version: 66.10
glider: 200
mission: 4
dive: 37
start: 8 14 114 11 6 24
data:
$ID,200
$MISSION,4
$DIVE,37
$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,-1135.7623
$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,161
$R_STBD_OVSHOOT,53
$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
$GPS1,140814,105457,2702.146,-7006.710,34,0.9,39,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-66.9
$GPS2,140814,110527,2702.037,-7006.652,5,0.9,5,-12.1
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.115,-0.166
$KALMAN_X,-7718.0,-446.9,-251.6,6832.2,1329.5
$KALMAN_Y,-50188.7,767.3,21.4,-57115.6,-2621.4
$MHEAD_RNG_PITCHd_Wd,226.7,59395,-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,-63.33,0.000,2,0.000,0.000,144,2648,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.5,-6.6,8,101,8.57,1.88,-5.22,0.000,4,0.200,0.036,2553,1356,3215,0,0,0,0,0,0,26.70,26.99,27.22
$GC,154,-1.28,-116.8,28.2,-30.9,19,162,0.00,1.92,0.00,0.000,6,0.000,0.024,2545,2658,3215,0,0,0,0,0,0,28.83,27.01,28.83
$GC,228,-1.28,-116.8,50.7,-31.0,28,236,0.00,1.88,0.00,0.000,4,0.000,0.018,2545,1314,3215,0,0,0,0,0,0,28.83,27.06,28.83
$GC,262,-1.28,-116.8,60.0,-25.1,33,270,0.00,1.95,0.00,0.000,6,0.000,0.024,2535,2661,3215,0,0,0,0,0,0,28.83,27.05,28.83
$GC,335,-1.28,-116.8,76.3,-21.9,42,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2661,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,407,-1.28,-116.8,90.6,-18.7,51,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2661,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,480,-1.28,-116.8,105.4,-20.6,60,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2661,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,552,-1.28,-116.8,120.5,-19.8,69,561,0.00,1.85,0.00,0.000,4,0.000,0.019,2535,1330,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,632,-1.28,-116.8,136.3,-19.8,82,641,0.10,1.90,0.00,0.000,6,0.138,0.024,2559,2657,3217,0,0,0,0,0,0,26.98,27.16,28.83
$GC,705,-1.28,-116.8,149.9,-18.3,91,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2657,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-1.28,-116.8,162.8,-17.4,100,787,0.00,1.85,0.00,0.000,4,0.000,0.019,2559,1323,3216,0,0,0,0,0,0,28.83,27.21,28.83
$GC,835,-1.28,-116.8,172.6,-16.7,109,844,0.00,1.92,0.00,0.000,6,0.000,0.024,2550,2669,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,912,-1.28,-116.8,185.6,-17.1,115,917,0.00,1.83,0.00,0.000,4,0.000,0.019,2550,1317,3216,0,0,0,0,0,0,28.83,27.23,28.83
$GC,968,-1.28,-116.8,193.7,-16.8,118,977,0.00,1.92,0.00,0.000,6,0.000,0.024,2540,2666,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1156,-1.28,-116.8,226.5,-17.0,131,1160,0.00,1.83,0.00,0.000,4,0.000,0.018,2540,1350,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1206,-1.28,-116.8,234.8,-16.9,134,1212,0.12,1.88,0.00,0.000,6,0.162,0.024,2564,2660,3216,0,0,0,0,0,0,27.08,27.25,28.83
$GC,1401,-1.28,-116.8,265.3,-15.5,147,1404,0.00,1.80,0.00,0.000,4,0.000,0.019,2563,1352,3215,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1468,-1.28,-116.8,275.4,-15.3,151,1473,0.00,1.92,0.00,0.000,6,0.000,0.024,2555,2658,3215,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1663,-1.28,-116.8,306.1,-15.5,164,1666,0.00,1.80,0.00,0.000,4,0.000,0.019,2555,1352,3214,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1720,-1.28,-116.8,313.9,-15.7,167,1729,0.00,1.92,0.00,0.000,6,0.000,0.024,2545,2664,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1909,-1.28,-116.8,346.1,-16.4,180,1912,0.00,1.83,0.00,0.000,4,0.000,0.019,2546,1346,3213,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1958,-1.28,-116.8,354.3,-16.8,183,1964,0.00,1.90,0.00,0.000,6,0.000,0.024,2535,2676,3213,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2154,-1.28,-116.8,387.1,-16.8,196,2158,0.00,1.83,0.00,0.000,4,0.000,0.019,2535,1359,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2228,-1.28,-116.8,398.6,-17.0,200,2238,0.08,1.90,0.00,0.000,6,0.140,0.024,2552,2650,3212,0,0,0,0,0,0,27.15,27.32,28.83
$GC,2417,-1.28,-116.8,430.8,-16.2,213,2420,0.00,1.80,0.00,0.000,4,0.000,0.019,2553,1348,3211,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2517,-1.28,-116.8,446.9,-16.6,219,2522,0.00,1.92,0.00,0.000,6,0.000,0.024,2545,2658,3210,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2711,-1.28,-116.8,478.3,-15.6,232,2715,0.00,1.80,0.00,0.000,4,0.000,0.020,2544,1353,3209,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2779,-1.28,-116.8,488.7,-15.9,236,2784,0.00,1.90,0.00,0.000,6,0.000,0.024,2534,2655,3209,0,0,0,0,0,0,28.83,27.33,28.83
$STATE,2853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2853,begin apogee
$GC,2856,-0.25,0.0,500.8,-16.0,241,2945,1.02,0.00,83.50,0.942,6,0.116,0.000,2885,2426,2736,0,0,0,0,0,0,27.16,28.83,25.40
$STATE,2946,end apogee,CONTROL_FINISHED_OK
$STATE,2946,begin climb
$GC,2947,1.28,116.8,505.0,0.0,244,3038,1.35,0.00,87.00,0.909,6,0.057,0.000,3385,2426,2258,0,0,0,0,0,0,26.03,28.83,25.18
$GC,3334,1.28,116.8,466.1,11.9,266,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2426,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3514,1.28,116.8,445.4,11.5,278,3519,0.00,1.88,0.00,0.000,4,0.000,0.025,3385,1100,2252,0,0,0,0,0,0,28.83,26.92,28.83
$GC,3643,1.28,116.8,430.9,11.4,286,3648,0.00,1.88,0.00,0.000,6,0.000,0.021,3385,2447,2252,0,0,0,0,0,0,28.83,27.01,28.83
$GC,3838,1.28,116.8,407.9,11.9,299,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2447,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4018,1.28,116.8,386.0,12.1,311,4023,0.00,1.88,0.00,0.000,4,0.000,0.024,3392,1106,2251,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4065,1.28,116.8,380.2,12.4,314,4071,0.00,1.83,0.00,0.000,6,0.000,0.021,3392,2427,2251,0,0,0,0,0,0,28.83,27.14,28.83
$GC,4262,1.28,116.8,355.6,12.6,327,4267,0.00,1.85,0.00,0.000,4,0.000,0.024,3399,1101,2250,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4315,1.28,116.8,349.7,12.6,330,4324,0.00,1.88,0.00,0.000,6,0.000,0.021,3398,2425,2249,0,0,0,0,0,0,28.83,27.19,28.83
$GC,4505,1.28,116.8,324.9,12.5,343,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2425,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4684,1.28,116.8,303.5,11.5,355,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2425,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4864,1.28,116.8,282.7,11.3,367,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2425,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5044,1.28,116.8,262.5,11.2,379,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2425,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5224,1.28,116.8,242.0,11.5,391,5227,0.00,1.83,0.00,0.000,4,0.000,0.025,3399,1127,2248,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5290,1.28,116.8,234.3,11.8,395,5295,0.00,1.80,0.00,0.000,6,0.000,0.021,3398,2426,2249,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5485,1.28,116.8,212.2,11.1,408,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2426,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,1.28,116.8,192.6,11.1,420,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2426,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,1.28,116.8,172.7,11.0,433,5855,0.00,1.90,0.00,0.000,4,0.000,0.025,3399,1102,2248,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5909,1.28,116.8,165.8,11.2,443,5917,0.00,1.85,0.00,0.000,6,0.000,0.021,3398,2421,2248,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5982,1.29,119.6,158.1,9.9,452,5990,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2422,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6055,1.29,119.6,150.5,10.5,461,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2421,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6127,1.29,119.6,143.2,10.3,470,6136,0.00,1.88,0.00,0.000,4,0.000,0.024,3408,1100,2248,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6224,1.30,132.7,134.0,9.3,486,6241,0.00,1.88,7.00,0.886,6,0.000,0.021,3408,2428,2201,0,0,0,0,0,0,28.83,27.33,26.37
$GC,6307,1.31,139.1,126.4,9.7,496,6316,0.00,0.00,4.20,0.763,6,0.000,0.000,3408,2428,2174,0,0,0,0,0,0,28.83,28.83,26.29
$GC,6382,1.31,139.1,119.0,10.2,505,6390,0.00,1.88,0.00,0.000,4,0.000,0.024,3414,1112,2177,0,0,0,0,0,0,28.83,27.14,28.83
$GC,6456,1.31,141.3,111.5,10.0,517,6466,0.00,1.85,1.80,0.314,6,0.000,0.021,3414,2423,2165,0,0,0,0,0,0,28.83,27.19,26.72
$GC,6532,1.33,154.4,104.4,9.3,526,6541,0.00,0.00,7.28,0.744,6,0.000,0.000,3414,2423,2107,0,0,0,0,0,0,28.83,28.83,26.32
$GC,6607,1.33,154.7,96.9,10.1,535,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2423,2113,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6679,1.33,154.7,89.3,10.5,544,6688,0.00,2.03,0.00,0.000,4,0.000,0.034,3414,3805,2113,0,0,0,0,0,0,28.83,27.10,28.83
$GC,6730,1.33,154.7,83.4,12.0,552,6739,0.00,1.80,0.00,0.000,6,0.000,0.017,3418,2439,2113,0,0,0,0,0,0,28.83,27.20,28.83
$GC,6804,1.33,154.7,75.3,10.6,561,6812,0.00,2.00,0.00,0.000,4,0.000,0.034,3418,3800,2112,0,0,0,0,0,0,28.83,27.13,28.83
$GC,7074,1.40,213.5,52.5,6.7,607,7107,0.00,1.83,24.15,0.231,6,0.000,0.017,3418,2411,1866,0,0,0,0,0,0,28.83,27.27,26.80
$GC,7173,1.47,266.7,46.3,7.0,619,7205,0.00,2.08,21.50,0.220,4,0.000,0.033,3418,3803,1648,0,0,0,0,0,0,28.83,27.02,26.74
$GC,7322,1.47,266.7,31.2,11.4,643,7331,0.00,1.83,0.00,0.000,6,0.000,0.016,3420,2424,1649,0,0,0,0,0,0,28.83,27.15,28.83
$GC,7395,1.47,266.7,23.2,10.2,652,7404,0.00,1.88,0.00,0.000,4,0.000,0.025,3421,1102,1648,0,0,0,0,0,0,28.83,27.11,28.83
$GC,7464,1.47,266.7,15.6,11.8,663,7472,0.00,1.88,0.00,0.000,6,0.000,0.021,3421,2430,1647,0,0,0,0,0,0,28.83,27.15,28.83
$GC,7537,1.47,266.7,7.4,11.4,672,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2430,1647,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7584,end climb,SURFACE_DEPTH_REACHED
$STATE,7584,begin surface coast
$FINISH,-0.1,1.023221
$STATE,7601,end surface coast,CONTROL_FINISHED_OK
$STATE,7602,begin surface
$SM_CCo,7616,37.60,0.117,0,0,1205,375.06
$SM_GC,1.02,8.10,0.28,37.60,0.027,0.044,0.117,166,2667,1205,-8.64,-2.01,375.06,0,0,0,0,0,0,27.17,27.21,26.92
$IRIDIUM_FIX,2651.14,-7010.52,140814,050514
$TT8_MAMPS,0.028462,0.028462
$HUMID,45.15
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,23.60
$XPDR_PINGS,15
$24V_AH,25.2,9.312
$10V_AH,10.5,7.847
$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,19.350,86.675,236.425,37.600,0.000,26.380,44.784,147.774,3.750,0.000,6.669,1698.921,2956.030,412.330,2813.097,84.326,33.246,1226.316,0.000,2591.924,0.000,0.552,0.000
$DEVICE_MAMPS,199.665,56.610,941.715,117.045,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,452.269,2218.210,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334108
$DATA_FILE_SIZE,36936,680
$CAP_FILE_SIZE,103184,0
$CFSIZE,1024393216,1018363904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,131447,2700.298,-7006.872,14,1.0,14,-12.1