154.7,-12.1,65,1009,0.00,1.27,0.00,0.000,6,0.000,0.016,2681,2431,3217,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1069,-0.87,-116.8,163.9,-12.2,70,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2431,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1129,-0.87,-116.8,170.8,-11.6,74,1132,0.00,1.50,0.00,0.000,4,0.000,0.033,2673,3501,3217,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1197,-0.87,-116.8,178.2,-12.1,78,1201,0.00,1.30,0.00,0.000,6,0.000,0.016,2673,2431,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1399,-0.87,-116.8,204.0,-12.0,85,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2431,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-0.87,-116.8,224.5,-11.3,91,1582,0.00,1.48,0.00,0.000,4,0.000,0.034,2665,3494,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1657,-0.87,-116.8,231.5,-11.5,93,1661,0.00,1.30,0.00,0.000,6,0.000,0.016,2665,2427,3217,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1849,-0.87,-116.8,254.4,-10.7,100,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2427,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2029,-0.87,-116.8,272.1,-9.7,106,2032,0.00,1.27,0.00,0.000,4,0.000,0.021,2665,1478,3215,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2089,-0.87,-116.8,278.2,-9.8,108,2092,0.00,1.33,0.00,0.000,6,0.000,0.024,2662,2429,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2299,-0.87,-116.8,299.4,-10.3,115,2302,0.00,1.48,0.00,0.000,4,0.000,0.034,2654,3458,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2359,-0.87,-116.8,306.0,-10.6,117,2363,0.10,1.23,0.00,0.000,6,0.115,0.018,2692,2439,3214,0,0,0,0,0,0,27.19,27.39,28.83
$GC,2719,-0.87,-116.8,341.4,-9.7,123,2723,0.00,1.48,0.00,0.000,4,0.000,0.034,2686,3460,3213,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2779,-0.87,-116.8,347.3,-9.7,124,2783,0.00,1.25,0.00,0.000,6,0.000,0.018,2686,2431,3212,0,0,0,0,0,0,28.83,27.41,28.83
$GC,3139,-0.87,-116.8,382.4,-9.8,130,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2430,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-0.87,-116.8,412.1,-9.9,135,3442,0.00,1.50,0.00,0.000,4,0.000,0.034,2680,3497,3209,0,0,0,0,0,0,28.83,27.31,28.83
$GC,3492,-0.87,-116.8,412.1,-9.9,135,3500,0.00,1.33,0.00,0.000,6,0.000,0.017,2680,2428,3209,0,0,0,0,0,0,28.83,27.41,28.83
$GC,3799,-0.87,-116.8,449.2,-10.4,141,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2428,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-0.87,-116.8,479.5,-10.1,146,4103,0.00,1.50,0.00,0.000,4,0.000,0.034,2672,3495,3207,0,0,0,0,0,0,28.83,27.32,28.83
$GC,4177,-0.87,-116.8,486.0,-10.2,147,4182,0.00,1.33,0.00,0.000,6,0.000,0.017,2672,2428,3207,0,0,0,0,0,0,28.83,27.41,28.83
$GC,4519,-0.87,-116.8,524.4,-10.8,153,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2428,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4819,-0.87,-116.8,555.7,-10.4,158,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2428,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-0.87,-116.8,584.4,-9.5,163,5123,0.00,1.50,0.00,0.000,4,0.000,0.035,2665,3494,3203,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5192,-0.87,-116.8,590.4,-9.5,164,5197,0.00,1.33,0.00,0.000,6,0.000,0.017,2665,2434,3203,0,0,0,0,0,0,28.83,27.41,28.83
$GC,5539,-0.87,-116.8,625.3,-9.8,170,5543,0.00,1.50,0.00,0.000,4,0.000,0.034,2658,3501,3202,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5622,-0.87,-116.8,631.4,-9.8,171,5627,0.08,1.35,0.00,0.000,6,0.116,0.018,2688,2434,3202,0,0,0,0,0,0,27.22,27.41,28.83
$GC,5959,-0.87,-116.8,663.0,-8.5,177,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2433,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6259,-0.87,-116.8,688.7,-8.6,182,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2433,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6559,-0.87,-116.8,715.9,-9.1,187,6562,0.00,1.50,0.00,0.000,4,0.000,0.036,2685,3494,3198,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6619,-0.87,-116.8,721.6,-9.2,188,6623,0.00,1.35,0.00,0.000,6,0.000,0.019,2685,2427,3197,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6979,-0.87,-116.8,756.7,-9.9,194,6983,0.00,1.35,0.00,0.000,4,0.000,0.023,2685,1443,3196,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7027,-0.87,-116.8,756.7,-9.9,194,7032,0.00,1.40,0.00,0.000,6,0.000,0.025,2685,2423,3196,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7339,-0.87,-116.8,791.4,-9.5,200,7343,0.00,1.50,0.00,0.000,4,0.000,0.035,2677,3492,3195,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7387,-0.87,-116.8,791.4,-9.5,200,7392,0.00,1.35,0.00,0.000,6,0.000,0.018,2677,2428,3195,0,0,0,0,0,0,28.83,27.41,28.83
$GC,7699,-0.87,-116.8,823.1,-8.6,206,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2428,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7999,-0.87,-116.8,847.3,-8.1,211,8003,0.00,1.50,0.00,0.000,4,0.000,0.036,2672,3489,3192,0,0,0,0,0,0,28.83,27.31,28.83
$GC,8042,-0.87,-116.8,847.3,-8.1,211,8047,0.00,1.35,0.00,0.000,6,0.000,0.018,2671,2438,3192,0,0,0,0,0,0,28.83,27.40,28.83
$GC,8359,-0.87,-116.8,878.7,-8.8,217,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2438,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8659,-0.87,-116.8,904.6,-8.6,222,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2438,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8959,-0.87,-116.8,930.3,-8.6,227,8963,0.00,1.50,0.00,0.000,4,0.000,0.036,2665,3465,3187,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9042,-0.87,-116.8,935.8,-8.8,228,9047,0.00,1.33,0.00,0.000,6,0.000,0.019,2665,2437,3187,0,0,0,0,0,0,28.83,27.39,28.83
$GC,9379,-0.87,-116.8,967.6,-8.8,234,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2437,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9678,begin apogee
$GC,9681,-0.25,0.0,995.5,-9.4,239,9771,0.62,0.00,84.10,1.302,6,0.100,0.000,2886,2436,2734,0,0,0,0,0,0,27.17,28.83,24.95
$STATE,9772,end apogee,CONTROL_FINISHED_OK
$STATE,9772,begin climb
$GC,9774,0.87,116.8,997.7,0.0,240,9873,1.00,1.67,91.68,1.259,4,0.058,0.026,3255,1352,2257,0,0,0,0,0,0,25.77,25.51,24.77
$GC,9973,0.88,119.3,992.1,6.5,243,9980,0.00,1.45,0.00,0.000,6,0.000,0.024,3255,2332,2253,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10280,0.88,119.3,963.7,8.1,249,10283,0.00,1.50,0.00,0.000,4,0.000,0.034,3255,3373,2251,0,0,0,0,0,0,28.83,26.77,28.83
$GC,10317,0.88,119.3,963.7,8.1,249,10322,0.00,1.38,0.00,0.000,6,0.000,0.018,3261,2345,2251,0,0,0,0,0,0,28.83,26.87,28.83
$GC,10640,0.88,119.3,933.4,8.4,255,10643,0.00,1.45,0.00,0.000,4,0.000,0.027,3262,1329,2250,0,0,0,0,0,0,28.83,26.99,28.83
$GC,10699,0.88,119.3,928.6,8.3,256,10703,0.00,1.45,0.00,0.000,6,0.000,0.025,3262,2332,2249,0,0,0,0,0,0,28.83,27.02,28.83
$GC,11060,0.88,119.3,898.3,8.5,262,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2332,2248,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23175,end climb,SURFACE_DEPTH_REACHED
$STATE,23175,begin surface coast
$FINISH,0.8,1.023088
$STATE,23191,end surface coast,CONTROL_FINISHED_OK
$STATE,23191,begin surface
$SM_CCo,23205,31.15,0.118,0,0,1207,375.06
$SM_GC,0.59,7.78,0.12,31.15,0.025,0.076,0.118,161,2458,1207,-8.63,-2.18,375.06,0,0,0,0,0,0,27.17,27.19,26.91
$IRIDIUM_FIX,2607.77,-7005.74,170814,141408
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.66
$INTERNAL_PRESSURE,9.13249
$TCM_TEMP,24.90
$XPDR_PINGS,24
$24V_AH,24.8,11.464
$10V_AH,10.5,9.938
$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,334252
$DATA_FILE_SIZE,33639,615
$CAP_FILE_SIZE,200347,0
$CFSIZE,1024393216,1016725504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180814,035134,2609.049,-7009.854,29,1.0,29,-12.0