version: 66.10
glider: 200
mission: 4
dive: 4
start: 8 10 114 4 44 37
data:
$ID,200
$MISSION,4
$DIVE,4
$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,45
$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,-1034.1057
$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,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,3123
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,124
$R_STBD_OVSHOOT,66
$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
$GPS1,100814,044036,2758.924,-7006.394,3,1.2,3,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-63.6
$GPS2,100814,044343,2758.886,-7006.392,5,1.2,5,-12.3
$SPEED_LIMITS,0.231,0.280
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7015.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.229,0.161
$KALMAN_X,134.7,48.6,57.4,-1401.8,67.7
$KALMAN_Y,-854.3,-532.5,-342.3,514.6,-353.8
$MHEAD_RNG_PITCHd_Wd,317.4,14227,-21.8,-13.333
$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,-1.35,-194.6,0.0,0.0,0,117,0.00,0.00,-100.65,0.000,2,0.000,0.000,190,3125,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.35,-194.6,4.5,-8.6,13,138,8.45,1.92,-4.85,0.000,4,0.206,0.034,2531,1756,3534,0,0,0,0,0,0,26.79,27.20,27.43
$GC,394,-1.35,-194.6,86.6,-23.7,60,403,0.00,1.95,0.00,0.000,6,0.000,0.031,2523,3108,3532,0,0,0,0,0,0,28.83,27.24,28.83
$GC,474,-1.35,-194.6,105.1,-23.1,73,482,0.00,1.85,0.00,0.000,4,0.000,0.018,2523,1762,3533,0,0,0,0,0,0,28.83,27.31,28.83
$GC,628,-1.35,-194.6,139.9,-22.4,99,637,0.00,1.95,0.00,0.000,6,0.000,0.031,2513,3117,3533,0,0,0,0,0,0,28.83,27.27,28.83
$GC,704,-1.35,-194.6,157.5,-23.1,109,707,0.00,1.83,0.00,0.000,4,0.000,0.018,2513,1781,3533,0,0,0,0,0,0,28.83,27.33,28.83
$STATE,817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,817,begin apogee
$GC,822,-0.25,0.0,181.3,-20.8,119,962,1.12,0.00,134.48,0.615,6,0.123,0.000,2884,2615,2734,0,0,0,0,0,0,27.07,28.83,25.80
$STATE,963,end apogee,CONTROL_FINISHED_OK
$STATE,963,begin climb
$GC,964,1.35,194.6,188.3,0.0,133,1109,1.40,0.00,135.88,0.572,6,0.062,0.000,3402,2615,1938,0,0,0,0,0,0,26.31,28.83,25.73
$GC,1229,1.35,194.6,160.0,15.3,160,1240,0.00,1.95,0.00,0.000,4,0.000,0.024,3402,1237,1934,0,0,0,0,0,0,28.83,26.80,28.83
$GC,1385,1.35,194.6,137.6,13.4,181,1394,0.00,1.95,0.00,0.000,6,0.000,0.024,3403,2596,1934,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1465,1.35,194.6,125.7,14.5,194,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2597,1934,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1544,1.35,194.6,113.5,15.8,207,1553,0.00,1.80,0.00,0.000,4,0.000,0.038,3403,3821,1934,0,0,0,0,0,0,28.83,27.08,28.83
$GC,1572,1.35,194.6,108.7,17.0,211,1581,0.00,1.62,0.00,0.000,6,0.000,0.018,3405,2568,1933,0,0,0,0,0,0,28.83,27.19,28.83
$GC,1652,1.35,194.6,96.3,14.8,224,1661,0.00,1.83,0.00,0.000,4,0.000,0.024,3404,1272,1933,0,0,0,0,0,0,28.83,27.17,28.83
$GC,1802,1.38,224.8,76.5,11.9,249,1819,0.00,1.90,12.40,0.275,6,0.000,0.024,3405,2607,1820,0,0,0,0,0,0,28.83,27.22,26.72
$GC,1890,1.41,243.5,65.2,12.5,263,1907,0.00,1.90,8.90,0.252,4,0.000,0.021,3412,1269,1747,0,0,0,0,0,0,28.83,27.13,26.74
$GC,1915,1.44,274.4,62.1,11.9,266,1940,0.00,1.90,14.05,0.246,6,0.000,0.024,3412,2599,1620,0,0,0,0,0,0,28.83,27.15,26.70
$GC,2011,1.44,274.4,48.2,16.0,281,2020,0.00,1.80,0.00,0.000,4,0.000,0.038,3412,3826,1622,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2080,1.44,274.4,36.6,17.5,292,2089,0.00,1.58,0.00,0.000,6,0.000,0.018,3418,2610,1621,0,0,0,0,0,0,28.83,27.24,28.83
$GC,2160,1.44,274.4,25.2,13.8,305,2168,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2610,1621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,1.47,298.3,15.0,12.2,318,2255,0.00,0.00,9.02,0.155,6,0.000,0.000,3418,2609,1516,0,0,0,0,0,0,28.83,28.83,26.94
$GC,2327,1.50,321.3,4.4,12.3,332,2344,0.10,0.00,7.78,0.123,6,0.093,0.000,3495,2609,1421,0,0,0,0,0,0,27.27,28.83,27.00
$STATE,2351,end climb,SURFACE_DEPTH_REACHED
$STATE,2351,begin surface coast
$FINISH,-0.5,1.008275
$STATE,2364,end surface coast,CONTROL_FINISHED_OK
$STATE,2364,begin surface
$SM_CCo,2379,76.97,0.112,0,0,497,548.74
$SM_CCo,2458,-0.35,0.000,0,0,500,548.74
$SM_CCo,2461,0.17,0.623,0,0,496,548.74
$SM_GC,0.49,8.30,0.73,0.17,0.031,0.037,0.623,177,3119,496,-8.63,-1.72,548.74,0,0,0,0,0,0,27.20,27.20,26.82
$IRIDIUM_FIX,2746.98,-7005.18,100814,040401
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.19109
$TCM_TEMP,23.30
$XPDR_PINGS,10
$24V_AH,25.7,5.360
$10V_AH,10.6,3.616
$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,19.375,29.675,322.500,77.150,0.000,0.000,0.000,0.000,2.500,0.000,6.632,749.252,115.527,387.548,1237.876,33.216,32.222,883.894,0.000,1247.324,0.000,0.555,0.000
$DEVICE_MAMPS,205.785,38.250,615.060,623.475,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.038,1110.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,16966,337
$CAP_FILE_SIZE,58071,0
$CFSIZE,1024393216,1020936192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,052634,2758.802,-7006.832,22,1.3,22,-12.3