version: 66.10
glider: 200
mission: 4
dive: 30
start: 8 13 114 14 53 54
data:
$ID,200
$MISSION,4
$DIVE,30
$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,-1126.9823
$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,144
$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
$GPS1,130814,144254,2713.455,-7004.040,14,1.0,14,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-65.3
$GPS2,130814,145257,2713.392,-7003.999,5,0.8,6,-12.2
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.077,-0.187
$KALMAN_X,-14839.9,130.1,-77.8,17537.9,474.7
$KALMAN_Y,-36947.6,520.8,219.0,-49279.4,-2448.8
$MHEAD_RNG_PITCHd_Wd,214.5,24858,-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,-62.47,0.000,2,0.000,0.000,162,2665,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.28,-116.8,3.6,-6.8,8,107,8.50,1.90,-5.68,0.000,4,0.201,0.037,2551,1313,3216,0,0,0,0,0,0,26.78,27.04,27.26
$GC,182,-1.28,-116.8,35.9,-28.8,24,191,0.00,1.92,0.00,0.000,6,0.000,0.026,2543,2646,3216,0,0,0,0,0,0,28.83,27.06,28.83
$GC,257,-1.28,-116.8,53.6,-23.7,33,265,0.00,1.75,0.00,0.000,4,0.000,0.036,2533,3840,3216,0,0,0,0,0,0,28.83,27.08,28.83
$GC,290,-1.28,-116.8,62.6,-25.4,38,299,0.00,1.55,0.00,0.000,6,0.000,0.017,2533,2617,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,364,-1.28,-116.8,78.4,-20.1,47,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2617,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,436,-1.28,-116.8,92.5,-18.9,56,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2616,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,509,-1.28,-116.8,106.4,-18.8,65,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2617,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,581,-1.28,-116.8,119.9,-18.7,74,589,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2617,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,654,-1.28,-116.8,133.5,-18.9,83,662,0.00,1.75,0.00,0.000,4,0.000,0.019,2533,1340,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,779,-1.28,-116.8,157.2,-18.4,104,789,0.10,1.88,0.00,0.000,6,0.136,0.024,2557,2655,3218,0,0,0,0,0,0,27.08,27.24,28.83
$GC,853,-1.28,-116.8,169.6,-16.3,113,862,0.00,1.83,0.00,0.000,4,0.000,0.019,2558,1338,3218,0,0,0,0,0,0,28.83,27.27,28.83
$GC,893,-1.28,-116.8,176.3,-17.1,119,898,0.00,1.85,0.00,0.000,6,0.000,0.024,2549,2668,3217,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1090,-1.28,-116.8,208.7,-16.6,132,1093,0.00,1.80,0.00,0.000,4,0.000,0.019,2549,1360,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1188,-1.28,-116.8,225.1,-16.2,138,1194,0.00,1.88,0.00,0.000,6,0.000,0.024,2539,2672,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1385,-1.28,-116.8,258.4,-17.5,151,1388,0.00,1.80,0.00,0.000,4,0.000,0.019,2539,1362,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1450,-1.28,-116.8,270.3,-17.8,155,1457,0.12,1.85,0.00,0.000,6,0.161,0.024,2563,2661,3217,0,0,0,0,0,0,27.15,27.30,28.83
$GC,1645,-1.28,-116.8,302.6,-16.2,168,1649,0.00,1.80,0.00,0.000,4,0.000,0.019,2563,1358,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1727,-1.28,-116.8,315.8,-16.0,173,1733,0.00,1.90,0.00,0.000,6,0.000,0.024,2554,2669,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1924,-1.28,-116.8,347.0,-15.9,186,1927,0.00,1.80,0.00,0.000,4,0.000,0.019,2554,1361,3214,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2007,-1.28,-116.8,360.2,-15.8,191,2012,0.00,1.90,0.00,0.000,6,0.000,0.024,2545,2657,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2202,-1.28,-116.8,391.3,-16.0,204,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2657,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2382,-1.28,-116.8,419.5,-15.8,216,2385,0.00,1.77,0.00,0.000,4,0.000,0.020,2545,1360,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2464,-1.28,-116.8,432.5,-15.8,221,2470,0.00,1.85,0.00,0.000,6,0.000,0.024,2534,2669,3212,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2660,-1.28,-116.8,465.6,-17.0,234,2664,0.00,1.80,0.00,0.000,4,0.000,0.020,2534,1363,3212,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2726,-1.28,-116.8,477.0,-17.1,238,2733,0.12,1.85,0.00,0.000,6,0.161,0.025,2559,2664,3211,0,0,0,0,0,0,27.20,27.35,28.83
$STATE,2875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2876,begin apogee
$GC,2879,-0.25,0.0,501.0,-15.7,248,2968,0.95,0.00,83.90,0.952,6,0.112,0.000,2888,2430,2735,0,0,0,0,0,0,27.20,28.83,25.46
$STATE,2969,end apogee,CONTROL_FINISHED_OK
$STATE,2969,begin climb
$GC,2970,1.28,116.8,505.6,0.0,251,3064,1.35,2.12,86.38,0.936,4,0.057,0.032,3387,3818,2257,0,0,0,0,0,0,26.07,25.78,25.19
$GC,3105,1.32,148.2,498.0,8.3,256,3133,0.00,1.88,21.83,1.242,6,0.000,0.016,3393,2459,2134,0,0,0,0,0,0,28.83,26.29,24.98
$GC,3326,1.32,148.2,468.0,13.3,271,3332,0.00,1.95,0.00,0.000,4,0.000,0.024,3397,1075,2138,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3430,1.32,148.2,454.9,13.4,277,3440,0.00,1.98,0.00,0.000,6,0.000,0.021,3397,2438,2139,0,0,0,0,0,0,28.83,26.84,28.83
$GC,3619,1.32,148.2,428.6,13.6,290,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,2438,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3799,1.32,148.2,403.9,13.7,302,3804,0.00,1.92,0.00,0.000,4,0.000,0.024,3398,1086,2138,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3854,1.32,148.2,397.2,14.2,305,3864,0.00,1.92,0.00,0.000,6,0.000,0.021,3398,2427,2138,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4043,1.32,148.2,369.8,14.5,318,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2427,2138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4223,1.32,148.2,344.4,14.2,330,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2427,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4403,1.32,148.2,319.5,13.8,342,4408,0.00,1.88,0.00,0.000,4,0.000,0.024,3405,1084,2136,0,0,0,0,0,0,28.83,27.21,28.83
$GC,4491,1.32,148.2,308.2,14.0,347,4501,0.00,1.90,0.00,0.000,6,0.000,0.021,3405,2421,2136,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4681,1.32,148.2,279.9,14.3,360,4687,0.00,1.88,0.00,0.000,4,0.000,0.024,3413,1076,2136,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4743,1.32,148.2,270.7,14.3,364,4749,0.00,1.90,0.00,0.000,6,0.000,0.021,3412,2434,2136,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4939,1.32,148.2,242.8,14.2,377,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2434,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5118,1.32,148.2,216.8,14.6,389,5124,0.00,1.90,0.00,0.000,4,0.000,0.024,3417,1071,2135,0,0,0,0,0,0,28.83,27.28,28.83
$GC,5150,1.32,148.2,212.5,14.4,391,5155,0.00,1.90,0.00,0.000,6,0.000,0.021,3417,2431,2135,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5346,1.32,148.2,184.9,13.9,404,5351,0.00,1.90,0.00,0.000,4,0.000,0.024,3425,1079,2135,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5410,1.32,148.2,176.1,13.7,408,5415,0.00,1.90,0.00,0.000,6,0.000,0.021,3425,2423,2134,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5601,1.32,148.2,151.4,12.5,431,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2423,2135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5673,1.32,148.2,142.8,11.9,440,5682,0.00,1.92,0.00,0.000,4,0.000,0.025,3426,1077,2134,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5788,1.32,148.2,130.1,11.3,459,5796,0.00,1.90,0.00,0.000,6,0.000,0.022,3426,2423,2135,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5861,1.32,148.2,122.2,10.9,468,5870,0.00,2.03,0.00,0.000,4,0.000,0.034,3426,3813,2134,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5906,1.32,148.2,116.8,12.2,475,5916,0.10,1.85,0.00,0.000,6,0.149,0.017,3400,2414,2134,0,0,0,0,0,0,27.16,27.38,28.83
$GC,5980,1.32,148.2,108.4,10.8,484,5989,0.00,1.85,0.00,0.000,4,0.000,0.024,3409,1101,2134,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6077,1.32,148.2,97.6,10.7,500,6086,0.00,1.88,0.00,0.000,6,0.000,0.022,3409,2431,2134,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6150,1.32,148.2,89.7,10.8,509,6159,0.00,2.00,0.00,0.000,4,0.000,0.034,3409,3807,2134,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6369,1.34,159.8,67.8,9.4,546,6379,0.00,1.83,4.88,0.260,6,0.000,0.017,3418,2412,2084,0,0,0,0,0,0,28.83,27.40,26.97
$GC,6445,1.39,206.7,61.9,7.4,555,6469,0.00,0.00,19.65,0.253,6,0.000,0.000,3418,2412,1895,0,0,0,0,0,0,28.83,28.83,26.89
$GC,6535,1.41,219.5,53.9,9.4,566,6545,0.00,1.90,5.47,0.241,4,0.000,0.024,3418,1098,1842,0,0,0,0,0,0,28.83,27.20,26.90
$GC,6564,1.42,227.5,50.9,9.6,570,6574,0.00,1.88,3.60,0.230,6,0.000,0.021,3418,2424,1809,0,0,0,0,0,0,28.83,27.22,26.90
$GC,6640,1.42,227.5,42.4,11.4,579,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2424,1811,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6712,1.44,242.8,34.8,9.2,588,6730,0.00,2.03,6.28,0.208,4,0.000,0.034,3418,3802,1749,0,0,0,0,0,0,28.83,27.17,26.94
$GC,6790,1.44,242.8,27.3,10.9,600,6798,0.00,1.80,0.00,0.000,6,0.000,0.016,3425,2423,1749,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6863,1.47,265.6,20.4,8.8,609,6880,0.00,2.05,8.65,0.168,4,0.000,0.033,3424,3816,1651,0,0,0,0,0,0,28.83,27.16,26.98
$GC,6929,1.47,265.6,13.4,11.4,619,6937,0.00,1.83,0.00,0.000,6,0.000,0.016,3432,2436,1652,0,0,0,0,0,0,28.83,27.27,28.83
$GC,7002,1.47,265.6,4.8,11.2,628,7010,0.00,2.03,0.00,0.000,4,0.000,0.034,3432,3812,1652,0,0,0,0,0,0,28.83,27.20,28.83
$STATE,7023,end climb,SURFACE_DEPTH_REACHED
$STATE,7023,begin surface coast
$FINISH,-0.1,1.023038
$STATE,7036,end surface coast,CONTROL_FINISHED_OK
$STATE,7036,begin surface
$SM_CCo,7052,37.80,0.119,0,0,1203,375.06
$SM_GC,0.82,8.10,1.52,37.80,0.026,0.015,0.119,165,2667,1203,-8.65,4.01,375.06,0,0,0,0,0,0,27.24,27.29,26.98
$IRIDIUM_FIX,2703.24,-7003.50,130814,141417
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.33
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,23.10
$XPDR_PINGS,18
$24V_AH,25.0,8.602
$10V_AH,10.5,6.836
$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,19.350,93.775,240.625,37.800,0.000,48.004,118.654,112.451,4.500,0.000,6.911,1604.572,2696.224,386.648,2757.805,77.209,33.230,1197.951,0.000,2468.812,0.000,0.553,0.000
$DEVICE_MAMPS,201.195,57.375,1242.360,119.340,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.122,2063.287,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334084
$DATA_FILE_SIZE,33653,633
$CAP_FILE_SIZE,101060,0
$CFSIZE,1024393216,1018888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130814,165305,2711.774,-7004.099,26,1.0,26,-12.2