version: 66.10
glider: 200
mission: 4
dive: 40
start: 8 14 114 17 58 45
data:
$ID,200
$MISSION,4
$DIVE,40
$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,-1139.5237
$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,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
$GPS1,140814,174647,2657.040,-7007.248,12,1.1,12,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.6
$GPS2,140814,175748,2656.903,-7007.068,8,1.0,8,-12.1
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.126,-0.158
$KALMAN_X,-5169.4,-54.7,72.9,2885.0,1574.0
$KALMAN_Y,-55127.7,482.3,359.4,-61743.6,-3244.0
$MHEAD_RNG_PITCHd_Wd,230.8,49941,-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,15,-1.28,-116.8,0.0,0.0,0,80,0.00,0.00,-63.15,0.000,2,0.000,0.000,149,2646,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.4,-6.0,8,108,8.52,1.88,-5.93,0.000,4,0.200,0.036,2550,1300,3216,0,0,0,0,0,0,26.78,27.04,27.27
$GC,183,-1.28,-116.8,35.6,-30.1,24,192,0.00,1.95,0.00,0.000,6,0.000,0.024,2541,2656,3216,0,0,0,0,0,0,28.83,27.08,28.83
$GC,258,-1.28,-116.8,56.3,-26.8,33,266,0.00,1.88,0.00,0.000,4,0.000,0.018,2541,1307,3216,0,0,0,0,0,0,28.83,27.13,28.83
$GC,309,-1.28,-116.8,68.5,-23.1,41,317,0.00,1.95,0.00,0.000,6,0.000,0.024,2531,2662,3216,0,0,0,0,0,0,28.83,27.12,28.83
$GC,382,-1.28,-116.8,83.9,-19.8,50,390,0.00,1.73,0.00,0.000,4,0.000,0.037,2522,3842,3216,0,0,0,0,0,0,28.83,27.13,28.83
$GC,496,-1.28,-116.8,108.4,-22.9,69,506,0.10,1.55,0.00,0.000,6,0.139,0.017,2555,2612,3217,0,0,0,0,0,0,27.01,27.25,28.83
$GC,570,-1.28,-116.8,121.9,-17.0,78,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2612,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,643,-1.28,-116.8,134.2,-16.8,87,651,0.00,1.75,0.00,0.000,4,0.000,0.019,2556,1334,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,751,-1.28,-116.8,153.4,-17.4,105,760,0.00,1.90,0.00,0.000,6,0.000,0.024,2547,2662,3217,0,0,0,0,0,0,28.83,27.24,28.83
$GC,824,-1.28,-116.8,166.1,-17.9,114,833,0.00,1.70,0.00,0.000,4,0.000,0.036,2538,3832,3217,0,0,0,0,0,0,28.83,27.22,28.83
$GC,864,-1.28,-116.8,173.2,-18.2,120,873,0.00,1.48,0.00,0.000,6,0.000,0.017,2538,2653,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,941,-1.28,-116.8,186.7,-17.4,126,945,0.00,1.75,0.00,0.000,4,0.000,0.018,2538,1359,3217,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1063,-1.28,-116.8,206.7,-17.1,133,1074,0.08,1.90,0.00,0.000,6,0.143,0.024,2555,2661,3217,0,0,0,0,0,0,27.12,27.28,28.83
$GC,1253,-1.28,-116.8,238.5,-16.1,146,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2661,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1433,-1.28,-116.8,268.1,-16.6,158,1436,0.00,1.77,0.00,0.000,4,0.000,0.019,2555,1363,3216,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1515,-1.28,-116.8,281.6,-16.2,163,1520,0.00,1.88,0.00,0.000,6,0.000,0.024,2547,2672,3216,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1723,-1.28,-116.8,316.4,-16.4,174,1726,0.00,1.80,0.00,0.000,4,0.000,0.019,2546,1364,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1796,-1.28,-116.8,326.1,-16.2,176,1800,0.00,1.90,0.00,0.000,6,0.000,0.024,2537,2660,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2113,-1.28,-116.8,378.7,-15.8,187,2116,0.00,1.77,0.00,0.000,4,0.000,0.019,2537,1362,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2227,-1.28,-116.8,393.1,-15.9,190,2234,0.12,1.85,0.00,0.000,6,0.163,0.024,2560,2662,3213,0,0,0,0,0,0,27.18,27.34,28.83
$GC,2533,-1.28,-116.8,444.9,-16.2,201,2536,0.00,1.77,0.00,0.000,4,0.000,0.019,2560,1364,3211,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2641,-1.28,-116.8,459.6,-16.3,204,2645,0.00,1.88,0.00,0.000,6,0.000,0.024,2552,2652,3211,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,2892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2892,begin apogee
$GC,2895,-0.25,0.0,503.1,-16.0,213,2984,0.98,0.00,83.68,0.933,6,0.113,0.000,2888,2439,2735,0,0,0,0,0,0,27.20,28.83,25.47
$STATE,2985,end apogee,CONTROL_FINISHED_OK
$STATE,2985,begin climb
$GC,2987,1.28,116.8,507.2,0.0,216,3078,1.38,0.00,87.10,0.907,6,0.056,0.000,3392,2439,2258,0,0,0,0,0,0,26.10,28.83,25.26
$GC,3373,1.28,116.8,467.0,12.4,229,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2439,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3673,1.28,116.8,429.9,12.4,239,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2438,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3973,1.28,116.8,393.0,12.3,249,3976,0.00,1.85,0.00,0.000,4,0.000,0.024,3396,1130,2250,0,0,0,0,0,0,28.83,27.15,28.83
$GC,4033,1.28,116.8,385.8,12.2,251,4037,0.00,1.85,0.00,0.000,6,0.000,0.021,3396,2440,2250,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4358,1.28,116.8,346.7,12.0,262,4362,0.00,1.88,0.00,0.000,4,0.000,0.024,3398,1113,2249,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4401,1.28,116.8,343.0,12.1,263,4406,0.00,1.85,0.00,0.000,6,0.000,0.021,3397,2423,2249,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4718,1.28,116.8,302.5,12.4,274,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2423,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5020,1.28,116.8,268.0,11.2,293,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2423,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,1.28,116.8,248.5,10.8,305,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2423,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5380,1.28,116.8,227.6,12.1,317,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2423,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5560,1.28,116.8,205.4,12.4,329,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2423,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5740,1.28,116.8,184.3,11.5,341,5743,0.00,1.83,0.00,0.000,4,0.000,0.024,3398,1125,2247,0,0,0,0,0,0,28.83,27.33,28.83
$GC,5879,1.28,116.8,169.1,10.5,354,5888,0.00,1.85,0.00,0.000,6,0.000,0.021,3398,2427,2247,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5952,1.28,117.7,161.6,10.0,363,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2427,2247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,1.29,123.9,154.3,9.7,372,6035,0.00,1.98,2.67,0.696,4,0.000,0.032,3398,3815,2237,0,0,0,0,0,0,28.83,27.27,26.23
$GC,6118,1.30,130.7,144.6,9.7,387,6135,0.00,1.80,5.85,0.874,6,0.000,0.017,3406,2430,2210,0,0,0,0,0,0,28.83,27.36,26.33
$GC,6201,1.30,130.7,136.2,10.1,397,6209,0.00,1.88,0.00,0.000,4,0.000,0.024,3412,1109,2211,0,0,0,0,0,0,28.83,27.22,28.83
$GC,6292,1.31,142.4,127.2,9.4,412,6310,0.00,1.88,7.35,0.862,6,0.000,0.021,3412,2429,2160,0,0,0,0,0,0,28.83,27.25,26.29
$GC,6376,1.32,145.8,119.1,9.9,422,6385,0.00,2.00,2.30,0.477,4,0.000,0.032,3412,3821,2148,0,0,0,0,0,0,28.83,27.08,26.25
$GC,6449,1.32,145.8,109.9,12.4,434,6459,0.00,1.83,0.52,0.227,6,0.000,0.017,3420,2432,2147,0,0,0,0,0,0,28.83,27.20,26.93
$GC,6525,1.32,146.5,102.2,10.1,443,6533,0.00,0.00,1.23,0.304,6,0.000,0.000,3420,2432,2143,0,0,0,0,0,0,28.83,28.83,26.75
$GC,6599,1.33,155.8,94.6,9.6,452,6608,0.00,0.00,4.93,0.314,6,0.000,0.000,3419,2432,2104,0,0,0,0,0,0,28.83,28.83,26.75
$GC,6674,1.33,155.8,86.9,10.5,461,6683,0.00,2.03,0.00,0.000,4,0.000,0.034,3419,3807,2109,0,0,0,0,0,0,28.83,27.14,28.83
$GC,6772,1.35,172.4,76.8,9.1,477,6789,0.00,1.83,7.62,0.274,6,0.000,0.016,3429,2418,2038,0,0,0,0,0,0,28.83,27.25,26.80
$GC,6855,1.38,194.3,69.6,8.8,487,6872,0.00,2.03,10.00,0.266,4,0.000,0.032,3429,3813,1945,0,0,0,0,0,0,28.83,27.09,26.78
$GC,6981,1.38,194.3,55.9,11.7,508,6990,0.00,1.83,0.00,0.000,6,0.000,0.016,3431,2432,1947,0,0,0,0,0,0,28.83,27.22,28.83
$GC,7056,1.38,194.3,48.3,10.2,517,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2432,1947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7128,1.46,259.1,43.2,6.3,526,7160,0.00,0.00,25.67,0.210,6,0.000,0.000,3431,2432,1679,0,0,0,0,0,0,28.83,28.83,26.82
$GC,7226,1.46,259.1,33.7,10.6,538,7234,0.00,1.90,0.00,0.000,4,0.000,0.024,3431,1100,1679,0,0,0,0,0,0,28.83,27.13,28.83
$GC,7242,1.46,259.1,31.8,10.7,540,7251,0.00,1.88,0.00,0.000,6,0.000,0.021,3432,2427,1679,0,0,0,0,0,0,28.83,27.15,28.83
$GC,7315,1.46,259.1,23.5,11.3,549,7324,0.00,2.03,0.00,0.000,4,0.000,0.034,3431,3810,1679,0,0,0,0,0,0,28.83,27.13,28.83
$GC,7355,1.46,259.1,18.6,13.1,555,7364,0.00,1.83,0.00,0.000,6,0.000,0.016,3431,2426,1679,0,0,0,0,0,0,28.83,27.22,28.83
$GC,7428,1.46,259.1,9.8,11.0,564,7437,0.00,1.88,0.00,0.000,4,0.000,0.024,3434,1105,1679,0,0,0,0,0,0,28.83,27.18,28.83
$GC,7479,1.46,259.1,3.9,12.3,572,7488,0.00,1.88,0.00,0.000,6,0.000,0.021,3434,2435,1678,0,0,0,0,0,0,28.83,27.21,28.83
$STATE,7503,end climb,SURFACE_DEPTH_REACHED
$STATE,7503,begin surface coast
$FINISH,0.1,1.023028
$STATE,7521,end surface coast,CONTROL_FINISHED_OK
$STATE,7521,begin surface
$SM_CCo,7536,40.12,0.117,0,0,1204,375.06
$SM_GC,1.13,8.07,0.28,40.12,0.028,0.054,0.117,156,2646,1204,-8.65,-1.98,375.06,0,0,0,0,0,0,27.21,27.20,26.95
$IRIDIUM_FIX,2646.31,-7006.79,140814,171730
$TT8_MAMPS,0.028462,0.028462
$HUMID,45.86
$INTERNAL_PRESSURE,9.16179
$TCM_TEMP,23.60
$XPDR_PINGS,18
$24V_AH,25.3,9.584
$10V_AH,10.5,8.179
$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,19.250,77.950,238.925,40.125,0.000,48.558,91.056,205.792,4.500,0.000,9.673,1457.509,3769.330,410.012,2378.149,74.447,33.246,1128.807,0.000,2010.985,0.000,0.552,0.000
$DEVICE_MAMPS,200.430,67.320,933.300,117.045,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.132,1558.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334172
$DATA_FILE_SIZE,33529,577
$CAP_FILE_SIZE,96321,0
$CFSIZE,1024393216,1018167296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140814,200604,2655.198,-7007.107,29,1.5,29,-12.1