version: 66.10
glider: 200
mission: 4
dive: 32
start: 8 13 114 19 13 39
data:
$ID,200
$MISSION,4
$DIVE,32
$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,-1129.4888
$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,132
$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
$GPS1,130814,185952,2710.086,-7004.041,3,1.2,3,-12.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.9
$GPS2,130814,191242,2709.989,-7003.842,16,1.2,16,-12.2
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.107,-0.171
$KALMAN_X,-13500.0,308.9,220.3,15970.9,625.5
$KALMAN_Y,-39143.6,243.3,237.6,-53130.8,-2504.0
$MHEAD_RNG_PITCHd_Wd,224.1,18597,-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,15,-1.28,-116.8,0.0,0.0,0,80,0.00,0.00,-63.35,0.000,2,0.000,0.000,167,2628,2975,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.8,-7.2,8,101,8.45,1.88,-4.80,0.000,4,0.200,0.037,2552,1289,3215,0,0,0,0,0,0,26.82,27.09,27.31
$GC,120,-1.28,-116.8,17.7,-34.9,13,129,0.00,1.95,0.00,0.000,6,0.000,0.024,2544,2643,3216,0,0,0,0,0,0,28.83,27.08,28.83
$GC,194,-1.28,-116.8,40.0,-28.9,22,203,0.00,1.75,0.00,0.000,4,0.000,0.036,2535,3840,3216,0,0,0,0,0,0,28.83,27.09,28.83
$GC,257,-1.28,-116.8,56.4,-24.5,32,265,0.00,1.55,0.00,0.000,6,0.000,0.017,2534,2620,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,330,-1.28,-116.8,72.9,-21.4,41,339,0.00,1.77,0.00,0.000,4,0.000,0.019,2535,1326,3216,0,0,0,0,0,0,28.83,27.19,28.83
$GC,387,-1.28,-116.8,84.7,-20.8,50,396,0.08,1.92,0.00,0.000,6,0.150,0.025,2550,2658,3216,0,0,0,0,0,0,27.02,27.18,28.83
$GC,460,-1.28,-116.8,99.1,-19.2,59,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2658,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,533,-1.28,-116.8,112.8,-18.5,68,542,0.00,1.83,0.00,0.000,4,0.000,0.019,2551,1338,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,584,-1.28,-116.8,122.1,-17.9,76,593,0.00,1.90,0.00,0.000,6,0.000,0.024,2542,2665,3216,0,0,0,0,0,0,28.83,27.23,28.83
$GC,657,-1.28,-116.8,135.4,-18.4,85,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2665,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,730,-1.28,-116.8,148.7,-18.0,94,738,0.00,1.85,0.00,0.000,4,0.000,0.019,2542,1330,3218,0,0,0,0,0,0,28.83,27.28,28.83
$GC,821,-1.28,-116.8,164.0,-17.6,109,830,0.00,1.90,0.00,0.000,6,0.000,0.025,2532,2658,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,901,-1.28,-116.8,178.6,-18.2,118,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2658,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1081,-1.28,-116.8,210.9,-18.3,130,1085,0.00,1.80,0.00,0.000,4,0.000,0.019,2532,1351,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1155,-1.28,-116.8,223.1,-18.5,134,1165,0.10,1.92,0.00,0.000,6,0.135,0.024,2556,2661,3217,0,0,0,0,0,0,27.15,27.31,28.83
$GC,1343,-1.28,-116.8,256.2,-16.7,147,1347,0.00,1.80,0.00,0.000,4,0.000,0.019,2557,1356,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1433,-1.28,-116.8,270.2,-16.8,152,1443,0.00,1.92,0.00,0.000,6,0.000,0.024,2548,2669,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1623,-1.28,-116.8,303.3,-16.7,165,1627,0.00,1.80,0.00,0.000,4,0.000,0.019,2548,1363,3215,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1746,-1.28,-116.8,323.1,-17.1,172,1755,0.00,1.90,0.00,0.000,6,0.000,0.025,2538,2660,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1934,-1.28,-116.8,356.5,-16.7,185,1938,0.00,1.77,0.00,0.000,4,0.000,0.020,2538,1363,3214,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2065,-1.28,-116.8,378.8,-17.0,193,2071,0.12,1.85,0.00,0.000,6,0.159,0.025,2567,2662,3213,0,0,0,0,0,0,27.20,27.35,28.83
$GC,2262,-1.28,-116.8,409.1,-15.2,206,2265,0.00,1.80,0.00,0.000,4,0.000,0.020,2568,1358,3212,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2313,-1.28,-116.8,416.9,-15.2,209,2318,0.00,1.90,0.00,0.000,6,0.000,0.024,2559,2654,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2509,-1.28,-116.8,447.4,-15.4,222,2512,0.00,1.77,0.00,0.000,4,0.000,0.020,2559,1355,3211,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2582,-1.28,-116.8,457.8,-15.3,226,2591,0.00,1.90,0.00,0.000,6,0.000,0.025,2550,2661,3211,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2771,-1.28,-116.8,487.8,-15.5,239,2774,0.00,1.80,0.00,0.000,4,0.000,0.020,2550,1356,3209,0,0,0,0,0,0,28.83,27.38,28.83
$STATE,2852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2852,begin apogee
$GC,2857,-0.25,0.0,500.4,-15.1,244,2945,1.00,0.00,83.68,0.959,6,0.117,0.000,2884,2447,2736,0,0,0,0,0,0,27.21,28.83,25.47
$STATE,2946,end apogee,CONTROL_FINISHED_OK
$STATE,2946,begin climb
$GC,2948,1.28,116.8,504.2,0.0,247,3042,1.35,0.00,87.03,0.928,6,0.057,0.000,3384,2447,2256,0,0,0,0,0,0,26.07,28.83,25.24
$GC,3345,1.28,116.8,463.9,11.9,271,3350,0.00,1.88,0.00,0.000,4,0.000,0.023,3389,1119,2252,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3439,1.28,116.8,452.6,11.5,277,3445,0.00,1.83,0.00,0.000,6,0.000,0.022,3389,2425,2252,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3636,1.28,116.8,429.7,11.3,290,3637,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2425,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3814,1.28,116.8,409.3,11.2,302,3818,0.00,1.83,0.00,0.000,4,0.000,0.025,3389,1136,2252,0,0,0,0,0,0,28.83,27.12,28.83
$GC,3849,1.28,116.8,405.6,11.2,304,3854,0.00,1.85,0.00,0.000,6,0.000,0.021,3390,2420,2252,0,0,0,0,0,0,28.83,27.13,28.83
$GC,4044,1.28,116.8,383.1,11.4,317,4045,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2420,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4224,1.28,116.8,361.8,12.0,329,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2420,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4404,1.28,116.8,340.0,12.3,341,4407,0.00,1.85,0.00,0.000,4,0.000,0.024,3392,1127,2251,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4493,1.28,116.8,330.3,11.6,346,4503,0.00,1.88,0.00,0.000,6,0.000,0.022,3392,2430,2250,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4683,1.28,116.8,306.4,12.3,359,4687,0.00,1.83,0.00,0.000,4,0.000,0.024,3397,1133,2250,0,0,0,0,0,0,28.83,27.27,28.83
$GC,4724,1.28,116.8,302.3,12.2,361,4733,0.00,1.88,0.00,0.000,6,0.000,0.022,3397,2433,2250,0,0,0,0,0,0,28.83,27.28,28.83
$GC,4913,1.28,116.8,278.1,12.1,374,4916,0.00,1.83,0.00,0.000,4,0.000,0.024,3398,1137,2248,0,0,0,0,0,0,28.83,27.29,28.83
$GC,4997,1.28,116.8,268.5,11.7,379,5002,0.00,1.85,0.00,0.000,6,0.000,0.021,3398,2425,2248,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5191,1.28,116.8,246.6,11.1,392,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2425,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5371,1.28,116.8,226.3,11.3,404,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2426,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5551,1.28,116.8,206.0,11.2,416,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2426,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5731,1.28,116.8,185.3,11.2,428,5737,0.00,1.98,0.00,0.000,4,0.000,0.035,3398,3819,2247,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5795,1.28,116.8,177.4,12.4,432,5799,0.00,1.77,0.00,0.000,6,0.000,0.018,3403,2481,2247,0,0,0,0,0,0,28.83,27.39,28.83
$GC,5987,1.28,116.8,156.6,11.1,454,5996,0.00,1.88,0.00,0.000,4,0.000,0.025,3403,1127,2247,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6056,1.28,116.8,149.3,10.6,465,6064,0.00,1.83,0.00,0.000,6,0.000,0.022,3403,2423,2247,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6129,1.28,118.2,141.6,10.0,474,6138,0.00,1.85,0.00,0.000,4,0.000,0.024,3411,1118,2247,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6244,1.30,128.2,129.5,9.5,493,6254,0.00,1.85,4.20,0.795,6,0.000,0.022,3412,2431,2216,0,0,0,0,0,0,28.83,27.35,26.38
$GC,6320,1.33,152.5,122.7,8.7,502,6345,0.00,1.90,14.25,0.888,4,0.000,0.024,3411,1120,2119,0,0,0,0,0,0,28.83,27.01,26.25
$GC,6382,1.33,154.2,116.7,10.0,511,6392,0.00,1.85,1.52,0.317,6,0.000,0.022,3412,2418,2112,0,0,0,0,0,0,28.83,27.06,26.61
$GC,6458,1.33,154.2,108.9,10.5,520,6466,0.00,2.05,0.00,0.000,4,0.000,0.035,3411,3812,2114,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6509,1.33,154.2,102.7,12.7,528,6517,0.00,1.83,0.00,0.000,6,0.000,0.017,3418,2439,2115,0,0,0,0,0,0,28.83,27.17,28.83
$GC,6582,1.33,154.2,94.3,11.3,537,6591,0.00,1.90,0.00,0.000,4,0.000,0.025,3419,1106,2114,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6673,1.34,164.9,85.0,9.5,552,6683,0.00,1.90,5.43,0.295,6,0.000,0.022,3419,2437,2063,0,0,0,0,0,0,28.83,27.17,26.77
$GC,6749,1.35,170.7,77.9,9.8,561,6759,0.00,1.98,3.12,0.285,4,0.000,0.033,3419,3816,2043,0,0,0,0,0,0,28.83,27.11,26.79
$GC,6841,1.35,170.7,68.0,12.3,576,6850,0.00,1.85,0.00,0.000,6,0.000,0.017,3425,2428,2046,0,0,0,0,0,0,28.83,27.25,28.83
$GC,6914,1.35,170.7,59.4,10.7,585,6923,0.00,1.90,0.00,0.000,4,0.000,0.024,3425,1092,2045,0,0,0,0,0,0,28.83,27.18,28.83
$GC,7052,1.38,195.0,47.2,8.7,608,7070,0.00,1.90,9.80,0.216,6,0.000,0.022,3425,2436,1943,0,0,0,0,0,0,28.83,27.23,26.89
$GC,7136,1.41,216.4,40.3,8.8,618,7153,0.00,2.03,8.77,0.212,4,0.000,0.034,3425,3816,1854,0,0,0,0,0,0,28.83,27.13,26.89
$GC,7409,1.45,249.5,17.9,8.2,665,7427,0.00,1.83,12.07,0.158,6,0.000,0.017,3431,2414,1715,0,0,0,0,0,0,28.83,27.29,26.98
$GC,7493,1.45,252.7,10.5,9.9,675,7502,0.00,2.05,1.00,0.218,4,0.000,0.033,3432,3808,1705,0,0,0,0,0,0,28.83,27.17,27.02
$STATE,7565,end climb,SURFACE_DEPTH_REACHED
$STATE,7565,begin surface coast
$FINISH,0.0,1.023073
$STATE,7578,end surface coast,CONTROL_FINISHED_OK
$STATE,7578,begin surface
$SM_CCo,7594,42.12,0.117,0,0,1204,375.06
$SM_GC,1.23,8.12,1.50,42.12,0.028,0.017,0.117,165,2678,1204,-8.65,4.44,375.06,0,0,0,0,0,0,27.20,27.27,26.96
$IRIDIUM_FIX,2703.24,-7003.50,130814,161606
$TT8_MAMPS,0.029211,0.029211
$HUMID,46.10
$INTERNAL_PRESSURE,9.16179
$TCM_TEMP,23.50
$XPDR_PINGS,17
$24V_AH,25.2,8.854
$10V_AH,10.5,7.088
$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,19.225,99.925,230.875,42.125,0.000,130.805,87.580,104.503,4.250,0.000,17.628,1734.654,3033.477,413.666,2986.119,81.034,33.237,1223.914,0.000,2639.087,0.000,0.552,0.000
$DEVICE_MAMPS,200.430,36.720,959.310,117.045,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.578,2247.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334128
$DATA_FILE_SIZE,36780,689
$CAP_FILE_SIZE,106015,0
$CFSIZE,1024393216,1018757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130814,212205,2708.197,-7003.973,36,0.8,36,-12.2