version: 66.10
glider: 200
mission: 4
dive: 81
start: 8 24 114 1 0 10
data:
$ID,200
$MISSION,4
$DIVE,81
$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,2
$HD_A,0.003
$HD_B,0.0134447
$HD_C,1.6100001e-05
$HEADING,50
$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,-1289.314
$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,2988
$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,164
$R_STBD_OVSHOOT,90
$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
$GPS1,240814,005402,2609.070,-7016.109,6,0.7,7,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-65.4
$GPS2,240814,005947,2609.041,-7016.077,20,0.7,20,-11.9
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2615.982,-7006.852
$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,61.9,20000,-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,-64.32,0.000,2,0.000,0.000,155,2450,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.87,-116.8,4.5,-8.5,4,102,8.95,1.45,-4.43,0.000,4,0.199,0.056,2699,3447,3215,0,0,0,0,0,0,26.81,27.05,27.31
$GC,313,-0.87,-116.8,57.8,-17.5,18,323,0.00,1.27,0.00,0.000,6,0.000,0.016,2699,2397,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,383,-0.87,-116.8,69.3,-15.1,23,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2397,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,443,-0.87,-116.8,78.2,-14.9,27,446,0.00,1.25,0.00,0.000,4,0.000,0.020,2699,1465,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,509,-0.87,-116.8,87.5,-14.1,31,512,0.00,1.33,0.00,0.000,6,0.000,0.024,2692,2411,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,585,-0.87,-116.8,98.4,-14.5,36,589,0.00,1.27,0.00,0.000,4,0.000,0.020,2692,1463,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,626,-0.87,-116.8,103.1,-14.3,38,636,0.00,1.38,0.00,0.000,6,0.000,0.024,2688,2433,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,696,-0.87,-116.8,114.1,-14.4,43,700,0.00,1.30,0.00,0.000,4,0.000,0.020,2689,1468,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,737,-0.87,-116.8,118.6,-13.4,45,746,0.00,1.35,0.00,0.000,6,0.000,0.024,2684,2431,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,806,-0.87,-116.8,129.0,-13.7,50,809,0.00,1.50,0.00,0.000,4,0.000,0.035,2676,3505,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,841,-0.87,-116.8,133.8,-14.1,52,846,0.12,1.33,0.00,0.000,6,0.138,0.016,2711,2430,3216,0,0,0,0,0,0,27.13,27.34,28.83
$GC,915,-0.87,-116.8,143.4,-12.2,57,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2430,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,975,-0.87,-116.8,149.6,-10.6,61,979,0.00,1.27,0.00,0.000,4,0.000,0.020,2711,1475,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1059,-0.87,-116.8,157.9,-10.0,66,1064,0.00,1.38,0.00,0.000,6,0.000,0.024,2708,2441,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1135,-0.87,-116.8,165.2,-9.7,71,1139,0.00,1.48,0.00,0.000,4,0.000,0.035,2701,3467,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1283,-0.87,-116.8,180.8,-10.5,80,1286,0.00,1.25,0.00,0.000,6,0.000,0.018,2700,2428,3216,0,0,0,0,0,0,28.83,27.37,28.83
$GC,1361,-0.87,-116.8,188.5,-9.9,85,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2428,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1420,-0.87,-116.8,194.8,-10.6,89,1423,0.00,1.27,0.00,0.000,4,0.000,0.021,2701,1474,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1557,-0.87,-116.8,208.1,-10.4,95,1561,0.00,1.35,0.00,0.000,6,0.000,0.025,2700,2431,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1754,-0.87,-116.8,230.1,-10.4,102,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2431,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1934,-0.87,-116.8,248.9,-10.5,108,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2432,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2114,-0.87,-116.8,266.9,-10.0,114,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2431,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2294,-0.87,-116.8,285.4,-10.4,120,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2432,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2504,-0.87,-116.8,307.4,-10.4,126,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2432,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2804,-0.87,-116.8,337.4,-9.9,131,2807,0.00,1.30,0.00,0.000,4,0.000,0.021,2701,1469,3210,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2867,-0.87,-116.8,343.1,-9.8,132,2871,0.00,1.35,0.00,0.000,6,0.000,0.025,2700,2425,3210,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3224,-0.87,-116.8,375.8,-9.0,138,3227,0.00,1.30,0.00,0.000,4,0.000,0.020,2701,1464,3208,0,0,0,0,0,0,28.83,27.37,28.83
$GC,3284,-0.87,-116.8,381.4,-9.0,139,3287,0.00,1.38,0.00,0.000,6,0.000,0.025,2699,2437,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3644,-0.87,-116.8,414.1,-9.1,145,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2437,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3944,-0.87,-116.8,442.4,-9.5,150,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2437,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4244,-0.87,-116.8,470.4,-9.3,155,4245,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2437,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4544,-0.87,-116.8,499.4,-9.7,160,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2437,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-0.87,-116.8,527.7,-9.4,165,4847,0.00,1.30,0.00,0.000,4,0.000,0.021,2699,1478,3202,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4912,-0.87,-116.8,533.4,-9.4,166,4916,0.00,1.35,0.00,0.000,6,0.000,0.026,2699,2430,3201,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5264,-0.87,-116.8,566.4,-9.2,172,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2430,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5564,-0.87,-116.8,594.1,-9.2,177,5567,0.00,1.30,0.00,0.000,4,0.000,0.021,2699,1466,3199,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5647,-0.87,-116.8,599.7,-9.3,178,5651,0.00,1.38,0.00,0.000,6,0.000,0.025,2699,2434,3199,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5984,-0.87,-116.8,631.3,-8.6,184,5985,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2434,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6284,-0.87,-116.8,656.5,-8.5,189,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2434,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,-0.87,-116.8,681.2,-8.2,194,6587,0.00,1.30,0.00,0.000,4,0.000,0.021,2699,1479,3195,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6657,-0.87,-116.8,686.1,-8.1,195,6661,0.00,1.35,0.00,0.000,6,0.000,0.027,2699,2429,3195,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7004,-0.87,-116.8,715.8,-8.1,201,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2429,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,-0.87,-116.8,739.8,-8.1,206,7307,0.00,1.50,0.00,0.000,4,0.000,0.037,2693,3489,3193,0,0,0,0,0,0,28.83,27.30,28.83
$GC,7342,-0.87,-116.8,739.8,-8.1,206,7346,0.00,1.30,0.00,0.000,6,0.000,0.018,2693,2467,3192,0,0,0,0,0,0,28.83,27.40,28.83
$GC,7664,-0.87,-116.8,770.2,-8.5,212,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2467,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7964,-0.87,-116.8,796.7,-8.8,217,7967,0.00,1.48,0.00,0.000,4,0.000,0.037,2692,3472,3190,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8008,-0.87,-116.8,796.7,-8.8,217,8012,0.00,1.33,0.00,0.000,6,0.000,0.020,2692,2440,3189,0,0,0,0,0,0,28.83,27.39,28.83
$GC,8324,-0.87,-116.8,828.6,-8.8,223,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2439,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8624,-0.87,-116.8,854.0,-8.3,228,8627,0.00,1.40,0.00,0.000,4,0.000,0.023,2692,1422,3186,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8652,-0.87,-116.8,854.0,-8.3,228,8656,0.00,1.45,0.00,0.000,6,0.000,0.026,2692,2430,3186,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8984,-0.87,-116.8,883.8,-8.2,234,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2430,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9284,-0.87,-116.8,908.5,-8.2,239,9287,0.00,1.50,0.00,0.000,4,0.000,0.037,2687,3487,3184,0,0,0,0,0,0,28.83,27.28,28.83
$GC,9317,-0.87,-116.8,908.5,-8.2,239,9321,0.00,1.38,0.00,0.000,6,0.000,0.019,2686,2426,3183,0,0,0,0,0,0,28.83,27.38,28.83
$GC,9644,-0.87,-116.8,939.2,-8.4,245,9647,0.00,1.38,0.00,0.000,4,0.000,0.023,2686,1431,3182,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9712,-0.87,-116.8,944.6,-8.6,246,9716,0.00,1.45,0.00,0.000,6,0.000,0.026,2681,2437,3182,0,0,0,0,0,0,28.83,27.33,28.83
$GC,10064,-0.87,-116.8,976.1,-8.7,252,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2437,3181,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10243,begin apogee
$GC,10246,-0.25,0.0,991.5,-8.6,255,10333,0.62,0.00,82.70,1.279,6,0.098,0.000,2901,2437,2735,0,0,0,0,0,0,27.13,28.83,25.03
$STATE,10334,end apogee,CONTROL_FINISHED_OK
$STATE,10334,begin climb
$GC,10335,0.87,116.8,993.3,0.0,256,10431,1.00,0.00,91.47,1.246,6,0.055,0.000,3272,2437,2259,0,0,0,0,0,0,25.84,28.83,24.87
$GC,10720,0.87,116.8,964.9,8.9,263,10723,0.00,1.55,0.00,0.000,4,0.000,0.025,3274,1337,2252,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10858,0.87,116.8,953.5,9.2,265,10862,0.00,1.42,0.00,0.000,6,0.000,0.025,3274,2323,2250,0,0,0,0,0,0,28.83,26.88,28.83
$GC,11200,0.87,116.8,920.8,9.1,271,11203,0.00,1.42,0.00,0.000,4,0.000,0.026,3277,1336,2250,0,0,0,0,0,0,28.83,27.03,28.83
$GC,11308,0.87,116.8,915.3,9.1,272,11312,0.00,1.42,0.00,0.000,6,0.000,0.024,3277,2330,2250,0,0,0,0,0,0,28.83,27.07,28.83
$GC,11620,0.87,116.8,883.2,9.0,278,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2330,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11920,0.87,116.8,856.7,8.8,283,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2331,2247,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22668,end climb,SURFACE_DEPTH_REACHED
$STATE,22668,begin surface coast
$FINISH,0.3,1.023032
$STATE,22684,end surface coast,CONTROL_FINISHED_OK
$STATE,22684,begin surface
$SM_CCo,22698,34.78,0.115,0,0,1204,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,44.84
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,25.00
$XPDR_PINGS,21
$24V_AH,24.9,14.193
$10V_AH,10.4,11.744
$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
$DEVICE_SECS,18.750,118.875,258.025,34.775,0.000,23.459,47.006,82.529,5.250,0.000,21.786,1995.135,17620.973,383.533,2886.941,113.976,0.000,1638.607,0.000,2648.901,0.000,0.552,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334360
$DATA_FILE_SIZE,36901,618
$CAP_FILE_SIZE,182717,0
$CFSIZE,1024393216,1014644736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240814,072004,2609.172,-7013.048,26,1.1,26,-12.0