version: 66.10
glider: 200
mission: 4
dive: 28
start: 8 13 114 10 19 4
data:
$ID,200
$MISSION,4
$DIVE,28
$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,-1124.478
$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,158
$R_STBD_OVSHOOT,70
$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
$GPS1,130814,100659,2716.967,-7003.759,35,1.1,36,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-65.8
$GPS2,130814,101807,2716.860,-7003.717,6,1.1,6,-12.2
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.035,-0.199
$KALMAN_X,-15195.1,-140.2,-56.1,18599.4,95.0
$KALMAN_Y,-34152.5,421.9,74.1,-45404.0,-1813.8
$MHEAD_RNG_PITCHd_Wd,202.3,31297,-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,-116.8,0.0,0.0,0,79,0.00,0.00,-62.70,0.000,2,0.000,0.000,167,2667,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.28,-116.8,3.2,-5.9,8,107,8.50,1.90,-6.30,0.000,4,0.200,0.037,2554,1323,3215,0,0,0,0,0,0,26.70,26.97,27.20
$GC,239,-1.28,-116.8,48.7,-23.1,34,248,0.00,1.92,0.00,0.000,6,0.000,0.025,2546,2647,3215,0,0,0,0,0,0,28.83,27.03,28.83
$GC,313,-1.28,-116.8,65.3,-22.3,43,321,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2647,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,385,-1.28,-116.8,80.0,-20.0,52,394,0.00,1.85,0.00,0.000,4,0.000,0.019,2546,1319,3216,0,0,0,0,0,0,28.83,27.12,28.83
$GC,425,-1.28,-116.8,87.6,-18.4,58,434,0.00,1.95,0.00,0.000,6,0.000,0.024,2536,2667,3216,0,0,0,0,0,0,28.83,27.10,28.83
$GC,498,-1.28,-116.8,101.6,-19.0,67,507,0.00,1.70,0.00,0.000,4,0.000,0.037,2527,3830,3216,0,0,0,0,0,0,28.83,27.09,28.83
$GC,549,-1.28,-116.8,111.9,-20.9,75,559,0.08,1.50,0.00,0.000,6,0.148,0.017,2553,2646,3216,0,0,0,0,0,0,26.97,27.20,28.83
$GC,623,-1.28,-116.8,126.4,-18.8,84,632,0.00,1.80,0.00,0.000,4,0.000,0.019,2552,1340,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,686,-1.28,-116.8,138.2,-18.8,94,695,0.00,1.90,0.00,0.000,6,0.000,0.024,2544,2667,3216,0,0,0,0,0,0,28.83,27.16,28.83
$GC,759,-1.28,-116.8,151.7,-18.6,103,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2666,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,831,-1.28,-116.8,165.5,-18.7,112,840,0.00,1.85,0.00,0.000,4,0.000,0.019,2544,1333,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,889,-1.28,-116.8,176.3,-18.7,121,894,0.00,1.85,0.00,0.000,6,0.000,0.024,2534,2660,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1085,-1.28,-116.8,210.4,-17.2,134,1089,0.00,1.77,0.00,0.000,4,0.000,0.019,2534,1367,3216,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1208,-1.28,-116.8,230.9,-17.4,141,1218,0.10,1.90,0.00,0.000,6,0.138,0.024,2559,2659,3216,0,0,0,0,0,0,27.08,27.24,28.83
$GC,1396,-1.28,-116.8,262.5,-16.3,154,1400,0.00,1.80,0.00,0.000,4,0.000,0.019,2559,1356,3215,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1502,-1.28,-116.8,278.2,-16.0,160,1512,0.00,1.90,0.00,0.000,6,0.000,0.024,2550,2657,3215,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1691,-1.28,-116.8,311.1,-17.0,173,1695,0.00,1.80,0.00,0.000,4,0.000,0.019,2550,1354,3214,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1775,-1.28,-116.8,325.0,-16.7,178,1780,0.00,1.92,0.00,0.000,6,0.000,0.024,2540,2668,3214,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1971,-1.28,-116.8,359.1,-17.5,191,1975,0.00,1.80,0.00,0.000,4,0.000,0.019,2540,1364,3213,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2053,-1.28,-116.8,373.3,-17.3,196,2059,0.00,1.85,0.00,0.000,6,0.000,0.024,2531,2661,3213,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2249,-1.28,-116.8,407.2,-17.4,209,2252,0.00,1.80,0.00,0.000,4,0.000,0.019,2531,1358,3212,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2289,-1.28,-116.8,413.1,-17.5,211,2299,0.10,1.90,0.00,0.000,6,0.136,0.024,2556,2654,3211,0,0,0,0,0,0,27.15,27.32,28.83
$GC,2478,-1.28,-116.8,444.6,-15.7,224,2481,0.00,1.80,0.00,0.000,4,0.000,0.020,2555,1352,3210,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2544,-1.28,-116.8,455.1,-15.9,228,2550,0.00,1.90,0.00,0.000,6,0.000,0.024,2547,2670,3211,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2739,-1.28,-116.8,486.2,-15.8,241,2742,0.00,1.80,0.00,0.000,4,0.000,0.020,2548,1364,3209,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2821,-1.28,-116.8,499.4,-16.2,246,2826,0.00,1.85,0.00,0.000,6,0.000,0.024,2538,2665,3210,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,2836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2836,begin apogee
$GC,2840,-0.25,0.0,501.9,-16.2,247,2928,1.02,0.00,83.82,0.958,6,0.116,0.000,2888,2432,2736,0,0,0,0,0,0,27.17,28.83,25.41
$STATE,2929,end apogee,CONTROL_FINISHED_OK
$STATE,2929,begin climb
$GC,2931,1.28,116.8,506.5,0.0,250,3022,1.35,0.00,87.43,0.922,6,0.057,0.000,3387,2432,2259,0,0,0,0,0,0,26.01,28.83,25.16
$GC,3311,1.28,116.8,467.6,12.3,271,3317,0.00,1.88,0.00,0.000,4,0.000,0.024,3391,1105,2253,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3358,1.28,116.8,461.8,12.4,274,3363,0.00,1.88,0.00,0.000,6,0.000,0.021,3391,2440,2253,0,0,0,0,0,0,28.83,26.82,28.83
$GC,3554,1.28,116.8,437.3,12.5,287,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2439,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3733,1.28,116.8,415.2,12.1,299,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2440,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3913,1.28,116.8,393.6,11.8,311,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2439,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4093,1.28,116.8,372.4,12.0,323,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2440,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4273,1.28,116.8,351.9,11.3,335,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2439,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,1.28,116.8,331.6,11.1,347,4458,0.00,1.85,0.00,0.000,4,0.000,0.024,3397,1110,2250,0,0,0,0,0,0,28.83,27.20,28.83
$GC,4540,1.28,116.8,322.8,10.8,352,4550,0.00,1.88,0.00,0.000,6,0.000,0.021,3397,2427,2250,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4730,1.28,116.8,300.1,11.7,365,4733,0.00,1.85,0.00,0.000,4,0.000,0.025,3398,1124,2250,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4779,1.28,116.8,294.6,11.5,368,4784,0.00,1.83,0.00,0.000,6,0.000,0.021,3398,2429,2249,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4975,1.28,116.8,272.3,11.5,381,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2430,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5154,1.28,116.8,251.5,11.7,393,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2430,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5334,1.28,116.8,231.7,11.0,405,5338,0.00,1.83,0.00,0.000,4,0.000,0.024,3403,1131,2248,0,0,0,0,0,0,28.83,27.28,28.83
$GC,5433,1.28,116.8,220.9,11.0,411,5438,0.00,1.83,0.00,0.000,6,0.000,0.022,3403,2441,2248,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5629,1.28,116.8,199.6,10.7,424,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2441,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5808,1.28,116.8,178.9,11.5,436,5811,0.00,1.85,0.00,0.000,4,0.000,0.024,3410,1129,2247,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5985,1.29,126.2,160.5,9.6,461,5994,0.00,1.85,4.53,0.793,6,0.000,0.021,3410,2424,2223,0,0,0,0,0,0,28.83,27.32,26.35
$GC,6060,1.29,126.2,153.0,10.1,470,6068,0.00,1.88,0.00,0.000,4,0.000,0.024,3412,1110,2230,0,0,0,0,0,0,28.83,27.24,28.83
$GC,6094,1.31,140.3,149.7,9.3,475,6111,0.00,1.85,11.30,0.951,6,0.000,0.022,3412,2421,2168,0,0,0,0,0,0,28.83,27.27,26.19
$GC,6177,1.31,140.3,141.1,10.7,485,6185,0.00,2.05,0.00,0.000,4,0.000,0.034,3412,3812,2172,0,0,0,0,0,0,28.83,27.03,28.83
$GC,6262,1.31,140.3,130.8,12.5,499,6271,0.00,1.83,0.00,0.000,6,0.000,0.017,3419,2440,2172,0,0,0,0,0,0,28.83,27.16,28.83
$GC,6335,1.31,140.3,122.5,11.3,508,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2440,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,1.31,140.3,114.8,10.5,517,6417,0.00,1.92,0.00,0.000,4,0.000,0.025,3419,1093,2172,0,0,0,0,0,0,28.83,27.14,28.83
$GC,6477,1.31,140.3,107.8,10.6,528,6486,0.00,1.88,0.75,0.239,6,0.000,0.021,3419,2417,2169,0,0,0,0,0,0,28.83,27.18,26.78
$GC,6551,1.32,145.8,100.4,9.8,537,6559,0.00,0.00,3.35,0.584,6,0.000,0.000,3419,2417,2146,0,0,0,0,0,0,28.83,28.83,26.35
$GC,6625,1.32,145.8,92.9,10.7,546,6634,0.00,2.03,0.00,0.000,4,0.000,0.034,3419,3800,2149,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6792,1.32,145.8,74.0,10.8,574,6800,0.00,1.83,0.00,0.000,6,0.000,0.017,3425,2408,2149,0,0,0,0,0,0,28.83,27.24,28.83
$GC,6865,1.33,155.9,66.8,9.5,583,6874,0.00,0.00,4.82,0.266,6,0.000,0.000,3425,2408,2102,0,0,0,0,0,0,28.83,28.83,26.86
$GC,6940,1.36,176.0,60.2,8.9,592,6956,0.00,0.00,8.73,0.246,6,0.000,0.000,3425,2407,2021,0,0,0,0,0,0,28.83,28.83,26.84
$GC,7022,1.38,191.8,52.8,9.2,602,7039,0.00,1.88,6.60,0.235,4,0.000,0.024,3428,1106,1956,0,0,0,0,0,0,28.83,27.13,26.84
$GC,7296,1.45,254.8,27.8,6.4,649,7328,0.00,1.85,23.55,0.178,6,0.000,0.021,3428,2422,1695,0,0,0,0,0,0,28.83,27.22,26.89
$GC,7394,1.46,264.7,19.7,9.5,661,7404,0.00,2.08,3.53,0.189,4,0.000,0.034,3428,3816,1654,0,0,0,0,0,0,28.83,27.10,26.92
$STATE,7542,end climb,SURFACE_DEPTH_REACHED
$STATE,7542,begin surface coast
$FINISH,0.1,1.023282
$STATE,7556,end surface coast,CONTROL_FINISHED_OK
$STATE,7556,begin surface
$SM_CCo,7571,38.08,0.119,0,0,1205,375.06
$SM_GC,1.10,8.12,1.52,38.08,0.027,0.016,0.119,164,2673,1205,-8.65,4.18,375.06,0,0,0,0,0,0,27.17,27.24,26.92
$IRIDIUM_FIX,2710.51,-7004.95,130814,030338
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.82
$INTERNAL_PRESSURE,9.12272
$TCM_TEMP,23.00
$XPDR_PINGS,19
$24V_AH,25.2,8.410
$10V_AH,10.5,6.586
$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,19.275,85.250,238.400,38.075,0.000,24.694,45.848,153.257,4.750,0.000,7.822,1724.182,2876.668,392.608,2849.523,80.878,33.245,1196.048,0.000,2621.481,0.000,0.552,0.000
$DEVICE_MAMPS,199.665,56.610,957.780,118.575,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,458.347,2241.270,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334148
$DATA_FILE_SIZE,36813,688
$CAP_FILE_SIZE,101263,0
$CFSIZE,1024393216,1019019264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130814,122705,2715.169,-7003.801,36,1.0,36,-12.2