version: 66.10
glider: 200
mission: 4
dive: 36
start: 8 14 114 5 10 36
data:
$ID,200
$MISSION,4
$DIVE,36
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,500
$T_MISSION,530
$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,-1134.5061
$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,157
$R_STBD_OVSHOOT,69
$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
$GPS1,140814,050104,2702.810,-7005.441,31,1.0,31,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.4
$GPS2,140814,050940,2702.744,-7005.354,5,1.0,5,-12.2
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.127,0.095
$KALMAN_X,-9469.3,-354.0,-130.8,10490.9,4385.2
$KALMAN_Y,-45853.5,122.5,294.2,-59768.5,-7939.7
$MHEAD_RNG_PITCHd_Wd,319.1,5116,-16.6,-6.600
$D_GRID,990
$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,-0.96,-93.8,0.0,0.0,0,80,0.00,0.00,-62.92,0.000,2,0.000,0.000,157,2666,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.99,-116.8,3.3,-5.0,8,108,8.82,1.88,-5.88,0.000,4,0.200,0.037,2645,1322,3215,0,0,0,0,0,0,26.79,27.07,27.29
$GC,353,-0.99,-116.8,63.8,-17.7,54,361,0.00,1.92,0.00,0.000,6,0.000,0.024,2637,2653,3216,0,0,0,0,0,0,28.83,27.16,28.83
$GC,427,-0.99,-116.8,75.0,-15.3,63,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2653,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,499,-0.99,-116.8,86.9,-16.8,72,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2653,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,572,-0.99,-116.8,98.3,-15.2,81,580,0.00,1.85,0.00,0.000,4,0.000,0.020,2637,1320,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,646,-0.99,-116.8,109.1,-14.5,93,654,0.00,1.92,0.00,0.000,6,0.000,0.024,2627,2659,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,719,-0.99,-116.8,119.9,-15.0,102,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2659,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,792,-0.99,-116.8,130.5,-15.2,111,800,0.00,1.85,0.00,0.000,4,0.000,0.019,2627,1323,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,894,-0.99,-116.8,145.3,-14.3,128,904,0.10,1.92,0.00,0.000,6,0.129,0.024,2653,2662,3217,0,0,0,0,0,0,27.12,27.27,28.83
$GC,969,-0.99,-116.8,154.5,-12.0,137,977,0.00,1.85,0.00,0.000,4,0.000,0.019,2653,1324,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1014,-0.99,-116.8,160.1,-12.4,144,1023,0.00,1.92,0.00,0.000,6,0.000,0.024,2651,2661,3217,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1087,-0.99,-116.8,169.2,-12.8,153,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2661,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1166,-0.99,-116.8,179.0,-12.2,161,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2660,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1346,-0.99,-116.8,201.3,-12.5,173,1349,0.00,1.83,0.00,0.000,4,0.000,0.019,2651,1350,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1411,-0.99,-116.8,209.5,-12.4,177,1417,0.00,1.90,0.00,0.000,6,0.000,0.024,2642,2669,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1607,-0.99,-116.8,233.9,-12.4,190,1610,0.00,1.83,0.00,0.000,4,0.000,0.019,2642,1350,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1680,-0.99,-116.8,242.6,-13.1,194,1689,0.00,1.92,0.00,0.000,6,0.000,0.024,2634,2660,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1869,-0.99,-116.8,268.5,-13.1,207,1872,0.00,1.80,0.00,0.000,4,0.000,0.019,2632,1350,3215,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1985,-0.99,-116.8,283.9,-13.4,214,1990,0.00,1.92,0.00,0.000,6,0.000,0.024,2624,2662,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2180,-0.99,-116.8,310.1,-13.3,227,2186,0.12,1.83,0.00,0.000,4,0.163,0.017,2664,1302,3214,0,0,0,0,0,0,27.20,27.36,28.83
$GC,2243,-0.99,-116.8,317.9,-12.1,231,2248,0.00,1.90,0.00,0.000,6,0.000,0.024,2658,2665,3213,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2438,-0.99,-116.8,340.0,-11.3,244,2442,0.00,1.83,0.00,0.000,4,0.000,0.019,2658,1349,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2537,-0.99,-116.8,351.0,-11.2,250,2542,0.00,1.88,0.00,0.000,6,0.000,0.024,2658,2662,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2733,-0.99,-116.8,373.2,-11.6,263,2736,0.00,1.83,0.00,0.000,4,0.000,0.019,2658,1343,3212,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2815,-0.99,-116.8,382.8,-11.5,268,2820,0.00,1.90,0.00,0.000,6,0.000,0.025,2656,2671,3211,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3010,-0.99,-116.8,405.0,-11.3,281,3014,0.00,1.83,0.00,0.000,4,0.000,0.020,2656,1352,3210,0,0,0,0,0,0,28.83,27.38,28.83
$GC,3076,-0.99,-116.8,412.7,-11.7,285,3082,0.00,1.88,0.00,0.000,6,0.000,0.025,2656,2661,3210,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3271,-0.99,-116.8,434.3,-11.2,298,3274,0.00,1.85,0.00,0.000,4,0.000,0.020,2656,1343,3209,0,0,0,0,0,0,28.83,27.38,28.83
$GC,3312,-0.99,-116.8,438.2,-11.5,300,3321,0.00,1.95,0.00,0.000,6,0.000,0.024,2653,2663,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3502,-0.99,-116.8,460.2,-11.3,313,3505,0.00,1.83,0.00,0.000,4,0.000,0.020,2654,1346,3208,0,0,0,0,0,0,28.83,27.38,28.83
$GC,3559,-0.99,-116.8,465.9,-11.1,316,3569,0.00,1.92,0.00,0.000,6,0.000,0.024,2650,2654,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3749,-0.99,-116.8,487.3,-10.7,329,3752,0.00,1.80,0.00,0.000,4,0.000,0.020,2650,1351,3208,0,0,0,0,0,0,28.83,27.38,28.83
$GC,3838,-0.99,-116.8,496.4,-11.0,334,3848,0.00,1.92,0.00,0.000,6,0.000,0.024,2642,2660,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4027,-0.99,-116.8,518.5,-11.5,342,4030,0.00,1.83,0.00,0.000,4,0.000,0.020,2642,1347,3206,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4149,-0.99,-116.8,532.7,-11.7,346,4154,0.00,1.92,0.00,0.000,6,0.000,0.024,2634,2658,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4476,-0.99,-116.8,571.7,-11.8,357,4480,0.00,1.83,0.00,0.000,4,0.000,0.020,2634,1345,3205,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4579,-0.99,-116.8,582.3,-11.8,360,4584,0.00,1.95,0.00,0.000,6,0.000,0.025,2626,2668,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4896,-0.99,-116.8,621.6,-11.6,371,4900,0.00,1.85,0.00,0.000,4,0.000,0.021,2626,1319,3204,0,0,0,0,0,0,28.83,27.38,28.83
$GC,4965,-0.99,-116.8,628.4,-11.5,373,4970,0.10,1.92,0.00,0.000,6,0.127,0.024,2653,2658,3204,0,0,0,0,0,0,27.20,27.36,28.83
$GC,5287,-0.99,-116.8,662.5,-10.5,384,5290,0.00,1.83,0.00,0.000,4,0.000,0.021,2653,1348,3203,0,0,0,0,0,0,28.83,27.38,28.83
$GC,5377,-0.99,-116.8,672.1,-10.7,387,5380,0.00,1.90,0.00,0.000,6,0.000,0.025,2649,2665,3202,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5702,-0.99,-116.8,706.1,-10.3,398,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2665,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6002,-0.99,-116.8,735.3,-9.6,408,6005,0.00,1.83,0.00,0.000,4,0.000,0.021,2649,1355,3200,0,0,0,0,0,0,28.83,27.38,28.83
$GC,6155,-0.99,-116.8,750.1,-9.8,413,6159,0.00,1.92,0.00,0.000,6,0.000,0.025,2641,2661,3199,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6482,-0.99,-116.8,783.5,-10.3,424,6485,0.00,1.85,0.00,0.000,4,0.000,0.021,2641,1320,3197,0,0,0,0,0,0,28.83,27.38,28.83
$GC,6560,-0.99,-116.8,790.0,-10.5,426,6564,0.00,1.92,0.00,0.000,6,0.000,0.026,2631,2658,3196,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6872,-0.99,-116.8,824.4,-10.6,437,6875,0.00,1.83,0.00,0.000,4,0.000,0.021,2631,1352,3195,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6950,-0.99,-116.8,830.6,-10.3,439,6955,0.08,1.92,0.00,0.000,6,0.132,0.026,2651,2658,3195,0,0,0,0,0,0,27.19,27.36,28.83
$GC,7262,-0.99,-116.8,862.6,-9.4,450,7265,0.00,1.83,0.00,0.000,4,0.000,0.021,2651,1351,3193,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7382,-0.99,-116.8,874.9,-10.2,454,7386,0.00,1.88,0.00,0.000,6,0.000,0.026,2645,2661,3193,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7707,-0.99,-116.8,907.3,-10.0,465,7711,0.00,1.85,0.00,0.000,4,0.000,0.022,2645,1323,3190,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7767,-0.99,-116.8,913.5,-10.3,467,7771,0.00,1.90,0.00,0.000,6,0.000,0.027,2638,2671,3190,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8092,-0.99,-116.8,946.6,-10.2,478,8096,0.00,1.85,0.00,0.000,4,0.000,0.022,2639,1327,3189,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8207,-0.99,-116.8,958.6,-10.5,482,8211,0.00,1.90,0.00,0.000,6,0.000,0.027,2630,2661,3188,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,8501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8501,begin apogee
$GC,8505,-0.25,0.0,990.3,-10.9,492,8596,0.73,0.00,85.10,1.306,6,0.106,0.000,2884,2445,2734,0,0,0,0,0,0,27.20,28.83,24.89
$STATE,8597,end apogee,CONTROL_FINISHED_OK
$STATE,8597,begin climb
$GC,8598,0.99,116.8,993.7,0.0,495,8696,1.12,0.00,93.28,1.266,6,0.058,0.000,3294,2444,2259,0,0,0,0,0,0,25.75,28.83,24.77
$GC,8982,0.99,116.8,967.0,8.3,508,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2444,2250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9282,0.99,116.8,941.7,8.4,518,9286,0.00,1.95,0.00,0.000,4,0.000,0.028,3297,1088,2250,0,0,0,0,0,0,28.83,26.94,28.83
$GC,9376,0.99,116.8,934.3,8.6,521,9380,0.00,1.95,0.00,0.000,6,0.000,0.024,3297,2429,2249,0,0,0,0,0,0,28.83,26.98,28.83
$GC,9698,0.99,116.8,903.9,9.2,532,9701,0.00,1.92,0.00,0.000,4,0.000,0.028,3297,1089,2247,0,0,0,0,0,0,28.83,27.08,28.83
$GC,9746,0.99,116.8,901.6,9.1,533,9753,0.00,1.95,0.00,0.000,6,0.000,0.024,3297,2434,2247,0,0,0,0,0,0,28.83,27.10,28.83
$GC,10053,0.99,116.8,869.7,9.7,544,10054,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2434,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10353,0.99,116.8,841.6,9.4,554,10357,0.00,1.92,0.00,0.000,4,0.000,0.028,3297,1089,2246,0,0,0,0,0,0,28.83,27.18,28.83
$GC,10491,0.99,116.8,830.6,9.5,558,10498,0.00,1.95,0.00,0.000,6,0.000,0.024,3297,2432,2245,0,0,0,0,0,0,28.83,27.20,28.83
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$GC,18538,0.99,116.8,137.6,8.1,1004,18547,0.00,1.83,0.00,0.000,6,0.000,0.017,3311,2411,2257,0,0,0,0,0,0,28.83,27.40,28.83
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$STATE,20519,end climb,SURFACE_DEPTH_REACHED
$STATE,20519,begin surface coast
$FINISH,0.2,1.023224
$STATE,20536,end surface coast,CONTROL_FINISHED_OK
$STATE,20536,begin surface
$SM_CCo,20550,37.33,0.117,0,0,1204,375.06
$SM_GC,1.13,7.85,0.28,37.33,0.028,0.047,0.117,164,2644,1204,-8.64,-2.09,375.06,0,0,0,0,0,0,27.19,27.22,26.93
$IRIDIUM_FIX,2655.98,-7004.32,140814,010142
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.84
$INTERNAL_PRESSURE,9.13249
$TCM_TEMP,24.70
$XPDR_PINGS,18
$24V_AH,24.8,9.227
$10V_AH,10.5,7.716
$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
$DEVICE_SECS,19.000,189.800,245.200,37.325,0.000,23.687,55.103,121.156,4.500,0.000,5.857,3331.111,12069.204,505.690,4832.401,138.101,33.240,2107.926,0.000,4597.752,0.000,0.552,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.154,3078.477,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,73487,1282
$CAP_FILE_SIZE,209858,0
$CFSIZE,1024393216,1018331136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,105457,2702.146,-7006.710,34,0.9,39,-12.1