version: 66.10
glider: 200
mission: 4
dive: 42
start: 8 14 114 22 25 24
data:
$ID,200
$MISSION,4
$DIVE,42
$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,-1142.0291
$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,153
$R_STBD_OVSHOOT,61
$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
$GPS1,140814,221553,2653.394,-7007.084,15,1.1,15,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-67.0
$GPS2,140814,222428,2653.253,-7006.879,5,1.8,5,-12.1
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.163,-0.120
$KALMAN_X,-2486.0,202.2,-77.9,402.9,1912.2
$KALMAN_Y,-58049.9,5.5,241.7,-64985.4,-3067.0
$MHEAD_RNG_PITCHd_Wd,245.7,43176,-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,-63.33,0.000,2,0.000,0.000,161,2656,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.9,-6.8,8,101,8.50,1.90,-4.80,0.000,4,0.199,0.036,2553,1310,3215,0,0,0,0,0,0,26.74,27.01,27.24
$GC,142,-1.28,-116.8,25.2,-29.1,17,151,0.00,1.95,0.00,0.000,6,0.000,0.024,2545,2659,3216,0,0,0,0,0,0,28.83,27.03,28.83
$GC,217,-1.28,-116.8,47.6,-31.1,26,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2659,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,289,-1.28,-116.8,65.8,-23.0,35,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2659,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,361,-1.28,-116.8,82.7,-23.3,44,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2659,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,434,-1.28,-116.8,96.7,-19.3,53,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2659,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,506,-1.28,-116.8,110.5,-19.0,62,515,0.00,1.88,0.00,0.000,4,0.000,0.019,2545,1310,3217,0,0,0,0,0,0,28.83,27.19,28.83
$GC,592,-1.28,-116.8,126.1,-17.8,76,600,0.00,1.92,0.00,0.000,6,0.000,0.024,2535,2657,3217,0,0,0,0,0,0,28.83,27.20,28.83
$GC,665,-1.28,-116.8,138.7,-17.4,85,673,0.00,1.73,0.00,0.000,4,0.000,0.036,2526,3842,3217,0,0,0,0,0,0,28.83,27.19,28.83
$GC,699,-1.28,-116.8,145.0,-19.2,90,708,0.08,1.52,0.00,0.000,6,0.143,0.017,2552,2636,3217,0,0,0,0,0,0,27.06,27.28,28.83
$GC,772,-1.28,-116.8,157.8,-16.9,99,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2636,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,845,-1.28,-116.8,169.8,-16.4,108,853,0.00,1.77,0.00,0.000,4,0.000,0.020,2553,1343,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,886,-1.28,-116.8,176.3,-16.7,114,891,0.00,1.88,0.00,0.000,6,0.000,0.024,2544,2655,3217,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1082,-1.28,-116.8,208.4,-16.7,127,1086,0.00,1.77,0.00,0.000,4,0.000,0.019,2544,1357,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1172,-1.28,-116.8,222.8,-17.2,132,1182,0.00,1.90,0.00,0.000,6,0.000,0.024,2533,2664,3217,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1361,-1.28,-116.8,256.1,-16.7,145,1364,0.00,1.80,0.00,0.000,4,0.000,0.019,2534,1359,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1410,-1.28,-116.8,264.7,-16.9,148,1417,0.10,1.88,0.00,0.000,6,0.176,0.024,2554,2674,3217,0,0,0,0,0,0,27.14,27.30,28.83
$GC,1607,-1.28,-116.8,296.4,-15.9,161,1610,0.00,1.80,0.00,0.000,4,0.000,0.019,2554,1365,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1657,-1.28,-116.8,301.9,-16.0,163,1662,0.00,1.90,0.00,0.000,6,0.000,0.024,2546,2658,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1971,-1.28,-116.8,354.5,-15.9,174,1974,0.00,1.80,0.00,0.000,4,0.000,0.019,2546,1354,3215,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2133,-1.28,-116.8,378.8,-16.0,179,2138,0.00,1.92,0.00,0.000,6,0.000,0.024,2536,2664,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2450,-1.28,-116.8,432.9,-16.7,190,2453,0.00,1.80,0.00,0.000,4,0.000,0.019,2536,1359,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2570,-1.28,-116.8,453.1,-16.8,194,2575,0.12,1.88,0.00,0.000,6,0.161,0.024,2560,2672,3213,0,0,0,0,0,0,27.18,27.35,28.83
$STATE,2895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2895,begin apogee
$GC,2899,-0.25,0.0,503.4,-15.1,205,2988,0.95,0.00,84.07,0.935,6,0.112,0.000,2889,2432,2736,0,0,0,0,0,0,27.20,28.83,25.51
$STATE,2989,end apogee,CONTROL_FINISHED_OK
$STATE,2989,begin climb
$GC,2990,1.28,116.8,507.3,0.0,208,3085,1.33,2.17,86.25,0.913,4,0.056,0.034,3384,3820,2256,0,0,0,0,0,0,26.13,25.84,25.27
$GC,3107,1.32,145.7,500.1,8.4,212,3131,0.00,1.85,19.92,1.184,6,0.000,0.016,3393,2443,2142,0,0,0,0,0,0,28.83,26.20,25.04
$GC,3432,1.32,145.7,457.3,13.4,222,3435,0.00,1.90,0.00,0.000,4,0.000,0.024,3397,1094,2148,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3465,1.32,145.7,454.1,13.2,223,3469,0.00,1.92,0.00,0.000,6,0.000,0.021,3398,2434,2148,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3787,1.32,145.7,408.5,14.1,234,3791,0.00,1.90,0.00,0.000,4,0.000,0.024,3406,1093,2147,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3851,1.32,145.7,400.6,14.3,236,3855,0.00,1.88,0.00,0.000,6,0.000,0.021,3406,2429,2147,0,0,0,0,0,0,28.83,27.11,28.83
$GC,4167,1.32,145.7,351.1,15.4,247,4171,0.00,1.88,0.00,0.000,4,0.000,0.024,3411,1088,2147,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4230,1.32,145.7,342.5,15.5,249,4234,0.00,1.90,0.00,0.000,6,0.000,0.021,3411,2427,2146,0,0,0,0,0,0,28.83,27.20,28.83
$GC,4540,1.32,145.7,293.4,15.4,260,4546,0.00,1.88,0.00,0.000,4,0.000,0.024,3412,1086,2145,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4604,1.32,145.7,284.1,14.7,264,4609,0.00,1.90,0.00,0.000,6,0.000,0.021,3412,2422,2145,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4799,1.32,145.7,256.5,14.1,277,4800,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2422,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,1.32,145.7,231.5,13.9,289,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,3412,2422,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5159,1.32,145.7,209.0,12.2,301,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2422,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5339,1.32,145.7,185.9,13.2,313,5344,0.00,1.88,0.00,0.000,4,0.000,0.024,3418,1086,2144,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5386,1.32,145.7,180.0,12.5,316,5392,0.00,1.85,0.00,0.000,6,0.000,0.021,3419,2429,2144,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5584,1.32,145.7,154.2,13.2,338,5592,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2429,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5656,1.32,145.7,144.7,13.0,347,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2429,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5729,1.32,145.7,135.8,12.3,356,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2429,2143,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5801,1.32,145.7,127.1,12.3,365,5810,0.00,2.00,0.00,0.000,4,0.000,0.034,3418,3803,2144,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5887,1.32,145.7,116.1,13.5,379,5896,0.00,1.83,0.00,0.000,6,0.000,0.017,3420,2421,2144,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5960,1.32,145.7,107.5,11.6,388,5969,0.00,2.03,0.00,0.000,4,0.000,0.034,3420,3806,2144,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5988,1.32,145.7,104.3,11.2,392,5997,0.08,1.83,0.00,0.000,6,0.163,0.017,3402,2418,2144,0,0,0,0,0,0,27.15,27.38,28.83
$GC,6062,1.33,156.6,97.1,9.5,401,6071,0.00,0.00,5.03,0.323,6,0.000,0.000,3402,2418,2102,0,0,0,0,0,0,28.83,28.83,26.86
$GC,6137,1.34,164.8,90.0,9.6,410,6146,0.00,0.00,4.40,0.307,6,0.000,0.000,3402,2418,2068,0,0,0,0,0,0,28.83,28.83,26.86
$GC,6212,1.34,164.8,81.4,11.6,419,6220,0.00,2.05,0.00,0.000,4,0.000,0.034,3402,3816,2072,0,0,0,0,0,0,28.83,27.25,28.83
$GC,6228,1.34,164.8,79.4,11.6,421,6237,0.00,1.83,0.00,0.000,6,0.000,0.017,3404,2432,2072,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6302,1.36,183.4,72.5,9.0,430,6319,0.00,1.90,8.68,0.273,4,0.000,0.021,3412,1094,1991,0,0,0,0,0,0,28.83,27.24,26.87
$GC,6356,1.37,184.9,67.5,10.0,438,6365,0.00,1.88,0.88,0.236,6,0.000,0.021,3412,2424,1986,0,0,0,0,0,0,28.83,27.26,26.89
$GC,6432,1.41,220.1,60.9,8.0,447,6456,0.00,2.05,15.20,0.249,4,0.000,0.035,3412,3812,1841,0,0,0,0,0,0,28.83,27.15,26.84
$GC,6521,1.41,220.1,51.3,12.0,461,6530,0.00,1.85,0.00,0.000,6,0.000,0.016,3412,2414,1842,0,0,0,0,0,0,28.83,27.26,28.83
$GC,6594,1.41,220.1,43.4,11.1,470,6603,0.00,1.88,0.00,0.000,4,0.000,0.024,3418,1094,1842,0,0,0,0,0,0,28.83,27.22,28.83
$GC,6611,1.42,224.3,41.8,9.9,472,6620,0.00,1.88,1.95,0.211,6,0.000,0.021,3418,2425,1822,0,0,0,0,0,0,28.83,27.23,26.92
$GC,6686,1.48,277.6,35.6,7.0,481,6719,0.00,2.05,21.10,0.197,4,0.000,0.034,3418,3812,1604,0,0,0,0,0,0,28.83,27.11,26.86
$GC,6761,1.48,277.6,28.7,10.9,492,6769,0.00,1.85,0.00,0.000,6,0.000,0.016,3420,2415,1604,0,0,0,0,0,0,28.83,27.22,28.83
$GC,6835,1.48,277.6,20.6,11.4,501,6844,0.00,1.88,0.00,0.000,4,0.000,0.024,3424,1097,1603,0,0,0,0,0,0,28.83,27.17,28.83
$GC,6880,1.48,277.6,14.9,12.1,508,6889,0.00,1.88,0.00,0.000,6,0.000,0.021,3424,2425,1602,0,0,0,0,0,0,28.83,27.21,28.83
$GC,6954,1.48,277.6,5.6,13.1,517,6962,0.00,2.03,0.00,0.000,4,0.000,0.034,3424,3813,1602,0,0,0,0,0,0,28.83,27.18,28.83
$STATE,6981,end climb,SURFACE_DEPTH_REACHED
$STATE,6981,begin surface coast
$FINISH,-0.0,1.023179
$STATE,6994,end surface coast,CONTROL_FINISHED_OK
$STATE,6994,begin surface
$SM_CCo,7010,34.17,0.118,0,0,1204,375.06
$SM_GC,0.58,8.07,1.52,34.17,0.025,0.016,0.118,160,2666,1204,-8.64,4.07,375.06,0,0,0,0,0,0,27.22,27.27,26.97
$IRIDIUM_FIX,2646.31,-7009.07,140814,202049
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.57
$INTERNAL_PRESSURE,9.16179
$TCM_TEMP,23.40
$XPDR_PINGS,18
$24V_AH,25.0,9.761
$10V_AH,10.5,8.366
$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,19.225,90.225,247.475,34.175,0.000,24.545,45.776,205.729,4.500,0.000,6.701,1360.971,3390.212,398.979,2183.554,78.767,33.274,1143.500,0.000,1908.123,0.000,0.553,0.000
$DEVICE_MAMPS,198.900,58.140,1184.220,117.810,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.841,1407.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334272
$DATA_FILE_SIZE,30322,523
$CAP_FILE_SIZE,95982,0
$CFSIZE,1024393216,1018052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150814,002400,2651.737,-7007.374,36,0.9,36,-12.1