version: 66.10
glider: 200
mission: 4
dive: 91
start: 8 26 114 16 55 46
data:
$ID,200
$MISSION,4
$DIVE,91
$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,-1302.1626
$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,160
$R_STBD_OVSHOOT,91
$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
$GPS1,260814,164604,2618.287,-7000.272,24,1.4,24,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-51.9
$GPS2,260814,165523,2618.347,-6959.905,5,0.9,5,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2627.699,-7005.937
$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,-116.8,0.0,0.0,0,96,0.00,0.00,-75.15,0.000,6,0.000,0.000,115,2340,3214,0,0,0,0,0,0,28.83,28.83,27.24
$GC,98,-0.87,-116.8,5.4,-7.8,5,112,9.20,1.23,0.00,0.000,4,0.200,0.018,2706,1418,3215,0,0,0,0,0,0,26.64,26.97,28.83
$GC,359,-0.87,-116.8,58.6,-12.4,21,363,0.00,1.40,0.00,0.000,6,0.000,0.024,2700,2407,3216,0,0,0,0,0,0,28.83,27.08,28.83
$GC,436,-0.87,-116.8,67.4,-11.8,26,439,0.00,1.33,0.00,0.000,4,0.000,0.019,2700,1428,3216,0,0,0,0,0,0,28.83,27.12,28.83
$GC,551,-0.87,-116.8,85.2,-15.4,33,554,0.00,1.42,0.00,0.000,6,0.000,0.024,2694,2434,3217,0,0,0,0,0,0,28.83,27.13,28.83
$GC,628,-0.87,-116.8,95.6,-13.6,38,631,0.00,1.50,0.00,0.000,4,0.000,0.034,2686,3498,3217,0,0,0,0,0,0,28.83,27.09,28.83
$GC,652,-0.87,-116.8,98.0,-13.5,39,662,0.00,1.35,0.00,0.000,6,0.000,0.015,2686,2385,3218,0,0,0,0,0,0,28.83,27.24,28.83
$GC,721,-0.87,-116.8,108.6,-13.6,44,724,0.00,1.20,0.00,0.000,4,0.000,0.020,2686,1485,3217,0,0,0,0,0,0,28.83,27.19,28.83
$GC,854,-0.87,-116.8,124.1,-11.5,52,859,0.00,1.38,0.00,0.000,6,0.000,0.024,2679,2442,3218,0,0,0,0,0,0,28.83,27.19,28.83
$GC,930,-0.87,-116.8,133.2,-11.7,57,933,0.00,1.48,0.00,0.000,4,0.000,0.034,2672,3462,3217,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1004,-0.87,-116.8,141.9,-12.9,61,1013,0.00,1.23,0.00,0.000,6,0.000,0.016,2672,2425,3218,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1072,-0.87,-116.8,151.6,-12.8,66,1074,0.12,0.00,0.00,0.000,6,0.142,0.000,2708,2425,3218,0,0,0,0,0,0,27.09,28.83,28.83
$GC,1132,-0.87,-116.8,158.2,-10.9,70,1136,0.00,1.25,0.00,0.000,4,0.000,0.019,2708,1490,3218,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1222,-0.87,-116.8,166.8,-10.8,75,1232,0.00,1.35,0.00,0.000,6,0.000,0.024,2704,2441,3218,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1292,-0.87,-116.8,174.3,-9.9,80,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2441,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1351,-0.87,-116.8,179.9,-9.4,84,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2441,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1411,-0.87,-116.8,185.7,-9.8,88,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2441,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1471,-0.87,-116.8,191.7,-10.1,92,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2441,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1531,-0.87,-116.8,198.0,-10.4,96,1535,0.00,1.48,0.00,0.000,4,0.000,0.034,2697,3460,3217,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1577,-0.87,-116.8,201.7,-10.8,98,1581,0.00,1.23,0.00,0.000,6,0.000,0.016,2697,2427,3217,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1774,-0.87,-116.8,225.1,-11.0,105,1777,0.00,1.27,0.00,0.000,4,0.000,0.020,2697,1477,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1837,-0.87,-116.8,231.6,-10.9,107,1841,0.00,1.33,0.00,0.000,6,0.000,0.024,2692,2418,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2044,-0.87,-116.8,253.6,-10.2,114,2047,0.00,1.50,0.00,0.000,4,0.000,0.034,2684,3488,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,2097,-0.87,-116.8,257.0,-10.3,115,2104,0.00,1.27,0.00,0.000,6,0.000,0.016,2684,2436,3215,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2284,-0.87,-116.8,279.8,-10.9,122,2287,0.00,1.30,0.00,0.000,4,0.000,0.020,2684,1468,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2362,-0.87,-116.8,286.4,-10.9,124,2366,0.00,1.35,0.00,0.000,6,0.000,0.024,2681,2429,3215,0,0,0,0,0,0,28.83,27.30,28.83
$GC,2584,-0.87,-116.8,314.0,-11.5,130,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2429,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2884,-0.87,-116.8,348.2,-11.3,135,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2429,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3184,-0.87,-116.8,380.9,-10.8,140,3187,0.00,1.30,0.00,0.000,4,0.000,0.020,2681,1468,3212,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3252,-0.87,-116.8,387.2,-10.7,141,3256,0.00,1.35,0.00,0.000,6,0.000,0.024,2676,2427,3212,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3604,-0.87,-116.8,425.7,-10.7,147,3606,0.12,0.00,0.00,0.000,6,0.143,0.000,2712,2427,3210,0,0,0,0,0,0,27.19,28.83,28.83
$GC,3904,-0.87,-116.8,452.8,-8.9,152,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2427,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4204,-0.87,-116.8,479.0,-8.7,157,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2428,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4504,-0.87,-116.8,504.9,-8.7,162,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2427,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4804,-0.87,-116.8,530.0,-8.3,167,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2427,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5104,-0.87,-116.8,555.3,-8.5,172,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2427,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5404,-0.87,-116.8,581.3,-8.7,177,5407,0.00,1.30,0.00,0.000,4,0.000,0.021,2712,1469,3205,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5457,-0.87,-116.8,581.3,-8.7,177,5464,0.00,1.38,0.00,0.000,6,0.000,0.025,2713,2433,3205,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5764,-0.87,-116.8,614.9,-9.3,183,5767,0.00,1.50,0.00,0.000,4,0.000,0.035,2707,3498,3204,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5812,-0.87,-116.8,614.9,-9.3,183,5816,0.00,1.33,0.00,0.000,6,0.000,0.017,2707,2435,3203,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6124,-0.87,-116.8,649.2,-9.4,189,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2435,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6424,-0.87,-116.8,676.1,-8.9,194,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2435,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6724,-0.87,-116.8,701.3,-8.3,199,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2435,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7024,-0.87,-116.8,726.1,-8.3,204,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2435,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7324,-0.87,-116.8,751.3,-8.3,209,7325,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2435,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7624,-0.87,-116.8,775.3,-7.9,214,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2435,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7924,-0.87,-116.8,797.9,-7.5,219,7927,0.00,1.33,0.00,0.000,4,0.000,0.022,2708,1469,3194,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8048,-0.87,-116.8,807.5,-7.8,221,8052,0.00,1.38,0.00,0.000,6,0.000,0.026,2705,2434,3194,0,0,0,0,0,0,28.83,27.32,28.83
$GC,8404,-0.87,-116.8,835.6,-7.8,227,8407,0.00,1.50,0.00,0.000,4,0.000,0.035,2698,3495,3192,0,0,0,0,0,0,28.83,27.26,28.83
$GC,8477,-0.87,-116.8,840.4,-7.8,228,8481,0.00,1.33,0.00,0.000,6,0.000,0.018,2698,2453,3192,0,0,0,0,0,0,28.83,27.39,28.83
$GC,8824,-0.87,-116.8,869.0,-7.9,234,8827,0.00,1.40,0.00,0.000,4,0.000,0.022,2698,1437,3191,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8872,-0.87,-116.8,869.0,-7.9,234,8876,0.00,1.42,0.00,0.000,6,0.000,0.025,2693,2427,3191,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9184,-0.87,-116.8,898.3,-8.2,240,9187,0.00,1.50,0.00,0.000,4,0.000,0.035,2685,3486,3189,0,0,0,0,0,0,28.83,27.24,28.83
$GC,9337,-0.87,-116.8,908.8,-8.5,242,9341,0.00,1.35,0.00,0.000,6,0.000,0.019,2684,2438,3189,0,0,0,0,0,0,28.83,27.38,28.83
$GC,9664,-0.87,-116.8,938.0,-7.9,248,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2438,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9964,-0.87,-116.8,960.3,-7.4,253,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2438,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10264,-0.87,-116.8,982.0,-7.2,258,10267,0.00,1.50,0.00,0.000,4,0.000,0.036,2678,3487,3185,0,0,0,0,0,0,28.83,27.23,28.83
$GC,10312,-0.87,-116.8,982.0,-7.2,258,10316,0.00,1.38,0.00,0.000,6,0.000,0.019,2678,2429,3184,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,10383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10383,begin apogee
$GC,10386,-0.25,0.0,991.2,-7.4,260,10474,0.62,0.00,83.93,1.280,6,0.096,0.000,2899,2428,2736,0,0,0,0,0,0,27.07,28.83,24.96
$STATE,10475,end apogee,CONTROL_FINISHED_OK
$STATE,10475,begin climb
$GC,10476,0.87,116.8,992.5,0.0,261,10573,1.00,0.00,92.55,1.248,6,0.055,0.000,3270,2428,2259,0,0,0,0,0,0,25.77,28.83,24.79
$GC,10859,0.87,116.8,964.6,8.6,268,10863,0.00,1.55,0.00,0.000,4,0.000,0.024,3271,1333,2251,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10979,0.87,116.8,955.0,8.3,270,10983,0.00,1.45,0.00,0.000,6,0.000,0.024,3272,2333,2251,0,0,0,0,0,0,28.83,26.79,28.83
$GC,11339,0.87,116.8,925.8,8.2,276,11340,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2333,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11639,0.87,116.8,900.5,8.4,281,11643,0.00,1.42,0.00,0.000,4,0.000,0.026,3272,1344,2249,0,0,0,0,0,0,28.83,27.05,28.83
$GC,11742,0.87,116.8,895.6,8.4,282,11746,0.00,1.40,0.00,0.000,6,0.000,0.024,3272,2326,2249,0,0,0,0,0,0,28.83,27.09,28.83
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$STATE,22802,end climb,SURFACE_DEPTH_REACHED
$STATE,22802,begin surface coast
$FINISH,0.3,1.023317
$STATE,22836,end surface coast,CONTROL_FINISHED_OK
$STATE,22836,begin surface
$SM_CCo,22852,30.20,0.118,0,0,1204,375.06
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$TT8_MAMPS,0.028462,0.028462
$HUMID,44.05
$INTERNAL_PRESSURE,9.12272
$TCM_TEMP,24.80
$XPDR_PINGS,16
$24V_AH,24.8,15.482
$10V_AH,10.4,12.747
$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
$DEVICE_SECS,19.225,122.775,266.200,30.200,0.000,23.367,66.634,130.854,4.000,0.000,6.502,1999.405,17651.654,413.461,3012.094,118.515,0.000,1697.537,0.000,2727.611,0.000,0.553,0.000
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$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,33548,609
$CAP_FILE_SIZE,186890,0
$CFSIZE,1024393216,1013809152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260814,231822,2619.547,-6959.774,39,1.2,39,-12.1