version: 66.10
glider: 200
mission: 4
dive: 31
start: 8 13 114 17 1 9
data:
$ID,200
$MISSION,4
$DIVE,31
$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,120
$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,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,-1128.236
$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,130
$R_STBD_OVSHOOT,68
$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
$GPS1,130814,165305,2711.774,-7004.099,26,1.0,26,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.3
$GPS2,130814,170012,2711.734,-7004.024,4,0.8,4,-12.2
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.076,-0.187
$KALMAN_X,-14441.1,261.4,122.1,16764.7,427.1
$KALMAN_Y,-38033.8,399.4,275.9,-51202.3,-2604.2
$MHEAD_RNG_PITCHd_Wd,214.4,21791,-22.4,-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,14,-1.28,-116.8,0.0,0.0,0,80,0.00,0.00,-63.38,0.000,2,0.000,0.000,163,2639,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.6,-6.0,8,100,8.45,0.00,-5.03,0.000,6,0.200,0.000,2551,2639,3215,0,0,0,0,0,0,26.82,28.83,27.29
$GC,166,-1.28,-116.8,31.1,-30.4,18,174,0.00,1.88,0.00,0.000,4,0.000,0.020,2551,1290,3215,0,0,0,0,0,0,28.83,27.11,28.83
$GC,182,-1.28,-116.8,36.2,-28.9,20,191,0.00,1.95,0.00,0.000,6,0.000,0.025,2542,2642,3215,0,0,0,0,0,0,28.83,27.10,28.83
$GC,255,-1.28,-116.8,54.7,-23.5,29,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2642,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,328,-1.28,-116.8,71.9,-23.2,38,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2642,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,400,-1.28,-116.8,86.9,-20.4,47,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2642,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,473,-1.28,-116.8,101.1,-19.2,56,481,0.00,1.75,0.00,0.000,4,0.000,0.036,2533,3844,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,495,-1.28,-116.8,105.9,-21.2,59,504,0.00,1.55,0.00,0.000,6,0.000,0.017,2533,2615,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,568,-1.28,-116.8,120.3,-19.3,68,577,0.00,1.75,0.00,0.000,4,0.000,0.019,2533,1341,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,614,-1.28,-116.8,129.0,-19.5,75,623,0.10,1.90,0.00,0.000,6,0.140,0.024,2557,2659,3217,0,0,0,0,0,0,27.07,27.22,28.83
$GC,688,-1.28,-116.8,142.6,-18.0,84,696,0.00,1.83,0.00,0.000,4,0.000,0.019,2557,1341,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,825,-1.28,-116.8,165.9,-16.3,107,834,0.00,1.90,0.00,0.000,6,0.000,0.024,2549,2668,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,897,-1.28,-116.8,177.8,-16.9,115,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2669,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1077,-1.28,-116.8,207.2,-16.4,127,1080,0.00,1.80,0.00,0.000,4,0.000,0.019,2549,1364,3217,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1117,-1.28,-116.8,212.5,-16.0,129,1127,0.00,1.90,0.00,0.000,6,0.000,0.024,2539,2655,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1308,-1.28,-116.8,245.5,-16.9,142,1311,0.00,1.77,0.00,0.000,4,0.000,0.019,2539,1358,3217,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1365,-1.28,-116.8,254.2,-17.2,145,1375,0.08,1.90,0.00,0.000,6,0.139,0.024,2555,2659,3217,0,0,0,0,0,0,27.15,27.32,28.83
$GC,1555,-1.28,-116.8,286.4,-16.2,158,1559,0.00,1.77,0.00,0.000,4,0.000,0.019,2556,1362,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1654,-1.28,-116.8,302.5,-16.0,164,1659,0.00,1.85,0.00,0.000,6,0.000,0.024,2547,2671,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1850,-1.28,-116.8,334.4,-16.2,177,1853,0.00,1.80,0.00,0.000,4,0.000,0.020,2547,1364,3215,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1981,-1.28,-116.8,355.7,-15.9,185,1986,0.00,1.85,0.00,0.000,6,0.000,0.024,2537,2658,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2176,-1.28,-116.8,387.5,-16.3,198,2180,0.00,1.77,0.00,0.000,4,0.000,0.020,2537,1361,3214,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2216,-1.28,-116.8,392.9,-16.2,200,2227,0.08,1.90,0.00,0.000,6,0.139,0.024,2554,2661,3214,0,0,0,0,0,0,27.20,27.35,28.83
$GC,2406,-1.28,-116.8,423.8,-15.4,213,2409,0.00,1.80,0.00,0.000,4,0.000,0.019,2554,1359,3213,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2512,-1.28,-116.8,439.6,-16.0,219,2521,0.00,1.90,0.00,0.000,6,0.000,0.024,2546,2657,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2702,-1.28,-116.8,473.4,-19.9,232,2705,0.00,1.77,0.00,0.000,4,0.000,0.020,2546,1361,3211,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2833,-1.28,-116.8,494.7,-15.9,240,2839,0.00,1.85,0.00,0.000,6,0.000,0.025,2536,2670,3211,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,2877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2878,begin apogee
$GC,2881,-0.25,0.0,501.8,-15.9,243,2970,1.02,0.00,84.03,0.953,6,0.116,0.000,2889,2438,2736,0,0,0,0,0,0,27.20,28.83,25.46
$STATE,2971,end apogee,CONTROL_FINISHED_OK
$STATE,2971,begin climb
$GC,2972,1.28,116.8,506.0,0.0,246,3066,1.35,1.95,86.65,0.916,4,0.056,0.022,3392,1111,2256,0,0,0,0,0,0,26.08,25.83,25.22
$GC,3090,1.33,151.6,499.2,8.1,250,3121,0.00,1.98,24.17,1.189,6,0.000,0.021,3392,2437,2120,0,0,0,0,0,0,28.83,26.15,24.96
$GC,3309,1.33,151.6,468.7,14.0,265,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2437,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3489,1.33,151.6,443.6,13.8,277,3494,0.00,1.90,0.00,0.000,4,0.000,0.024,3399,1106,2125,0,0,0,0,0,0,28.83,26.90,28.83
$GC,3537,1.33,151.6,437.1,13.6,280,3543,0.00,1.88,0.00,0.000,6,0.000,0.021,3398,2440,2125,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3732,1.33,151.6,410.4,13.5,293,3737,0.00,1.88,0.00,0.000,4,0.000,0.024,3398,1106,2123,0,0,0,0,0,0,28.83,27.04,28.83
$GC,3771,1.33,151.6,406.2,13.2,295,3780,0.00,1.88,0.00,0.000,6,0.000,0.021,3399,2422,2124,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3961,1.33,151.6,379.3,13.8,308,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2422,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4140,1.33,151.6,353.8,14.5,320,4143,0.00,1.83,0.00,0.000,4,0.000,0.024,3405,1128,2123,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4191,1.33,151.6,346.7,14.4,323,4196,0.00,1.88,0.00,0.000,6,0.000,0.021,3405,2430,2123,0,0,0,0,0,0,28.83,27.20,28.83
$GC,4387,1.33,151.6,317.6,14.6,336,4390,0.00,1.83,0.00,0.000,4,0.000,0.024,3414,1130,2122,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4476,1.33,151.6,305.6,14.5,341,4486,0.00,1.88,0.00,0.000,6,0.000,0.021,3414,2427,2122,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4666,1.33,151.6,277.3,14.4,354,4669,0.00,1.83,0.00,0.000,4,0.000,0.024,3418,1130,2122,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4748,1.33,151.6,266.0,13.9,359,4753,0.00,1.83,0.00,0.000,6,0.000,0.022,3418,2430,2122,0,0,0,0,0,0,28.83,27.27,28.83
$GC,4943,1.33,151.6,238.6,14.0,372,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2431,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5123,1.33,151.6,213.9,13.0,384,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2431,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5303,1.33,151.6,189.3,13.4,396,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2430,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5487,1.33,151.6,165.0,13.0,412,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2430,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5559,1.33,151.6,155.0,13.9,421,5568,0.00,1.88,0.00,0.000,4,0.000,0.025,3418,1117,2121,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5754,1.33,151.6,131.1,11.5,454,5763,0.00,1.85,0.00,0.000,6,0.000,0.022,3418,2429,2120,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5827,1.33,151.6,122.7,11.6,463,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2429,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5900,1.33,151.6,113.8,11.9,472,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2429,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5972,1.33,151.6,105.3,11.6,481,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2429,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6045,1.33,151.6,97.4,10.7,490,6054,0.00,1.88,0.00,0.000,4,0.000,0.025,3418,1111,2121,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6096,1.33,152.7,92.1,10.0,498,6105,0.00,1.85,0.00,0.000,6,0.000,0.022,3418,2426,2121,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6170,1.35,169.2,85.1,9.1,507,6187,0.00,2.03,7.97,0.301,4,0.000,0.034,3418,3812,2050,0,0,0,0,0,0,28.83,27.25,26.91
$GC,6326,1.35,169.2,68.7,11.1,533,6334,0.00,1.80,0.00,0.000,6,0.000,0.017,3421,2443,2052,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6399,1.37,187.3,61.6,9.0,542,6416,0.00,1.92,7.97,0.252,4,0.000,0.024,3421,1090,1975,0,0,0,0,0,0,28.83,27.26,26.95
$GC,6521,1.37,187.3,50.0,10.4,562,6530,0.00,1.88,0.00,0.000,6,0.000,0.021,3421,2421,1976,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6594,1.40,208.1,43.3,8.9,571,6611,0.00,0.00,8.48,0.214,6,0.000,0.000,3421,2421,1888,0,0,0,0,0,0,28.83,28.83,26.98
$GC,6677,1.44,248.5,36.6,7.7,581,6701,0.00,2.03,15.60,0.200,4,0.000,0.033,3421,3806,1723,0,0,0,0,0,0,28.83,27.17,26.94
$GC,6897,1.44,248.5,13.7,10.9,618,6906,0.00,1.83,0.00,0.000,6,0.000,0.016,3426,2415,1724,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6970,1.44,248.5,6.0,10.4,627,6979,0.00,2.05,0.00,0.000,4,0.000,0.034,3425,3814,1724,0,0,0,0,0,0,28.83,27.23,28.83
$STATE,7003,end climb,SURFACE_DEPTH_REACHED
$STATE,7003,begin surface coast
$FINISH,-0.2,1.023052
$STATE,7028,end surface coast,CONTROL_FINISHED_OK
$STATE,7028,begin surface
$SM_CCo,7043,43.42,0.118,0,0,1204,375.06
$SM_GC,1.17,7.97,1.52,43.42,0.020,0.016,0.118,171,2667,1204,-8.63,4.07,375.06,0,0,0,0,0,0,27.27,27.32,27.00
$IRIDIUM_FIX,2703.24,-7008.88,130814,141438
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.25
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,23.40
$XPDR_PINGS,15
$24V_AH,25.0,8.688
$10V_AH,10.5,6.957
$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,19.050,85.300,234.875,43.425,0.000,25.243,50.793,101.984,3.750,0.000,5.928,1597.752,2626.110,411.946,2640.348,76.513,33.242,1200.865,0.000,2457.866,0.000,0.552,0.000
$DEVICE_MAMPS,200.430,57.375,1188.810,117.810,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,422.789,2073.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334084
$DATA_FILE_SIZE,33566,636
$CAP_FILE_SIZE,97737,0
$CFSIZE,1024393216,1018839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130814,185952,2710.086,-7004.041,3,1.2,3,-12.2