version: 66.10
glider: 200
mission: 4
dive: 38
start: 8 14 114 13 22 55
data:
$ID,200
$MISSION,4
$DIVE,38
$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,-1137.0144
$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,72
$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
$GPS1,140814,131447,2700.298,-7006.872,14,1.0,14,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-66.0
$GPS2,140814,132158,2700.240,-7006.790,5,1.4,6,-12.1
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.149,-0.136
$KALMAN_X,-6887.8,-403.8,-238.2,5720.4,1702.0
$KALMAN_Y,-51908.7,805.1,68.6,-58812.5,-2915.0
$MHEAD_RNG_PITCHd_Wd,239.9,56084,-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,-63.42,0.000,2,0.000,0.000,158,2671,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.4,-5.9,8,108,8.50,1.92,-5.70,0.000,4,0.200,0.036,2551,1297,3215,0,0,0,0,0,0,26.77,27.03,27.27
$GC,292,-1.28,-116.8,65.6,-22.0,43,301,0.00,1.92,0.00,0.000,6,0.000,0.024,2543,2641,3216,0,0,0,0,0,0,28.83,27.13,28.83
$GC,365,-1.28,-116.8,80.4,-18.8,52,374,0.00,1.75,0.00,0.000,4,0.000,0.035,2534,3839,3216,0,0,0,0,0,0,28.83,27.11,28.83
$GC,399,-1.28,-116.8,86.6,-18.9,57,408,0.00,1.55,0.00,0.000,6,0.000,0.016,2534,2615,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,472,-1.28,-116.8,100.8,-19.9,66,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2615,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,545,-1.28,-116.8,114.5,-18.1,75,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2615,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,617,-1.28,-116.8,127.5,-17.7,84,626,0.00,1.75,0.00,0.000,4,0.000,0.019,2534,1341,3217,0,0,0,0,0,0,28.83,27.22,28.83
$GC,645,-1.28,-116.8,132.7,-18.7,88,654,0.10,1.88,0.00,0.000,6,0.138,0.024,2558,2654,3217,0,0,0,0,0,0,27.03,27.21,28.83
$GC,719,-1.28,-116.8,145.5,-17.1,97,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2654,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,791,-1.28,-116.8,157.3,-16.4,106,800,0.00,1.80,0.00,0.000,4,0.000,0.019,2558,1351,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,902,-1.28,-116.8,175.5,-16.5,124,907,0.00,1.88,0.00,0.000,6,0.000,0.023,2549,2660,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1096,-1.28,-116.8,209.0,-17.6,137,1100,0.00,1.80,0.00,0.000,4,0.000,0.019,2550,1361,3217,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1164,-1.28,-116.8,220.4,-17.2,141,1169,0.00,1.90,0.00,0.000,6,0.000,0.024,2539,2665,3217,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1360,-1.28,-116.8,254.8,-17.3,154,1364,0.00,1.77,0.00,0.000,4,0.000,0.019,2539,1369,3217,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1426,-1.28,-116.8,266.6,-17.5,158,1432,0.12,1.83,0.00,0.000,6,0.162,0.024,2563,2661,3216,0,0,0,0,0,0,27.13,27.29,28.83
$GC,1621,-1.28,-116.8,298.5,-16.1,171,1624,0.00,1.80,0.00,0.000,4,0.000,0.019,2564,1361,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1654,-1.28,-116.8,304.0,-16.3,173,1660,0.00,1.88,0.00,0.000,6,0.000,0.024,2555,2666,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1850,-1.28,-116.8,336.3,-16.6,186,1854,0.00,1.77,0.00,0.000,4,0.000,0.019,2555,1368,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1891,-1.28,-116.8,342.0,-16.6,188,1901,0.00,1.88,0.00,0.000,6,0.000,0.024,2546,2659,3215,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2080,-1.28,-116.8,375.1,-16.9,201,2084,0.00,1.80,0.00,0.000,4,0.000,0.019,2546,1358,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2179,-1.28,-116.8,391.6,-16.7,207,2184,0.00,1.88,0.00,0.000,6,0.000,0.024,2535,2671,3214,0,0,0,0,0,0,28.83,27.33,28.83
$GC,2375,-1.28,-116.8,424.1,-16.5,220,2378,0.00,1.80,0.00,0.000,4,0.000,0.019,2536,1364,3213,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2426,-1.28,-116.8,432.6,-16.8,223,2432,0.08,1.90,0.00,0.000,6,0.142,0.024,2553,2658,3213,0,0,0,0,0,0,27.17,27.34,28.83
$GC,2622,-1.28,-116.8,462.2,-14.8,236,2626,0.00,1.77,0.00,0.000,4,0.000,0.020,2553,1362,3212,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2696,-1.28,-116.8,472.5,-15.3,240,2705,0.00,1.90,0.00,0.000,6,0.000,0.024,2545,2668,3212,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,2869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2869,begin apogee
$GC,2872,-0.25,0.0,500.9,-15.8,252,2961,1.00,0.00,83.97,0.941,6,0.115,0.000,2888,2435,2736,0,0,0,0,0,0,27.18,28.83,25.44
$STATE,2962,end apogee,CONTROL_FINISHED_OK
$STATE,2962,begin climb
$GC,2963,1.28,116.8,504.8,0.0,255,3055,1.35,0.00,86.88,0.914,6,0.057,0.000,3390,2435,2258,0,0,0,0,0,0,26.05,28.83,25.21
$GC,3350,1.28,116.8,465.9,11.9,277,3355,0.00,2.00,0.00,0.000,4,0.000,0.034,3390,3822,2253,0,0,0,0,0,0,28.83,26.79,28.83
$GC,3381,1.28,116.8,461.8,12.4,279,3386,0.00,1.83,0.00,0.000,6,0.000,0.017,3391,2446,2253,0,0,0,0,0,0,28.83,26.90,28.83
$GC,3576,1.28,116.8,437.4,12.2,292,3581,0.00,1.90,0.00,0.000,4,0.000,0.024,3391,1095,2253,0,0,0,0,0,0,28.83,26.98,28.83
$GC,3674,1.28,116.8,425.5,12.1,298,3679,0.00,1.92,0.00,0.000,6,0.000,0.021,3391,2440,2252,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3869,1.28,116.8,401.4,12.5,311,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2441,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4049,1.28,116.8,379.0,12.5,323,4054,0.00,1.90,0.00,0.000,4,0.000,0.025,3392,1086,2251,0,0,0,0,0,0,28.83,27.15,28.83
$GC,4114,1.28,116.8,371.1,12.3,327,4120,0.00,1.90,0.00,0.000,6,0.000,0.021,3392,2423,2251,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4309,1.28,116.8,347.3,12.1,340,4314,0.00,1.88,0.00,0.000,4,0.000,0.025,3394,1090,2250,0,0,0,0,0,0,28.83,27.20,28.83
$GC,4341,1.28,116.8,343.6,12.1,342,4346,0.00,1.85,0.00,0.000,6,0.000,0.021,3394,2432,2250,0,0,0,0,0,0,28.83,27.21,28.83
$GC,4537,1.28,116.8,320.7,11.8,355,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2432,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,1.28,116.8,300.3,11.3,367,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2431,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4896,1.28,116.8,279.6,11.6,379,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2431,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5076,1.28,116.8,258.3,11.9,391,5081,0.00,1.88,0.00,0.000,4,0.000,0.025,3394,1087,2248,0,0,0,0,0,0,28.83,27.28,28.83
$GC,5130,1.28,116.8,252.8,11.5,394,5140,0.00,1.90,0.00,0.000,6,0.000,0.021,3394,2427,2249,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5321,1.28,116.8,230.3,11.4,407,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2427,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5500,1.28,116.8,210.6,11.3,419,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2427,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5680,1.28,116.8,192.1,10.2,431,5685,0.00,1.88,0.00,0.000,4,0.000,0.024,3394,1091,2248,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5727,1.29,120.6,187.4,9.9,434,5733,0.00,1.85,0.00,0.000,6,0.000,0.021,3394,2426,2248,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5918,1.29,121.9,168.5,10.0,450,5927,0.00,1.90,0.00,0.000,4,0.000,0.025,3394,1089,2248,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5968,1.30,126.9,163.7,9.8,458,5978,0.00,1.88,5.07,0.802,6,0.000,0.021,3394,2424,2219,0,0,0,0,0,0,28.83,27.34,26.36
$GC,6044,1.30,126.9,156.3,10.3,467,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2424,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6116,1.30,126.9,148.3,11.0,476,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,2424,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6189,1.30,126.9,140.9,10.7,485,6197,0.00,1.90,0.00,0.000,4,0.000,0.024,3399,1092,2227,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6309,1.31,141.5,129.5,9.2,505,6326,0.00,1.88,8.88,0.838,6,0.000,0.021,3399,2424,2165,0,0,0,0,0,0,28.83,27.29,26.31
$GC,6392,1.32,148.1,121.6,9.7,515,6401,0.00,0.00,4.25,0.698,6,0.000,0.000,3399,2424,2138,0,0,0,0,0,0,28.83,28.83,26.29
$GC,6467,1.32,148.1,114.1,10.5,524,6475,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2424,2140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6539,1.34,161.6,107.1,9.3,533,6557,0.00,2.05,7.60,0.750,4,0.000,0.034,3399,3811,2083,0,0,0,0,0,0,28.83,27.00,26.27
$GC,6583,1.34,161.6,102.8,10.2,539,6591,0.00,1.85,0.00,0.000,6,0.000,0.017,3405,2417,2084,0,0,0,0,0,0,28.83,27.10,28.83
$GC,6656,1.34,161.6,94.9,10.7,548,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,3405,2417,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6728,1.34,161.6,86.8,11.2,557,6737,0.00,2.05,0.00,0.000,4,0.000,0.034,3405,3808,2084,0,0,0,0,0,0,28.83,27.09,28.83
$GC,6999,1.40,213.4,59.8,7.1,603,7032,0.00,1.83,21.75,0.244,6,0.000,0.016,3412,2408,1867,0,0,0,0,0,0,28.83,27.23,26.77
$GC,7098,1.42,231.1,51.6,9.1,615,7115,0.00,2.08,7.47,0.232,4,0.000,0.034,3412,3802,1796,0,0,0,0,0,0,28.83,27.05,26.79
$GC,7371,1.44,243.8,23.4,9.4,662,7381,0.00,1.80,4.82,0.177,6,0.000,0.017,3412,2431,1740,0,0,0,0,0,0,28.83,27.23,26.94
$GC,7447,1.46,261.9,16.7,9.0,671,7464,0.00,1.90,6.82,0.161,4,0.000,0.024,3412,1108,1667,0,0,0,0,0,0,28.83,27.15,26.95
$GC,7518,1.47,270.6,10.2,9.6,682,7527,0.00,1.85,3.00,0.148,6,0.000,0.021,3412,2422,1629,0,0,0,0,0,0,28.83,27.19,26.98
$STATE,7591,end climb,SURFACE_DEPTH_REACHED
$STATE,7591,begin surface coast
$FINISH,0.0,1.023199
$STATE,7608,end surface coast,CONTROL_FINISHED_OK
$STATE,7608,begin surface
$SM_CCo,7623,36.35,0.116,0,0,1204,375.06
$SM_GC,1.20,8.10,0.30,36.35,0.029,0.050,0.116,161,2667,1204,-8.65,-1.81,375.06,0,0,0,0,0,0,27.18,27.19,26.94
$IRIDIUM_FIX,2651.14,-7008.24,140814,111136
$TT8_MAMPS,0.028462,0.028462
$HUMID,45.31
$INTERNAL_PRESSURE,9.15202
$TCM_TEMP,23.80
$XPDR_PINGS,22
$24V_AH,25.2,9.394
$10V_AH,10.5,7.976
$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,19.250,86.200,240.525,36.350,0.000,22.629,42.685,111.008,5.500,0.000,6.690,1733.879,2913.605,391.032,2804.063,82.616,33.233,1206.666,0.000,2626.407,0.000,0.552,0.000
$DEVICE_MAMPS,199.665,58.140,940.950,115.515,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,461.452,2261.056,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36940,693
$CAP_FILE_SIZE,102111,0
$CFSIZE,1024393216,1018298368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,153134,2658.646,-7007.113,26,0.9,26,-12.1