version: 66.10
glider: 200
mission: 4
dive: 58
start: 8 18 114 17 21 12
data:
$ID,200
$MISSION,4
$DIVE,58
$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,-1253.0278
$T_RSLEEP,60
$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,158
$R_STBD_OVSHOOT,83
$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
$GPS1,180814,171204,2601.766,-7007.166,24,0.9,24,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.4
$GPS2,180814,172016,2601.767,-7007.110,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.114,-0.011
$KALMAN_X,22250.9,90.6,-696.6,-23977.4,4216.4
$KALMAN_Y,-87929.3,-21.5,270.1,-130452.4,-3196.6
$MHEAD_RNG_PITCHd_Wd,276.7,4800,-25.3,-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,-1.34,-46.7,0.0,0.0,0,79,0.00,0.00,-62.53,0.000,2,0.000,0.000,155,2440,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.36,-58.6,3.6,-5.5,4,98,8.32,1.40,-1.65,0.000,4,0.197,0.044,2532,1421,2977,0,0,0,0,0,0,26.74,27.05,27.21
$GC,321,-1.36,-58.6,67.7,-21.5,20,326,0.00,1.42,0.00,0.000,6,0.000,0.021,2526,2428,2978,0,0,0,0,0,0,28.83,27.13,28.83
$GC,394,-1.36,-58.6,81.6,-18.5,25,397,0.00,1.35,0.00,0.000,4,0.000,0.019,2526,1434,2979,0,0,0,0,0,0,28.83,27.17,28.83
$GC,499,-1.36,-58.6,102.0,-19.2,32,502,0.00,1.38,0.00,0.000,6,0.000,0.023,2518,2420,2979,0,0,0,0,0,0,28.83,27.18,28.83
$GC,574,-1.36,-58.6,115.8,-18.5,37,577,0.00,1.33,0.00,0.000,4,0.000,0.020,2518,1438,2979,0,0,0,0,0,0,28.83,27.23,28.83
$GC,621,-1.36,-58.6,123.2,-16.5,40,626,0.00,1.40,0.00,0.000,6,0.000,0.022,2511,2427,2979,0,0,0,0,0,0,28.83,27.20,28.83
$GC,694,-1.36,-58.6,135.7,-16.7,45,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2426,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-1.36,-58.6,145.2,-15.9,49,755,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2426,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,814,-1.36,-58.6,154.6,-15.4,53,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2427,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,874,-1.36,-58.6,163.8,-15.5,57,875,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2427,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,934,-1.36,-58.6,173.6,-16.3,61,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2427,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1009,-1.36,-58.6,185.2,-15.6,64,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2427,2980,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1189,-1.36,-58.6,210.2,-13.2,70,1192,0.00,1.35,0.00,0.000,4,0.000,0.020,2511,1429,2979,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1322,-1.36,-58.6,225.7,-13.0,74,1327,0.08,1.40,0.00,0.000,6,0.146,0.023,2530,2430,2979,0,0,0,0,0,0,27.10,27.29,28.83
$GC,1519,-1.36,-58.6,252.1,-12.4,81,1522,0.00,1.48,0.00,0.000,4,0.000,0.032,2523,3462,2978,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1587,-1.36,-58.6,259.8,-12.7,83,1592,0.00,1.30,0.00,0.000,6,0.000,0.016,2523,2394,2978,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1789,-1.36,-58.6,286.9,-12.8,90,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2395,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1969,-1.36,-58.6,309.9,-12.8,95,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2395,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2269,-1.36,-58.6,348.2,-12.8,100,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2395,2976,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2569,-1.36,-58.6,386.6,-12.8,105,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2394,2975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-1.36,-58.6,425.1,-12.8,110,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2395,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3169,-1.36,-58.6,463.9,-12.9,115,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2395,2972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3469,-1.36,-58.6,501.5,-12.4,120,3472,0.00,1.23,0.00,0.000,4,0.000,0.021,2523,1481,2971,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3557,-1.36,-58.6,509.4,-12.5,121,3562,0.00,1.33,0.00,0.000,6,0.000,0.024,2516,2430,2970,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3889,-1.36,-58.6,554.2,-12.4,127,3892,0.00,1.30,0.00,0.000,4,0.000,0.021,2515,1473,2969,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3952,-1.36,-58.6,561.9,-12.4,128,3956,0.00,1.38,0.00,0.000,6,0.000,0.024,2509,2443,2969,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4309,-1.36,-58.6,607.3,-12.7,134,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2442,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4609,-1.36,-58.6,646.1,-12.9,139,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2443,2967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4909,-1.36,-58.6,683.8,-12.5,144,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2442,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5209,-1.36,-58.6,720.1,-12.0,149,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2443,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5509,-1.36,-58.6,755.5,-11.8,154,5512,0.00,1.33,0.00,0.000,4,0.000,0.022,2509,1476,2962,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5592,-1.36,-58.6,762.3,-11.7,155,5597,0.08,1.35,0.00,0.000,6,0.139,0.024,2529,2428,2962,0,0,0,0,0,0,27.17,27.36,28.83
$GC,5929,-1.36,-58.6,802.3,-11.0,161,5933,0.00,1.50,0.00,0.000,4,0.000,0.034,2522,3501,2960,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6073,-1.36,-58.6,816.0,-11.3,163,6077,0.00,1.30,0.00,0.000,6,0.000,0.018,2522,2467,2960,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6409,-1.36,-58.6,855.5,-10.8,169,6413,0.00,1.40,0.00,0.000,4,0.000,0.022,2522,1445,2958,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6522,-1.36,-58.6,862.1,-10.9,170,6530,0.00,1.40,0.00,0.000,6,0.000,0.024,2514,2434,2957,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6829,-1.36,-58.6,901.9,-11.2,176,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2434,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7129,-1.36,-58.6,934.7,-11.0,181,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2434,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7430,-1.36,-58.6,967.9,-11.0,186,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2434,2952,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7668,begin apogee
$GC,7671,-0.25,0.0,994.3,-11.0,190,7717,1.10,0.00,40.58,1.444,6,0.120,0.000,2888,2435,2735,0,0,0,0,0,0,27.14,28.83,25.44
$STATE,7718,end apogee,CONTROL_FINISHED_OK
$STATE,7718,begin climb
$GC,7720,1.36,58.6,994.3,0.0,190,7770,1.40,0.00,46.95,1.421,6,0.056,0.000,3409,2435,2498,0,0,0,0,0,0,26.20,28.83,24.91
$GC,8030,1.36,58.6,973.2,8.3,196,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2434,2493,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8329,1.36,58.6,947.5,8.7,201,8333,0.00,1.52,0.00,0.000,4,0.000,0.024,3417,1341,2492,0,0,0,0,0,0,28.83,26.95,28.83
$GC,8359,1.36,58.6,947.5,8.7,201,8362,0.00,1.42,0.00,0.000,6,0.000,0.025,3417,2333,2491,0,0,0,0,0,0,28.83,26.96,28.83
$GC,8689,1.36,58.6,917.9,8.2,207,8693,0.00,1.50,0.00,0.000,4,0.000,0.034,3417,3389,2490,0,0,0,0,0,0,28.83,27.04,28.83
$GC,8918,1.36,58.6,903.2,8.1,210,8922,0.00,1.38,0.00,0.000,6,0.000,0.020,3425,2351,2490,0,0,0,0,0,0,28.83,27.17,28.83
$GC,9230,1.36,60.0,879.2,6.5,216,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2351,2489,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9530,1.36,60.0,859.4,6.6,221,9533,0.00,1.48,0.00,0.000,4,0.000,0.034,3425,3356,2487,0,0,0,0,0,0,28.83,27.17,28.83
$GC,9758,1.36,60.0,846.1,7.2,224,9762,0.00,1.38,0.00,0.000,6,0.000,0.020,3425,2335,2486,0,0,0,0,0,0,28.83,27.25,28.83
$GC,10069,1.36,60.0,820.2,7.2,230,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2334,2485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10369,1.36,60.0,800.4,6.6,235,10373,0.00,1.52,0.00,0.000,4,0.000,0.034,3425,3396,2484,0,0,0,0,0,0,28.83,27.22,28.83
$GC,10508,1.36,61.2,792.5,6.5,237,10512,0.00,1.45,0.00,0.000,6,0.000,0.020,3426,2316,2485,0,0,0,0,0,0,28.83,27.30,28.83
$GC,10850,1.37,67.4,770.7,6.0,243,10858,0.00,1.50,4.65,1.113,4,0.000,0.031,3425,3363,2465,0,0,0,0,0,0,28.83,27.14,26.05
$GC,11085,1.37,67.4,754.9,6.8,247,11088,0.00,1.40,0.00,0.000,6,0.000,0.020,3430,2312,2467,0,0,0,0,0,0,28.83,27.24,28.83
$GC,11445,1.37,67.4,731.1,6.6,253,11448,0.00,1.40,0.00,0.000,4,0.000,0.026,3438,1313,2468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,11498,1.37,67.4,731.1,6.6,253,11505,0.00,1.45,0.00,0.000,6,0.000,0.024,3438,2332,2468,0,0,0,0,0,0,28.83,27.24,28.83
$GC,11805,1.37,67.4,707.3,6.6,259,11809,0.00,1.50,0.00,0.000,4,0.000,0.034,3437,3394,2468,0,0,0,0,0,0,28.83,27.22,28.83
$GC,11998,1.37,67.4,694.5,7.0,262,12002,0.00,1.42,0.00,0.000,6,0.000,0.019,3440,2326,2468,0,0,0,0,0,0,28.83,27.30,28.83
$GC,12345,1.37,70.8,671.1,6.3,268,12354,0.00,1.50,4.72,1.069,4,0.000,0.031,3439,3373,2450,0,0,0,0,0,0,28.83,27.15,26.10
$GC,12581,1.37,70.8,654.7,7.0,272,12584,0.00,1.40,0.00,0.000,6,0.000,0.020,3439,2321,2452,0,0,0,0,0,0,28.83,27.25,28.83
$GC,12941,1.38,74.4,632.0,6.3,278,12947,0.00,0.00,4.55,1.023,6,0.000,0.000,3439,2321,2433,0,0,0,0,0,0,28.83,28.83,26.08
$GC,13241,1.38,74.4,610.8,7.2,283,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2321,2437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13541,1.38,74.4,587.4,7.9,288,13544,0.00,1.50,0.00,0.000,4,0.000,0.033,3439,3380,2438,0,0,0,0,0,0,28.83,27.20,28.83
$GC,13739,1.38,74.4,572.9,8.1,291,13743,0.00,1.42,0.00,0.000,6,0.000,0.019,3440,2313,2438,0,0,0,0,0,0,28.83,27.28,28.83
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$STATE,21673,end climb,SURFACE_DEPTH_REACHED
$STATE,21673,begin surface coast
$FINISH,0.4,1.022729
$STATE,21689,end surface coast,CONTROL_FINISHED_OK
$STATE,21689,begin surface
$SM_CCo,21704,52.58,0.115,0,0,1205,375.06
$SM_GC,1.82,8.18,0.08,52.58,0.028,0.109,0.115,168,2426,1205,-8.63,-2.40,375.06,0,0,0,0,0,0,27.17,27.22,26.89
$IRIDIUM_FIX,2558.17,-7010.44,180814,101030
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.73
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,24.90
$XPDR_PINGS,26
$24V_AH,24.9,11.816
$10V_AH,10.4,10.148
$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,19.225,95.750,194.175,52.575,0.000,23.262,43.843,104.866,6.500,0.000,5.691,1905.584,17178.701,366.422,2471.601,94.554,33.235,1583.226,0.000,2235.370,0.000,0.552,0.000
$DEVICE_MAMPS,197.370,109.395,1444.320,114.750,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.397,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334240
$DATA_FILE_SIZE,33548,576
$CAP_FILE_SIZE,174110,0
$CFSIZE,1024393216,1016479744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180814,232458,2600.558,-7008.138,35,1.9,35,-12.0