version: 66.10
glider: 200
mission: 4
dive: 2
start: 8 10 114 2 37 33
data:
$ID,200
$MISSION,4
$DIVE,2
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,200
$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,550
$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,-994.88525
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,197
$PITCH_MAX,3889
$C_PITCH,2775
$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,3023
$C_ROLL_CLIMB,2923
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,129
$R_STBD_OVSHOOT,54
$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
$GPS1,100814,023232,2759.563,-7005.892,3,1.2,3,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-63.7
$GPS2,100814,023638,2759.508,-7005.878,4,1.2,4,-12.3
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7015.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,0.046
$KALMAN_X,-30.1,-30.1,-30.1,-230.9,-74.3
$KALMAN_Y,-20.5,-20.5,-20.5,-9.4,-50.6
$MHEAD_RNG_PITCHd_Wd,292.7,14943,-16.6,-10.000
$D_GRID,90
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.08,-194.6,0.0,0.0,0,117,0.00,0.00,-100.72,0.000,2,0.000,0.000,189,3031,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.08,-194.6,4.2,-7.7,13,138,8.23,1.20,-5.28,0.000,4,0.213,0.065,2416,3846,3532,0,0,0,0,0,0,26.79,27.18,27.50
$GC,231,-1.08,-194.6,48.1,-31.8,31,240,0.00,1.02,0.00,0.000,6,0.000,0.019,2416,3010,3531,0,0,0,0,0,0,28.83,27.32,28.83
$GC,311,-1.08,-194.6,74.2,-32.1,44,320,0.00,1.20,0.00,0.000,4,0.000,0.040,2410,3840,3531,0,0,0,0,0,0,28.83,27.23,28.83
$STATE,361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,361,begin apogee
$GC,365,-0.25,0.0,90.3,-30.6,52,482,0.85,0.00,110.62,0.353,6,0.139,0.000,2683,2918,2740,0,0,0,0,0,0,26.94,28.83,26.15
$STATE,483,end apogee,CONTROL_FINISHED_OK
$STATE,483,begin climb
$GC,485,1.08,194.6,107.6,0.0,67,626,1.27,1.95,133.73,0.565,4,0.106,0.020,3118,1575,1939,0,0,0,0,0,0,26.58,26.41,25.86
$GC,675,1.24,326.7,102.6,5.4,93,770,0.12,1.98,87.85,0.573,6,0.045,0.027,3199,2917,1402,0,0,0,0,0,0,26.69,26.71,25.89
$GC,841,1.32,388.0,90.5,7.8,117,881,0.00,1.38,32.40,0.321,4,0.000,0.038,3199,3838,1157,0,0,0,0,0,0,28.83,26.63,26.22
$GC,953,1.36,422.4,81.0,8.8,134,977,0.00,1.15,18.35,0.295,6,0.000,0.019,3200,2941,1016,0,0,0,0,0,0,28.83,26.96,26.39
$GC,1049,1.41,464.6,72.7,8.5,149,1081,0.00,1.35,21.75,0.277,4,0.000,0.041,3200,3837,842,0,0,0,0,0,0,28.83,26.84,26.46
$GC,1146,1.47,507.5,63.8,8.5,164,1171,0.10,1.17,21.02,0.253,6,0.047,0.020,3290,2934,667,0,0,0,0,0,0,26.97,27.07,26.52
$GC,1243,1.47,507.5,53.3,11.1,179,1252,0.12,1.92,0.00,0.000,4,0.122,0.020,3243,1563,667,0,0,0,0,0,0,26.95,27.05,28.83
$GC,1277,1.49,525.1,49.9,9.4,184,1294,0.00,1.98,8.18,0.225,6,0.000,0.026,3243,2924,595,0,0,0,0,0,0,28.83,27.05,26.66
$GC,1366,1.54,569.8,42.1,8.4,198,1383,0.00,1.88,10.82,0.211,4,0.000,0.018,3243,1564,498,0,0,0,0,0,0,28.83,27.06,26.71
$GC,1402,1.58,604.5,38.6,8.8,203,1412,0.08,1.95,0.00,0.000,6,0.070,0.028,3294,2920,498,0,0,0,0,0,0,27.01,27.07,28.83
$GC,1483,1.62,629.3,30.9,9.1,216,1491,0.00,1.35,0.00,0.000,4,0.000,0.041,3294,3843,498,0,0,0,0,0,0,28.83,27.10,28.83
$GC,1529,1.62,631.5,26.4,9.9,223,1537,0.00,1.17,0.00,0.000,6,0.000,0.020,3294,2923,498,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1609,1.64,649.5,18.6,9.4,236,1617,0.00,1.90,0.00,0.000,4,0.000,0.022,3294,1569,498,0,0,0,0,0,0,28.83,27.21,28.83
$GC,1752,1.67,670.8,4.9,9.3,260,1761,0.00,1.95,0.00,0.000,6,0.000,0.028,3294,2922,498,0,0,0,0,0,0,28.83,27.23,28.83
$STATE,1785,end climb,SURFACE_DEPTH_REACHED
$STATE,1785,begin surface coast
$FINISH,-0.2,1.023376
$STATE,1810,end surface coast,CONTROL_FINISHED_OK
$STATE,1810,begin surface
$SM_CCo,1824,-0.17,0.000,0,0,501,548.74
$SM_CCo,1826,0.12,0.821,0,0,496,548.74
$SM_CCo,1829,-0.25,0.000,0,0,501,548.74
$SM_GC,0.41,7.68,0.12,-0.25,0.023,0.090,0.000,177,3038,501,-8.04,-1.39,548.74,0,0,0,0,0,0,27.22,27.26,27.30
$IRIDIUM_FIX,2746.98,-7007.48,100814,020258
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.18
$INTERNAL_PRESSURE,9.25945
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,25.9,5.023
$10V_AH,10.6,3.457
$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,18.450,27.800,444.725,0.125,0.000,0.000,0.000,0.000,0.000,0.000,5.828,557.560,0.000,363.507,945.039,27.370,30.073,833.610,0.000,955.668,0.000,0.555,0.000
$DEVICE_MAMPS,212.670,90.270,572.985,820.845,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,0.000,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.670,886.495,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334112
$DATA_FILE_SIZE,13590,269
$CAP_FILE_SIZE,53760,0
$CFSIZE,1024393216,1021083648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,030839,2759.380,-7005.967,3,1.1,3,-12.3