version: 66.10
glider: 200
mission: 4
dive: 59
start: 8 18 114 23 34 14
data:
$ID,200
$MISSION,4
$DIVE,59
$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,-1254.2827
$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,144
$R_STBD_OVSHOOT,74
$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
$GPS1,180814,232458,2600.558,-7008.138,35,1.9,35,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.3
$GPS2,180814,233318,2600.567,-7008.082,6,0.8,6,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,ECHO
$TGT_LATLONG,2600.000,-7005.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.036,0.109
$KALMAN_X,23778.5,-219.9,-191.7,-27287.2,3963.9
$KALMAN_Y,-89983.2,188.7,266.2,-130826.0,-4328.7
$MHEAD_RNG_PITCHd_Wd,30.0,5235,-25.1,-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,-1.33,-47.3,0.0,0.0,0,78,0.00,0.00,-61.22,0.000,6,0.000,0.000,165,2429,2930,0,0,0,0,0,0,28.83,28.83,27.28
$GC,80,-1.33,-47.3,4.6,-8.5,4,94,8.30,1.50,0.00,0.000,4,0.196,0.026,2535,3482,2931,0,0,0,0,0,0,26.72,26.98,28.83
$GC,320,-1.33,-47.3,69.7,-22.8,20,323,0.00,1.35,0.00,0.000,6,0.000,0.016,2535,2381,2932,0,0,0,0,0,0,28.83,27.17,28.83
$GC,395,-1.33,-47.3,83.5,-18.0,25,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2376,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,455,-1.33,-47.3,94.2,-17.9,29,459,0.00,1.52,0.00,0.000,4,0.000,0.031,2527,3463,2932,0,0,0,0,0,0,28.83,27.11,28.83
$GC,500,-1.33,-47.3,102.0,-16.9,32,504,0.00,1.25,0.00,0.000,6,0.000,0.017,2527,2420,2932,0,0,0,0,0,0,28.83,27.21,28.83
$GC,575,-1.33,-47.3,115.2,-17.6,37,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2420,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,635,-1.33,-47.3,124.5,-15.5,41,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2420,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,695,-1.33,-47.3,133.0,-14.2,45,699,0.00,1.27,0.00,0.000,4,0.000,0.020,2527,1472,2933,0,0,0,0,0,0,28.83,27.21,28.83
$GC,863,-1.33,-47.3,156.5,-13.6,56,868,0.00,1.33,0.00,0.000,6,0.000,0.023,2520,2425,2933,0,0,0,0,0,0,28.83,27.23,28.83
$GC,935,-1.33,-47.3,167.3,-14.5,61,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2425,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,995,-1.33,-47.3,176.7,-15.6,65,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2425,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1175,-1.33,-47.3,203.2,-14.6,71,1179,0.00,1.48,0.00,0.000,4,0.000,0.032,2512,3457,2933,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1205,-1.33,-47.3,207.4,-14.5,72,1209,0.08,1.23,0.00,0.000,6,0.142,0.017,2538,2433,2933,0,0,0,0,0,0,27.09,27.33,28.83
$GC,1416,-1.33,-47.3,232.3,-11.6,79,1419,0.00,1.27,0.00,0.000,4,0.000,0.020,2538,1481,2932,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1499,-1.33,-47.3,239.5,-11.8,81,1506,0.00,1.33,0.00,0.000,6,0.000,0.023,2532,2427,2932,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1686,-1.33,-47.3,265.0,-12.1,88,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2427,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1866,-1.33,-47.3,286.1,-11.7,94,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2427,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2046,-1.33,-47.3,307.1,-11.5,99,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2427,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2346,-1.33,-47.3,343.0,-12.0,104,2349,0.00,1.27,0.00,0.000,4,0.000,0.021,2532,1482,2929,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2424,-1.33,-47.3,350.5,-12.2,105,2428,0.00,1.33,0.00,0.000,6,0.000,0.023,2525,2430,2929,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2766,-1.33,-47.3,394.6,-12.2,111,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2430,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3066,-1.33,-47.3,430.6,-12.0,116,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2430,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3366,-1.33,-47.3,466.3,-11.9,121,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2429,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3666,-1.33,-47.3,501.9,-11.9,126,3669,0.00,1.27,0.00,0.000,4,0.000,0.021,2525,1486,2924,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3824,-1.33,-47.3,516.0,-11.9,128,3828,0.00,1.33,0.00,0.000,6,0.000,0.024,2518,2430,2923,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4146,-1.33,-47.3,558.8,-11.9,134,4149,0.00,1.27,0.00,0.000,4,0.000,0.021,2518,1482,2922,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4229,-1.33,-47.3,566.0,-12.0,135,4234,0.08,1.33,0.00,0.000,6,0.145,0.024,2537,2425,2922,0,0,0,0,0,0,27.16,27.36,28.83
$GC,4566,-1.33,-47.3,606.6,-11.1,141,4569,0.00,1.50,0.00,0.000,4,0.000,0.034,2530,3500,2921,0,0,0,0,0,0,28.83,27.32,28.83
$GC,4690,-1.33,-47.3,620.3,-11.1,143,4694,0.00,1.30,0.00,0.000,6,0.000,0.018,2530,2452,2920,0,0,0,0,0,0,28.83,27.41,28.83
$GC,5046,-1.33,-47.3,658.2,-10.3,149,5049,0.00,1.35,0.00,0.000,4,0.000,0.021,2530,1456,2919,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5225,-1.33,-47.3,676.3,-10.1,152,5229,0.00,1.38,0.00,0.000,6,0.000,0.024,2523,2436,2919,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5586,-1.33,-47.3,711.5,-9.7,158,5589,0.00,1.48,0.00,0.000,4,0.000,0.034,2515,3462,2917,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5699,-1.33,-47.3,717.7,-9.9,159,5706,0.00,1.30,0.00,0.000,6,0.000,0.018,2514,2425,2917,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6006,-1.33,-47.3,753.1,-9.8,165,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2424,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6306,-1.33,-47.3,783.5,-10.1,170,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2424,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6606,-1.33,-47.3,815.4,-10.7,175,6609,0.00,1.50,0.00,0.000,4,0.000,0.034,2507,3489,2913,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6684,-1.33,-47.3,822.1,-10.7,176,6689,0.10,1.35,0.00,0.000,6,0.136,0.018,2541,2434,2913,0,0,0,0,0,0,27.15,27.41,28.83
$GC,7026,-1.33,-47.3,856.2,-9.2,182,7029,0.00,1.50,0.00,0.000,4,0.000,0.034,2534,3496,2911,0,0,0,0,0,0,28.83,27.31,28.83
$GC,7094,-1.33,-47.3,861.9,-9.1,183,7098,0.00,1.35,0.00,0.000,6,0.000,0.018,2534,2432,2910,0,0,0,0,0,0,28.83,27.40,28.83
$GC,7446,-1.33,-47.3,892.6,-8.3,189,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2432,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7746,-1.33,-47.3,917.9,-8.5,194,7747,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2432,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8046,-1.33,-47.3,943.5,-8.6,199,8049,0.00,1.50,0.00,0.000,4,0.000,0.035,2527,3494,2906,0,0,0,0,0,0,28.83,27.31,28.83
$GC,8254,-1.33,-47.3,960.9,-9.5,202,8258,0.00,1.35,0.00,0.000,6,0.000,0.019,2527,2448,2904,0,0,0,0,0,0,28.83,27.39,28.83
$STATE,8585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8585,begin apogee
$GC,8588,-0.25,0.0,994.3,-9.4,208,8624,1.05,0.00,32.00,1.544,6,0.118,0.000,2884,2448,2736,0,0,0,0,0,0,27.13,28.83,25.57
$STATE,8625,end apogee,CONTROL_FINISHED_OK
$STATE,8625,begin climb
$GC,8626,1.33,47.3,994.3,0.0,208,8670,1.40,1.38,37.58,1.453,4,0.057,0.032,3404,3357,2543,0,0,0,0,0,0,26.31,25.70,24.97
$GC,8710,1.42,117.1,992.9,0.0,210,8771,0.00,1.40,55.70,1.346,6,0.000,0.019,3407,2355,2258,0,0,0,0,0,0,28.83,26.20,24.80
$GC,9112,1.42,117.1,944.3,12.9,217,9116,0.00,1.50,0.00,0.000,4,0.000,0.027,3413,1289,2252,0,0,0,0,0,0,28.83,26.76,28.83
$GC,9180,1.42,117.1,936.7,12.9,218,9185,0.00,1.50,0.00,0.000,6,0.000,0.024,3413,2318,2252,0,0,0,0,0,0,28.83,26.83,28.83
$GC,9532,1.42,117.1,888.9,13.2,224,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2318,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9833,1.42,117.1,850.5,12.8,229,9836,0.00,1.48,0.00,0.000,4,0.000,0.028,3413,1301,2250,0,0,0,0,0,0,28.83,27.08,28.83
$GC,9990,1.42,117.1,836.1,12.3,231,9995,0.00,1.48,0.00,0.000,6,0.000,0.024,3413,2331,2248,0,0,0,0,0,0,28.83,27.13,28.83
$GC,10312,1.42,117.1,791.7,12.5,237,10316,0.00,1.52,0.00,0.000,4,0.000,0.034,3413,3397,2247,0,0,0,0,0,0,28.83,27.13,28.83
$GC,10385,1.42,117.1,784.0,12.6,238,10390,0.00,1.45,0.00,0.000,6,0.000,0.019,3419,2322,2247,0,0,0,0,0,0,28.83,27.21,28.83
$GC,10732,1.42,117.1,737.6,12.8,244,10736,0.00,1.45,0.00,0.000,4,0.000,0.028,3419,1311,2247,0,0,0,0,0,0,28.83,27.21,28.83
$GC,10845,1.42,117.1,730.3,12.7,245,10853,0.00,1.45,0.00,0.000,6,0.000,0.024,3419,2323,2246,0,0,0,0,0,0,28.83,27.22,28.83
$GC,11152,1.42,117.1,685.0,12.6,251,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2323,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11452,1.42,117.1,648.4,12.1,256,11456,0.00,1.52,0.00,0.000,4,0.000,0.034,3419,3393,2246,0,0,0,0,0,0,28.83,27.22,28.83
$GC,11512,1.42,117.1,640.8,12.2,257,11516,0.00,1.42,0.00,0.000,6,0.000,0.020,3426,2319,2247,0,0,0,0,0,0,28.83,27.30,28.83
$GC,11873,1.42,117.1,596.0,12.4,263,11876,0.00,1.42,0.00,0.000,4,0.000,0.028,3428,1319,2247,0,0,0,0,0,0,28.83,27.26,28.83
$GC,12061,1.42,117.1,574.4,12.0,266,12065,0.00,1.42,0.00,0.000,6,0.000,0.024,3428,2326,2247,0,0,0,0,0,0,28.83,27.29,28.83
$GC,12413,1.42,117.1,531.3,11.9,272,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2325,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12713,1.42,117.1,494.1,12.4,277,12716,0.00,1.42,0.00,0.000,4,0.000,0.026,3432,1326,2247,0,0,0,0,0,0,28.83,27.29,28.83
$GC,12841,1.42,117.1,478.9,12.7,279,12845,0.00,1.42,0.00,0.000,6,0.000,0.024,3432,2333,2247,0,0,0,0,0,0,28.83,27.31,28.83
$GC,13193,1.42,117.1,433.7,12.6,285,13196,0.00,1.45,0.00,0.000,4,0.000,0.026,3433,1317,2248,0,0,0,0,0,0,28.83,27.30,28.83
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$GC,16104,1.43,127.5,114.9,5.6,389,16111,0.00,0.00,4.97,0.733,6,0.000,0.000,3432,2327,2217,0,0,0,0,0,0,28.83,28.83,26.40
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$STATE,17801,end climb,SURFACE_DEPTH_REACHED
$STATE,17801,begin surface coast
$FINISH,0.3,1.022929
$STATE,17817,end surface coast,CONTROL_FINISHED_OK
$STATE,17817,begin surface
$SM_CCo,17833,59.75,0.115,0,0,1206,375.06
$SM_GC,1.90,8.20,1.55,59.75,0.031,0.021,0.115,161,2430,1206,-8.63,-2.04,375.06,0,0,0,0,0,0,27.25,27.27,26.93
$IRIDIUM_FIX,2550.97,-7005.93,180814,171711
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.66
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,25.00
$XPDR_PINGS,17
$24V_AH,24.8,11.903
$10V_AH,10.5,10.209
$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,19.200,95.425,162.975,59.750,0.000,25.995,47.084,111.350,4.250,0.000,7.486,1687.730,13889.591,333.383,2171.561,86.667,33.233,1413.795,0.000,1929.168,0.000,0.552,0.000
$DEVICE_MAMPS,195.840,35.190,1543.770,114.750,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.247,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334208
$DATA_FILE_SIZE,27040,503
$CAP_FILE_SIZE,156377,0
$CFSIZE,1024393216,1016430592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190814,043334,2601.814,-7006.396,32,1.1,32,-12.0