version: 66.10
glider: 200
mission: 4
dive: 39
start: 8 14 114 15 40 10
data:
$ID,200
$MISSION,4
$DIVE,39
$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,65
$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,-1138.2715
$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,150
$R_STBD_OVSHOOT,66
$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
$GPS1,140814,153134,2658.646,-7007.113,26,0.9,26,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.8
$GPS2,140814,153913,2658.577,-7007.039,5,0.9,6,-12.1
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.145,-0.140
$KALMAN_X,-6175.1,-240.6,-98.2,4297.8,1715.8
$KALMAN_Y,-53546.0,700.8,180.4,-60262.4,-3076.7
$MHEAD_RNG_PITCHd_Wd,238.0,53033,-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,-63.38,0.000,2,0.000,0.000,157,2672,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,4.0,-8.2,8,100,8.48,0.00,-4.75,0.000,6,0.200,0.000,2549,2672,3215,0,0,0,0,0,0,26.78,28.83,27.26
$GC,165,-1.28,-116.8,32.5,-31.5,18,174,0.00,1.90,0.00,0.000,4,0.000,0.018,2549,1304,3216,0,0,0,0,0,0,28.83,27.10,28.83
$GC,274,-1.28,-116.8,62.7,-24.0,36,283,0.00,1.92,0.00,0.000,6,0.000,0.024,2540,2646,3216,0,0,0,0,0,0,28.83,27.11,28.83
$GC,347,-1.28,-116.8,78.1,-20.5,45,356,0.00,1.73,0.00,0.000,4,0.000,0.036,2532,3827,3216,0,0,0,0,0,0,28.83,27.11,28.83
$GC,456,-1.28,-116.8,100.2,-21.4,63,465,0.00,1.50,0.00,0.000,6,0.000,0.017,2531,2631,3216,0,0,0,0,0,0,28.83,27.24,28.83
$GC,529,-1.28,-116.8,116.1,-21.7,72,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2631,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,601,-1.28,-116.8,129.6,-18.7,81,610,0.10,0.00,0.00,0.000,6,0.175,0.000,2556,2631,3217,0,0,0,0,0,0,27.09,28.83,28.83
$GC,675,-1.28,-116.8,142.7,-17.7,90,683,0.00,1.77,0.00,0.000,4,0.000,0.019,2556,1336,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,789,-1.28,-116.8,162.2,-17.1,109,798,0.00,1.90,0.00,0.000,6,0.000,0.024,2547,2666,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,863,-1.28,-116.8,175.2,-18.5,118,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2667,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1042,-1.28,-116.8,207.3,-17.5,130,1046,0.00,1.80,0.00,0.000,4,0.000,0.019,2548,1371,3218,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1197,-1.28,-116.8,232.5,-16.8,139,1207,0.00,1.88,0.00,0.000,6,0.000,0.024,2538,2656,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1388,-1.28,-116.8,265.6,-17.1,152,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2655,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1566,-1.28,-116.8,296.3,-16.9,164,1570,0.00,1.77,0.00,0.000,4,0.000,0.019,2538,1356,3216,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1637,-1.28,-116.8,307.5,-17.1,167,1642,0.08,1.90,0.00,0.000,6,0.142,0.024,2554,2662,3216,0,0,0,0,0,0,27.16,27.32,28.83
$GC,1959,-1.28,-116.8,361.4,-16.3,178,1962,0.00,1.77,0.00,0.000,4,0.000,0.019,2554,1361,3215,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2072,-1.28,-116.8,376.3,-16.6,181,2079,0.00,1.90,0.00,0.000,6,0.000,0.024,2546,2665,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2379,-1.28,-116.8,431.5,-16.7,192,2383,0.00,1.80,0.00,0.000,4,0.000,0.019,2546,1339,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2499,-1.28,-116.8,451.0,-16.3,196,2503,0.00,1.85,0.00,0.000,6,0.000,0.024,2536,2663,3212,0,0,0,0,0,0,28.83,27.35,28.83
$STATE,2823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2823,begin apogee
$GC,2827,-0.25,0.0,504.8,-16.6,207,2916,1.02,0.00,83.93,0.941,6,0.116,0.000,2886,2429,2736,0,0,0,0,0,0,27.19,28.83,25.47
$STATE,2917,end apogee,CONTROL_FINISHED_OK
$STATE,2917,begin climb
$GC,2918,1.28,116.8,509.2,0.0,210,3009,1.35,0.00,86.53,0.908,6,0.057,0.000,3388,2429,2258,0,0,0,0,0,0,26.08,28.83,25.24
$GC,3305,1.28,116.8,470.8,12.1,223,3308,0.00,2.05,0.00,0.000,4,0.000,0.034,3388,3822,2253,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3362,1.28,116.8,463.2,12.7,225,3368,0.00,1.85,0.00,0.000,6,0.000,0.016,3389,2448,2253,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3690,1.28,116.8,422.4,12.4,236,3694,0.00,1.90,0.00,0.000,4,0.000,0.024,3392,1088,2252,0,0,0,0,0,0,28.83,27.06,28.83
$GC,3747,1.28,116.8,415.6,12.4,238,3753,0.00,1.92,0.00,0.000,6,0.000,0.021,3392,2434,2252,0,0,0,0,0,0,28.83,27.11,28.83
$GC,4075,1.28,116.8,374.3,12.4,249,4079,0.00,1.90,0.00,0.000,4,0.000,0.024,3402,1080,2251,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4153,1.28,116.8,367.3,12.5,251,4161,0.00,1.92,0.00,0.000,6,0.000,0.021,3402,2432,2250,0,0,0,0,0,0,28.83,27.21,28.83
$GC,4460,1.28,116.8,326.3,12.4,262,4464,0.00,1.90,0.00,0.000,4,0.000,0.024,3403,1080,2250,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4503,1.28,116.8,323.2,12.4,263,4508,0.00,1.90,0.00,0.000,6,0.000,0.021,3403,2419,2249,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4817,1.28,116.8,283.3,11.9,278,4823,0.00,1.95,0.00,0.000,4,0.000,0.034,3403,3802,2249,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4849,1.28,116.8,279.5,12.0,280,4852,0.00,1.77,0.00,0.000,6,0.000,0.017,3403,2461,2249,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5047,1.28,116.8,256.4,11.5,293,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2420,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5226,1.28,116.8,236.3,11.4,305,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2419,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5406,1.28,116.8,215.6,11.5,317,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2420,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5586,1.28,116.8,195.3,11.0,329,5591,0.00,1.90,0.00,0.000,4,0.000,0.024,3411,1049,2248,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5700,1.28,116.8,182.8,11.0,336,5705,0.00,1.95,0.00,0.000,6,0.000,0.020,3412,2430,2248,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5895,1.28,116.8,160.2,11.2,356,5904,0.00,2.00,0.00,0.000,4,0.000,0.034,3411,3807,2248,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5986,1.28,116.8,149.1,12.7,371,5996,0.08,1.88,0.00,0.000,6,0.157,0.017,3395,2385,2249,0,0,0,0,0,0,27.16,27.39,28.83
$GC,6061,1.28,116.8,141.2,10.1,380,6069,0.00,1.83,0.00,0.000,4,0.000,0.024,3403,1098,2249,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6279,1.30,128.8,120.7,9.4,417,6289,0.00,1.88,4.53,0.768,6,0.000,0.021,3403,2424,2213,0,0,0,0,0,0,28.83,27.34,26.41
$GC,6355,1.30,134.1,113.5,9.8,426,6365,0.00,1.98,3.10,0.590,4,0.000,0.032,3403,3808,2197,0,0,0,0,0,0,28.83,27.20,26.41
$GC,6384,1.31,137.2,110.5,9.9,430,6394,0.00,1.83,2.50,0.483,6,0.000,0.017,3405,2413,2180,0,0,0,0,0,0,28.83,27.29,26.39
$GC,6460,1.33,152.2,103.6,9.2,439,6477,0.00,1.88,8.12,0.742,4,0.000,0.022,3411,1100,2120,0,0,0,0,0,0,28.83,27.09,26.36
$GC,6503,1.35,171.1,99.6,9.0,445,6520,0.00,1.88,9.50,0.340,6,0.000,0.021,3412,2424,2042,0,0,0,0,0,0,28.83,27.13,26.65
$GC,6586,1.35,171.1,90.9,10.9,455,6594,0.00,2.03,0.00,0.000,4,0.000,0.034,3412,3804,2045,0,0,0,0,0,0,28.83,27.06,28.83
$GC,6856,1.37,186.2,59.9,9.2,501,6873,0.00,1.80,6.70,0.245,6,0.000,0.017,3419,2421,1980,0,0,0,0,0,0,28.83,27.25,26.84
$GC,6939,1.37,186.2,52.2,10.2,511,6948,0.00,2.03,0.00,0.000,4,0.000,0.034,3418,3800,1981,0,0,0,0,0,0,28.83,27.15,28.83
$GC,7152,1.47,269.1,36.1,5.2,547,7192,0.00,1.80,31.95,0.193,6,0.000,0.017,3425,2422,1637,0,0,0,0,0,0,28.83,27.29,26.84
$GC,7258,1.47,269.1,27.8,10.4,560,7267,0.00,2.05,0.00,0.000,4,0.000,0.034,3424,3811,1638,0,0,0,0,0,0,28.83,27.10,28.83
$GC,7332,1.47,269.1,18.6,12.9,572,7341,0.00,1.83,0.00,0.000,6,0.000,0.016,3428,2429,1637,0,0,0,0,0,0,28.83,27.22,28.83
$GC,7405,1.47,269.1,10.1,10.6,581,7414,0.00,1.90,0.00,0.000,4,0.000,0.024,3429,1095,1636,0,0,0,0,0,0,28.83,27.17,28.83
$STATE,7478,end climb,SURFACE_DEPTH_REACHED
$STATE,7478,begin surface coast
$FINISH,-0.1,1.020463
$STATE,7497,end surface coast,CONTROL_FINISHED_OK
$STATE,7497,begin surface
$SM_CCo,7514,36.75,0.116,0,0,1202,375.06
$SM_GC,1.12,8.10,2.25,36.75,0.027,0.022,0.116,166,2642,1202,-8.63,-2.21,375.06,0,0,0,0,0,0,27.20,27.20,26.96
$IRIDIUM_FIX,2651.14,-7008.24,140814,131347
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.98
$INTERNAL_PRESSURE,9.16179
$TCM_TEMP,23.60
$XPDR_PINGS,12
$24V_AH,25.2,9.476
$10V_AH,10.5,8.079
$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,19.200,79.275,236.850,36.750,0.000,24.183,44.309,135.351,3.000,0.000,6.715,1502.448,3546.400,368.935,2361.220,66.060,33.233,1100.305,0.000,2144.672,0.000,0.552,0.000
$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,395.787,1621.630,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334216
$DATA_FILE_SIZE,33640,596
$CAP_FILE_SIZE,90770,0
$CFSIZE,1024393216,1018232832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,174647,2657.040,-7007.248,12,1.1,12,-12.1