version: 66.10
glider: 200
mission: 4
dive: 92
start: 8 26 114 23 28 27
data:
$ID,200
$MISSION,4
$DIVE,92
$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,-1
$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,-1303.4186
$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,151
$R_STBD_OVSHOOT,57
$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
$GPS1,260814,231822,2619.547,-6959.774,39,1.2,39,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-55.1
$GPS2,260814,232804,2619.365,-6959.462,4,1.2,4,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$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,5.2,75808,-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,14,-0.87,-116.8,0.0,0.0,0,81,0.00,0.00,-63.90,0.000,2,0.000,0.000,113,2419,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.87,-116.8,3.9,-6.2,4,103,8.98,1.40,-6.22,0.000,4,0.190,0.042,2698,1417,3214,0,0,0,0,0,0,26.59,26.96,27.19
$GC,351,-0.87,-116.8,60.2,-16.2,20,354,0.00,1.45,0.00,0.000,6,0.000,0.024,2692,2436,3215,0,0,0,0,0,0,28.83,27.08,28.83
$GC,428,-0.87,-116.8,67.9,-9.9,25,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2437,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,488,-0.87,-116.8,75.9,-13.3,29,491,0.00,1.38,0.00,0.000,4,0.000,0.019,2692,1426,3216,0,0,0,0,0,0,28.83,27.13,28.83
$GC,586,-0.87,-116.8,89.0,-13.2,35,590,0.00,1.42,0.00,0.000,6,0.000,0.024,2685,2436,3216,0,0,0,0,0,0,28.83,27.14,28.83
$GC,663,-0.87,-116.8,98.7,-12.5,40,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2437,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,723,-0.87,-116.8,106.5,-13.1,44,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2436,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,783,-0.87,-116.8,114.9,-14.2,48,786,0.00,1.38,0.00,0.000,4,0.000,0.019,2686,1424,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,824,-0.87,-116.8,119.1,-13.5,50,833,0.00,1.42,0.00,0.000,6,0.000,0.023,2680,2433,3217,0,0,0,0,0,0,28.83,27.19,28.83
$GC,894,-0.87,-116.8,128.2,-11.9,55,898,0.00,1.50,0.00,0.000,4,0.000,0.034,2673,3502,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,960,-0.87,-116.8,136.0,-11.7,59,964,0.08,1.35,0.00,0.000,6,0.115,0.016,2702,2384,3216,0,0,0,0,0,0,27.05,27.28,28.83
$GC,1038,-0.87,-116.8,145.0,-11.4,64,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2377,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1098,-0.87,-116.8,151.6,-11.0,68,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2377,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1158,-0.87,-116.8,158.3,-11.2,72,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2377,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1218,-0.87,-116.8,165.1,-11.3,76,1221,0.00,1.20,0.00,0.000,4,0.000,0.021,2702,1477,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1316,-0.87,-116.8,175.3,-10.2,82,1320,0.00,1.33,0.00,0.000,6,0.000,0.024,2700,2426,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1393,-0.87,-116.8,183.2,-10.4,87,1397,0.00,1.50,0.00,0.000,4,0.000,0.034,2692,3495,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1461,-0.87,-116.8,190.2,-10.5,91,1466,0.00,1.33,0.00,0.000,6,0.000,0.015,2692,2404,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1536,-0.87,-116.8,198.4,-10.5,96,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2404,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1608,-0.87,-116.8,206.2,-10.5,99,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2404,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,-0.87,-116.8,224.3,-10.1,105,1792,0.00,1.23,0.00,0.000,4,0.000,0.021,2692,1487,3216,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1851,-0.87,-116.8,230.6,-10.3,107,1856,0.00,1.33,0.00,0.000,6,0.000,0.024,2690,2430,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2058,-0.87,-116.8,252.8,-10.6,114,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2431,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,-0.87,-116.8,271.8,-10.6,120,2242,0.00,1.27,0.00,0.000,4,0.000,0.021,2690,1496,3214,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2281,-0.87,-116.8,275.0,-10.6,121,2286,0.00,1.33,0.00,0.000,6,0.000,0.024,2685,2435,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2478,-0.87,-116.8,297.7,-10.8,128,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2435,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2688,-0.87,-116.8,321.0,-11.1,132,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2436,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.87,-116.8,354.8,-11.2,137,2992,0.00,1.27,0.00,0.000,4,0.000,0.020,2685,1490,3211,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3031,-0.87,-116.8,354.8,-11.2,137,3036,0.00,1.33,0.00,0.000,6,0.000,0.024,2678,2430,3211,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3348,-0.87,-116.8,394.9,-11.2,143,3352,0.00,1.27,0.00,0.000,4,0.000,0.021,2678,1489,3209,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3391,-0.87,-116.8,394.9,-11.2,143,3396,0.00,1.33,0.00,0.000,6,0.000,0.024,2678,2430,3209,0,0,0,0,0,0,28.83,27.31,28.83
$GC,3708,-0.87,-116.8,435.6,-11.2,149,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2430,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4009,-0.87,-116.8,467.3,-10.5,154,4012,0.00,1.25,0.00,0.000,4,0.000,0.021,2678,1494,3207,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4116,-0.87,-116.8,473.7,-10.5,155,4121,0.08,1.33,0.00,0.000,6,0.116,0.025,2704,2429,3207,0,0,0,0,0,0,27.15,27.32,28.83
$GC,4429,-0.87,-116.8,507.0,-9.0,161,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2429,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4728,-0.87,-116.8,533.1,-8.6,166,4732,0.00,1.27,0.00,0.000,4,0.000,0.021,2704,1490,3205,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4806,-0.87,-116.8,538.4,-8.7,167,4811,0.00,1.33,0.00,0.000,6,0.000,0.025,2705,2429,3205,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5149,-0.87,-116.8,570.4,-8.9,173,5150,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2429,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5448,-0.87,-116.8,596.6,-8.6,178,5452,0.00,1.50,0.00,0.000,4,0.000,0.035,2699,3492,3202,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5491,-0.87,-116.8,596.6,-8.6,178,5496,0.00,1.27,0.00,0.000,6,0.000,0.017,2699,2465,3202,0,0,0,0,0,0,28.83,27.39,28.83
$GC,5809,-0.87,-116.8,626.8,-8.4,184,5812,0.00,1.38,0.00,0.000,4,0.000,0.021,2699,1457,3201,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5917,-0.87,-116.8,631.9,-8.4,185,5921,0.00,1.38,0.00,0.000,6,0.000,0.024,2698,2430,3201,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6229,-0.87,-116.8,664.2,-8.9,191,6232,0.00,1.33,0.00,0.000,4,0.000,0.021,2698,1460,3200,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6277,-0.87,-116.8,664.2,-8.9,191,6281,0.00,1.38,0.00,0.000,6,0.000,0.025,2692,2431,3199,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6589,-0.87,-116.8,697.8,-9.4,197,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2431,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6889,-0.87,-116.8,725.1,-9.0,202,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2431,3197,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7189,-0.87,-116.8,750.5,-8.4,207,7192,0.00,1.33,0.00,0.000,4,0.000,0.021,2692,1463,3196,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7262,-0.87,-116.8,755.6,-8.4,208,7266,0.00,1.38,0.00,0.000,6,0.000,0.025,2692,2426,3195,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7609,-0.87,-116.8,786.4,-8.6,214,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2426,3193,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7909,-0.87,-116.8,812.3,-8.7,219,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2426,3192,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8209,-0.87,-116.8,837.4,-8.3,224,8212,0.00,1.50,0.00,0.000,4,0.000,0.035,2685,3485,3191,0,0,0,0,0,0,28.83,27.25,28.83
$GC,8252,-0.87,-116.8,837.4,-8.3,224,8256,0.00,1.33,0.00,0.000,6,0.000,0.018,2684,2443,3190,0,0,0,0,0,0,28.83,27.38,28.83
$GC,8569,-0.87,-116.8,866.8,-8.1,230,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2443,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8869,-0.87,-116.8,891.0,-8.0,235,8872,0.00,1.50,0.00,0.000,4,0.000,0.035,2677,3498,3188,0,0,0,0,0,0,28.83,27.24,28.83
$GC,8929,-0.87,-116.8,896.1,-8.1,236,8932,0.00,1.35,0.00,0.000,6,0.000,0.019,2677,2442,3187,0,0,0,0,0,0,28.83,27.37,28.83
$GC,9289,-0.87,-116.8,926.2,-8.4,242,9292,0.00,1.40,0.00,0.000,4,0.000,0.023,2677,1432,3186,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9337,-0.87,-116.8,926.2,-8.4,242,9341,0.08,1.45,0.00,0.000,6,0.117,0.025,2703,2437,3186,0,0,0,0,0,0,27.10,27.31,28.83
$GC,9649,-0.87,-116.8,954.9,-7.8,248,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2437,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9949,-0.87,-116.8,978.0,-7.7,253,9952,0.00,1.40,0.00,0.000,4,0.000,0.023,2703,1435,3183,0,0,0,0,0,0,28.83,27.32,28.83
$GC,9987,-0.87,-116.8,978.0,-7.7,253,9991,0.00,1.45,0.00,0.000,6,0.000,0.025,2700,2438,3183,0,0,0,0,0,0,28.83,27.30,28.83
$STATE,10127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10128,begin apogee
$GC,10131,-0.25,0.0,992.2,-7.8,256,10218,0.57,0.00,83.47,1.279,6,0.096,0.000,2905,2438,2736,0,0,0,0,0,0,27.08,28.83,24.96
$STATE,10219,end apogee,CONTROL_FINISHED_OK
$STATE,10219,begin climb
$GC,10221,0.87,116.8,993.9,0.0,257,10321,1.00,1.70,91.82,1.274,4,0.054,0.024,3278,1348,2257,0,0,0,0,0,0,25.77,25.53,24.78
$GC,10337,1.08,285.6,992.1,0.0,259,10478,0.12,1.48,133.85,1.199,6,0.037,0.022,3357,2323,1569,0,0,0,0,0,0,25.84,25.85,24.73
$GC,10784,1.08,285.6,919.3,17.0,267,10788,0.00,1.42,0.00,0.000,4,0.000,0.026,3363,1353,1557,0,0,0,0,0,0,28.83,26.67,28.83
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$STATE,17044,end climb,SURFACE_DEPTH_REACHED
$STATE,17044,begin surface coast
$FINISH,0.2,1.023343
$STATE,17062,end surface coast,CONTROL_FINISHED_OK
$STATE,17062,begin surface
$SM_CCo,17077,26.23,0.119,0,0,1205,375.06
$SM_GC,0.59,7.80,1.17,26.23,0.021,0.016,0.119,149,2525,1205,-8.70,4.41,375.06,0,0,0,0,0,0,27.27,27.34,26.96
$IRIDIUM_FIX,2610.17,-7000.40,260814,161630
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.40
$INTERNAL_PRESSURE,9.10319
$TCM_TEMP,23.60
$XPDR_PINGS,12
$24V_AH,24.7,15.625
$10V_AH,10.4,12.830
$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
$DEVICE_SECS,18.775,110.500,315.525,26.225,0.000,26.603,49.374,168.129,3.000,0.000,5.481,1550.154,12995.877,391.377,2393.126,109.235,0.041,1439.445,0.000,2105.069,0.000,0.552,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,306.533,652.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334336
$DATA_FILE_SIZE,26916,456
$CAP_FILE_SIZE,152458,0
$CFSIZE,1024393216,1013776384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270814,041452,2621.023,-6958.990,48,1.1,48,-12.1