version: 66.10
glider: 200
mission: 4
dive: 46
start: 8 15 114 17 28 8
data:
$ID,200
$MISSION,4
$DIVE,46
$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,-1202.2335
$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,170
$R_STBD_OVSHOOT,67
$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
$GPS1,150814,171404,2642.251,-7009.800,27,1.1,27,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.9
$GPS2,150814,172711,2642.162,-7009.739,6,1.1,6,-12.1
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.020,-0.201
$KALMAN_X,5989.0,-613.5,-444.6,-11554.5,1793.7
$KALMAN_Y,-70816.2,842.6,519.8,-73877.9,-2643.7
$MHEAD_RNG_PITCHd_Wd,197.9,23855,-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,14,begin dive
$GC,15,-1.28,-116.8,0.0,0.0,0,80,0.00,0.00,-62.80,0.000,2,0.000,0.000,165,2662,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.3,-5.1,8,100,8.55,0.00,-6.38,0.000,6,0.200,0.000,2554,2662,3215,0,0,0,0,0,0,26.65,28.83,27.17
$GC,166,-1.28,-116.8,29.5,-30.7,18,174,0.00,1.85,0.00,0.000,4,0.000,0.019,2554,1341,3216,0,0,0,0,0,0,28.83,26.99,28.83
$GC,228,-1.28,-116.8,47.1,-24.7,28,237,0.00,1.88,0.00,0.000,6,0.000,0.024,2546,2641,3215,0,0,0,0,0,0,28.83,27.01,28.83
$GC,301,-1.28,-116.8,65.0,-24.0,37,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2641,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,374,-1.28,-116.8,81.7,-21.3,46,382,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2641,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,446,-1.28,-116.8,96.6,-19.9,55,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2642,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,519,-1.28,-116.8,111.4,-20.0,64,527,0.00,1.83,0.00,0.000,4,0.000,0.018,2546,1326,3215,0,0,0,0,0,0,28.83,27.15,28.83
$GC,587,-1.28,-116.8,124.4,-20.0,75,596,0.00,1.92,0.00,0.000,6,0.000,0.024,2536,2669,3216,0,0,0,0,0,0,28.83,27.14,28.83
$GC,660,-1.28,-116.8,139.4,-20.0,84,669,0.00,1.85,0.00,0.000,4,0.000,0.018,2536,1331,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,786,-1.28,-116.8,161.8,-17.2,105,795,0.10,1.90,0.00,0.000,6,0.138,0.024,2559,2659,3216,0,0,0,0,0,0,26.99,27.19,28.83
$GC,860,-1.28,-116.8,174.0,-16.7,114,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2659,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-1.28,-116.8,185.7,-17.1,119,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2659,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1108,-1.28,-116.8,215.9,-17.0,131,1111,0.00,1.80,0.00,0.000,4,0.000,0.018,2560,1362,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1181,-1.28,-116.8,226.6,-16.1,135,1191,0.00,1.90,0.00,0.000,6,0.000,0.023,2551,2655,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1370,-1.28,-116.8,258.5,-16.4,148,1373,0.00,1.80,0.00,0.000,4,0.000,0.018,2551,1349,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1403,-1.28,-116.8,264.1,-16.5,150,1408,0.00,1.88,0.00,0.000,6,0.000,0.024,2541,2664,3216,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1598,-1.28,-116.8,297.2,-17.1,163,1601,0.00,1.80,0.00,0.000,4,0.000,0.018,2542,1358,3215,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1637,-1.28,-116.8,302.9,-16.8,165,1642,0.00,1.92,0.00,0.000,6,0.000,0.024,2532,2665,3214,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1960,-1.28,-116.8,357.3,-15.9,176,1963,0.00,1.80,0.00,0.000,4,0.000,0.018,2532,1359,3213,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2162,-1.28,-116.8,386.0,-15.9,182,2170,0.10,1.90,0.00,0.000,6,0.137,0.024,2555,2656,3212,0,0,0,0,0,0,27.12,27.32,28.83
$GC,2469,-1.28,-116.8,436.6,-15.2,193,2473,0.00,1.80,0.00,0.000,4,0.000,0.019,2556,1352,3210,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2552,-1.28,-116.8,445.9,-15.3,195,2560,0.00,1.92,0.00,0.000,6,0.000,0.024,2548,2660,3210,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2859,-1.28,-116.8,497.6,-15.7,206,2863,0.00,1.77,0.00,0.000,4,0.000,0.019,2548,1362,3208,0,0,0,0,0,0,28.83,27.35,28.83
$STATE,2888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2888,begin apogee
$GC,2893,-0.25,0.0,502.3,-15.7,207,2981,1.02,0.00,83.12,0.932,6,0.116,0.000,2889,2437,2736,0,0,0,0,0,0,27.15,28.83,25.45
$STATE,2982,end apogee,CONTROL_FINISHED_OK
$STATE,2982,begin climb
$GC,2983,1.28,116.8,506.5,0.0,210,3074,1.35,0.00,86.32,0.907,6,0.057,0.000,3388,2437,2258,0,0,0,0,0,0,26.05,28.83,25.20
$GC,3370,1.28,116.8,469.6,11.3,223,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2438,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3670,1.28,116.8,435.3,11.5,233,3673,0.00,1.88,0.00,0.000,4,0.000,0.024,3390,1109,2252,0,0,0,0,0,0,28.83,27.00,28.83
$GC,3728,1.28,116.8,428.7,11.6,235,3732,0.00,1.88,0.00,0.000,6,0.000,0.021,3389,2422,2252,0,0,0,0,0,0,28.83,27.03,28.83
$GC,4055,1.28,116.8,388.2,12.4,246,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2422,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4355,1.28,116.8,351.6,12.0,256,4358,0.00,1.85,0.00,0.000,4,0.000,0.024,3390,1110,2249,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4573,1.28,116.8,327.3,11.4,263,4577,0.00,1.88,0.00,0.000,6,0.000,0.021,3390,2429,2249,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4882,1.28,116.8,293.1,10.6,275,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2429,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,1.28,116.8,274.2,10.7,287,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2429,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5242,1.28,116.8,254.4,11.4,299,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2429,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5422,1.28,116.8,232.8,12.1,311,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2429,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5602,1.28,116.8,212.7,10.7,323,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2429,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5782,1.28,118.4,194.5,10.0,335,5786,0.00,1.85,0.00,0.000,4,0.000,0.024,3392,1128,2247,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5865,1.29,120.5,186.4,10.0,340,5870,0.00,1.83,0.00,0.000,6,0.000,0.021,3392,2437,2247,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6056,1.30,130.8,168.9,9.5,356,6072,0.00,2.00,7.78,0.916,4,0.000,0.033,3392,3801,2209,0,0,0,0,0,0,28.83,27.13,26.33
$GC,6245,1.30,130.8,146.1,12.3,388,6254,0.00,1.77,0.00,0.000,6,0.000,0.017,3392,2446,2210,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6318,1.30,130.8,138.0,10.6,397,6327,0.00,1.90,0.00,0.000,4,0.000,0.024,3392,1107,2210,0,0,0,0,0,0,28.83,27.22,28.83
$GC,6508,1.36,176.9,120.8,7.4,429,6541,0.00,1.88,25.58,0.880,6,0.000,0.021,3392,2429,2017,0,0,0,0,0,0,28.83,27.26,26.05
$GC,6607,1.36,176.9,111.9,11.2,441,6615,0.00,1.92,0.00,0.000,4,0.000,0.024,3392,1099,2019,0,0,0,0,0,0,28.83,26.88,28.83
$GC,6744,1.36,176.9,96.9,10.3,464,6753,0.00,1.90,0.00,0.000,6,0.000,0.021,3392,2423,2018,0,0,0,0,0,0,28.83,26.99,28.83
$GC,6818,1.36,176.9,88.9,10.9,473,6826,0.00,1.90,0.00,0.000,4,0.000,0.024,3393,1101,2018,0,0,0,0,0,0,28.83,27.03,28.83
$GC,6846,1.36,176.9,86.0,10.1,477,6854,0.00,1.88,0.00,0.000,6,0.000,0.021,3392,2421,2018,0,0,0,0,0,0,28.83,27.05,28.83
$GC,6919,1.38,199.3,79.1,8.8,486,6936,0.00,2.03,10.32,0.290,4,0.000,0.032,3392,3812,1926,0,0,0,0,0,0,28.83,26.98,26.65
$GC,7041,1.38,199.3,65.7,10.7,506,7050,0.00,1.83,0.00,0.000,6,0.000,0.016,3401,2415,1927,0,0,0,0,0,0,28.83,27.13,28.83
$GC,7114,1.38,199.3,58.1,10.2,515,7123,0.00,1.85,0.00,0.000,4,0.000,0.023,3403,1115,1927,0,0,0,0,0,0,28.83,27.09,28.83
$GC,7131,1.39,203.5,56.5,9.9,517,7141,0.00,1.85,1.92,0.255,6,0.000,0.021,3403,2423,1908,0,0,0,0,0,0,28.83,27.11,26.77
$GC,7205,1.44,240.9,50.3,7.9,526,7230,0.00,2.05,15.60,0.227,4,0.000,0.033,3403,3812,1756,0,0,0,0,0,0,28.83,27.01,26.74
$GC,7392,1.44,240.9,30.8,10.6,557,7401,0.00,1.80,0.00,0.000,6,0.000,0.015,3403,2436,1756,0,0,0,0,0,0,28.83,27.17,28.83
$GC,7465,1.45,251.7,23.5,9.5,566,7476,0.10,1.92,4.35,0.171,4,0.090,0.023,3482,1104,1708,0,0,0,0,0,0,27.17,27.12,26.89
$GC,7540,1.45,251.7,14.8,12.0,578,7549,0.12,1.88,0.00,0.000,6,0.125,0.021,3439,2440,1709,0,0,0,0,0,0,26.98,27.16,28.83
$GC,7615,1.45,251.7,6.5,10.9,587,7624,0.00,1.90,0.00,0.000,4,0.000,0.023,3440,1108,1709,0,0,0,0,0,0,28.83,27.15,28.83
$STATE,7654,end climb,SURFACE_DEPTH_REACHED
$STATE,7654,begin surface coast
$FINISH,-0.0,1.023062
$STATE,7673,end surface coast,CONTROL_FINISHED_OK
$STATE,7673,begin surface
$SM_CCo,7689,42.97,0.116,0,0,1205,375.06
$SM_GC,1.40,8.18,2.22,42.97,0.029,0.021,0.116,162,2634,1205,-8.65,-2.23,375.06,0,0,0,0,0,0,27.16,27.16,26.91
$IRIDIUM_FIX,2631.83,-7009.25,150814,171745
$TT8_MAMPS,0.028462,0.028462
$HUMID,44.48
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,24.00
$XPDR_PINGS,12
$24V_AH,25.2,10.315
$10V_AH,10.5,8.959
$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,19.525,78.725,235.000,42.975,0.000,51.180,65.215,194.410,3.000,0.000,6.662,1498.389,3796.992,383.507,2436.648,79.550,33.282,1124.674,0.000,2122.938,0.000,0.552,0.000
$DEVICE_MAMPS,199.665,32.895,931.770,116.280,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.306,1608.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334376
$DATA_FILE_SIZE,33576,596
$CAP_FILE_SIZE,94041,0
$CFSIZE,1024393216,1017659392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150814,193748,2640.572,-7009.366,14,1.0,14,-12.1