version: 66.10
glider: 200
mission: 4
dive: 76
start: 8 23 114 11 47 11
data:
$ID,200
$MISSION,4
$DIVE,76
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0134447
$HD_C,1.6100001e-05
$HEADING,0
$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,-1283.0433
$T_RSLEEP,30
$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,167
$R_STBD_OVSHOOT,81
$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
$GPS1,230814,113552,2611.572,-7012.893,36,1.0,36,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.7
$GPS2,230814,114648,2611.528,-7012.884,4,1.1,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.067
$KALMAN_X,48125.1,-221.1,-147.7,-52835.9,4085.6
$KALMAN_Y,-120993.6,343.5,463.0,-75393.1,-5795.5
$MHEAD_RNG_PITCHd_Wd,292.6,28205,-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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.50,0.000,2,0.000,0.000,155,2438,3012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.87,-116.8,4.7,-9.6,4,102,8.93,1.30,-3.80,0.000,4,0.198,0.039,2687,1437,3213,0,0,0,0,0,0,26.68,27.00,27.20
$GC,117,-0.87,-116.8,16.5,-24.0,6,127,0.00,1.40,0.00,0.000,6,0.000,0.023,2681,2423,3214,0,0,0,0,0,0,28.83,26.99,28.83
$GC,186,-0.87,-116.8,35.1,-23.2,11,190,0.00,1.50,0.00,0.000,4,0.000,0.034,2674,3485,3215,0,0,0,0,0,0,28.83,26.98,28.83
$GC,205,-0.87,-116.8,38.8,-22.6,12,210,0.00,1.35,0.00,0.000,6,0.000,0.015,2673,2384,3215,0,0,0,0,0,0,28.83,27.10,28.83
$GC,280,-0.87,-116.8,55.2,-21.4,17,283,0.00,1.55,0.00,0.000,4,0.000,0.033,2665,3478,3215,0,0,0,0,0,0,28.83,27.03,28.83
$GC,527,-0.87,-116.8,98.0,-15.3,32,532,0.00,1.27,0.00,0.000,6,0.000,0.016,2665,2428,3215,0,0,0,0,0,0,28.83,27.21,28.83
$GC,602,-0.87,-116.8,109.3,-14.5,37,605,0.00,1.50,0.00,0.000,4,0.000,0.033,2657,3494,3216,0,0,0,0,0,0,28.83,27.13,28.83
$GC,850,-0.87,-116.8,143.6,-13.1,52,855,0.12,1.30,0.00,0.000,6,0.139,0.015,2693,2429,3216,0,0,0,0,0,0,27.06,27.29,28.83
$GC,924,-0.87,-116.8,152.5,-11.6,57,928,0.00,1.50,0.00,0.000,4,0.000,0.034,2688,3494,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,1030,-0.87,-116.8,164.0,-11.5,63,1040,0.00,1.30,0.00,0.000,6,0.000,0.015,2687,2421,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1099,-0.87,-116.8,172.3,-11.0,68,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2421,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1159,-0.87,-116.8,179.1,-11.2,72,1162,0.00,1.50,0.00,0.000,4,0.000,0.034,2680,3467,3216,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1232,-0.87,-116.8,186.5,-11.2,76,1242,0.00,1.25,0.00,0.000,6,0.000,0.016,2680,2428,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1301,-0.87,-116.8,195.1,-11.2,81,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2428,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1374,-0.87,-116.8,203.2,-10.8,85,1377,0.00,1.27,0.00,0.000,4,0.000,0.020,2680,1478,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1507,-0.87,-116.8,216.0,-10.7,89,1512,0.00,1.33,0.00,0.000,6,0.000,0.024,2675,2426,3215,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1704,-0.87,-116.8,239.3,-11.0,96,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2426,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1884,-0.87,-116.8,258.7,-10.9,102,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2426,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2064,-0.87,-116.8,277.9,-10.7,108,2068,0.00,1.50,0.00,0.000,4,0.000,0.034,2667,3467,3213,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2127,-0.87,-116.8,284.5,-10.9,110,2132,0.00,1.25,0.00,0.000,6,0.000,0.016,2667,2440,3213,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2334,-0.87,-116.8,307.9,-11.1,116,2338,0.00,1.30,0.00,0.000,4,0.000,0.020,2667,1471,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2372,-0.87,-116.8,307.9,-11.1,116,2377,0.00,1.35,0.00,0.000,6,0.000,0.024,2667,2431,3212,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2694,-0.87,-116.8,348.1,-11.1,122,2698,0.00,1.30,0.00,0.000,4,0.000,0.020,2666,1468,3209,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2732,-0.87,-116.8,348.1,-11.1,122,2737,0.00,1.35,0.00,0.000,6,0.000,0.024,2665,2427,3210,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3054,-0.87,-116.8,390.0,-11.7,128,3058,0.00,1.30,0.00,0.000,4,0.000,0.020,2665,1466,3208,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3118,-0.87,-116.8,396.9,-11.7,129,3122,0.08,1.38,0.00,0.000,6,0.123,0.024,2688,2437,3209,0,0,0,0,0,0,27.16,27.34,28.83
$GC,3474,-0.87,-116.8,433.3,-9.9,135,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2437,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.87,-116.8,461.3,-9.3,140,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2437,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.87,-116.8,489.7,-9.4,145,4078,0.00,1.33,0.00,0.000,4,0.000,0.021,2688,1466,3204,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4127,-0.87,-116.8,489.7,-9.4,145,4135,0.00,1.38,0.00,0.000,6,0.000,0.024,2684,2436,3204,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4435,-0.87,-116.8,525.0,-9.7,151,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2436,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4734,-0.87,-116.8,554.4,-9.8,156,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2436,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5034,-0.87,-116.8,583.7,-9.8,161,5038,0.00,1.30,0.00,0.000,4,0.000,0.021,2684,1479,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5159,-0.87,-116.8,595.5,-9.8,163,5162,0.00,1.35,0.00,0.000,6,0.000,0.025,2679,2436,3201,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5514,-0.87,-116.8,630.7,-9.7,169,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2437,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5814,-0.87,-116.8,659.7,-9.7,174,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2437,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6114,-0.87,-116.8,688.7,-9.7,179,6118,0.00,1.33,0.00,0.000,4,0.000,0.021,2679,1468,3197,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6157,-0.87,-116.8,688.7,-9.7,179,6162,0.00,1.35,0.00,0.000,6,0.000,0.024,2674,2426,3197,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6474,-0.87,-116.8,724.1,-9.8,185,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2426,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-0.87,-116.8,752.8,-9.5,190,6778,0.00,1.30,0.00,0.000,4,0.000,0.021,2674,1475,3194,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6822,-0.87,-116.8,752.8,-9.5,190,6827,0.00,1.35,0.00,0.000,6,0.000,0.025,2672,2426,3194,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7135,-0.87,-116.8,785.9,-9.2,196,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2425,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7434,-0.87,-116.8,812.6,-8.9,201,7438,0.00,1.50,0.00,0.000,4,0.000,0.035,2664,3489,3191,0,0,0,0,0,0,28.83,27.29,28.83
$GC,7477,-0.87,-116.8,812.6,-8.9,201,7482,0.00,1.30,0.00,0.000,6,0.000,0.018,2664,2466,3191,0,0,0,0,0,0,28.83,27.39,28.83
$GC,7794,-0.87,-116.8,845.0,-9.1,207,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2466,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8095,-0.87,-116.8,873.5,-9.5,212,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2466,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8394,-0.87,-116.8,903.1,-9.9,217,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2466,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8694,-0.87,-116.8,933.0,-9.9,222,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2466,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,-0.87,-116.8,960.9,-9.2,227,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2466,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9294,-0.87,-116.8,987.5,-8.8,232,9298,0.00,1.42,0.00,0.000,4,0.000,0.023,2664,1440,3181,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,9353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9353,begin apogee
$GC,9358,-0.25,0.0,992.7,-8.7,233,9447,0.65,0.00,83.38,1.298,6,0.099,0.000,2891,2340,2734,0,0,0,0,0,0,27.13,28.83,24.96
$STATE,9448,end apogee,CONTROL_FINISHED_OK
$STATE,9448,begin climb
$GC,9450,0.87,116.8,994.6,0.0,234,9546,1.00,0.00,91.70,1.261,6,0.057,0.000,3260,2340,2259,0,0,0,0,0,0,25.79,28.83,24.80
$GC,9835,0.87,116.8,967.6,8.4,241,9838,0.00,1.45,0.00,0.000,4,0.000,0.025,3263,1348,2251,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9918,0.87,116.8,962.4,8.4,242,9922,0.00,1.42,0.00,0.000,6,0.000,0.023,3263,2330,2251,0,0,0,0,0,0,28.83,26.79,28.83
$GC,10255,0.87,116.8,931.4,8.6,248,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2330,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10555,0.87,116.8,906.1,8.4,253,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2329,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10855,0.87,116.8,881.1,8.3,258,10856,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2330,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11155,0.87,116.8,856.9,8.0,263,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2330,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11455,0.87,116.8,833.2,7.8,268,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2329,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11755,0.87,116.8,810.8,7.5,273,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2329,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12055,0.87,116.8,787.9,7.7,278,12059,0.00,1.50,0.00,0.000,4,0.000,0.034,3262,3350,2245,0,0,0,0,0,0,28.83,27.21,28.83
$GC,12143,0.87,116.8,782.9,7.9,279,12148,0.00,1.33,0.00,0.000,6,0.000,0.019,3268,2342,2246,0,0,0,0,0,0,28.83,27.29,28.83
$GC,12475,0.87,116.8,753.7,8.1,285,12476,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2342,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12775,0.87,116.8,730.1,7.9,290,12778,0.00,1.45,0.00,0.000,4,0.000,0.027,3273,1322,2245,0,0,0,0,0,0,28.83,27.26,28.83
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$STATE,22607,end climb,SURFACE_DEPTH_REACHED
$STATE,22607,begin surface coast
$FINISH,0.8,1.022963
$STATE,22624,end surface coast,CONTROL_FINISHED_OK
$STATE,22624,begin surface
$SM_CCo,22638,24.05,0.117,0,0,1204,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,43.81
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,25.10
$XPDR_PINGS,22
$24V_AH,24.8,13.781
$10V_AH,10.5,11.467
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,18.950,116.325,278.225,24.050,0.000,48.790,93.488,109.887,5.500,0.000,5.458,1947.611,17833.107,394.644,2786.833,111.762,0.000,1583.970,0.000,2472.660,0.000,0.553,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.519,873.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334336
$DATA_FILE_SIZE,33635,609
$CAP_FILE_SIZE,180295,0
$CFSIZE,1024393216,1014972416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230814,180604,2610.158,-7014.827,36,1.1,36,-11.9