version: 66.10
glider: 200
mission: 4
dive: 72
start: 8 22 114 11 25 55
data:
$ID,200
$MISSION,4
$DIVE,72
$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,-1277.9243
$T_RSLEEP,30
$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,157
$R_STBD_OVSHOOT,76
$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
$GPS1,220814,111634,2613.114,-7008.017,31,0.9,31,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.2
$GPS2,220814,112457,2613.084,-7008.035,4,0.9,4,-12.0
$SPEED_LIMITS,0.114,0.175
$TGT_NAME,DELTA
$TGT_LATLONG,2630.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,-0.000,0.175
$KALMAN_X,44767.8,-16.0,-576.6,-48019.6,4958.3
$KALMAN_Y,-117211.4,214.9,769.5,-80950.4,-7194.5
$MHEAD_RNG_PITCHd_Wd,12.0,31730,-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,14,-0.87,-116.8,0.0,0.0,0,79,0.00,0.00,-62.65,0.000,2,0.000,0.000,151,2443,2928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.87,-116.8,4.2,-7.8,4,102,8.85,1.50,-5.85,0.000,4,0.194,0.054,2680,3461,3215,0,0,0,0,0,0,26.73,26.99,27.26
$GC,305,-0.87,-116.8,57.9,-21.5,19,308,0.00,1.30,0.00,0.000,6,0.000,0.017,2680,2385,3216,0,0,0,0,0,0,28.83,27.17,28.83
$GC,380,-0.87,-116.8,71.1,-16.7,24,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2380,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,439,-0.87,-116.8,81.2,-16.8,28,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2380,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,499,-0.87,-116.8,90.3,-15.3,32,503,0.00,1.52,0.00,0.000,4,0.000,0.033,2672,3461,3217,0,0,0,0,0,0,28.83,27.12,28.83
$GC,544,-0.87,-116.8,97.3,-15.1,35,548,0.00,1.25,0.00,0.000,6,0.000,0.016,2672,2414,3216,0,0,0,0,0,0,28.83,27.23,28.83
$GC,619,-0.87,-116.8,107.6,-13.7,40,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2413,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,680,-0.87,-116.8,116.4,-14.6,44,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2412,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,739,-0.87,-116.8,124.5,-13.5,48,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2412,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,799,-0.87,-116.8,132.8,-13.7,52,803,0.00,1.25,0.00,0.000,4,0.000,0.019,2672,1481,3218,0,0,0,0,0,0,28.83,27.23,28.83
$GC,847,-0.87,-116.8,138.8,-13.4,55,852,0.00,1.33,0.00,0.000,6,0.000,0.024,2666,2421,3217,0,0,0,0,0,0,28.83,27.23,28.83
$GC,919,-0.87,-116.8,148.5,-12.9,60,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2422,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-0.87,-116.8,155.7,-12.2,64,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2422,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1039,-0.87,-116.8,163.2,-12.5,68,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2422,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1099,-0.87,-116.8,170.6,-12.4,72,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2422,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1174,-0.87,-116.8,180.4,-13.0,76,1178,0.00,1.50,0.00,0.000,4,0.000,0.034,2658,3494,3217,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1264,-0.87,-116.8,192.5,-13.4,79,1269,0.08,1.27,0.00,0.000,6,0.119,0.017,2687,2439,3217,0,0,0,0,0,0,27.11,27.33,28.83
$GC,1475,-0.87,-116.8,215.8,-11.0,86,1479,0.00,1.30,0.00,0.000,4,0.000,0.020,2687,1472,3217,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1523,-0.87,-116.8,218.9,-11.0,87,1528,0.00,1.35,0.00,0.000,6,0.000,0.024,2684,2434,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1715,-0.87,-116.8,241.6,-10.6,94,1719,0.00,1.30,0.00,0.000,4,0.000,0.020,2684,1471,3217,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1824,-0.87,-116.8,250.8,-10.1,97,1828,0.00,1.35,0.00,0.000,6,0.000,0.024,2679,2431,3217,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2015,-0.87,-116.8,273.0,-10.5,104,2019,0.00,1.50,0.00,0.000,4,0.000,0.034,2675,3503,3216,0,0,0,0,0,0,28.83,27.27,28.83
$GC,2083,-0.87,-116.8,279.6,-10.7,106,2088,0.00,1.30,0.00,0.000,6,0.000,0.016,2675,2431,3216,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2285,-0.87,-116.8,302.2,-10.6,113,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2431,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2585,-0.87,-116.8,333.9,-10.6,118,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2431,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2885,-0.87,-116.8,365.6,-10.6,123,2889,0.00,1.27,0.00,0.000,4,0.000,0.021,2675,1477,3212,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2988,-0.87,-116.8,371.8,-10.5,124,2993,0.00,1.35,0.00,0.000,6,0.000,0.024,2669,2430,3212,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3305,-0.87,-116.8,411.0,-11.1,130,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2430,3210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3605,-0.87,-116.8,444.2,-11.0,135,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2430,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3905,-0.87,-116.8,476.3,-10.6,140,3909,0.00,1.50,0.00,0.000,4,0.000,0.035,2662,3501,3207,0,0,0,0,0,0,28.83,27.30,28.83
$GC,3943,-0.87,-116.8,476.3,-10.6,140,3948,0.08,1.30,0.00,0.000,6,0.113,0.017,2691,2449,3207,0,0,0,0,0,0,27.19,27.40,28.83
$GC,4265,-0.87,-116.8,510.8,-9.4,146,4269,0.00,1.35,0.00,0.000,4,0.000,0.021,2691,1453,3206,0,0,0,0,0,0,28.83,27.35,28.83
$GC,4318,-0.87,-116.8,510.8,-9.4,146,4326,0.00,1.38,0.00,0.000,6,0.000,0.024,2687,2425,3206,0,0,0,0,0,0,28.83,27.34,28.83
$GC,4625,-0.87,-116.8,546.2,-9.8,152,4629,0.00,1.50,0.00,0.000,4,0.000,0.034,2680,3493,3205,0,0,0,0,0,0,28.83,27.30,28.83
$GC,4663,-0.87,-116.8,546.2,-9.8,152,4668,0.00,1.33,0.00,0.000,6,0.000,0.017,2680,2428,3205,0,0,0,0,0,0,28.83,27.41,28.83
$GC,4985,-0.87,-116.8,582.4,-10.0,158,4989,0.00,1.33,0.00,0.000,4,0.000,0.021,2679,1451,3203,0,0,0,0,0,0,28.83,27.36,28.83
$GC,5063,-0.87,-116.8,588.3,-9.9,159,5068,0.00,1.40,0.00,0.000,6,0.000,0.024,2677,2437,3204,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5405,-0.87,-116.8,622.5,-9.4,165,5409,0.00,1.35,0.00,0.000,4,0.000,0.021,2677,1448,3202,0,0,0,0,0,0,28.83,27.35,28.83
$GC,5448,-0.87,-116.8,622.5,-9.4,165,5453,0.00,1.40,0.00,0.000,6,0.000,0.024,2673,2436,3202,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5765,-0.87,-116.8,657.0,-9.5,171,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2436,3201,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6065,-0.87,-116.8,685.9,-9.6,176,6069,0.00,1.35,0.00,0.000,4,0.000,0.021,2673,1448,3200,0,0,0,0,0,0,28.83,27.36,28.83
$GC,6128,-0.87,-116.8,691.5,-9.5,177,6133,0.00,1.40,0.00,0.000,6,0.000,0.024,2667,2436,3200,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6485,-0.87,-116.8,724.4,-9.1,183,6489,0.00,1.35,0.00,0.000,4,0.000,0.021,2669,1452,3198,0,0,0,0,0,0,28.83,27.35,28.83
$GC,6533,-0.87,-116.8,724.4,-9.1,183,6538,0.00,1.38,0.00,0.000,6,0.000,0.024,2665,2427,3199,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6845,-0.87,-116.8,757.4,-9.3,189,6846,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2428,3198,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,-0.87,-116.8,785.7,-9.4,194,7149,0.00,1.33,0.00,0.000,4,0.000,0.022,2665,1461,3195,0,0,0,0,0,0,28.83,27.36,28.83
$GC,7209,-0.87,-116.8,791.7,-9.6,195,7213,0.00,1.38,0.00,0.000,6,0.000,0.025,2665,2428,3195,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7565,-0.87,-116.8,827.3,-10.0,201,7569,0.00,1.50,0.00,0.000,4,0.000,0.035,2660,3493,3193,0,0,0,0,0,0,28.83,27.29,28.83
$GC,7638,-0.87,-116.8,833.6,-10.0,202,7643,0.08,1.33,0.00,0.000,6,0.115,0.018,2689,2456,3193,0,0,0,0,0,0,27.17,27.39,28.83
$GC,7985,-0.87,-116.8,865.6,-8.7,208,7989,0.00,1.40,0.00,0.000,4,0.000,0.022,2690,1438,3191,0,0,0,0,0,0,28.83,27.35,28.83
$GC,8068,-0.87,-116.8,870.8,-8.6,209,8073,0.00,1.42,0.00,0.000,6,0.000,0.025,2687,2434,3191,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8405,-0.87,-116.8,899.9,-7.9,215,8409,0.00,1.38,0.00,0.000,4,0.000,0.022,2687,1443,3189,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8448,-0.87,-116.8,899.9,-7.9,215,8453,0.00,1.42,0.00,0.000,6,0.000,0.026,2686,2435,3189,0,0,0,0,0,0,28.83,27.34,28.83
$GC,8765,-0.87,-116.8,927.3,-7.5,221,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2435,3188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,-0.87,-116.8,950.7,-7.9,226,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2436,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9365,-0.87,-116.8,975.3,-8.3,231,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2435,3185,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9604,begin apogee
$GC,9607,-0.25,0.0,994.7,-8.1,235,9695,0.57,0.00,83.55,1.286,6,0.097,0.000,2890,2435,2736,0,0,0,0,0,0,27.13,28.83,24.99
$STATE,9696,end apogee,CONTROL_FINISHED_OK
$STATE,9696,begin climb
$GC,9697,0.87,116.8,996.4,0.0,236,9796,1.00,1.70,92.07,1.253,4,0.057,0.024,3264,1345,2257,0,0,0,0,0,0,25.77,25.53,24.79
$GC,9816,1.08,285.6,994.3,0.0,238,9960,0.12,1.50,133.10,1.191,6,0.037,0.024,3345,2334,1566,0,0,0,0,0,0,25.87,25.88,24.75
$GC,10258,1.08,285.6,922.8,16.8,246,10261,0.00,1.42,0.00,0.000,4,0.000,0.027,3346,1360,1558,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10317,1.08,285.6,912.9,16.7,247,10321,0.00,1.40,0.00,0.000,6,0.000,0.025,3347,2326,1557,0,0,0,0,0,0,28.83,26.75,28.83
$GC,10678,1.08,285.6,854.6,16.0,253,10681,0.00,1.40,0.00,0.000,4,0.000,0.028,3352,1355,1556,0,0,0,0,0,0,28.83,26.97,28.83
$GC,10811,1.08,285.6,835.6,15.9,255,10816,0.08,1.40,0.00,0.000,6,0.124,0.024,3325,2332,1554,0,0,0,0,0,0,26.86,27.02,28.83
$GC,11158,1.08,285.6,781.4,15.1,261,11161,0.00,1.42,0.00,0.000,4,0.000,0.028,3325,1352,1554,0,0,0,0,0,0,28.83,27.09,28.83
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$GC,16577,1.08,285.6,8.5,8.2,439,16578,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2323,1561,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16665,end climb,SURFACE_DEPTH_REACHED
$STATE,16666,begin surface coast
$FINISH,0.3,1.022798
$STATE,16682,end surface coast,CONTROL_FINISHED_OK
$STATE,16682,begin surface
$SM_CCo,16696,31.50,0.119,0,0,1205,375.06
$SM_GC,0.79,7.82,0.10,31.50,0.025,0.092,0.119,164,2435,1205,-8.63,-2.01,375.06,0,0,0,0,0,0,27.31,27.33,27.01
$IRIDIUM_FIX,2605.37,-7006.55,220814,040401
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.22
$INTERNAL_PRESSURE,9.12272
$TCM_TEMP,24.60
$XPDR_PINGS,12
$24V_AH,24.8,13.325
$10V_AH,10.4,11.059
$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,18.750,102.800,308.725,31.500,0.000,22.871,44.783,107.672,3.000,0.000,7.940,1502.847,13160.131,427.109,1816.565,87.014,33.244,1396.789,0.000,1591.304,0.000,0.552,0.000
$DEVICE_MAMPS,194.310,91.800,1285.965,118.575,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.899,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334248
$DATA_FILE_SIZE,23614,446
$CAP_FILE_SIZE,147112,0
$CFSIZE,1024393216,1015382016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,220814,160553,2614.879,-7007.049,36,1.0,36,-12.0