version: 66.10
glider: 200
mission: 4
dive: 41
start: 8 14 114 20 14 33
data:
$ID,200
$MISSION,4
$DIVE,41
$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,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,-1140.7747
$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,146
$R_STBD_OVSHOOT,52
$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
$GPS1,140814,200604,2655.198,-7007.107,29,1.5,29,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.5
$GPS2,140814,201336,2655.102,-7007.003,5,1.0,6,-12.1
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.126,-0.157
$KALMAN_X,-3961.0,107.0,45.5,1647.0,1582.4
$KALMAN_Y,-56571.6,201.0,375.7,-63371.2,-3165.4
$MHEAD_RNG_PITCHd_Wd,230.8,46606,-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,-63.20,0.000,2,0.000,0.000,150,2650,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.3,-5.9,8,108,8.52,1.77,-5.80,0.000,4,0.200,0.053,2546,3848,3215,0,0,0,0,0,0,26.79,27.02,27.27
$GC,183,-1.28,-116.8,37.3,-34.6,24,192,0.00,1.55,0.00,0.000,6,0.000,0.016,2546,2615,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,258,-1.28,-116.8,57.8,-26.0,33,266,0.00,1.75,0.00,0.000,4,0.000,0.019,2545,1342,3215,0,0,0,0,0,0,28.83,27.14,28.83
$GC,274,-1.28,-116.8,61.9,-24.0,35,283,0.00,1.90,0.00,0.000,6,0.000,0.024,2534,2663,3215,0,0,0,0,0,0,28.83,27.11,28.83
$GC,347,-1.28,-116.8,79.5,-23.4,44,356,0.00,1.70,0.00,0.000,4,0.000,0.036,2526,3828,3216,0,0,0,0,0,0,28.83,27.12,28.83
$GC,427,-1.28,-116.8,96.5,-21.0,57,436,0.08,1.48,0.00,0.000,6,0.148,0.016,2553,2664,3216,0,0,0,0,0,0,27.01,27.24,28.83
$GC,501,-1.28,-116.8,111.1,-19.2,66,510,0.00,1.83,0.00,0.000,4,0.000,0.019,2553,1338,3217,0,0,0,0,0,0,28.83,27.21,28.83
$GC,546,-1.28,-116.8,118.9,-17.1,73,555,0.00,1.90,0.00,0.000,6,0.000,0.024,2545,2665,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,619,-1.28,-116.8,131.9,-18.1,82,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2665,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,692,-1.28,-116.8,144.6,-17.2,91,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2665,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,764,-1.28,-116.8,157.2,-17.4,100,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2665,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,837,-1.28,-116.8,170.2,-18.3,109,845,0.00,1.83,0.00,0.000,4,0.000,0.019,2545,1341,3217,0,0,0,0,0,0,28.83,27.28,28.83
$GC,900,-1.28,-116.8,180.3,-18.3,115,910,0.00,1.90,0.00,0.000,6,0.000,0.024,2534,2664,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1090,-1.28,-116.8,214.7,-17.2,128,1094,0.00,1.80,0.00,0.000,4,0.000,0.019,2534,1357,3218,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1205,-1.28,-116.8,234.5,-17.1,135,1211,0.12,1.88,0.00,0.000,6,0.164,0.024,2557,2667,3217,0,0,0,0,0,0,27.13,27.29,28.83
$GC,1400,-1.28,-116.8,265.2,-15.9,148,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2668,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1580,-1.28,-116.8,293.9,-16.1,160,1583,0.00,1.83,0.00,0.000,4,0.000,0.019,2558,1360,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1662,-1.28,-116.8,304.6,-16.1,164,1666,0.00,1.90,0.00,0.000,6,0.000,0.024,2549,2660,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1974,-1.28,-116.8,357.6,-16.1,175,1977,0.00,1.80,0.00,0.000,4,0.000,0.019,2549,1356,3215,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2097,-1.28,-116.8,376.8,-16.0,179,2101,0.00,1.92,0.00,0.000,6,0.000,0.024,2539,2669,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2424,-1.28,-116.8,431.2,-16.5,190,2427,0.00,1.80,0.00,0.000,4,0.000,0.020,2539,1365,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2544,-1.28,-116.8,451.6,-17.1,194,2548,0.12,1.88,0.00,0.000,6,0.161,0.024,2563,2671,3212,0,0,0,0,0,0,27.18,27.35,28.83
$STATE,2869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2869,begin apogee
$GC,2873,-0.25,0.0,502.0,-15.1,205,2961,0.93,0.00,83.82,0.928,6,0.111,0.000,2884,2437,2736,0,0,0,0,0,0,27.20,28.83,25.51
$STATE,2962,end apogee,CONTROL_FINISHED_OK
$STATE,2962,begin climb
$GC,2964,1.28,116.8,506.0,0.0,208,3059,1.35,2.15,86.30,0.903,4,0.057,0.034,3386,3816,2256,0,0,0,0,0,0,26.10,25.84,25.26
$GC,3093,1.31,141.1,498.6,8.7,212,3115,0.00,1.88,16.40,1.154,6,0.000,0.016,3391,2452,2161,0,0,0,0,0,0,28.83,26.29,25.14
$GC,3436,1.31,141.1,450.1,13.9,224,3437,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2452,2167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3736,1.31,141.1,407.8,14.1,234,3740,0.00,1.92,0.00,0.000,4,0.000,0.024,3391,1089,2166,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3828,1.31,141.1,395.5,13.7,237,3834,0.00,1.92,0.00,0.000,6,0.000,0.021,3391,2435,2166,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4156,1.31,141.1,351.8,13.0,248,4160,0.00,1.90,0.00,0.000,4,0.000,0.024,3391,1080,2165,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4224,1.31,141.1,345.0,12.6,250,4229,0.00,1.90,0.00,0.000,6,0.000,0.021,3391,2421,2165,0,0,0,0,0,0,28.83,27.21,28.83
$GC,4541,1.31,141.1,303.5,12.8,261,4545,0.00,1.88,0.00,0.000,4,0.000,0.024,3391,1080,2165,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4630,1.31,141.1,292.4,12.7,265,4635,0.00,1.88,0.00,0.000,6,0.000,0.021,3391,2437,2164,0,0,0,0,0,0,28.83,27.27,28.83
$GC,4826,1.31,141.1,266.8,13.3,278,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2438,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5005,1.31,141.1,243.1,13.3,290,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2438,2164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5185,1.31,141.1,220.0,12.4,302,5190,0.00,1.88,0.00,0.000,4,0.000,0.024,3391,1091,2163,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5232,1.31,141.1,214.1,12.5,305,5238,0.00,1.85,0.00,0.000,6,0.000,0.021,3391,2435,2163,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5429,1.31,141.1,191.4,11.4,318,5434,0.00,1.88,0.00,0.000,4,0.000,0.024,3391,1088,2163,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5482,1.31,141.1,186.2,11.2,321,5491,0.00,1.90,0.00,0.000,6,0.000,0.021,3391,2426,2163,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5678,1.31,141.1,164.6,11.0,340,5687,0.00,1.90,0.00,0.000,4,0.000,0.024,3392,1093,2163,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5724,1.31,141.1,159.6,10.2,347,5732,0.00,1.88,0.00,0.000,6,0.000,0.021,3392,2424,2163,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5797,1.31,141.1,151.7,10.5,356,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2425,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,1.31,141.1,143.6,11.5,365,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2425,2163,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5942,1.31,141.1,135.3,11.0,374,5951,0.00,2.03,0.00,0.000,4,0.000,0.034,3392,3816,2163,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6074,1.31,141.1,119.5,11.2,396,6082,0.00,1.85,0.00,0.000,6,0.000,0.017,3394,2412,2164,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6147,1.32,149.6,112.3,9.6,405,6156,0.00,0.00,4.25,0.708,6,0.000,0.000,3394,2412,2130,0,0,0,0,0,0,28.83,28.83,26.44
$GC,6222,1.33,156.3,105.4,9.7,414,6232,0.00,2.10,4.03,0.633,4,0.000,0.034,3394,3819,2103,0,0,0,0,0,0,28.83,27.19,26.44
$GC,6247,1.34,166.2,102.9,9.5,417,6257,0.00,1.85,5.50,0.679,6,0.000,0.017,3394,2421,2058,0,0,0,0,0,0,28.83,27.29,26.39
$GC,6323,1.34,166.6,95.3,10.1,426,6331,0.00,1.90,0.00,0.000,4,0.000,0.025,3394,1091,2065,0,0,0,0,0,0,28.83,27.17,28.83
$GC,6379,1.34,166.6,89.3,10.2,435,6389,0.00,1.88,0.82,0.240,6,0.000,0.021,3394,2417,2061,0,0,0,0,0,0,28.83,27.20,26.80
$GC,6453,1.34,166.6,81.4,11.3,444,6462,0.00,2.03,0.00,0.000,4,0.000,0.034,3394,3802,2063,0,0,0,0,0,0,28.83,27.18,28.83
$GC,6499,1.34,166.6,76.4,11.2,451,6508,0.00,1.83,0.00,0.000,6,0.000,0.016,3403,2410,2063,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6573,1.38,194.1,69.8,8.5,460,6589,0.00,0.00,12.15,0.268,6,0.000,0.000,3403,2410,1946,0,0,0,0,0,0,28.83,28.83,26.82
$GC,6655,1.41,217.3,62.5,8.7,470,6673,0.00,2.03,10.18,0.255,4,0.000,0.032,3403,3809,1852,0,0,0,0,0,0,28.83,27.10,26.80
$GC,6733,1.41,217.3,54.1,12.3,482,6741,0.00,1.83,0.00,0.000,6,0.000,0.016,3405,2424,1854,0,0,0,0,0,0,28.83,27.22,28.83
$GC,6806,1.41,217.3,46.4,10.3,491,6814,0.00,1.88,0.00,0.000,4,0.000,0.024,3405,1105,1853,0,0,0,0,0,0,28.83,27.18,28.83
$GC,6846,1.45,254.5,42.9,7.9,497,6870,0.00,1.88,15.15,0.210,6,0.000,0.021,3405,2431,1698,0,0,0,0,0,0,28.83,27.20,26.84
$GC,6937,1.49,281.5,34.9,8.5,508,6954,0.12,0.00,10.57,0.193,6,0.076,0.000,3498,2431,1586,0,0,0,0,0,0,27.18,28.83,26.84
$GC,7019,1.49,281.5,24.4,14.3,518,7029,0.15,2.03,0.00,0.000,4,0.145,0.032,3452,3812,1588,0,0,0,0,0,0,26.98,27.11,28.83
$GC,7054,1.49,281.5,19.1,14.8,523,7063,0.00,1.83,0.00,0.000,6,0.000,0.016,3458,2421,1588,0,0,0,0,0,0,28.83,27.20,28.83
$GC,7127,1.49,281.5,8.8,14.0,532,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2421,1588,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7175,end climb,SURFACE_DEPTH_REACHED
$STATE,7175,begin surface coast
$FINISH,0.8,1.023065
$STATE,7184,end surface coast,CONTROL_FINISHED_OK
$STATE,7184,begin surface
$SM_CCo,7198,32.83,0.119,0,0,1204,375.06
$SM_GC,0.26,8.18,0.30,32.83,0.026,0.048,0.119,167,2654,1204,-8.64,-2.04,375.06,0,0,0,0,0,0,27.17,27.19,26.94
$IRIDIUM_FIX,2646.31,-7009.07,140814,171709
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.20
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,23.20
$XPDR_PINGS,19
$24V_AH,25.1,9.670
$10V_AH,10.5,8.273
$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,19.575,86.450,249.175,32.825,0.000,24.046,43.140,146.783,4.750,0.000,6.682,1393.918,3481.748,395.119,2194.040,69.469,33.236,1153.395,0.000,1967.607,0.000,0.552,0.000
$DEVICE_MAMPS,199.665,58.140,1153.620,118.575,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.512,1446.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334244
$DATA_FILE_SIZE,30233,539
$CAP_FILE_SIZE,96320,0
$CFSIZE,1024393216,1018118144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,221553,2653.394,-7007.084,15,1.1,15,-12.1