version: 66.10
glider: 200
mission: 4
dive: 87
start: 8 25 114 16 26 22
data:
$ID,200
$MISSION,4
$DIVE,87
$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,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,-1297.0424
$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,178
$R_STBD_OVSHOOT,64
$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
$GPS1,250814,161728,2612.771,-6959.869,50,0.9,50,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.8
$GPS2,250814,162559,2612.794,-6959.710,5,0.8,5,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,HEADING
$TGT_LATLONG,2622.146,-7005.737
$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,-116.8,0.0,0.0,0,82,0.00,0.00,-64.43,0.000,2,0.000,0.000,114,2416,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.87,-116.8,3.7,-5.8,4,103,9.12,1.27,-5.70,0.000,4,0.197,0.039,2702,1439,3213,0,0,0,0,0,0,26.67,27.01,27.23
$GC,351,-0.87,-116.8,56.4,-15.1,20,354,0.00,1.40,0.00,0.000,6,0.000,0.025,2697,2424,3215,0,0,0,0,0,0,28.83,27.10,28.83
$GC,428,-0.87,-116.8,67.2,-14.4,25,431,0.00,1.33,0.00,0.000,4,0.000,0.019,2697,1448,3215,0,0,0,0,0,0,28.83,27.14,28.83
$GC,510,-0.87,-116.8,78.7,-14.1,30,513,0.00,1.40,0.00,0.000,6,0.000,0.024,2691,2438,3215,0,0,0,0,0,0,28.83,27.14,28.83
$GC,588,-0.87,-116.8,89.6,-14.1,35,591,0.00,1.33,0.00,0.000,4,0.000,0.019,2691,1460,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,661,-0.87,-116.8,98.8,-13.6,39,671,0.00,1.38,0.00,0.000,6,0.000,0.024,2684,2427,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,730,-0.87,-116.8,108.4,-12.9,44,734,0.00,1.50,0.00,0.000,4,0.000,0.034,2676,3494,3216,0,0,0,0,0,0,28.83,27.14,28.83
$GC,765,-0.87,-116.8,113.0,-13.4,46,771,0.12,1.35,0.00,0.000,6,0.137,0.015,2712,2398,3216,0,0,0,0,0,0,27.03,27.26,28.83
$GC,841,-0.87,-116.8,122.4,-11.7,51,845,0.00,1.25,0.00,0.000,4,0.000,0.020,2712,1468,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,947,-0.87,-116.8,133.8,-11.5,57,957,0.00,1.35,0.00,0.000,6,0.000,0.024,2712,2428,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1018,-0.87,-116.8,142.8,-11.8,62,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2428,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-0.87,-116.8,150.6,-13.0,66,1080,0.00,1.50,0.00,0.000,4,0.000,0.035,2704,3495,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,1128,-0.87,-116.8,157.0,-12.8,69,1133,0.00,1.33,0.00,0.000,6,0.000,0.015,2704,2419,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1204,-0.87,-116.8,166.1,-12.0,74,1205,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2418,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1263,-0.87,-116.8,172.8,-11.0,78,1266,0.00,1.27,0.00,0.000,4,0.000,0.020,2704,1470,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1312,-0.87,-116.8,177.7,-10.0,81,1316,0.00,1.35,0.00,0.000,6,0.000,0.024,2699,2432,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1391,-0.87,-116.8,186.0,-10.7,86,1394,0.00,1.50,0.00,0.000,4,0.000,0.035,2696,3500,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1464,-0.87,-116.8,193.4,-11.0,90,1473,0.00,1.30,0.00,0.000,6,0.000,0.016,2696,2425,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1546,-0.87,-116.8,203.5,-11.1,95,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2425,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1726,-0.87,-116.8,222.7,-10.6,101,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2425,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1906,-0.87,-116.8,242.0,-10.5,107,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2425,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2086,-0.87,-116.8,260.3,-10.3,113,2089,0.00,1.50,0.00,0.000,4,0.000,0.036,2693,3485,3214,0,0,0,0,0,0,28.83,27.24,28.83
$GC,2124,-0.87,-116.8,263.5,-10.3,114,2128,0.00,1.27,0.00,0.000,6,0.000,0.016,2693,2434,3214,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2326,-0.87,-116.8,285.1,-10.2,121,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2434,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2536,-0.87,-116.8,306.3,-10.2,127,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2434,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2836,-0.87,-116.8,336.0,-9.9,132,2839,0.00,1.30,0.00,0.000,4,0.000,0.021,2693,1467,3211,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2909,-0.87,-116.8,341.9,-9.8,133,2913,0.00,1.35,0.00,0.000,6,0.000,0.024,2690,2427,3211,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3256,-0.87,-116.8,376.9,-9.7,139,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2427,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3556,-0.87,-116.8,406.1,-9.8,144,3559,0.00,1.50,0.00,0.000,4,0.000,0.034,2682,3496,3208,0,0,0,0,0,0,28.83,27.27,28.83
$GC,3616,-0.87,-116.8,412.4,-9.9,145,3619,0.00,1.30,0.00,0.000,6,0.000,0.018,2682,2436,3208,0,0,0,0,0,0,28.83,27.39,28.83
$GC,3976,-0.87,-116.8,449.8,-10.5,151,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4276,-0.87,-116.8,480.8,-10.3,156,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.87,-116.8,511.0,-10.0,161,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4876,-0.87,-116.8,541.7,-10.2,166,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5176,-0.87,-116.8,571.7,-10.0,171,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,-0.87,-116.8,600.0,-9.3,176,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5776,-0.87,-116.8,628.1,-9.3,181,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6076,-0.87,-116.8,657.1,-9.8,186,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3200,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6376,-0.87,-116.8,687.0,-10.0,191,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3199,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,-0.87,-116.8,715.6,-9.4,196,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2435,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6976,-0.87,-116.8,742.9,-9.1,201,6979,0.00,1.33,0.00,0.000,4,0.000,0.022,2682,1465,3196,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7044,-0.87,-116.8,748.3,-9.0,202,7048,0.00,1.38,0.00,0.000,6,0.000,0.025,2682,2431,3196,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7396,-0.87,-116.8,780.4,-8.9,208,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2431,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,-0.87,-116.8,807.7,-9.1,213,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2431,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,-0.87,-116.8,834.5,-8.9,218,7999,0.00,1.50,0.00,0.000,4,0.000,0.036,2678,3489,3191,0,0,0,0,0,0,28.83,27.26,28.83
$GC,8049,-0.87,-116.8,834.5,-8.9,218,8056,0.00,1.33,0.00,0.000,6,0.000,0.018,2678,2453,3191,0,0,0,0,0,0,28.83,27.37,28.83
$GC,8356,-0.87,-116.8,865.5,-8.5,224,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2453,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8656,-0.87,-116.8,891.3,-8.6,229,8659,0.00,1.50,0.00,0.000,4,0.000,0.037,2671,3504,3189,0,0,0,0,0,0,28.83,27.25,28.83
$GC,8694,-0.87,-116.8,891.3,-8.6,229,8699,0.08,1.38,0.00,0.000,6,0.111,0.019,2702,2445,3188,0,0,0,0,0,0,27.15,27.37,28.83
$GC,9016,-0.87,-116.8,920.5,-8.0,235,9019,0.00,1.40,0.00,0.000,4,0.000,0.023,2702,1434,3186,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9079,-0.87,-116.8,925.5,-8.1,236,9083,0.00,1.42,0.00,0.000,6,0.000,0.025,2700,2429,3186,0,0,0,0,0,0,28.83,27.31,28.83
$GC,9436,-0.87,-116.8,955.8,-8.4,242,9439,0.00,1.50,0.00,0.000,4,0.000,0.037,2699,3484,3184,0,0,0,0,0,0,28.83,27.24,28.83
$GC,9504,-0.87,-116.8,960.8,-8.3,243,9508,0.00,1.38,0.00,0.000,6,0.000,0.019,2699,2427,3184,0,0,0,0,0,0,28.83,27.37,28.83
$GC,9856,-0.87,-116.8,988.6,-7.6,249,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2427,3183,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9915,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9915,begin apogee
$GC,9918,-0.25,0.0,992.9,-7.4,250,10005,0.57,0.00,83.32,1.274,6,0.095,0.000,2903,2426,2736,0,0,0,0,0,0,27.10,28.83,24.98
$STATE,10006,end apogee,CONTROL_FINISHED_OK
$STATE,10006,begin climb
$GC,10008,0.87,116.8,994.0,0.0,251,10106,1.00,1.62,91.57,1.245,4,0.054,0.021,3277,1334,2257,0,0,0,0,0,0,25.79,25.55,24.80
$GC,10167,0.87,116.8,986.6,7.9,254,10171,0.00,1.48,0.00,0.000,6,0.000,0.024,3277,2328,2254,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10509,0.87,116.8,952.2,9.5,260,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2328,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10808,0.87,116.8,923.4,9.5,265,10809,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2328,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11108,0.87,116.8,895.2,9.4,270,11112,0.00,1.42,0.00,0.000,4,0.000,0.027,3278,1344,2249,0,0,0,0,0,0,28.83,27.05,28.83
$GC,11276,0.87,116.8,884.7,9.0,272,11281,0.00,1.42,0.00,0.000,6,0.000,0.024,3278,2334,2248,0,0,0,0,0,0,28.83,27.10,28.83
$GC,11588,0.87,116.8,853.0,8.8,278,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2334,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11888,0.87,116.8,827.9,8.4,283,11889,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2334,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12188,0.87,116.8,803.5,8.2,288,12189,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2334,2247,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22583,end climb,SURFACE_DEPTH_REACHED
$STATE,22584,begin surface coast
$FINISH,1.0,1.023164
$STATE,22598,end surface coast,CONTROL_FINISHED_OK
$STATE,22598,begin surface
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$HUMID,43.66
$INTERNAL_PRESSURE,9.13249
$TCM_TEMP,24.80
$XPDR_PINGS,20
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$10V_AH,10.4,12.358
$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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$MEM,334360
$DATA_FILE_SIZE,33591,614
$CAP_FILE_SIZE,175160,0
$CFSIZE,1024393216,1014169600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,250814,224504,2614.182,-7000.001,37,1.1,37,-12.1