version: 66.10
glider: 200
mission: 4
dive: 84
start: 8 24 114 20 36 47
data:
$ID,200
$MISSION,4
$DIVE,84
$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,15
$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,-1293.0845
$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,159
$R_STBD_OVSHOOT,86
$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
$GPS1,240814,202534,2609.375,-7006.317,26,0.8,26,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-62.1
$GPS2,240814,203624,2609.370,-7006.213,4,0.8,5,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2619.801,-7003.094
$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,27.0,20000,-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,14,begin dive
$GC,15,-0.87,-116.8,0.0,0.0,0,82,0.00,0.00,-64.25,0.000,2,0.000,0.000,115,2443,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.87,-116.8,4.2,-9.5,4,103,9.10,1.42,-5.40,0.000,4,0.197,0.050,2693,3453,3214,0,0,0,0,0,0,26.64,26.94,27.22
$GC,351,-0.87,-116.8,66.0,-16.3,20,354,0.00,1.27,0.00,0.000,6,0.000,0.017,2694,2400,3214,0,0,0,0,0,0,28.83,27.16,28.83
$GC,427,-0.87,-116.8,78.0,-15.4,25,431,0.00,1.50,0.00,0.000,4,0.000,0.034,2687,3461,3215,0,0,0,0,0,0,28.83,27.07,28.83
$GC,495,-0.87,-116.8,88.4,-15.8,29,500,0.00,1.27,0.00,0.000,6,0.000,0.016,2687,2413,3215,0,0,0,0,0,0,28.83,27.20,28.83
$GC,570,-0.87,-116.8,99.5,-14.4,34,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2413,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,630,-0.87,-116.8,108.5,-15.0,38,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2413,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,690,-0.87,-116.8,116.9,-14.0,42,693,0.00,1.25,0.00,0.000,4,0.000,0.020,2687,1483,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,854,-0.87,-116.8,138.4,-12.7,52,857,0.00,1.30,0.00,0.000,6,0.000,0.025,2682,2410,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,931,-0.87,-116.8,147.8,-12.4,57,934,0.00,1.50,0.00,0.000,4,0.000,0.034,2674,3480,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,998,-0.87,-116.8,156.9,-13.9,61,1004,0.12,1.27,0.00,0.000,6,0.138,0.016,2710,2438,3216,0,0,0,0,0,0,27.06,27.29,28.83
$GC,1073,-0.87,-116.8,165.1,-10.3,66,1077,0.00,1.30,0.00,0.000,4,0.000,0.020,2710,1473,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1123,-0.87,-116.8,170.4,-10.5,69,1126,0.00,1.35,0.00,0.000,6,0.000,0.024,2707,2435,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1201,-0.87,-116.8,178.5,-10.4,74,1204,0.00,1.48,0.00,0.000,4,0.000,0.034,2700,3458,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1300,-0.87,-116.8,189.3,-10.8,80,1303,0.00,1.23,0.00,0.000,6,0.000,0.018,2699,2433,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1378,-0.87,-116.8,197.5,-10.7,85,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2432,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1434,-0.87,-116.8,203.8,-10.5,88,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2433,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1614,-0.87,-116.8,222.6,-10.4,94,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2432,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1794,-0.87,-116.8,241.3,-10.3,100,1798,0.00,1.30,0.00,0.000,4,0.000,0.021,2699,1468,3214,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1868,-0.87,-116.8,247.5,-10.4,102,1872,0.00,1.35,0.00,0.000,6,0.000,0.025,2699,2427,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2065,-0.87,-116.8,269.0,-10.1,109,2068,0.00,1.50,0.00,0.000,4,0.000,0.035,2693,3495,3213,0,0,0,0,0,0,28.83,27.25,28.83
$GC,2112,-0.87,-116.8,272.1,-10.1,110,2117,0.00,1.30,0.00,0.000,6,0.000,0.017,2692,2436,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2304,-0.87,-116.8,293.1,-10.0,117,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2435,3212,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2514,-0.87,-116.8,314.1,-10.0,122,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2435,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2815,-0.87,-116.8,343.1,-9.6,127,2818,0.00,1.30,0.00,0.000,4,0.000,0.021,2692,1470,3210,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2878,-0.87,-116.8,348.9,-9.6,128,2882,0.00,1.38,0.00,0.000,6,0.000,0.024,2686,2438,3210,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3235,-0.87,-116.8,384.6,-10.0,134,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2438,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3535,-0.87,-116.8,416.5,-10.7,139,3538,0.00,1.33,0.00,0.000,4,0.000,0.021,2686,1464,3206,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3573,-0.87,-116.8,416.5,-10.7,139,3577,0.00,1.38,0.00,0.000,6,0.000,0.025,2685,2427,3207,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3895,-0.87,-116.8,454.6,-10.4,145,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2427,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,-0.87,-116.8,484.1,-9.7,150,4198,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1469,3204,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4243,-0.87,-116.8,484.1,-9.7,150,4247,0.00,1.35,0.00,0.000,6,0.000,0.025,2685,2425,3204,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4555,-0.87,-116.8,516.8,-9.0,156,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2425,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.87,-116.8,544.1,-9.1,161,4856,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2425,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,-0.87,-116.8,572.7,-9.6,166,5158,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1470,3201,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5224,-0.87,-116.8,578.5,-9.6,167,5227,0.00,1.35,0.00,0.000,6,0.000,0.026,2685,2423,3201,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5575,-0.87,-116.8,613.2,-9.5,173,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2423,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5875,-0.87,-116.8,642.1,-9.7,178,5878,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1469,3199,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5968,-0.87,-116.8,647.7,-9.6,179,5972,0.00,1.38,0.00,0.000,6,0.000,0.026,2685,2428,3199,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6295,-0.87,-116.8,681.5,-9.3,185,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2428,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6594,-0.87,-116.8,707.6,-8.6,190,6598,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1473,3196,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6668,-0.87,-116.8,712.7,-8.7,191,6672,0.00,1.35,0.00,0.000,6,0.000,0.026,2685,2423,3196,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7015,-0.87,-116.8,742.9,-8.3,197,7018,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1471,3194,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7098,-0.87,-116.8,748.0,-8.3,198,7102,0.00,1.38,0.00,0.000,6,0.000,0.026,2681,2431,3194,0,0,0,0,0,0,28.83,27.33,28.83
$GC,7435,-0.87,-116.8,780.4,-9.2,204,7438,0.00,1.50,0.00,0.000,4,0.000,0.037,2676,3491,3192,0,0,0,0,0,0,28.83,27.27,28.83
$GC,7498,-0.87,-116.8,786.1,-9.4,205,7503,0.08,1.33,0.00,0.000,6,0.110,0.018,2706,2453,3192,0,0,0,0,0,0,27.16,27.39,28.83
$GC,7855,-0.87,-116.8,817.2,-8.4,211,7856,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2452,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8155,-0.87,-116.8,839.9,-7.5,216,8156,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2452,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8455,-0.87,-116.8,860.7,-6.9,221,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2452,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8755,-0.87,-116.8,882.4,-7.3,226,8758,0.00,1.50,0.00,0.000,4,0.000,0.037,2701,3501,3187,0,0,0,0,0,0,28.83,27.25,28.83
$GC,8818,-0.87,-116.8,887.6,-7.7,227,8822,0.00,1.38,0.00,0.000,6,0.000,0.019,2701,2437,3186,0,0,0,0,0,0,28.83,27.37,28.83
$GC,9175,-0.87,-116.8,917.4,-8.3,233,9178,0.00,1.38,0.00,0.000,4,0.000,0.023,2701,1440,3184,0,0,0,0,0,0,28.83,27.33,28.83
$GC,9248,-0.87,-116.8,922.4,-8.2,234,9252,0.00,1.42,0.00,0.000,6,0.000,0.027,2699,2426,3184,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9595,-0.87,-116.8,949.5,-7.4,240,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2426,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9895,-0.87,-116.8,969.7,-6.7,245,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2426,3181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10195,-0.87,-116.8,989.2,-6.5,250,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2426,3180,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10253,begin apogee
$GC,10257,-0.25,0.0,993.2,-6.6,251,10344,0.57,0.00,83.12,1.291,6,0.096,0.000,2903,2426,2736,0,0,0,0,0,0,27.09,28.83,24.96
$STATE,10345,end apogee,CONTROL_FINISHED_OK
$STATE,10345,begin climb
$GC,10346,0.87,116.8,994.3,0.0,252,10445,1.00,1.67,92.28,1.247,4,0.055,0.024,3277,1347,2257,0,0,0,0,0,0,25.77,25.54,24.79
$GC,10490,0.87,116.8,987.0,7.7,255,10494,0.00,1.48,0.00,0.000,6,0.000,0.024,3277,2327,2254,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10847,0.87,116.8,956.6,8.4,261,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2327,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11146,0.87,116.8,931.6,8.4,266,11150,0.00,1.42,0.00,0.000,4,0.000,0.026,3277,1336,2250,0,0,0,0,0,0,28.83,26.96,28.83
$GC,11199,0.87,116.8,931.6,8.4,266,11207,0.00,1.42,0.00,0.000,6,0.000,0.024,3277,2322,2249,0,0,0,0,0,0,28.83,26.98,28.83
$GC,11506,0.87,116.8,900.7,8.7,272,11510,0.00,1.40,0.00,0.000,4,0.000,0.026,3279,1350,2248,0,0,0,0,0,0,28.83,27.06,28.83
$GC,11650,0.87,116.8,890.3,8.6,274,11654,0.00,1.40,0.00,0.000,6,0.000,0.024,3279,2327,2248,0,0,0,0,0,0,28.83,27.09,28.83
$GC,11986,0.87,116.8,859.7,8.5,280,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2327,2247,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23055,end climb,SURFACE_DEPTH_REACHED
$STATE,23055,begin surface coast
$FINISH,0.6,1.023058
$STATE,23073,end surface coast,CONTROL_FINISHED_OK
$STATE,23073,begin surface
$SM_CCo,23087,14.12,0.119,0,0,1204,375.06
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$IRIDIUM_FIX,2600.57,-7004.30,240814,202055
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.13249
$TCM_TEMP,24.80
$XPDR_PINGS,26
$24V_AH,24.8,14.537
$10V_AH,10.4,12.050
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$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,33581,613
$CAP_FILE_SIZE,189911,0
$CFSIZE,1024393216,1014398976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250814,030258,2610.484,-7004.210,36,1.0,36,-12.0