version: 66.10
glider: 200
mission: 4
dive: 6
start: 8 10 114 7 13 50
data:
$ID,200
$MISSION,4
$DIVE,6
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,400
$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,100
$T_MISSION,115
$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,450
$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,-1087.2841
$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,3273
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,148
$R_STBD_OVSHOOT,90
$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
$GPS1,100814,070851,2758.524,-7007.772,4,1.5,4,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-65.3
$GPS2,100814,071255,2758.493,-7007.775,7,1.5,7,-12.3
$SPEED_LIMITS,0.231,0.280
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7015.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.198,0.197
$KALMAN_X,-427.4,-83.9,145.7,-3054.9,-518.2
$KALMAN_Y,-2415.6,-1040.3,-140.1,1650.0,-780.6
$MHEAD_RNG_PITCHd_Wd,327.1,12139,-21.8,-13.333
$D_GRID,400
$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,-194.6,0.0,0.0,0,94,0.00,0.00,-77.82,0.000,2,0.000,0.000,192,3323,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.35,-194.6,3.1,-6.3,10,122,8.43,1.95,-10.75,0.000,4,0.207,0.033,2528,1914,3532,0,0,0,0,0,0,26.82,27.22,27.46
$GC,378,-1.35,-194.6,85.7,-22.8,58,387,0.00,1.90,0.00,0.000,6,0.000,0.031,2521,3233,3532,0,0,0,0,0,0,28.83,27.22,28.83
$GC,458,-1.35,-194.6,104.0,-23.5,71,467,0.00,1.77,0.00,0.000,4,0.000,0.016,2520,1917,3532,0,0,0,0,0,0,28.83,27.32,28.83
$GC,727,-1.35,-194.6,163.7,-21.0,112,739,0.12,1.90,0.00,0.000,6,0.168,0.031,2543,3273,3532,0,0,0,0,0,0,27.09,27.28,28.83
$GC,858,-1.35,-194.6,189.8,-19.9,125,861,0.00,1.80,0.00,0.000,4,0.000,0.016,2543,1941,3531,0,0,0,0,0,0,28.83,27.37,28.83
$GC,1119,-1.35,-194.6,241.8,-19.3,148,1130,0.00,1.92,0.00,0.000,6,0.000,0.031,2534,3275,3530,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1250,-1.35,-194.6,268.4,-20.8,161,1254,0.00,1.80,0.00,0.000,4,0.000,0.016,2534,1945,3529,0,0,0,0,0,0,28.83,27.39,28.83
$GC,1497,-1.35,-194.6,316.8,-19.9,179,1502,0.00,1.98,0.00,0.000,6,0.000,0.031,2523,3278,3529,0,0,0,0,0,0,28.83,27.33,28.83
$GC,1809,-1.35,-194.6,381.6,-20.1,195,1812,0.00,1.80,0.00,0.000,4,0.000,0.016,2522,1951,3526,0,0,0,0,0,0,28.83,27.41,28.83
$STATE,1908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1908,begin apogee
$GC,1912,-0.25,0.0,401.2,-19.5,200,2057,1.08,0.00,137.52,0.776,6,0.118,0.000,2884,2534,2734,0,0,0,0,0,0,27.13,28.83,25.48
$STATE,2058,end apogee,CONTROL_FINISHED_OK
$STATE,2058,begin climb
$GC,2059,1.35,194.6,407.0,0.0,207,2211,1.42,1.95,140.35,0.747,4,0.060,0.036,3408,3821,1937,0,0,0,0,0,0,26.10,25.98,25.40
$GC,2416,1.35,194.6,355.1,19.4,225,2420,0.00,1.75,0.00,0.000,6,0.000,0.017,3415,2506,1933,0,0,0,0,0,0,28.83,26.90,28.83
$GC,2733,1.35,194.6,298.1,17.7,241,2736,0.00,1.88,0.00,0.000,4,0.000,0.024,3425,1160,1931,0,0,0,0,0,0,28.83,27.10,28.83
$GC,2841,1.35,194.6,279.6,17.7,250,2852,0.00,1.88,0.00,0.000,6,0.000,0.024,3425,2507,1930,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2971,1.35,194.6,255.4,18.8,263,2982,0.00,1.88,0.00,0.000,4,0.000,0.024,3431,1170,1929,0,0,0,0,0,0,28.83,27.17,28.83
$GC,3054,1.35,194.6,240.6,18.4,270,3064,0.00,1.90,0.00,0.000,6,0.000,0.023,3431,2505,1929,0,0,0,0,0,0,28.83,27.21,28.83
$GC,3185,1.35,194.6,216.1,18.5,283,3195,0.00,1.88,0.00,0.000,4,0.000,0.025,3433,1157,1928,0,0,0,0,0,0,28.83,27.22,28.83
$GC,3244,1.35,194.6,205.6,17.7,288,3255,0.00,1.92,0.00,0.000,6,0.000,0.022,3433,2509,1928,0,0,0,0,0,0,28.83,27.24,28.83
$GC,3375,1.35,194.6,182.2,17.5,301,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2509,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3504,1.35,194.6,159.6,17.6,314,3515,0.00,1.88,0.00,0.000,4,0.000,0.025,3439,1167,1927,0,0,0,0,0,0,28.83,27.27,28.83
$GC,3585,1.35,194.6,145.9,16.9,323,3595,0.10,1.90,0.00,0.000,6,0.128,0.024,3406,2514,1927,0,0,0,0,0,0,27.10,27.29,28.83
$GC,3666,1.35,194.6,132.5,16.0,336,3674,0.00,1.90,0.00,0.000,4,0.000,0.037,3406,3813,1927,0,0,0,0,0,0,28.83,27.26,28.83
$GC,3717,1.35,194.6,123.8,17.5,344,3726,0.00,1.73,0.00,0.000,6,0.000,0.018,3410,2504,1927,0,0,0,0,0,0,28.83,27.34,28.83
$GC,3797,1.35,194.6,110.8,15.5,357,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,2504,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3876,1.35,194.6,98.4,15.4,370,3885,0.00,1.90,0.00,0.000,4,0.000,0.026,3418,1162,1927,0,0,0,0,0,0,28.83,27.30,28.83
$GC,4054,1.35,194.6,71.6,14.3,400,4062,0.00,1.88,0.00,0.000,6,0.000,0.024,3418,2489,1926,0,0,0,0,0,0,28.83,27.33,28.83
$GC,4134,1.35,197.7,60.7,13.2,413,4143,0.00,1.95,0.00,0.000,4,0.000,0.036,3417,3826,1926,0,0,0,0,0,0,28.83,27.32,28.83
$GC,4151,1.35,197.7,58.3,13.9,415,4160,0.00,1.75,0.00,0.000,6,0.000,0.018,3426,2483,1926,0,0,0,0,0,0,28.83,27.39,28.83
$GC,4231,1.43,263.9,49.5,10.3,428,4263,0.00,0.00,25.83,0.221,6,0.000,0.000,3426,2483,1662,0,0,0,0,0,0,28.83,28.83,26.86
$GC,4334,1.43,263.9,35.0,15.0,444,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2482,1667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4413,1.46,284.5,24.0,12.4,457,4430,0.00,1.98,8.27,0.171,4,0.000,0.034,3426,3822,1578,0,0,0,0,0,0,28.83,27.20,26.94
$GC,4495,1.46,284.5,13.9,13.8,470,4503,0.00,1.73,0.00,0.000,6,0.000,0.017,3431,2514,1581,0,0,0,0,0,0,28.83,27.30,28.83
$GC,4574,1.46,284.5,3.9,13.4,483,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2514,1581,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4589,end climb,SURFACE_DEPTH_REACHED
$STATE,4589,begin surface coast
$FINISH,-0.2,1.023415
$STATE,4602,end surface coast,CONTROL_FINISHED_OK
$STATE,4603,begin surface
$SM_CCo,4618,56.67,0.116,0,0,900,450.13
$SM_GC,0.20,8.15,1.08,56.67,0.031,0.031,0.116,175,3268,900,-8.65,-1.92,450.13,0,0,0,0,0,0,27.24,27.27,26.94
$IRIDIUM_FIX,2746.98,-7008.30,100814,070719
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.39
$INTERNAL_PRESSURE,9.16179
$TCM_TEMP,22.20
$XPDR_PINGS,17
$24V_AH,25.4,5.705
$10V_AH,10.6,3.798
$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,19.300,52.350,311.975,56.675,0.000,0.000,0.000,0.000,4.250,0.000,8.598,1170.911,1240.219,438.688,1842.302,46.032,33.209,1098.229,0.000,1840.779,0.000,0.553,0.000
$DEVICE_MAMPS,206.550,36.720,776.475,116.280,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.917,1387.510,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334096
$DATA_FILE_SIZE,26914,487
$CAP_FILE_SIZE,80773,0
$CFSIZE,1024393216,1020788736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,083252,2758.216,-7008.437,34,1.3,34,-12.3