version: 66.10
glider: 200
mission: 4
dive: 89
start: 8 26 114 5 35 24
data:
$ID,200
$MISSION,4
$DIVE,89
$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,330
$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,65
$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,-1299.5552
$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,170
$R_STBD_OVSHOOT,72
$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
$GPS1,260814,052334,2615.320,-7000.209,44,1.4,44,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-59.2
$GPS2,260814,053501,2615.320,-7000.074,21,0.9,21,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2624.672,-7006.103
$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,342.1,20000,-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,14,begin dive
$GC,15,-0.87,-116.8,0.0,0.0,0,82,0.00,0.00,-64.00,0.000,2,0.000,0.000,114,2420,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.87,-116.8,5.0,-11.6,4,102,9.02,1.33,-4.65,0.000,4,0.193,0.039,2703,1408,3214,0,0,0,0,0,0,26.63,26.99,27.20
$GC,346,-0.87,-116.8,62.1,-17.1,20,356,0.00,1.45,0.00,0.000,6,0.000,0.024,2698,2428,3215,0,0,0,0,0,0,28.83,27.09,28.83
$GC,415,-0.87,-116.8,73.0,-14.3,25,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2428,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,475,-0.87,-116.8,80.4,-12.2,29,479,0.00,1.33,0.00,0.000,4,0.000,0.019,2698,1450,3215,0,0,0,0,0,0,28.83,27.15,28.83
$GC,576,-0.87,-116.8,93.0,-12.6,35,581,0.00,1.42,0.00,0.000,6,0.000,0.023,2691,2443,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,650,-0.87,-116.8,102.9,-13.5,40,654,0.00,1.48,0.00,0.000,4,0.000,0.034,2683,3462,3216,0,0,0,0,0,0,28.83,27.13,28.83
$GC,718,-0.87,-116.8,112.0,-13.8,44,723,0.00,1.30,0.00,0.000,6,0.000,0.015,2684,2387,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,793,-0.87,-116.8,121.6,-12.5,49,796,0.00,1.52,0.00,0.000,4,0.000,0.034,2676,3466,3216,0,0,0,0,0,0,28.83,27.14,28.83
$GC,891,-0.87,-116.8,135.4,-14.1,55,895,0.00,1.23,0.00,0.000,6,0.000,0.017,2676,2436,3216,0,0,0,0,0,0,28.83,27.28,28.83
$GC,970,-0.87,-116.8,145.4,-13.0,60,974,0.12,1.27,0.00,0.000,4,0.140,0.017,2718,1487,3216,0,0,0,0,0,0,27.08,27.24,28.83
$GC,1069,-0.87,-116.8,156.4,-10.3,66,1072,0.00,1.33,0.00,0.000,6,0.000,0.024,2713,2431,3216,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1147,-0.87,-116.8,164.3,-10.2,71,1150,0.00,1.50,0.00,0.000,4,0.000,0.034,2705,3499,3216,0,0,0,0,0,0,28.83,27.19,28.83
$GC,1171,-0.87,-116.8,166.1,-10.1,72,1181,0.00,1.27,0.00,0.000,6,0.000,0.015,2706,2429,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1240,-0.87,-116.8,174.2,-10.7,77,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2429,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1300,-0.87,-116.8,180.4,-10.4,81,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2430,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1360,-0.87,-116.8,186.5,-10.3,85,1364,0.00,1.27,0.00,0.000,4,0.000,0.020,2706,1481,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1401,-0.87,-116.8,190.0,-10.3,87,1410,0.00,1.35,0.00,0.000,6,0.000,0.024,2701,2432,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1471,-0.87,-116.8,198.2,-10.6,92,1475,0.00,1.50,0.00,0.000,4,0.000,0.034,2695,3498,3216,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1496,-0.87,-116.8,200.2,-10.9,93,1503,0.00,1.27,0.00,0.000,6,0.000,0.016,2695,2444,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1682,-0.87,-116.8,220.7,-10.3,100,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2444,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1862,-0.87,-116.8,238.8,-10.3,106,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2443,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2042,-0.87,-116.8,256.6,-9.8,112,2046,0.00,1.30,0.00,0.000,4,0.000,0.020,2695,1477,3214,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2080,-0.87,-116.8,259.7,-9.9,113,2085,0.00,1.35,0.00,0.000,6,0.000,0.024,2690,2432,3214,0,0,0,0,0,0,28.83,27.30,28.83
$GC,2282,-0.87,-116.8,280.8,-10.2,120,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2432,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.87,-116.8,299.1,-10.2,126,2464,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2432,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2672,-0.87,-116.8,319.7,-9.8,130,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2432,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2973,-0.87,-116.8,349.1,-9.8,135,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2431,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3272,-0.87,-116.8,378.7,-9.9,140,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2430,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-0.87,-116.8,408.2,-9.8,145,3576,0.00,1.30,0.00,0.000,4,0.000,0.021,2690,1482,3208,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3625,-0.87,-116.8,408.2,-9.8,145,3633,0.00,1.35,0.00,0.000,6,0.000,0.024,2687,2437,3208,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3933,-0.87,-116.8,444.2,-10.0,151,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2437,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4232,-0.87,-116.8,474.2,-9.9,156,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2437,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4532,-0.87,-116.8,502.8,-9.5,161,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2438,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4832,-0.87,-116.8,529.6,-8.9,166,4836,0.00,1.30,0.00,0.000,4,0.000,0.021,2687,1479,3204,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4905,-0.87,-116.8,535.2,-8.9,167,4910,0.00,1.35,0.00,0.000,6,0.000,0.025,2682,2431,3204,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5253,-0.87,-116.8,569.3,-9.7,173,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2431,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5552,-0.87,-116.8,599.7,-10.1,178,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2432,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5852,-0.87,-116.8,629.4,-9.9,183,5856,0.00,1.30,0.00,0.000,4,0.000,0.021,2682,1475,3200,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5975,-0.87,-116.8,640.8,-9.7,185,5980,0.00,1.35,0.00,0.000,6,0.000,0.025,2681,2427,3199,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6332,-0.87,-116.8,673.3,-8.9,191,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2427,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,-0.87,-116.8,700.7,-9.2,196,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2427,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6933,-0.87,-116.8,728.9,-9.3,201,6936,0.00,1.30,0.00,0.000,4,0.000,0.021,2682,1473,3196,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7001,-0.87,-116.8,734.8,-9.4,202,7005,0.00,1.35,0.00,0.000,6,0.000,0.024,2676,2430,3196,0,0,0,0,0,0,28.83,27.33,28.83
$GC,7353,-0.87,-116.8,769.4,-9.6,208,7357,0.10,1.48,0.00,0.000,4,0.154,0.031,2700,3479,3194,0,0,0,0,0,0,27.23,27.27,28.83
$GC,7416,-0.87,-116.8,775.1,-9.6,209,7421,0.00,1.30,0.00,0.000,6,0.000,0.018,2699,2457,3194,0,0,0,0,0,0,28.83,27.39,28.83
$GC,7773,-0.87,-116.8,807.3,-9.0,215,7777,0.00,1.38,0.00,0.000,4,0.000,0.021,2699,1449,3192,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7833,-0.87,-116.8,812.7,-9.0,216,7837,0.00,1.40,0.00,0.000,6,0.000,0.025,2699,2428,3191,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8193,-0.87,-116.8,843.6,-8.4,222,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2428,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8493,-0.87,-116.8,868.2,-8.1,227,8497,0.00,1.50,0.00,0.000,4,0.000,0.035,2695,3485,3189,0,0,0,0,0,0,28.83,27.25,28.83
$GC,8526,-0.87,-116.8,868.2,-8.1,227,8531,0.00,1.33,0.00,0.000,6,0.000,0.018,2695,2449,3188,0,0,0,0,0,0,28.83,27.37,28.83
$GC,8853,-0.87,-116.8,898.6,-8.5,233,8857,0.00,1.40,0.00,0.000,4,0.000,0.022,2695,1434,3187,0,0,0,0,0,0,28.83,27.33,28.83
$GC,8901,-0.87,-116.8,898.6,-8.5,233,8906,0.00,1.42,0.00,0.000,6,0.000,0.025,2695,2430,3187,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9213,-0.87,-116.8,929.5,-8.5,239,9214,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2430,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9514,-0.87,-116.8,953.9,-8.2,244,9517,0.00,1.50,0.00,0.000,4,0.000,0.036,2692,3487,3184,0,0,0,0,0,0,28.83,27.24,28.83
$GC,9562,-0.87,-116.8,953.9,-8.2,244,9566,0.00,1.38,0.00,0.000,6,0.000,0.018,2692,2429,3184,0,0,0,0,0,0,28.83,27.37,28.83
$GC,9873,-0.87,-116.8,982.6,-7.8,250,9875,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2429,3182,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9992,begin apogee
$GC,9995,-0.25,0.0,992.0,-7.8,252,10083,0.60,0.00,83.50,1.281,6,0.095,0.000,2904,2429,2735,0,0,0,0,0,0,27.08,28.83,24.96
$STATE,10084,end apogee,CONTROL_FINISHED_OK
$STATE,10084,begin climb
$GC,10086,0.87,116.8,993.4,0.0,253,10184,1.00,1.67,92.50,1.255,4,0.054,0.023,3278,1344,2257,0,0,0,0,0,0,25.78,25.55,24.81
$GC,10220,1.08,285.6,991.2,0.0,255,10360,0.12,1.48,133.30,1.192,6,0.037,0.023,3363,2326,1569,0,0,0,0,0,0,26.01,26.03,24.77
$GC,10707,1.08,285.6,905.6,18.0,264,10710,0.00,1.42,0.00,0.000,4,0.000,0.024,3370,1340,1557,0,0,0,0,0,0,28.83,26.74,28.83
$GC,10835,1.08,285.6,884.0,18.0,266,10840,0.10,1.45,0.00,0.000,6,0.119,0.024,3335,2338,1555,0,0,0,0,0,0,26.67,26.85,28.83
$GC,11187,1.08,285.6,825.1,16.2,272,11190,0.00,1.45,0.00,0.000,4,0.000,0.025,3341,1333,1555,0,0,0,0,0,0,28.83,27.00,28.83
$GC,11280,1.08,285.6,815.5,16.2,273,11284,0.00,1.42,0.00,0.000,6,0.000,0.023,3341,2331,1553,0,0,0,0,0,0,28.83,27.04,28.83
$GC,11607,1.08,285.6,757.0,16.3,279,11611,0.00,1.42,0.00,0.000,4,0.000,0.024,3346,1335,1553,0,0,0,0,0,0,28.83,27.13,28.83
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$STATE,16514,end climb,SURFACE_DEPTH_REACHED
$STATE,16515,begin surface coast
$FINISH,0.7,1.023136
$STATE,16532,end surface coast,CONTROL_FINISHED_OK
$STATE,16533,begin surface
$SM_CCo,16549,31.98,0.124,0,0,1205,375.06
$SM_GC,2.96,8.12,1.55,31.98,0.041,0.021,0.124,159,2472,1205,-8.69,-2.12,375.06,0,0,0,0,0,0,27.27,27.33,26.94
$IRIDIUM_FIX,2605.37,-7001.22,260814,050555
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.33
$INTERNAL_PRESSURE,9.10319
$TCM_TEMP,23.90
$XPDR_PINGS,12
$24V_AH,24.8,15.224
$10V_AH,10.4,12.541
$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,19.200,102.825,309.300,31.975,0.000,49.799,68.067,148.062,3.000,0.000,22.425,1486.807,12666.121,424.759,2355.097,91.226,0.000,1411.573,0.000,2016.112,0.000,0.552,0.000
$DEVICE_MAMPS,192.780,39.015,1280.610,123.930,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.732,646.108,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334360
$DATA_FILE_SIZE,23626,447
$CAP_FILE_SIZE,144200,0
$CFSIZE,1024393216,1014054912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260814,101328,2617.040,-7000.452,69,0.9,69,-12.1