version: 66.10
glider: 200
mission: 4
dive: 33
start: 8 13 114 21 30 19
data:
$ID,200
$MISSION,4
$DIVE,33
$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,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,-1130.7428
$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,135
$R_STBD_OVSHOOT,69
$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
$GPS1,130814,212205,2708.197,-7003.973,36,0.8,36,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-67.1
$GPS2,130814,212922,2708.106,-7003.882,4,0.8,4,-12.2
$SPEED_LIMITS,0.175,0.202
$TGT_NAME,CHARLIE
$TGT_LATLONG,2700.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.131,-0.154
$KALMAN_X,-12393.2,269.9,160.9,14900.0,803.8
$KALMAN_Y,-40646.1,79.5,152.2,-54860.1,-2535.7
$MHEAD_RNG_PITCHd_Wd,232.7,15125,-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,-63.53,0.000,2,0.000,0.000,162,2658,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.28,-116.8,3.7,-6.5,8,101,8.48,1.92,-4.75,0.000,4,0.200,0.036,2553,1288,3215,0,0,0,0,0,0,26.82,27.08,27.29
$GC,161,-1.28,-116.8,30.4,-30.7,20,169,0.00,1.95,0.00,0.000,6,0.000,0.025,2544,2640,3215,0,0,0,0,0,0,28.83,27.10,28.83
$GC,234,-1.28,-116.8,50.4,-25.0,29,242,0.00,1.75,0.00,0.000,4,0.000,0.037,2535,3835,3215,0,0,0,0,0,0,28.83,27.10,28.83
$GC,279,-1.28,-116.8,61.3,-24.4,36,288,0.00,1.55,0.00,0.000,6,0.000,0.017,2535,2631,3215,0,0,0,0,0,0,28.83,27.20,28.83
$GC,352,-1.28,-116.8,77.1,-20.3,45,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2630,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,425,-1.28,-116.8,93.0,-21.6,54,433,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2630,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,497,-1.28,-116.8,107.3,-19.2,63,506,0.00,1.80,0.00,0.000,4,0.000,0.019,2535,1320,3216,0,0,0,0,0,0,28.83,27.22,28.83
$GC,537,-1.28,-116.8,114.7,-18.8,69,546,0.10,1.92,0.00,0.000,6,0.139,0.025,2559,2660,3216,0,0,0,0,0,0,27.05,27.21,28.83
$GC,611,-1.28,-116.8,128.4,-18.1,78,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2660,3216,0,0,0,0,0,0,28.83,28.83,28.83
$GC,683,-1.28,-116.8,140.6,-15.5,87,692,0.00,1.85,0.00,0.000,4,0.000,0.020,2559,1326,3217,0,0,0,0,0,0,28.83,27.26,28.83
$GC,757,-1.28,-116.8,152.8,-16.9,99,766,0.00,1.90,0.00,0.000,6,0.000,0.025,2550,2656,3217,0,0,0,0,0,0,28.83,27.25,28.83
$GC,830,-1.28,-116.8,164.2,-15.9,108,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2655,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,903,-1.28,-116.8,176.2,-16.1,117,906,0.00,1.83,0.00,0.000,4,0.000,0.019,2550,1347,3217,0,0,0,0,0,0,28.83,27.29,28.83
$GC,952,-1.28,-116.8,184.5,-17.0,120,958,0.00,1.92,0.00,0.000,6,0.000,0.024,2541,2670,3217,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1147,-1.28,-116.8,218.7,-17.9,133,1150,0.00,1.83,0.00,0.000,4,0.000,0.019,2540,1351,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1188,-1.28,-116.8,224.7,-18.1,135,1197,0.00,1.92,0.00,0.000,6,0.000,0.024,2531,2656,3217,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1378,-1.28,-116.8,260.3,-18.6,148,1384,0.12,1.80,0.00,0.000,4,0.172,0.017,2569,1320,3216,0,0,0,0,0,0,27.16,27.33,28.83
$GC,1492,-1.28,-116.8,279.3,-16.5,155,1497,0.00,1.92,0.00,0.000,6,0.000,0.024,2561,2660,3216,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1686,-1.28,-116.8,310.8,-15.9,168,1689,0.00,1.80,0.00,0.000,4,0.000,0.020,2561,1351,3215,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1786,-1.28,-116.8,327.1,-16.5,174,1792,0.00,1.92,0.00,0.000,6,0.000,0.024,2551,2662,3215,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1981,-1.28,-116.8,359.2,-16.4,187,1984,0.00,1.80,0.00,0.000,4,0.000,0.019,2551,1355,3214,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2114,-1.28,-116.8,380.8,-16.4,195,2119,0.00,1.92,0.00,0.000,6,0.000,0.024,2541,2665,3214,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2310,-1.28,-116.8,412.8,-16.4,208,2313,0.00,1.83,0.00,0.000,4,0.000,0.020,2541,1348,3213,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2359,-1.28,-116.8,421.1,-16.3,211,2365,0.00,1.90,0.00,0.000,6,0.000,0.025,2531,2673,3213,0,0,0,0,0,0,28.83,27.35,28.83
$GC,2556,-1.28,-116.8,453.2,-16.5,224,2559,0.00,1.83,0.00,0.000,4,0.000,0.020,2531,1356,3212,0,0,0,0,0,0,28.83,27.37,28.83
$GC,2637,-1.28,-116.8,466.3,-15.8,229,2644,0.15,1.90,0.00,0.000,6,0.155,0.024,2564,2667,3212,0,0,0,0,0,0,27.20,27.35,28.83
$GC,2833,-1.28,-116.8,494.9,-14.4,242,2836,0.00,1.85,0.00,0.000,4,0.000,0.020,2564,1350,3211,0,0,0,0,0,0,28.83,27.37,28.83
$STATE,2881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2881,begin apogee
$GC,2886,-0.25,0.0,501.9,-14.4,245,2974,0.95,0.00,83.75,0.942,6,0.115,0.000,2884,2439,2736,0,0,0,0,0,0,27.19,28.83,25.47
$STATE,2975,end apogee,CONTROL_FINISHED_OK
$STATE,2975,begin climb
$GC,2977,1.28,116.8,505.3,0.0,248,3071,1.35,0.00,87.03,0.910,6,0.057,0.000,3384,2439,2257,0,0,0,0,0,0,26.08,28.83,25.25
$GC,3373,1.28,116.8,464.2,12.1,271,3378,0.00,1.90,0.00,0.000,4,0.000,0.024,3386,1101,2253,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3419,1.28,116.8,458.5,12.0,274,3425,0.00,1.85,0.00,0.000,6,0.000,0.022,3386,2424,2252,0,0,0,0,0,0,28.83,26.91,28.83
$GC,3615,1.28,116.8,435.3,11.9,287,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2424,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3794,1.28,116.8,414.0,12.0,299,3798,0.00,1.85,0.00,0.000,4,0.000,0.024,3393,1127,2252,0,0,0,0,0,0,28.83,27.10,28.83
$GC,3835,1.28,116.8,410.0,11.8,301,3844,0.00,1.88,0.00,0.000,6,0.000,0.021,3393,2420,2252,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4024,1.28,116.8,386.1,12.2,314,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2420,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4204,1.28,116.8,363.9,12.5,326,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2420,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4384,1.28,116.8,341.8,12.2,338,4387,0.00,1.83,0.00,0.000,4,0.000,0.024,3393,1126,2251,0,0,0,0,0,0,28.83,27.22,28.83
$GC,4449,1.28,116.8,333.8,12.2,342,4455,0.00,1.83,0.00,0.000,6,0.000,0.022,3393,2430,2250,0,0,0,0,0,0,28.83,27.25,28.83
$GC,4645,1.28,116.8,310.3,12.2,355,4648,0.00,1.83,0.00,0.000,4,0.000,0.024,3398,1130,2250,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4761,1.28,116.8,296.5,11.8,362,4766,0.00,1.85,0.00,0.000,6,0.000,0.021,3398,2419,2250,0,0,0,0,0,0,28.83,27.28,28.83
$GC,4956,1.28,116.8,273.0,11.9,375,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2419,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5136,1.28,116.8,252.2,11.6,387,5139,0.00,1.83,0.00,0.000,4,0.000,0.024,3398,1126,2249,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5225,1.28,116.8,243.0,11.2,392,5235,0.00,1.88,0.00,0.000,6,0.000,0.021,3398,2435,2249,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5414,1.28,116.8,220.6,11.7,405,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2435,2249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,1.28,116.8,200.7,10.7,417,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2435,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5774,1.28,116.8,181.4,10.4,429,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2436,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,1.28,116.8,162.1,10.5,448,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2435,2248,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6027,1.29,123.9,155.1,9.7,457,6036,0.00,0.00,3.08,0.708,6,0.000,0.000,3398,2435,2236,0,0,0,0,0,0,28.83,28.83,26.32
$GC,6102,1.30,134.4,148.0,9.5,466,6119,0.00,2.03,8.90,0.906,4,0.000,0.034,3398,3811,2194,0,0,0,0,0,0,28.83,27.10,26.29
$GC,6224,1.30,134.4,134.2,12.1,486,6232,0.00,1.83,0.00,0.000,6,0.000,0.017,3407,2424,2196,0,0,0,0,0,0,28.83,27.23,28.83
$GC,6297,1.30,134.4,126.0,11.0,495,6305,0.00,1.88,0.00,0.000,4,0.000,0.024,3413,1103,2196,0,0,0,0,0,0,28.83,27.19,28.83
$GC,6440,1.34,165.8,112.4,8.3,519,6465,0.00,1.88,16.98,0.835,6,0.000,0.022,3414,2428,2064,0,0,0,0,0,0,28.83,27.23,26.19
$GC,6531,1.34,165.8,103.0,11.3,530,6539,0.00,2.03,0.00,0.000,4,0.000,0.034,3413,3801,2067,0,0,0,0,0,0,28.83,26.97,28.83
$GC,6571,1.34,165.8,98.2,11.8,536,6579,0.00,1.83,0.00,0.000,6,0.000,0.017,3423,2427,2067,0,0,0,0,0,0,28.83,27.08,28.83
$GC,6644,1.34,165.8,89.3,12.4,545,6652,0.00,1.90,0.00,0.000,4,0.000,0.024,3425,1101,2067,0,0,0,0,0,0,28.83,27.06,28.83
$GC,6735,1.34,165.8,78.6,10.6,560,6744,0.00,1.90,0.00,0.000,6,0.000,0.021,3426,2428,2067,0,0,0,0,0,0,28.83,27.13,28.83
$GC,6808,1.35,175.0,71.6,9.6,569,6818,0.00,2.08,4.53,0.274,4,0.000,0.034,3426,3819,2025,0,0,0,0,0,0,28.83,27.08,26.47
$GC,6901,1.35,175.0,61.1,12.2,584,6910,0.00,1.85,0.00,0.000,6,0.000,0.017,3432,2425,2029,0,0,0,0,0,0,28.83,27.19,28.83
$GC,6974,1.35,175.0,52.2,11.6,593,6983,0.00,1.90,0.00,0.000,4,0.000,0.024,3432,1092,2029,0,0,0,0,0,0,28.83,27.16,28.83
$GC,7066,1.38,193.0,43.1,9.0,608,7083,0.00,1.90,7.50,0.210,6,0.000,0.022,3432,2435,1951,0,0,0,0,0,0,28.83,27.20,26.89
$GC,7149,1.42,227.4,36.2,8.1,618,7174,0.00,1.95,13.55,0.201,4,0.000,0.024,3432,1087,1809,0,0,0,0,0,0,28.83,27.13,26.77
$GC,7189,1.44,246.9,32.6,9.0,623,7206,0.00,1.90,7.62,0.192,6,0.000,0.021,3432,2425,1729,0,0,0,0,0,0,28.83,27.15,26.86
$GC,7272,1.51,300.6,26.2,7.0,633,7298,0.00,2.03,20.48,0.179,4,0.000,0.034,3432,3820,1508,0,0,0,0,0,0,28.83,27.03,26.82
$STATE,7458,end climb,SURFACE_DEPTH_REACHED
$STATE,7458,begin surface coast
$FINISH,-0.3,1.023128
$STATE,7472,end surface coast,CONTROL_FINISHED_OK
$STATE,7472,begin surface
$SM_CCo,7487,25.90,0.121,0,0,1206,375.06
$SM_GC,0.35,8.05,1.55,25.90,0.020,0.016,0.121,166,2669,1206,-8.65,3.90,375.06,0,0,0,0,0,0,27.14,27.20,26.91
$IRIDIUM_FIX,2655.98,-7043.40,130814,191916
$TT8_MAMPS,0.028462,0.028462
$HUMID,47.40
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,22.80
$XPDR_PINGS,17
$24V_AH,25.2,8.939
$10V_AH,10.5,7.214
$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,19.200,93.125,253.400,25.900,0.000,26.375,46.043,105.610,4.250,0.000,5.922,1673.833,2882.291,405.483,2739.701,79.178,33.235,1208.690,0.000,2557.476,0.000,0.553,0.000
$DEVICE_MAMPS,200.430,36.720,941.715,120.870,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,443.174,2168.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334108
$DATA_FILE_SIZE,36964,666
$CAP_FILE_SIZE,101311,0
$CFSIZE,1024393216,1018691584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130814,233618,2706.437,-7004.364,12,0.9,12,-12.2