version: 66.10
glider: 200
mission: 4
dive: 60
start: 8 19 114 4 42 18
data:
$ID,200
$MISSION,4
$DIVE,60
$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,-1255.5361
$T_RSLEEP,60
$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,30
$C_ROLL_DIVE,2430
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,158
$R_STBD_OVSHOOT,67
$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
$GPS1,190814,043334,2601.814,-7006.396,32,1.1,32,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.0
$GPS2,190814,044122,2601.807,-7006.302,4,1.0,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.172,0.029
$KALMAN_X,25759.6,-135.2,-498.0,-26137.3,4990.2
$KALMAN_Y,-91644.2,216.8,1036.6,-127671.8,-5191.9
$MHEAD_RNG_PITCHd_Wd,291.6,52258,-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,-116.8,0.0,0.0,0,79,0.00,0.00,-62.45,0.000,2,0.000,0.000,161,2432,2939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.3,-7.4,4,102,8.80,1.40,-5.40,0.000,4,0.195,0.044,2684,1430,3215,0,0,0,0,0,0,26.74,27.04,27.26
$GC,326,-0.87,-116.8,58.0,-18.4,20,334,0.00,1.42,0.00,0.000,6,0.000,0.024,2679,2433,3216,0,0,0,0,0,0,28.83,27.13,28.83
$GC,393,-0.87,-116.8,71.0,-17.6,25,397,0.00,1.35,0.00,0.000,4,0.000,0.020,2679,1444,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,537,-0.87,-116.8,92.4,-15.2,34,544,0.00,1.40,0.00,0.000,6,0.000,0.024,2671,2438,3216,0,0,0,0,0,0,28.83,27.18,28.83
$GC,603,-0.87,-116.8,103.6,-14.9,39,607,0.00,1.48,0.00,0.000,4,0.000,0.034,2664,3461,3216,0,0,0,0,0,0,28.83,27.15,28.83
$GC,626,-0.87,-116.8,105.9,-15.2,40,634,0.00,1.30,0.00,0.000,6,0.000,0.016,2664,2376,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,693,-0.87,-116.8,115.9,-13.2,45,697,0.00,1.25,0.00,0.000,4,0.000,0.020,2664,1443,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,783,-0.87,-116.8,128.6,-14.1,51,787,0.08,1.40,0.00,0.000,6,0.125,0.024,2702,2437,3217,0,0,0,0,0,0,27.05,27.22,28.83
$GC,859,-0.87,-116.8,137.9,-12.2,56,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2437,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,919,-0.87,-116.8,144.8,-11.6,60,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2436,3218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,979,-0.87,-116.8,151.3,-10.8,64,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2437,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1039,-0.87,-116.8,158.0,-11.1,68,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2437,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-0.87,-116.8,164.7,-11.0,72,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2437,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1159,-0.87,-116.8,171.3,-11.1,76,1162,0.00,1.35,0.00,0.000,4,0.000,0.021,2703,1443,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1232,-0.87,-116.8,177.9,-10.9,80,1236,0.00,1.40,0.00,0.000,6,0.000,0.024,2699,2436,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1429,-0.87,-116.8,200.2,-10.5,87,1432,0.00,1.48,0.00,0.000,4,0.000,0.034,2691,3462,3217,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1557,-0.87,-116.8,213.3,-10.8,91,1561,0.00,1.30,0.00,0.000,6,0.000,0.016,2692,2387,3217,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1759,-0.87,-116.8,236.6,-11.1,98,1762,0.00,1.23,0.00,0.000,4,0.000,0.021,2692,1474,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1832,-0.87,-116.8,243.4,-11.0,100,1836,0.00,1.35,0.00,0.000,6,0.000,0.024,2687,2433,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2029,-0.87,-116.8,266.2,-10.8,107,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2433,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2209,-0.87,-116.8,284.6,-10.1,113,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2433,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2389,-0.87,-116.8,302.0,-9.7,119,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2433,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.87,-116.8,330.5,-9.5,124,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2433,3213,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2989,-0.87,-116.8,358.3,-9.2,129,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2433,3211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.87,-116.8,387.5,-9.8,134,3292,0.00,1.30,0.00,0.000,4,0.000,0.021,2687,1477,3210,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3327,-0.87,-116.8,387.5,-9.8,134,3331,0.00,1.35,0.00,0.000,6,0.000,0.025,2685,2429,3210,0,0,0,0,0,0,28.83,27.35,28.83
$GC,3649,-0.87,-116.8,424.9,-10.4,140,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2430,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3949,-0.87,-116.8,455.8,-10.3,145,3952,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1473,3207,0,0,0,0,0,0,28.83,27.36,28.83
$GC,3997,-0.87,-116.8,455.8,-10.3,145,4001,0.00,1.35,0.00,0.000,6,0.000,0.025,2685,2424,3207,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4309,-0.87,-116.8,491.7,-9.9,151,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2424,3206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4609,-0.87,-116.8,521.2,-9.8,156,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2424,3205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4909,-0.87,-116.8,550.4,-9.7,161,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2424,3204,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5209,-0.87,-116.8,579.2,-9.6,166,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2424,3203,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5509,-0.87,-116.8,607.8,-9.5,171,5512,0.00,1.30,0.00,0.000,4,0.000,0.021,2685,1474,3202,0,0,0,0,0,0,28.83,27.37,28.83
$GC,5552,-0.87,-116.8,607.8,-9.5,171,5556,0.00,1.35,0.00,0.000,6,0.000,0.025,2685,2423,3202,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5869,-0.87,-116.8,641.8,-9.3,177,5872,0.00,1.50,0.00,0.000,4,0.000,0.036,2685,3485,3201,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5932,-0.87,-116.8,647.5,-9.4,178,5936,0.00,1.30,0.00,0.000,6,0.000,0.018,2685,2449,3201,0,0,0,0,0,0,28.83,27.41,28.83
$GC,6289,-0.87,-116.8,679.1,-8.6,184,6292,0.00,1.38,0.00,0.000,4,0.000,0.021,2685,1445,3200,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6327,-0.87,-116.8,679.1,-8.6,184,6331,0.00,1.40,0.00,0.000,6,0.000,0.025,2685,2425,3199,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6649,-0.87,-116.8,709.9,-8.5,190,6652,0.00,1.35,0.00,0.000,4,0.000,0.021,2685,1443,3198,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6697,-0.87,-116.8,709.9,-8.5,190,6701,0.00,1.40,0.00,0.000,6,0.000,0.026,2685,2422,3197,0,0,0,0,0,0,28.83,27.35,28.83
$GC,7009,-0.87,-116.8,742.8,-9.1,196,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2423,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7309,-0.87,-116.8,770.6,-9.2,201,7312,0.00,1.50,0.00,0.000,4,0.000,0.037,2685,3486,3196,0,0,0,0,0,0,28.83,27.30,28.83
$GC,7357,-0.87,-116.8,770.6,-9.2,201,7361,0.00,1.33,0.00,0.000,6,0.000,0.018,2685,2439,3195,0,0,0,0,0,0,28.83,27.41,28.83
$GC,7669,-0.87,-116.8,802.9,-8.9,207,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2439,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7969,-0.87,-116.8,828.2,-8.4,212,7972,0.00,1.38,0.00,0.000,4,0.000,0.022,2685,1440,3193,0,0,0,0,0,0,28.83,27.36,28.83
$GC,8062,-0.87,-116.8,833.0,-8.2,213,8066,0.00,1.40,0.00,0.000,6,0.000,0.026,2685,2422,3192,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8389,-0.87,-116.8,861.5,-8.0,219,8392,0.00,1.50,0.00,0.000,4,0.000,0.037,2684,3484,3191,0,0,0,0,0,0,28.83,27.29,28.83
$GC,8462,-0.87,-116.8,866.5,-8.1,220,8466,0.00,1.35,0.00,0.000,6,0.000,0.018,2684,2436,3190,0,0,0,0,0,0,28.83,27.40,28.83
$GC,8809,-0.87,-116.8,896.4,-8.3,226,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2436,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9109,-0.87,-116.8,921.7,-8.4,231,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2436,3187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9409,-0.87,-116.8,946.9,-8.4,236,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2436,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9709,-0.87,-116.8,972.0,-8.4,241,9712,0.00,1.50,0.00,0.000,4,0.000,0.037,2680,3485,3184,0,0,0,0,0,0,28.83,27.28,28.83
$GC,9762,-0.87,-116.8,972.0,-8.4,241,9770,0.00,1.38,0.00,0.000,6,0.000,0.020,2680,2440,3184,0,0,0,0,0,0,28.83,27.39,28.83
$STATE,9948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9948,begin apogee
$GC,9951,-0.25,0.0,991.2,-8.1,245,10039,0.57,0.00,83.62,1.304,6,0.098,0.000,2887,2440,2736,0,0,0,0,0,0,27.16,28.83,24.94
$STATE,10040,end apogee,CONTROL_FINISHED_OK
$STATE,10040,begin climb
$GC,10041,0.87,116.8,992.8,0.0,246,10142,1.00,1.73,92.15,1.262,4,0.058,0.025,3253,1333,2257,0,0,0,0,0,0,25.75,25.51,24.78
$GC,10186,0.87,116.8,986.0,7.3,249,10191,0.00,1.50,0.00,0.000,6,0.000,0.023,3253,2326,2255,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10544,0.87,116.8,955.1,8.7,255,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2326,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10844,0.87,116.8,930.3,8.3,260,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2326,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11144,0.87,116.8,906.7,7.8,265,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2326,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11444,0.87,116.8,884.3,7.4,270,11447,0.00,1.42,0.00,0.000,4,0.000,0.027,3253,1338,2248,0,0,0,0,0,0,28.83,27.12,28.83
$GC,11522,0.87,116.8,879.9,7.3,271,11526,0.00,1.42,0.00,0.000,6,0.000,0.024,3254,2337,2247,0,0,0,0,0,0,28.83,27.15,28.83
$GC,11864,0.87,116.8,852.7,7.7,277,11867,0.00,1.50,0.00,0.000,4,0.000,0.034,3253,3356,2247,0,0,0,0,0,0,28.83,27.15,28.83
$GC,11972,0.87,116.8,847.6,8.0,278,11976,0.00,1.35,0.00,0.000,6,0.000,0.019,3259,2338,2247,0,0,0,0,0,0,28.83,27.24,28.83
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$STATE,23550,end climb,SURFACE_DEPTH_REACHED
$STATE,23550,begin surface coast
$FINISH,0.9,1.023054
$STATE,23567,end surface coast,CONTROL_FINISHED_OK
$STATE,23567,begin surface
$SM_CCo,23581,37.62,0.116,0,0,1205,375.06
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$IRIDIUM_FIX,2550.97,-7005.93,180814,232300
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.69
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,25.00
$XPDR_PINGS,22
$24V_AH,24.8,12.010
$10V_AH,10.5,10.278
$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
$DEVICE_SECS,18.525,131.475,265.100,37.625,0.000,22.432,44.128,110.007,5.500,0.000,5.437,2044.167,19036.541,439.403,2264.516,104.570,33.243,1657.027,0.000,2025.532,0.000,0.552,0.000
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$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334180
$DATA_FILE_SIZE,36906,628
$CAP_FILE_SIZE,194933,0
$CFSIZE,1024393216,1016299520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190814,111704,2601.092,-7008.297,32,0.9,32,-12.0