version: 66.10
glider: 200
mission: 4
dive: 3
start: 8 10 114 3 31 1
data:
$ID,200
$MISSION,4
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,-1014.5785
$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,2940
$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,124
$R_STBD_OVSHOOT,59
$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
$GPS1,100814,032639,2759.167,-7005.946,3,1.1,3,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-63.5
$GPS2,100814,033005,2759.122,-7005.939,4,1.1,4,-12.3
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7015.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.210,0.144
$KALMAN_X,98.4,60.5,54.1,-644.6,140.7
$KALMAN_Y,-321.6,-236.9,-221.9,8.9,-450.8
$MHEAD_RNG_PITCHd_Wd,316.7,14906,-16.6,-10.000
$D_GRID,180
$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,-100.60,0.000,2,0.000,0.000,188,3038,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.08,-194.6,4.5,-8.5,13,138,8.80,1.95,-4.72,0.000,4,0.212,0.035,2583,1656,3531,0,0,0,0,0,0,26.80,27.20,27.45
$GC,390,-1.08,-194.6,74.6,-20.1,59,398,0.00,1.95,0.00,0.000,6,0.000,0.031,2575,3006,3531,0,0,0,0,0,0,28.83,27.24,28.83
$GC,469,-1.08,-194.6,90.7,-19.4,72,478,0.00,1.85,0.00,0.000,4,0.000,0.019,2576,1663,3531,0,0,0,0,0,0,28.83,27.30,28.83
$GC,607,-1.08,-194.6,115.9,-17.2,95,615,0.00,1.98,0.00,0.000,6,0.000,0.032,2575,3025,3531,0,0,0,0,0,0,28.83,27.27,28.83
$GC,687,-1.08,-194.6,130.8,-19.6,108,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,3024,3531,0,0,0,0,0,0,28.83,28.83,28.83
$GC,766,-1.08,-194.6,146.3,-19.7,121,774,0.00,1.88,0.00,0.000,4,0.000,0.018,2575,1662,3530,0,0,0,0,0,0,28.83,27.36,28.83
$GC,898,-1.08,-194.6,170.0,-17.2,134,908,0.00,1.98,0.00,0.000,6,0.000,0.031,2568,3023,3530,0,0,0,0,0,0,28.83,27.29,28.83
$STATE,956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,956,begin apogee
$GC,959,-0.25,0.0,181.0,-17.9,140,1099,0.85,0.00,134.43,0.612,6,0.119,0.000,2856,3023,2735,0,0,0,0,0,0,27.10,28.83,25.83
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1102,1.08,194.6,188.4,0.0,154,1249,1.17,0.00,135.40,0.579,6,0.072,0.000,3285,3023,1938,0,0,0,0,0,0,26.34,28.83,25.77
$GC,1369,1.08,194.6,168.1,10.5,181,1379,0.00,2.03,0.00,0.000,4,0.000,0.021,3287,1563,1934,0,0,0,0,0,0,28.83,26.86,28.83
$GC,1541,1.08,194.6,151.4,10.0,196,1552,0.00,1.98,0.00,0.000,6,0.000,0.028,3288,2933,1933,0,0,0,0,0,0,28.83,27.05,28.83
$GC,1685,1.08,194.6,136.3,10.5,220,1693,0.00,1.90,0.00,0.000,4,0.000,0.021,3287,1578,1932,0,0,0,0,0,0,28.83,27.15,28.83
$GC,1811,1.09,205.5,124.0,9.6,241,1821,0.00,1.95,4.38,0.698,6,0.000,0.028,3288,2927,1901,0,0,0,0,0,0,28.83,27.19,26.21
$GC,1892,1.09,205.5,115.8,10.6,254,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2928,1907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1971,1.09,205.5,106.9,11.1,267,1980,0.00,1.90,0.00,0.000,4,0.000,0.021,3288,1570,1906,0,0,0,0,0,0,28.83,27.22,28.83
$GC,2189,1.11,214.5,85.3,9.7,304,2199,0.00,1.95,5.05,0.295,6,0.000,0.029,3288,2923,1862,0,0,0,0,0,0,28.83,27.24,26.77
$GC,2271,1.12,224.0,77.6,9.7,317,2280,0.00,1.92,5.07,0.291,4,0.000,0.021,3288,1569,1826,0,0,0,0,0,0,28.83,27.23,26.79
$GC,2374,1.18,272.9,68.6,8.3,334,2407,0.00,1.95,22.20,0.262,6,0.000,0.028,3288,2922,1627,0,0,0,0,0,0,28.83,27.24,26.72
$GC,2478,1.22,305.8,59.5,8.8,350,2504,0.12,1.92,14.75,0.245,4,0.077,0.022,3385,1566,1490,0,0,0,0,0,0,27.24,27.12,26.73
$GC,2518,1.22,305.8,54.7,12.3,355,2528,0.15,1.98,0.00,0.000,6,0.115,0.028,3332,2929,1491,0,0,0,0,0,0,26.96,27.12,28.83
$GC,2599,1.22,305.8,43.9,12.8,368,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2929,1491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2678,1.22,305.8,34.4,11.2,381,2687,0.00,1.90,0.00,0.000,4,0.000,0.021,3332,1572,1490,0,0,0,0,0,0,28.83,27.20,28.83
$GC,2816,1.22,308.6,20.5,9.9,404,2825,0.00,1.95,1.02,0.194,6,0.000,0.028,3332,2925,1478,0,0,0,0,0,0,28.83,27.24,26.96
$GC,2895,1.25,332.2,12.8,9.2,417,2912,0.00,1.90,8.88,0.149,4,0.000,0.019,3332,1569,1378,0,0,0,0,0,0,28.83,27.24,26.98
$GC,2965,1.27,348.5,6.3,9.4,428,2982,0.00,1.95,5.50,0.134,6,0.000,0.028,3332,2923,1311,0,0,0,0,0,0,28.83,27.25,27.02
$STATE,3011,end climb,SURFACE_DEPTH_REACHED
$STATE,3011,begin surface coast
$FINISH,-0.4,1.023389
$STATE,3031,end surface coast,CONTROL_FINISHED_OK
$STATE,3032,begin surface
$SM_CCo,3046,67.93,0.114,0,0,498,548.74
$SM_CCo,3116,-0.32,0.000,0,0,500,548.74
$SM_CCo,3118,0.00,0.000,0,0,500,548.74
$SM_GC,0.31,7.82,0.12,0.00,0.028,0.086,0.000,180,3047,500,-8.52,-1.33,548.74,0,0,0,0,0,0,27.24,27.27,28.83
$IRIDIUM_FIX,2749.41,-7012.89,100814,030311
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.42
$INTERNAL_PRESSURE,9.21062
$TCM_TEMP,23.60
$XPDR_PINGS,13
$24V_AH,25.8,5.197
$10V_AH,10.6,3.545
$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,18.925,38.875,336.675,67.925,0.000,0.000,0.000,0.000,3.250,0.000,5.821,981.266,156.750,395.498,1608.611,40.146,31.304,990.033,0.000,1617.885,0.000,0.556,0.000
$DEVICE_MAMPS,211.905,86.445,697.680,113.985,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,286.338,1443.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334160
$DATA_FILE_SIZE,23545,438
$CAP_FILE_SIZE,68115,0
$CFSIZE,1024393216,1020985344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,042337,2759.101,-7006.397,3,1.2,3,-12.3