version: 66.10
glider: 200
mission: 4
dive: 34
start: 8 13 114 23 44 19
data:
$ID,200
$MISSION,4
$DIVE,34
$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,-1131.9974
$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,125
$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
$GPS1,130814,233618,2706.437,-7004.364,12,0.9,12,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.9
$GPS2,130814,234322,2706.325,-7004.300,4,1.1,5,-12.2
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.133,-0.151
$KALMAN_X,-11469.9,173.8,-56.4,13611.0,928.1
$KALMAN_Y,-42181.0,-69.2,89.3,-56412.7,-2515.4
$MHEAD_RNG_PITCHd_Wd,233.6,11771,-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,-63.42,0.000,2,0.000,0.000,162,2620,2974,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.9,-7.0,8,100,8.48,0.00,-4.75,0.000,6,0.200,0.000,2554,2620,3216,0,0,0,0,0,0,26.80,28.83,27.28
$GC,165,-1.28,-116.8,32.2,-31.5,18,174,0.00,1.77,0.00,0.000,4,0.000,0.037,2546,3820,3216,0,0,0,0,0,0,28.83,27.06,28.83
$GC,257,-1.28,-116.8,57.4,-24.2,33,265,0.00,1.55,0.00,0.000,6,0.000,0.018,2546,2605,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,330,-1.28,-116.8,71.9,-19.8,42,339,0.00,1.83,0.00,0.000,4,0.000,0.019,2547,1283,3217,0,0,0,0,0,0,28.83,27.16,28.83
$GC,352,-1.28,-116.8,76.3,-19.8,45,361,0.00,1.95,0.00,0.000,6,0.000,0.024,2536,2642,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,426,-1.28,-116.8,91.4,-19.3,54,434,0.00,1.88,0.00,0.000,4,0.000,0.019,2536,1291,3217,0,0,0,0,0,0,28.83,27.19,28.83
$GC,471,-1.28,-116.8,100.2,-19.5,61,481,0.08,1.98,0.00,0.000,6,0.148,0.024,2552,2665,3217,0,0,0,0,0,0,27.02,27.18,28.83
$GC,545,-1.28,-116.8,114.4,-19.1,70,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2665,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,617,-1.28,-116.8,128.1,-17.9,79,626,0.00,1.90,0.00,0.000,4,0.000,0.019,2552,1294,3218,0,0,0,0,0,0,28.83,27.23,28.83
$GC,686,-1.28,-116.8,139.8,-17.7,90,694,0.00,1.98,0.00,0.000,6,0.000,0.024,2544,2664,3218,0,0,0,0,0,0,28.83,27.24,28.83
$GC,759,-1.28,-116.8,152.5,-17.6,99,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2664,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,832,-1.28,-116.8,165.4,-18.0,108,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2664,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-1.28,-116.8,177.9,-17.9,116,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2664,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-1.28,-116.8,209.8,-17.6,128,1088,0.00,1.88,0.00,0.000,4,0.000,0.019,2544,1279,3218,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1170,-1.28,-116.8,224.1,-18.0,133,1180,0.00,1.98,0.00,0.000,6,0.000,0.024,2534,2658,3218,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1359,-1.28,-116.8,259.2,-17.9,146,1365,0.00,1.85,0.00,0.000,4,0.000,0.019,2533,1288,3218,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1480,-1.28,-116.8,279.7,-18.1,153,1490,0.10,1.98,0.00,0.000,6,0.138,0.024,2558,2668,3218,0,0,0,0,0,0,27.16,27.31,28.83
$GC,1668,-1.28,-116.8,311.2,-15.9,166,1674,0.00,1.88,0.00,0.000,4,0.000,0.020,2557,1281,3217,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1718,-1.28,-116.8,318.9,-16.3,169,1723,0.00,1.98,0.00,0.000,6,0.000,0.024,2549,2657,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1913,-1.28,-116.8,350.2,-16.1,182,1918,0.00,1.85,0.00,0.000,4,0.000,0.019,2549,1288,3216,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2049,-1.28,-116.8,371.1,-16.2,190,2059,0.00,1.98,0.00,0.000,6,0.000,0.025,2544,2660,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2240,-1.28,-116.8,402.6,-16.1,203,2245,0.00,1.88,0.00,0.000,4,0.000,0.020,2545,1276,3215,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2293,-1.28,-116.8,410.3,-16.6,206,2302,0.00,2.00,0.00,0.000,6,0.000,0.024,2534,2668,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2483,-1.28,-116.8,443.3,-16.6,219,2488,0.00,1.88,0.00,0.000,4,0.000,0.019,2533,1282,3214,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2561,-1.28,-116.8,456.6,-16.6,224,2568,0.12,1.92,0.00,0.000,6,0.162,0.024,2558,2662,3214,0,0,0,0,0,0,27.20,27.35,28.83
$GC,2757,-1.28,-116.8,487.2,-15.2,237,2762,0.00,1.88,0.00,0.000,4,0.000,0.020,2558,1279,3212,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,2836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2836,begin apogee
$GC,2841,-0.25,0.0,500.3,-16.3,242,2930,0.98,0.00,84.12,0.946,6,0.116,0.000,2885,2438,2736,0,0,0,0,0,0,27.20,28.83,25.45
$STATE,2931,end apogee,CONTROL_FINISHED_OK
$STATE,2931,begin climb
$GC,2932,1.28,116.8,504.6,0.0,245,3026,1.35,0.00,86.72,0.905,6,0.057,0.000,3386,2438,2257,0,0,0,0,0,0,26.07,28.83,25.25
$GC,3327,1.28,116.8,468.2,11.0,268,3333,0.00,1.92,0.00,0.000,4,0.000,0.024,3391,1079,2253,0,0,0,0,0,0,28.83,26.85,28.83
$GC,3415,1.28,116.8,458.9,11.6,273,3425,0.00,1.95,0.00,0.000,6,0.000,0.021,3391,2429,2253,0,0,0,0,0,0,28.83,26.94,28.83
$GC,3604,1.28,116.8,436.0,11.5,286,3609,0.00,1.90,0.00,0.000,4,0.000,0.024,3391,1082,2253,0,0,0,0,0,0,28.83,27.03,28.83
$GC,3635,1.28,116.8,432.4,11.5,288,3640,0.00,1.88,0.00,0.000,6,0.000,0.021,3391,2427,2253,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3830,1.28,116.8,410.3,11.4,301,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2427,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4010,1.28,116.8,389.4,11.8,313,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2428,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4190,1.28,116.8,368.2,11.9,325,4195,0.00,1.90,0.00,0.000,4,0.000,0.025,3391,1080,2252,0,0,0,0,0,0,28.83,27.20,28.83
$GC,4254,1.28,116.8,360.7,11.7,329,4259,0.00,1.88,0.00,0.000,6,0.000,0.021,3391,2434,2252,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4449,1.28,116.8,338.2,11.7,342,4455,0.00,1.90,0.00,0.000,4,0.000,0.025,3392,1076,2252,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4498,1.28,116.8,332.8,11.4,345,4503,0.00,1.92,0.00,0.000,6,0.000,0.021,3392,2424,2251,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4694,1.28,116.8,310.2,11.4,358,4700,0.00,1.88,0.00,0.000,4,0.000,0.024,3395,1079,2251,0,0,0,0,0,0,28.83,27.27,28.83
$GC,4756,1.28,116.8,303.2,11.0,362,4762,0.00,1.88,0.00,0.000,6,0.000,0.021,3395,2429,2251,0,0,0,0,0,0,28.83,27.28,28.83
$GC,4952,1.28,116.8,281.3,11.3,375,4953,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2429,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,1.28,116.8,261.5,11.0,387,5137,0.00,1.90,0.00,0.000,4,0.000,0.024,3404,1072,2251,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5219,1.28,116.8,252.7,11.0,392,5229,0.00,1.92,0.00,0.000,6,0.000,0.021,3403,2429,2250,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5410,1.28,116.8,230.5,11.5,405,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2430,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5589,1.28,116.8,210.0,11.2,417,5594,0.00,1.90,0.00,0.000,4,0.000,0.025,3405,1068,2249,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5652,1.28,116.8,202.7,11.3,421,5658,0.00,1.88,0.00,0.000,6,0.000,0.021,3405,2428,2250,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5847,1.28,116.8,181.5,11.1,434,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2429,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6035,1.28,116.8,161.2,11.1,453,6043,0.00,2.00,0.00,0.000,4,0.000,0.035,3405,3804,2250,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6149,1.28,116.8,148.5,11.2,472,6158,0.08,1.85,0.00,0.000,6,0.154,0.017,3389,2397,2249,0,0,0,0,0,0,27.17,27.40,28.83
$GC,6223,1.28,118.0,140.7,10.0,481,6232,0.00,2.08,0.00,0.000,4,0.000,0.034,3389,3813,2250,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6263,1.28,118.0,136.5,11.3,487,6272,0.00,1.83,0.00,0.000,6,0.000,0.017,3397,2414,2249,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6336,1.29,122.2,128.8,9.9,496,6346,0.00,1.85,0.90,0.281,4,0.000,0.022,3406,1105,2245,0,0,0,0,0,0,28.83,27.33,26.88
$GC,6491,1.35,173.3,115.1,7.1,522,6524,0.00,1.85,27.85,0.868,6,0.000,0.022,3406,2421,2030,0,0,0,0,0,0,28.83,27.35,26.11
$GC,6590,1.35,173.3,104.9,11.8,534,6598,0.00,1.90,0.00,0.000,4,0.000,0.024,3413,1104,2035,0,0,0,0,0,0,28.83,26.93,28.83
$GC,6641,1.35,173.3,99.2,11.1,542,6650,0.00,1.90,0.00,0.000,6,0.000,0.022,3413,2423,2034,0,0,0,0,0,0,28.83,26.98,28.83
$GC,6714,1.35,173.3,90.3,12.1,551,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2424,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6787,1.35,173.3,81.5,12.4,560,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2423,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6859,1.37,187.2,74.5,9.3,569,6868,0.00,0.00,6.62,0.278,6,0.000,0.000,3413,2423,1973,0,0,0,0,0,0,28.83,28.83,26.72
$GC,6934,1.37,187.2,66.4,11.8,578,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2423,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7007,1.37,187.2,57.8,11.9,587,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2422,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7079,1.37,187.2,49.8,10.5,596,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2423,1978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7152,1.39,203.6,42.8,9.1,605,7169,0.00,1.90,6.75,0.216,4,0.000,0.024,3420,1104,1907,0,0,0,0,0,0,28.83,27.14,26.87
$GC,7256,1.40,212.4,33.3,9.6,622,7266,0.00,1.88,3.72,0.201,6,0.000,0.021,3421,2428,1869,0,0,0,0,0,0,28.83,27.18,26.90
$GC,7332,1.52,308.2,29.4,4.5,631,7381,0.12,2.05,36.42,0.181,4,0.078,0.034,3514,3812,1477,0,0,0,0,0,0,27.21,27.01,26.80
$STATE,7512,end climb,SURFACE_DEPTH_REACHED
$STATE,7512,begin surface coast
$FINISH,0.8,1.023161
$STATE,7521,end surface coast,CONTROL_FINISHED_OK
$STATE,7521,begin surface
$SM_CCo,7537,23.17,0.120,0,0,1206,375.06
$SM_GC,0.86,8.32,1.52,23.17,0.026,0.016,0.120,169,2679,1206,-8.63,4.18,375.06,0,0,0,0,0,0,27.13,27.18,26.90
$IRIDIUM_FIX,2655.98,-7002.05,130814,212112
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.71
$INTERNAL_PRESSURE,9.12272
$TCM_TEMP,22.60
$XPDR_PINGS,17
$24V_AH,25.2,9.021
$10V_AH,10.5,7.339
$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,19.625,90.575,253.125,23.175,0.000,23.518,50.254,93.863,4.250,0.000,5.889,1658.996,2933.642,408.595,2739.341,79.721,33.240,1247.137,0.000,2564.937,0.000,0.552,0.000
$DEVICE_MAMPS,200.430,36.720,945.540,120.105,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,439.515,2152.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334144
$DATA_FILE_SIZE,36897,661
$CAP_FILE_SIZE,102665,0
$CFSIZE,1024393216,1018626048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,015128,2704.790,-7004.905,36,1.3,36,-12.2