version: 66.10
glider: 200
mission: 4
dive: 90
start: 8 26 114 10 25 40
data:
$ID,200
$MISSION,4
$DIVE,90
$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,-1300.9055
$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,155
$R_STBD_OVSHOOT,113
$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
$GPS1,260814,101328,2617.040,-7000.452,69,0.9,69,-12.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-51.2
$GPS2,260814,102517,2617.158,-7000.193,5,0.8,5,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2626.511,-7006.224
$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,13,begin dive
$GC,15,-0.87,-116.8,0.0,0.0,0,96,0.00,0.00,-73.97,0.000,6,0.000,0.000,113,2484,3212,0,0,0,0,0,0,28.83,28.83,27.29
$GC,97,-0.87,-116.8,6.4,-9.3,5,112,9.02,1.38,0.00,0.000,4,0.192,0.028,2699,3435,3213,0,0,0,0,0,0,26.63,26.96,28.83
$GC,187,-0.87,-116.8,35.8,-30.7,10,196,0.00,1.27,0.00,0.000,6,0.000,0.015,2699,2380,3214,0,0,0,0,0,0,28.83,27.11,28.83
$GC,256,-0.87,-116.8,49.0,-17.5,15,259,0.00,1.20,0.00,0.000,4,0.000,0.019,2699,1480,3213,0,0,0,0,0,0,28.83,27.09,28.83
$GC,503,-0.87,-116.8,84.8,-12.7,30,508,0.00,1.30,0.00,0.000,6,0.000,0.024,2693,2387,3214,0,0,0,0,0,0,28.83,27.15,28.83
$GC,580,-0.87,-116.8,94.7,-13.1,35,583,0.00,1.23,0.00,0.000,4,0.000,0.019,2694,1475,3214,0,0,0,0,0,0,28.83,27.19,28.83
$GC,629,-0.87,-116.8,101.7,-13.8,38,632,0.00,1.35,0.00,0.000,6,0.000,0.024,2688,2426,3215,0,0,0,0,0,0,28.83,27.17,28.83
$GC,707,-0.87,-116.8,112.0,-13.7,43,711,0.00,1.50,0.00,0.000,4,0.000,0.034,2679,3492,3215,0,0,0,0,0,0,28.83,27.13,28.83
$GC,758,-0.87,-116.8,119.3,-14.4,46,763,0.00,1.30,0.00,0.000,6,0.000,0.015,2680,2424,3214,0,0,0,0,0,0,28.83,27.27,28.83
$GC,835,-0.87,-116.8,129.5,-13.2,51,838,0.00,1.27,0.00,0.000,4,0.000,0.020,2680,1475,3214,0,0,0,0,0,0,28.83,27.23,28.83
$GC,966,-0.87,-116.8,146.4,-12.7,59,970,0.08,1.35,0.00,0.000,6,0.119,0.024,2702,2428,3214,0,0,0,0,0,0,27.04,27.23,28.83
$GC,1043,-0.87,-116.8,155.2,-11.3,64,1047,0.00,1.50,0.00,0.000,4,0.000,0.034,2697,3495,3214,0,0,0,0,0,0,28.83,27.17,28.83
$GC,1133,-0.87,-116.8,164.8,-11.7,69,1143,0.00,1.27,0.00,0.000,6,0.000,0.015,2696,2437,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1202,-0.87,-116.8,173.4,-11.3,74,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2437,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.87,-116.8,180.0,-10.9,78,1265,0.00,1.30,0.00,0.000,4,0.000,0.020,2696,1468,3214,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1328,-0.87,-116.8,187.3,-11.1,82,1331,0.00,1.35,0.00,0.000,6,0.000,0.024,2693,2427,3214,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1405,-0.87,-116.8,195.0,-10.1,87,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2428,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.87,-116.8,201.0,-9.9,91,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2427,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,-0.87,-116.8,219.0,-10.1,97,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2427,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.87,-116.8,236.5,-9.8,103,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2428,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2003,-0.87,-116.8,254.2,-10.0,109,2006,0.00,1.50,0.00,0.000,4,0.000,0.034,2687,3466,3212,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2052,-0.87,-116.8,257.3,-9.9,110,2056,0.00,1.25,0.00,0.000,6,0.000,0.017,2687,2423,3212,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2243,-0.87,-116.8,279.0,-10.3,117,2246,0.00,1.27,0.00,0.000,4,0.000,0.020,2687,1473,3212,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2286,-0.87,-116.8,282.1,-10.3,118,2290,0.00,1.35,0.00,0.000,6,0.000,0.024,2682,2432,3212,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2514,-0.87,-116.8,307.3,-10.5,125,2518,0.00,1.27,0.00,0.000,4,0.000,0.020,2681,1486,3211,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2582,-0.87,-116.8,313.7,-10.4,126,2587,0.00,1.33,0.00,0.000,6,0.000,0.024,2676,2427,3211,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2934,-0.87,-116.8,350.4,-10.1,132,2936,0.12,0.00,0.00,0.000,6,0.146,0.000,2712,2427,3210,0,0,0,0,0,0,27.18,28.83,28.83
$GC,3234,-0.87,-116.8,375.7,-8.4,137,3238,0.00,1.27,0.00,0.000,4,0.000,0.020,2711,1480,3208,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3294,-0.87,-116.8,380.8,-8.3,138,3298,0.00,1.33,0.00,0.000,6,0.000,0.025,2710,2423,3208,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3654,-0.87,-116.8,410.4,-8.2,144,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2423,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3954,-0.87,-116.8,436.1,-8.7,149,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2423,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4254,-0.87,-116.8,464.3,-9.5,154,4258,0.00,1.27,0.00,0.000,4,0.000,0.021,2710,1479,3205,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4322,-0.87,-116.8,470.0,-9.5,155,4327,0.00,1.35,0.00,0.000,6,0.000,0.024,2708,2429,3205,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4674,-0.87,-116.8,504.4,-9.5,161,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2429,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4974,-0.87,-116.8,532.1,-9.2,166,4975,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2429,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5274,-0.87,-116.8,558.9,-9.0,171,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2429,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5574,-0.87,-116.8,584.8,-8.5,176,5578,0.00,1.30,0.00,0.000,4,0.000,0.021,2708,1472,3200,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5713,-0.87,-116.8,595.4,-8.7,178,5716,0.00,1.35,0.00,0.000,6,0.000,0.026,2705,2423,3199,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6054,-0.87,-116.8,628.2,-9.1,184,6058,0.00,1.50,0.00,0.000,4,0.000,0.035,2699,3484,3199,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6107,-0.87,-116.8,628.2,-9.1,184,6115,0.00,1.27,0.00,0.000,6,0.000,0.018,2698,2456,3198,0,0,0,0,0,0,28.83,27.40,28.83
$GC,6414,-0.87,-116.8,661.2,-9.0,190,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2456,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6714,-0.87,-116.8,687.8,-8.8,195,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2456,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7014,-0.87,-116.8,713.5,-8.5,200,7018,0.00,1.38,0.00,0.000,4,0.000,0.021,2698,1449,3195,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7062,-0.87,-116.8,713.5,-8.5,200,7067,0.00,1.40,0.00,0.000,6,0.000,0.024,2698,2433,3195,0,0,0,0,0,0,28.83,27.33,28.83
$GC,7374,-0.87,-116.8,742.2,-7.8,206,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2433,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7674,-0.87,-116.8,765.9,-7.9,211,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2433,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7974,-0.87,-116.8,791.0,-8.5,216,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2434,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8274,-0.87,-116.8,817.7,-8.9,221,8278,0.00,1.35,0.00,0.000,4,0.000,0.022,2698,1455,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8352,-0.87,-116.8,823.2,-9.0,222,8357,0.00,1.40,0.00,0.000,6,0.000,0.026,2698,2427,3190,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8694,-0.87,-116.8,855.7,-9.2,228,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2427,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,-0.87,-116.8,882.3,-8.8,233,8998,0.00,1.33,0.00,0.000,4,0.000,0.022,2698,1462,3187,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9042,-0.87,-116.8,882.3,-8.8,233,9047,0.00,1.38,0.00,0.000,6,0.000,0.026,2698,2427,3187,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9354,-0.87,-116.8,912.9,-8.3,239,9358,0.00,1.50,0.00,0.000,4,0.000,0.036,2698,3483,3185,0,0,0,0,0,0,28.83,27.24,28.83
$GC,9427,-0.87,-116.8,917.8,-8.1,240,9432,0.00,1.33,0.00,0.000,6,0.000,0.018,2698,2452,3184,0,0,0,0,0,0,28.83,27.37,28.83
$GC,9774,-0.87,-116.8,944.7,-7.4,246,9775,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2452,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10074,-0.87,-116.8,966.2,-7.1,251,10075,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2452,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10375,-0.87,-116.8,986.4,-6.6,256,10378,0.00,1.50,0.00,0.000,4,0.000,0.037,2696,3501,3181,0,0,0,0,0,0,28.83,27.24,28.83
$GC,10419,-0.87,-116.8,986.4,-6.6,256,10422,0.00,1.38,0.00,0.000,6,0.000,0.019,2696,2442,3180,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,10433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10433,begin apogee
$GC,10437,-0.25,0.0,990.2,-6.6,257,10524,0.57,0.00,83.22,1.280,6,0.095,0.000,2901,2442,2736,0,0,0,0,0,0,27.08,28.83,24.98
$STATE,10525,end apogee,CONTROL_FINISHED_OK
$STATE,10525,begin climb
$GC,10526,0.87,116.8,991.6,0.0,258,10623,1.00,0.00,92.53,1.246,6,0.056,0.000,3271,2442,2259,0,0,0,0,0,0,25.79,28.83,24.82
$GC,10910,0.87,116.8,959.8,9.6,265,10913,0.00,1.55,0.00,0.000,4,0.000,0.024,3274,1334,2251,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10983,0.87,116.8,954.0,9.5,266,10987,0.00,1.45,0.00,0.000,6,0.000,0.024,3274,2333,2251,0,0,0,0,0,0,28.83,26.76,28.83
$GC,11330,0.87,116.8,922.6,8.6,272,11331,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2333,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11630,0.87,116.8,898.0,8.1,277,11633,0.00,1.45,0.00,0.000,4,0.000,0.025,3276,1328,2248,0,0,0,0,0,0,28.83,27.05,28.83
$GC,11673,0.87,116.8,898.0,8.1,277,11677,0.00,1.42,0.00,0.000,6,0.000,0.023,3276,2327,2248,0,0,0,0,0,0,28.83,27.05,28.83
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$STATE,22721,end climb,SURFACE_DEPTH_REACHED
$STATE,22721,begin surface coast
$FINISH,0.1,1.014459
$STATE,22737,end surface coast,CONTROL_FINISHED_OK
$STATE,22737,begin surface
$SM_CCo,22752,13.43,0.119,0,0,1206,375.06
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$IRIDIUM_FIX,2607.77,-7000.40,260814,101051
$TT8_MAMPS,0.028462,0.028462
$HUMID,45.11
$INTERNAL_PRESSURE,9.11296
$TCM_TEMP,24.00
$XPDR_PINGS,23
$24V_AH,24.8,15.376
$10V_AH,10.4,12.643
$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
$DEVICE_SECS,19.525,121.275,297.200,13.425,0.000,73.321,124.450,112.852,5.750,0.000,6.609,1966.099,17744.295,413.128,3047.851,117.744,0.000,1707.759,0.000,2670.586,0.000,0.550,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,402.508,810.947,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334332
$DATA_FILE_SIZE,33565,600
$CAP_FILE_SIZE,187183,0
$CFSIZE,1024393216,1013891072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260814,164604,2618.287,-7000.272,24,1.4,24,-12.1