version: 66.10
glider: 200
mission: 4
dive: 82
start: 8 24 114 7 28 59
data:
$ID,200
$MISSION,4
$DIVE,82
$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,-1290.5709
$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,161
$R_STBD_OVSHOOT,84
$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
$GPS1,240814,072004,2609.172,-7013.048,26,1.1,26,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-61.0
$GPS2,240814,072836,2609.153,-7013.050,4,1.1,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2616.095,-7003.825
$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,62.0,20000,-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,-64.45,0.000,2,0.000,0.000,115,2437,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.87,-116.8,4.5,-9.3,4,102,9.07,1.50,-4.35,0.000,4,0.195,0.056,2697,3450,3215,0,0,0,0,0,0,26.67,26.95,27.23
$GC,347,-0.87,-116.8,61.9,-15.7,20,356,0.00,1.27,0.00,0.000,6,0.000,0.017,2696,2409,3217,0,0,0,0,0,0,28.83,27.17,28.83
$GC,415,-0.87,-116.8,73.3,-14.6,25,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2409,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-0.87,-116.8,81.7,-14.1,29,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2410,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,535,-0.87,-116.8,90.2,-14.1,33,539,0.00,1.50,0.00,0.000,4,0.000,0.036,2690,3462,3217,0,0,0,0,0,0,28.83,27.10,28.83
$GC,587,-0.87,-116.8,97.9,-15.0,36,592,0.00,1.30,0.00,0.000,6,0.000,0.016,2690,2412,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,661,-0.87,-116.8,109.4,-14.9,41,665,0.00,1.27,0.00,0.000,4,0.000,0.020,2690,1465,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,727,-0.87,-116.8,118.7,-14.1,45,731,0.00,1.33,0.00,0.000,6,0.000,0.025,2683,2410,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,804,-0.87,-116.8,129.2,-13.7,50,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2410,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,864,-0.87,-116.8,137.5,-13.9,54,868,0.00,1.27,0.00,0.000,4,0.000,0.021,2683,1468,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,930,-0.87,-116.8,145.7,-12.5,58,934,0.00,1.35,0.00,0.000,6,0.000,0.025,2678,2427,3218,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1007,-0.87,-116.8,155.2,-12.5,63,1010,0.00,1.50,0.00,0.000,4,0.000,0.034,2670,3497,3218,0,0,0,0,0,0,28.83,27.18,28.83
$GC,1222,-0.87,-116.8,182.6,-12.9,76,1228,0.12,1.33,0.00,0.000,6,0.137,0.017,2706,2429,3217,0,0,0,0,0,0,27.10,27.32,28.83
$GC,1297,-0.87,-116.8,190.9,-10.7,81,1300,0.00,1.30,0.00,0.000,4,0.000,0.020,2706,1462,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1379,-0.87,-116.8,199.5,-10.3,86,1383,0.00,1.35,0.00,0.000,6,0.000,0.025,2702,2426,3218,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1454,-0.87,-116.8,207.7,-10.5,89,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2426,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1634,-0.87,-116.8,226.0,-10.2,95,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2426,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1814,-0.87,-116.8,244.7,-10.4,101,1818,0.00,1.50,0.00,0.000,4,0.000,0.036,2695,3461,3217,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1852,-0.87,-116.8,247.9,-10.5,102,1856,0.00,1.25,0.00,0.000,6,0.000,0.017,2695,2434,3216,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2054,-0.87,-116.8,270.7,-10.7,109,2058,0.00,1.30,0.00,0.000,4,0.000,0.021,2695,1468,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2157,-0.87,-116.8,280.4,-11.0,112,2162,0.00,1.35,0.00,0.000,6,0.000,0.025,2694,2423,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2354,-0.87,-116.8,302.4,-10.3,119,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2423,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2654,-0.87,-116.8,332.2,-9.9,124,2658,0.00,1.30,0.00,0.000,4,0.000,0.021,2695,1462,3213,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2732,-0.87,-116.8,338.4,-10.0,125,2736,0.00,1.38,0.00,0.000,6,0.000,0.024,2694,2436,3213,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3074,-0.87,-116.8,374.1,-9.9,131,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2435,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3374,-0.87,-116.8,404.6,-10.1,136,3378,0.00,1.50,0.00,0.000,4,0.000,0.036,2687,3498,3211,0,0,0,0,0,0,28.83,27.28,28.83
$GC,3422,-0.87,-116.8,404.6,-10.1,136,3427,0.00,1.33,0.00,0.000,6,0.000,0.017,2687,2437,3210,0,0,0,0,0,0,28.83,27.39,28.83
$GC,3734,-0.87,-116.8,441.0,-10.0,142,3738,0.00,1.33,0.00,0.000,4,0.000,0.021,2687,1456,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3832,-0.87,-116.8,446.9,-9.9,143,3836,0.00,1.40,0.00,0.000,6,0.000,0.024,2687,2437,3209,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4154,-0.87,-116.8,481.4,-9.5,149,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2437,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4454,-0.87,-116.8,509.1,-9.2,154,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2437,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4754,-0.87,-116.8,536.1,-8.9,159,4758,0.00,1.33,0.00,0.000,4,0.000,0.021,2687,1462,3204,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4802,-0.87,-116.8,536.1,-8.9,159,4806,0.00,1.38,0.00,0.000,6,0.000,0.025,2686,2431,3205,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5114,-0.87,-116.8,569.7,-9.3,165,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2431,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5414,-0.87,-116.8,597.4,-9.2,170,5418,0.00,1.33,0.00,0.000,4,0.000,0.021,2686,1460,3203,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5463,-0.87,-116.8,597.4,-9.2,170,5467,0.00,1.38,0.00,0.000,6,0.000,0.026,2686,2424,3202,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5774,-0.87,-116.8,628.9,-8.5,176,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2425,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6074,-0.87,-116.8,655.7,-9.0,181,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2425,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6374,-0.87,-116.8,683.8,-9.3,186,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2425,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6674,-0.87,-116.8,712.0,-9.4,191,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2425,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6974,-0.87,-116.8,740.0,-9.3,196,6978,0.00,1.50,0.00,0.000,4,0.000,0.037,2678,3484,3197,0,0,0,0,0,0,28.83,27.27,28.83
$GC,7002,-0.87,-116.8,740.0,-9.3,196,7007,0.00,1.33,0.00,0.000,6,0.000,0.018,2678,2446,3197,0,0,0,0,0,0,28.83,27.39,28.83
$GC,7335,-0.87,-116.8,775.0,-9.7,202,7338,0.00,1.38,0.00,0.000,4,0.000,0.021,2678,1441,3195,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7397,-0.87,-116.8,781.0,-9.8,203,7402,0.08,1.42,0.00,0.000,6,0.116,0.025,2703,2435,3195,0,0,0,0,0,0,27.13,27.33,28.83
$GC,7754,-0.87,-116.8,811.4,-8.2,209,7758,0.00,1.38,0.00,0.000,4,0.000,0.022,2703,1441,3194,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7842,-0.87,-116.8,816.5,-8.2,210,7847,0.00,1.42,0.00,0.000,6,0.000,0.025,2700,2441,3193,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8175,-0.87,-116.8,844.3,-7.8,216,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2441,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,-0.87,-116.8,869.0,-8.2,221,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2441,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,-0.87,-116.8,893.8,-8.3,226,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2441,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9074,-0.87,-116.8,918.1,-8.0,231,9078,0.00,1.40,0.00,0.000,4,0.000,0.023,2700,1435,3187,0,0,0,0,0,0,28.83,27.33,28.83
$GC,9117,-0.87,-116.8,918.1,-8.0,231,9122,0.00,1.42,0.00,0.000,6,0.000,0.026,2700,2429,3187,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9434,-0.87,-116.8,945.9,-7.8,237,9438,0.00,1.50,0.00,0.000,4,0.000,0.037,2694,3482,3187,0,0,0,0,0,0,28.83,27.25,28.83
$GC,9482,-0.87,-116.8,945.9,-7.8,237,9487,0.00,1.35,0.00,0.000,6,0.000,0.020,2693,2445,3185,0,0,0,0,0,0,28.83,27.36,28.83
$GC,9794,-0.87,-116.8,974.1,-7.7,243,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2445,3184,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10033,begin apogee
$GC,10037,-0.25,0.0,991.7,-7.4,247,10124,0.60,0.00,83.57,1.282,6,0.096,0.000,2908,2445,2736,0,0,0,0,0,0,27.10,28.83,24.96
$STATE,10125,end apogee,CONTROL_FINISHED_OK
$STATE,10125,begin climb
$GC,10127,0.87,116.8,993.0,0.0,248,10225,0.98,1.73,92.28,1.248,4,0.054,0.024,3278,1330,2257,0,0,0,0,0,0,25.77,25.56,24.80
$GC,10267,0.87,116.8,985.7,7.7,251,10271,0.00,1.50,0.00,0.000,6,0.000,0.024,3278,2368,2254,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10627,0.87,116.8,953.0,9.1,257,10629,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2368,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10927,0.87,116.8,927.6,8.4,262,10931,0.00,1.50,0.00,0.000,4,0.000,0.025,3278,1334,2250,0,0,0,0,0,0,28.83,26.96,28.83
$GC,10975,0.87,116.8,927.6,8.4,262,10980,0.00,1.42,0.00,0.000,6,0.000,0.024,3279,2329,2250,0,0,0,0,0,0,28.83,26.98,28.83
$GC,11287,0.87,116.8,895.5,9.0,268,11291,0.00,1.42,0.00,0.000,4,0.000,0.027,3278,1340,2249,0,0,0,0,0,0,28.83,27.07,28.83
$GC,11340,0.87,116.8,895.5,9.0,268,11348,0.00,1.40,0.00,0.000,6,0.000,0.024,3278,2322,2248,0,0,0,0,0,0,28.83,27.08,28.83
$GC,11647,0.87,116.8,860.2,9.9,274,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2322,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11947,0.87,116.8,832.7,9.0,279,11951,0.00,1.42,0.00,0.000,4,0.000,0.027,3277,1331,2247,0,0,0,0,0,0,28.83,27.17,28.83
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$STATE,22895,end climb,SURFACE_DEPTH_REACHED
$STATE,22895,begin surface coast
$FINISH,0.1,1.002036
$STATE,22913,end surface coast,CONTROL_FINISHED_OK
$STATE,22913,begin surface
$SM_CCo,22928,21.10,0.116,0,0,1205,375.06
$SM_GC,0.68,7.82,0.10,21.10,0.024,0.096,0.116,156,2422,1205,-8.68,-2.32,375.06,0,0,0,0,0,0,27.15,27.16,26.89
$IRIDIUM_FIX,2600.57,-7014.96,240814,000035
$TT8_MAMPS,0.028462,0.028462
$HUMID,44.40
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,25.10
$XPDR_PINGS,20
$24V_AH,24.8,14.302
$10V_AH,10.4,11.845
$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
$DEVICE_SECS,18.925,114.775,277.025,21.100,0.000,27.591,43.934,111.145,5.000,0.000,5.456,1985.201,17939.547,401.464,2777.047,115.056,0.000,1609.580,0.000,2542.049,0.000,0.552,0.000
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$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,37103,620
$CAP_FILE_SIZE,182233,0
$CFSIZE,1024393216,1014562816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240814,135234,2609.255,-7009.733,31,1.2,32,-12.0