version: 66.10
glider: 200
mission: 4
dive: 24
start: 8 12 114 19 24 33
data:
$ID,200
$MISSION,4
$DIVE,24
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,165
$T_MISSION,180
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52177
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-1119.4521
$T_RSLEEP,4
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,197
$PITCH_MAX,3889
$C_PITCH,2973
$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,40
$C_ROLL_DIVE,2660
$C_ROLL_CLIMB,2425
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,139
$R_STBD_OVSHOOT,69
$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
$GPS1,120814,191605,2727.998,-7004.765,30,1.1,30,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-66.4
$GPS2,120814,192337,2727.910,-7004.651,5,1.8,5,-12.2
$SPEED_LIMITS,0.175,0.224
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.038,-0.221
$KALMAN_X,-15758.3,341.0,228.2,16868.0,-416.0
$KALMAN_Y,-26169.7,529.9,-184.9,-32769.3,-1745.2
$MHEAD_RNG_PITCHd_Wd,182.5,51692,-19.8,-10.101
$D_GRID,500
$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,-1.18,-146.0,0.0,0.0,0,80,0.00,0.00,-63.28,0.000,2,0.000,0.000,170,2631,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.18,-146.0,3.5,-6.9,8,108,8.55,1.75,-7.95,0.000,4,0.200,0.051,2575,3816,3333,0,0,0,0,0,0,26.84,27.02,27.29
$GC,247,-1.18,-146.0,53.4,-28.1,35,255,0.00,1.50,0.00,0.000,6,0.000,0.017,2575,2615,3333,0,0,0,0,0,0,28.83,27.18,28.83
$GC,319,-1.18,-146.0,70.6,-21.6,44,328,0.00,1.75,0.00,0.000,4,0.000,0.019,2575,1346,3333,0,0,0,0,0,0,28.83,27.16,28.83
$GC,399,-1.18,-146.0,86.5,-19.6,57,408,0.00,1.88,0.00,0.000,6,0.000,0.024,2564,2654,3334,0,0,0,0,0,0,28.83,27.17,28.83
$GC,473,-1.18,-146.0,101.3,-19.7,66,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2653,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,545,-1.18,-146.0,115.6,-20.3,75,554,0.00,1.80,0.00,0.000,4,0.000,0.019,2565,1353,3334,0,0,0,0,0,0,28.83,27.22,28.83
$GC,631,-1.18,-146.0,132.1,-18.6,89,640,0.10,1.88,0.00,0.000,6,0.137,0.024,2589,2663,3334,0,0,0,0,0,0,27.07,27.22,28.83
$GC,704,-1.18,-146.0,144.4,-16.1,98,713,0.00,1.83,0.00,0.000,4,0.000,0.019,2589,1348,3334,0,0,0,0,0,0,28.83,27.25,28.83
$GC,738,-1.18,-146.0,149.9,-16.1,103,747,0.00,1.88,0.00,0.000,6,0.000,0.025,2581,2661,3334,0,0,0,0,0,0,28.83,27.24,28.83
$GC,811,-1.18,-146.0,162.1,-16.9,112,820,0.00,1.80,0.00,0.000,4,0.000,0.020,2581,1359,3334,0,0,0,0,0,0,28.83,27.27,28.83
$GC,862,-1.18,-146.0,170.6,-16.1,120,871,0.00,1.88,0.00,0.000,6,0.000,0.024,2572,2663,3334,0,0,0,0,0,0,28.83,27.25,28.83
$GC,941,-1.18,-146.0,183.9,-17.4,127,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2663,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1121,-1.18,-146.0,213.8,-16.5,139,1124,0.00,1.77,0.00,0.000,4,0.000,0.019,2572,1365,3334,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1219,-1.18,-146.0,230.0,-16.4,145,1225,0.00,1.83,0.00,0.000,6,0.000,0.025,2563,2663,3334,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1415,-1.18,-146.0,262.7,-17.1,158,1419,0.00,1.77,0.00,0.000,4,0.000,0.019,2563,1364,3334,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1465,-1.18,-146.0,271.5,-17.1,161,1471,0.12,1.83,0.00,0.000,6,0.158,0.025,2588,2658,3334,0,0,0,0,0,0,27.17,27.32,28.83
$GC,1661,-1.18,-146.0,302.2,-15.5,174,1665,0.00,1.77,0.00,0.000,4,0.000,0.020,2588,1362,3333,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1735,-1.18,-146.0,312.7,-15.5,178,1744,0.00,1.88,0.00,0.000,6,0.000,0.025,2581,2655,3333,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1924,-1.18,-146.0,344.4,-15.9,191,1927,0.00,1.77,0.00,0.000,4,0.000,0.020,2581,1359,3332,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1981,-1.18,-146.0,352.5,-16.4,194,1990,0.00,1.90,0.00,0.000,6,0.000,0.025,2572,2663,3332,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2170,-1.18,-146.0,384.5,-16.3,207,2173,0.00,1.77,0.00,0.000,4,0.000,0.020,2572,1366,3331,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2227,-1.18,-146.0,392.5,-16.3,210,2236,0.00,1.88,0.00,0.000,6,0.000,0.025,2563,2657,3331,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2415,-1.18,-146.0,425.7,-16.8,223,2419,0.00,1.77,0.00,0.000,4,0.000,0.020,2563,1361,3330,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2488,-1.18,-146.0,436.9,-17.0,227,2499,0.10,1.90,0.00,0.000,6,0.129,0.025,2589,2666,3330,0,0,0,0,0,0,27.22,27.36,28.83
$GC,2678,-1.18,-146.0,467.4,-15.1,240,2681,0.00,1.77,0.00,0.000,4,0.000,0.020,2589,1372,3329,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2800,-1.18,-146.0,485.3,-15.4,247,2810,0.00,1.88,0.00,0.000,6,0.000,0.025,2583,2658,3328,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,2898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2898,begin apogee
$GC,2902,-0.25,0.0,501.6,-15.5,254,3011,0.88,0.00,104.57,0.905,6,0.111,0.000,2886,2441,2735,0,0,0,0,0,0,27.22,28.83,25.35
$STATE,3012,end apogee,CONTROL_FINISHED_OK
$STATE,3012,begin climb
$GC,3013,1.18,146.0,506.1,0.0,257,3133,1.30,2.17,108.18,0.889,4,0.057,0.034,3359,3816,2137,0,0,0,0,0,0,25.99,25.77,25.19
$GC,3154,1.22,174.3,497.5,8.8,262,3184,0.00,1.90,18.27,1.209,6,0.000,0.015,3363,2448,2035,0,0,0,0,0,0,28.83,26.17,24.92
$GC,3365,1.22,174.3,467.8,14.2,276,3367,0.00,0.00,0.93,0.244,6,0.000,0.000,3363,2447,2025,0,0,0,0,0,0,28.83,28.83,26.47
$GC,3543,1.22,174.3,441.8,14.3,288,3549,0.00,1.90,0.85,0.242,4,0.000,0.023,3363,1096,2028,0,0,0,0,0,0,28.83,26.89,26.70
$GC,3631,1.22,174.3,430.2,14.5,293,3642,0.00,1.92,0.77,0.220,6,0.000,0.021,3363,2434,2031,0,0,0,0,0,0,28.83,26.96,26.77
$GC,3822,1.22,174.3,402.0,14.4,306,3828,0.00,1.88,0.77,0.277,4,0.000,0.023,3367,1088,2027,0,0,0,0,0,0,28.83,27.05,26.86
$GC,3861,1.22,174.3,397.4,14.4,308,3869,0.00,1.90,0.00,0.000,6,0.000,0.022,3367,2422,2034,0,0,0,0,0,0,28.83,27.07,28.83
$GC,4048,1.22,174.3,369.3,14.1,321,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2422,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4228,1.22,174.3,344.3,13.7,333,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2421,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4408,1.22,174.3,319.9,13.4,345,4414,0.00,1.88,0.00,0.000,4,0.000,0.024,3372,1082,2034,0,0,0,0,0,0,28.83,27.20,28.83
$GC,4458,1.22,174.3,313.5,13.6,348,4464,0.00,1.90,0.65,0.226,6,0.000,0.021,3372,2421,2025,0,0,0,0,0,0,28.83,27.22,27.04
$GC,4652,1.22,174.3,286.1,14.0,361,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2422,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4833,1.22,174.3,260.8,13.9,373,4838,0.00,1.85,0.00,0.000,4,0.000,0.024,3372,1093,2033,0,0,0,0,0,0,28.83,27.25,28.83
$GC,4882,1.22,174.3,254.3,14.0,376,4887,0.00,1.90,0.00,0.000,6,0.000,0.021,3372,2429,2032,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5076,1.22,174.3,227.0,14.1,389,5078,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2428,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5256,1.22,174.3,202.5,13.9,401,5262,0.00,1.88,0.00,0.000,4,0.000,0.024,3379,1083,2033,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5339,1.22,174.3,191.4,13.8,406,5344,0.00,1.90,0.00,0.000,6,0.000,0.021,3378,2426,2033,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5532,1.22,174.3,164.7,13.7,423,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2426,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5604,1.22,174.3,155.1,13.0,432,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2426,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5677,1.22,174.3,145.9,12.6,441,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2426,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5749,1.22,174.3,137.1,11.7,450,5758,0.00,1.90,0.00,0.000,4,0.000,0.024,3384,1092,2032,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5829,1.22,174.3,127.4,12.2,463,5838,0.00,1.88,0.00,0.000,6,0.000,0.021,3385,2426,2032,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5902,1.22,174.3,119.0,11.9,472,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2426,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5975,1.22,174.3,110.8,11.1,481,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2426,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6047,1.22,174.3,103.2,10.3,490,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2425,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6120,1.22,174.3,95.3,11.2,499,6128,0.00,1.90,0.00,0.000,4,0.000,0.025,3383,1093,2032,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6222,1.22,174.3,83.4,11.7,516,6232,0.00,1.88,0.55,0.217,6,0.000,0.021,3384,2427,2026,0,0,0,0,0,0,28.83,27.34,27.17
$GC,6297,1.22,174.3,75.0,11.4,525,6305,0.00,2.00,0.00,0.000,4,0.000,0.034,3384,3803,2032,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6399,1.22,174.3,61.9,11.6,542,6408,0.00,1.83,0.00,0.000,6,0.000,0.017,3385,2414,2032,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6473,1.22,176.2,54.5,10.0,551,6482,0.00,1.85,1.25,0.251,4,0.000,0.023,3390,1105,2023,0,0,0,0,0,0,28.83,27.33,27.04
$GC,6610,1.29,233.5,43.1,7.4,574,6643,0.00,1.85,23.05,0.208,6,0.000,0.021,3390,2427,1786,0,0,0,0,0,0,28.83,27.35,26.96
$GC,6709,1.30,236.3,34.7,10.0,586,6718,0.00,1.90,1.55,0.239,4,0.000,0.023,3390,1098,1775,0,0,0,0,0,0,28.83,27.23,27.01
$GC,6737,1.30,242.3,31.7,9.8,590,6747,0.00,1.88,2.83,0.187,6,0.000,0.021,3389,2422,1748,0,0,0,0,0,0,28.83,27.27,27.00
$GC,6813,1.36,285.0,25.8,8.1,599,6838,0.00,2.00,16.77,0.175,4,0.000,0.033,3390,3820,1573,0,0,0,0,0,0,28.83,27.15,26.98
$GC,6897,1.36,285.0,17.2,10.4,612,6906,0.00,1.83,0.00,0.000,6,0.000,0.016,3392,2425,1575,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6970,1.36,285.0,9.1,10.7,621,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2424,1575,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7042,end climb,SURFACE_DEPTH_REACHED
$STATE,7042,begin surface coast
$FINISH,-0.2,1.023245
$STATE,7059,end surface coast,CONTROL_FINISHED_OK
$STATE,7059,begin surface
$SM_CCo,7074,31.10,0.119,0,0,1206,375.06
$SM_GC,0.49,8.02,0.30,31.10,0.028,0.045,0.119,164,2664,1206,-8.64,-1.84,375.06,0,0,0,0,0,0,27.23,27.25,27.01
$IRIDIUM_FIX,2717.79,-7008.69,120814,171759
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.45
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,23.10
$XPDR_PINGS,24
$24V_AH,24.9,8.046
$10V_AH,10.5,5.888
$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,19.075,89.500,281.000,31.100,0.000,22.756,45.581,120.900,6.000,0.000,6.673,1588.932,2631.565,458.443,2627.969,77.237,33.243,1257.981,0.000,2433.972,0.000,0.553,0.000
$DEVICE_MAMPS,200.430,65.790,1209.465,119.340,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.653,2059.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,33510,632
$CAP_FILE_SIZE,101224,0
$CFSIZE,1024393216,1019346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120814,212348,2726.102,-7004.522,16,0.9,16,-12.2