version: 66.10
glider: 200
mission: 4
dive: 48
start: 8 16 114 2 52 34
data:
$ID,200
$MISSION,4
$DIVE,48
$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,-1240.4653
$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,174
$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
$GPS1,160814,023804,2636.385,-7008.574,34,1.1,35,-12.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-67.1
$GPS2,160814,025138,2636.336,-7008.601,5,1.1,5,-12.1
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.051,-0.167
$KALMAN_X,7841.2,8.4,-281.9,-12330.3,3508.1
$KALMAN_Y,-73123.4,140.8,379.9,-81526.6,-5027.0
$MHEAD_RNG_PITCHd_Wd,175.1,13164,-14.4,-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,-0.87,-116.8,0.0,0.0,0,80,0.00,0.00,-63.10,0.000,2,0.000,0.000,166,2647,2946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.87,-116.8,3.5,-5.6,8,100,8.93,0.00,-5.57,0.000,6,0.197,0.000,2682,2647,3215,0,0,0,0,0,0,26.68,28.83,27.19
$GC,166,-0.87,-116.8,25.8,-22.2,18,174,0.00,1.83,0.00,0.000,4,0.000,0.018,2682,1338,3215,0,0,0,0,0,0,28.83,27.01,28.83
$GC,199,-0.87,-116.8,33.2,-20.7,23,208,0.00,1.92,0.00,0.000,6,0.000,0.024,2674,2667,3215,0,0,0,0,0,0,28.83,27.00,28.83
$GC,273,-0.87,-116.8,48.6,-21.2,32,281,0.00,1.73,0.00,0.000,4,0.000,0.037,2666,3838,3215,0,0,0,0,0,0,28.83,27.01,28.83
$GC,289,-0.87,-116.8,51.8,-19.3,34,298,0.00,1.50,0.00,0.000,6,0.000,0.016,2666,2638,3215,0,0,0,0,0,0,28.83,27.12,28.83
$GC,362,-0.87,-116.8,64.3,-16.5,43,371,0.00,1.77,0.00,0.000,4,0.000,0.019,2666,1353,3216,0,0,0,0,0,0,28.83,27.09,28.83
$GC,425,-0.87,-116.8,73.7,-14.9,53,434,0.08,1.88,0.00,0.000,6,0.132,0.024,2686,2656,3216,0,0,0,0,0,0,26.94,27.10,28.83
$GC,499,-0.87,-116.8,84.0,-14.1,62,507,0.00,1.83,0.00,0.000,4,0.000,0.018,2685,1343,3216,0,0,0,0,0,0,28.83,27.14,28.83
$GC,596,-0.87,-116.8,98.2,-13.6,78,604,0.00,1.90,0.00,0.000,6,0.000,0.024,2677,2665,3216,0,0,0,0,0,0,28.83,27.14,28.83
$GC,669,-0.87,-116.8,108.0,-14.2,87,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2665,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,742,-0.87,-116.8,117.6,-12.9,96,750,0.00,1.83,0.00,0.000,4,0.000,0.018,2677,1348,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,787,-0.87,-116.8,123.4,-12.2,103,796,0.00,1.88,0.00,0.000,6,0.000,0.024,2669,2659,3217,0,0,0,0,0,0,28.83,27.19,28.83
$GC,860,-0.87,-116.8,133.0,-13.4,112,869,0.00,1.80,0.00,0.000,4,0.000,0.018,2670,1354,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,888,-0.87,-116.8,136.7,-13.0,116,897,0.00,1.88,0.00,0.000,6,0.000,0.024,2665,2658,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,961,-0.87,-116.8,145.7,-11.8,125,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2658,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1034,-0.87,-116.8,153.8,-11.4,134,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2658,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1106,-0.87,-116.8,162.4,-11.7,143,1115,0.00,1.73,0.00,0.000,4,0.000,0.037,2656,3838,3216,0,0,0,0,0,0,28.83,27.20,28.83
$GC,1163,-0.87,-116.8,169.7,-13.6,152,1173,0.08,1.48,0.00,0.000,6,0.125,0.016,2685,2654,3216,0,0,0,0,0,0,27.09,27.31,28.83
$GC,1235,-0.87,-116.8,178.4,-11.8,159,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2654,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1415,-0.87,-116.8,199.7,-11.8,171,1418,0.00,1.75,0.00,0.000,4,0.000,0.019,2685,1360,3216,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1514,-0.87,-116.8,211.6,-11.9,177,1519,0.00,1.85,0.00,0.000,6,0.000,0.024,2685,2670,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1709,-0.87,-116.8,234.7,-11.9,190,1712,0.00,1.80,0.00,0.000,4,0.000,0.018,2685,1370,3215,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1897,-0.87,-116.8,256.3,-11.7,201,1907,0.00,1.88,0.00,0.000,6,0.000,0.024,2684,2656,3214,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2087,-0.87,-116.8,278.0,-11.0,214,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2656,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2266,-0.87,-116.8,295.9,-9.6,226,2270,0.00,1.77,0.00,0.000,4,0.000,0.018,2683,1362,3213,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2338,-0.87,-116.8,302.4,-9.7,230,2343,0.00,1.90,0.00,0.000,6,0.000,0.024,2677,2667,3213,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2660,-0.87,-116.8,335.7,-10.4,241,2664,0.00,1.80,0.00,0.000,4,0.000,0.019,2677,1341,3211,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2773,-0.87,-116.8,345.3,-10.6,244,2781,0.00,1.90,0.00,0.000,6,0.000,0.024,2671,2662,3211,0,0,0,0,0,0,28.83,27.33,28.83
$GC,3080,-0.87,-116.8,379.6,-10.2,255,3084,0.00,1.77,0.00,0.000,4,0.000,0.019,2671,1366,3209,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3133,-0.87,-116.8,382.7,-10.2,256,3141,0.00,1.88,0.00,0.000,6,0.000,0.024,2666,2658,3209,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3440,-0.87,-116.8,417.7,-10.8,267,3444,0.00,1.77,0.00,0.000,4,0.000,0.019,2666,1363,3208,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3518,-0.87,-116.8,424.2,-10.8,269,3524,0.08,1.90,0.00,0.000,6,0.128,0.024,2689,2665,3207,0,0,0,0,0,0,27.19,27.34,28.83
$GC,3830,-0.87,-116.8,456.2,-9.5,280,3834,0.00,1.80,0.00,0.000,4,0.000,0.020,2688,1348,3206,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3935,-0.87,-116.8,464.7,-9.4,283,3939,0.00,1.85,0.00,0.000,6,0.000,0.024,2685,2670,3206,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4245,-0.87,-116.8,496.5,-9.7,294,4249,0.00,1.83,0.00,0.000,4,0.000,0.019,2685,1366,3205,0,0,0,0,0,0,28.83,27.36,28.83
$GC,4384,-0.87,-116.8,508.8,-10.2,298,4388,0.00,1.90,0.00,0.000,6,0.000,0.024,2685,2657,3205,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4695,-0.87,-116.8,543.1,-10.4,309,4699,0.00,1.77,0.00,0.000,4,0.000,0.019,2685,1363,3204,0,0,0,0,0,0,28.83,27.37,28.83
$GC,4785,-0.87,-116.8,552.4,-10.3,312,4789,0.00,1.85,0.00,0.000,6,0.000,0.024,2679,2667,3203,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5111,-0.87,-116.8,583.2,-9.0,323,5114,0.00,1.83,0.00,0.000,4,0.000,0.020,2679,1330,3202,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5263,-0.87,-116.8,597.3,-9.6,328,5268,0.00,1.92,0.00,0.000,6,0.000,0.024,2672,2667,3201,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5591,-0.87,-116.8,631.7,-10.5,339,5594,0.00,1.80,0.00,0.000,4,0.000,0.020,2672,1368,3200,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5675,-0.87,-116.8,637.9,-10.3,341,5682,0.00,1.85,0.00,0.000,6,0.000,0.025,2670,2658,3200,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5981,-0.87,-116.8,672.5,-10.6,352,5984,0.00,1.77,0.00,0.000,4,0.000,0.020,2670,1367,3199,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6049,-0.87,-116.8,678.7,-10.4,354,6053,0.00,1.90,0.00,0.000,6,0.000,0.024,2665,2663,3199,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6371,-0.87,-116.8,711.2,-9.9,365,6374,0.00,1.80,0.00,0.000,4,0.000,0.020,2665,1368,3197,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6479,-0.87,-116.8,720.5,-10.4,368,6483,0.00,1.90,0.00,0.000,6,0.000,0.024,2663,2660,3196,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6791,-0.87,-116.8,751.4,-8.6,379,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2660,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,-0.87,-116.8,778.5,-9.1,389,7094,0.00,1.77,0.00,0.000,4,0.000,0.021,2662,1371,3195,0,0,0,0,0,0,28.83,27.37,28.83
$GC,7194,-0.87,-116.8,787.1,-9.5,392,7198,0.00,1.90,0.00,0.000,6,0.000,0.025,2662,2662,3194,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7511,-0.87,-116.8,818.1,-9.1,403,7514,0.00,1.80,0.00,0.000,4,0.000,0.021,2662,1354,3191,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7619,-0.87,-116.8,826.0,-8.7,406,7624,0.08,1.90,0.00,0.000,6,0.126,0.026,2689,2663,3191,0,0,0,0,0,0,27.17,27.35,28.83
$GC,7931,-0.87,-116.8,853.3,-8.7,417,7934,0.00,1.80,0.00,0.000,4,0.000,0.021,2689,1375,3190,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7970,-0.87,-116.8,856.0,-8.7,418,7974,0.00,1.85,0.00,0.000,6,0.000,0.026,2685,2659,3190,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8286,-0.87,-116.8,882.3,-7.6,429,8289,0.00,1.77,0.00,0.000,4,0.000,0.021,2685,1380,3188,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8394,-0.87,-116.8,889.6,-8.0,432,8398,0.00,1.90,0.00,0.000,6,0.000,0.026,2684,2664,3188,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8706,-0.87,-116.8,916.6,-8.2,443,8709,0.00,1.83,0.00,0.000,4,0.000,0.021,2684,1375,3185,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8819,-0.87,-116.8,924.7,-8.8,446,8826,0.00,1.92,0.00,0.000,6,0.000,0.026,2683,2664,3185,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9126,-0.87,-116.8,952.9,-8.3,457,9129,0.00,1.80,0.00,0.000,4,0.000,0.021,2684,1378,3183,0,0,0,0,0,0,28.83,27.35,28.83
$GC,9199,-0.87,-116.8,957.9,-8.2,459,9203,0.00,1.90,0.00,0.000,6,0.000,0.027,2684,2655,3184,0,0,0,0,0,0,28.83,27.34,28.83
$GC,9516,-0.87,-116.8,984.0,-7.9,470,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2655,3182,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9605,begin apogee
$GC,9609,-0.25,0.0,991.2,-8.0,473,9697,0.57,0.00,83.68,1.304,6,0.098,0.000,2888,2471,2734,0,0,0,0,0,0,27.18,28.83,24.93
$STATE,9698,end apogee,CONTROL_FINISHED_OK
$STATE,9698,begin climb
$GC,9700,0.87,116.8,993.3,0.0,476,9796,1.02,0.00,93.05,1.263,6,0.057,0.000,3257,2470,2259,0,0,0,0,0,0,25.74,28.83,24.74
$GC,10086,0.87,116.8,967.1,8.2,489,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2470,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10386,0.87,116.8,942.2,8.3,499,10390,0.00,2.00,0.00,0.000,4,0.000,0.026,3262,1085,2249,0,0,0,0,0,0,28.83,26.90,28.83
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$STATE,23011,end climb,SURFACE_DEPTH_REACHED
$STATE,23011,begin surface coast
$FINISH,0.1,1.022876
$STATE,23036,end surface coast,CONTROL_FINISHED_OK
$STATE,23036,begin surface
$SM_CCo,23050,30.90,0.116,0,0,1205,375.06
$SM_GC,1.13,7.80,0.28,30.90,0.025,0.048,0.116,160,2647,1205,-8.65,-2.15,375.06,0,0,0,0,0,0,27.15,27.17,26.91
$IRIDIUM_FIX,2624.61,-7007.81,160814,020211
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.58
$INTERNAL_PRESSURE,9.13249
$TCM_TEMP,24.70
$XPDR_PINGS,19
$24V_AH,24.7,10.623
$10V_AH,10.5,9.318
$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,18.950,213.300,270.150,30.900,0.000,48.330,97.898,150.191,4.750,0.000,6.643,3267.990,15126.895,558.739,4455.162,136.529,33.253,2227.304,0.000,4091.963,0.000,0.553,0.000
$DEVICE_MAMPS,197.370,67.320,1304.325,115.515,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.266,2224.833,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334104
$DATA_FILE_SIZE,70279,1229
$CAP_FILE_SIZE,227412,0
$CFSIZE,1024393216,1017315328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160814,091828,2632.391,-7006.721,38,1.1,38,-12.1