version: 66.10
glider: 200
mission: 4
dive: 9
start: 8 10 114 13 15 23
data:
$ID,200
$MISSION,4
$DIVE,9
$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,180
$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,125
$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,-1091.0472
$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,3373
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,151
$R_STBD_OVSHOOT,57
$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
$GPS1,100814,130459,2758.846,-7010.491,39,1.1,39,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-60.8
$GPS2,100814,131427,2758.795,-7010.485,5,0.9,5,-12.3
$SPEED_LIMITS,0.160,0.200
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7005.000
$TGT_RADIUS,9000.000
$KALMAN_CONTROL,0.179,0.090
$KALMAN_X,-1129.7,-42.3,3.0,-6689.7,-454.7
$KALMAN_Y,-8825.0,-11.1,-27.4,7471.0,-2538.5
$MHEAD_RNG_PITCHd_Wd,75.5,9243,-20.2,-9.259
$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,15,-1.18,-121.7,0.0,0.0,0,111,0.00,0.00,-93.50,0.000,2,0.000,0.000,174,3274,3009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.18,-121.7,3.1,-6.0,12,131,8.68,0.85,-4.57,0.000,4,0.203,0.080,2582,3848,3233,0,0,0,0,0,0,26.69,26.94,27.20
$GC,387,-1.18,-121.7,71.3,-20.0,59,396,0.00,0.50,0.00,0.000,6,0.000,0.027,2582,3409,3233,0,0,0,0,0,0,28.83,27.16,28.83
$GC,462,-1.18,-121.7,85.1,-18.0,68,470,0.00,0.60,0.00,0.000,4,0.000,0.044,2579,3836,3234,0,0,0,0,0,0,28.83,27.10,28.83
$GC,524,-1.18,-121.7,96.3,-17.6,78,533,0.00,0.52,0.00,0.000,6,0.000,0.025,2579,3386,3234,0,0,0,0,0,0,28.83,27.20,28.83
$GC,597,-1.18,-121.7,109.4,-17.2,87,606,0.00,1.92,0.00,0.000,4,0.000,0.015,2578,1966,3233,0,0,0,0,0,0,28.83,27.21,28.83
$GC,867,-1.18,-121.7,152.5,-14.5,133,876,0.00,2.03,0.00,0.000,6,0.000,0.031,2570,3355,3234,0,0,0,0,0,0,28.83,27.20,28.83
$GC,941,-1.18,-121.7,164.2,-16.0,142,949,0.00,1.88,0.00,0.000,4,0.000,0.016,2570,1969,3233,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1185,-1.18,-121.7,202.1,-15.7,164,1196,0.10,2.05,0.00,0.000,6,0.138,0.031,2593,3371,3233,0,0,0,0,0,0,27.09,27.24,28.83
$GC,1314,-1.18,-121.7,222.0,-14.2,173,1319,0.00,1.85,0.00,0.000,4,0.000,0.016,2593,1972,3233,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1566,-1.18,-121.7,255.6,-13.6,188,1575,0.00,2.05,0.00,0.000,6,0.000,0.031,2584,3379,3232,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1694,-1.18,-121.7,275.1,-14.3,197,1700,0.00,1.88,0.00,0.000,4,0.000,0.016,2585,1964,3232,0,0,0,0,0,0,28.83,27.35,28.83
$GC,1940,-1.18,-121.7,307.6,-14.6,210,1948,0.00,2.05,0.00,0.000,6,0.000,0.031,2574,3369,3231,0,0,0,0,0,0,28.83,27.30,28.83
$GC,2247,-1.18,-121.7,357.4,-15.2,221,2251,0.00,1.85,0.00,0.000,4,0.000,0.016,2575,1971,3229,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2477,-1.18,-121.7,387.8,-14.8,228,2483,0.00,2.00,0.00,0.000,6,0.000,0.031,2565,3378,3229,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2782,-1.18,-121.7,439.7,-15.6,239,2787,0.12,1.88,0.00,0.000,4,0.171,0.015,2602,1967,3227,0,0,0,0,0,0,27.18,27.39,28.83
$GC,3011,-1.18,-121.7,467.9,-13.5,246,3019,0.00,2.05,0.00,0.000,6,0.000,0.032,2594,3372,3227,0,0,0,0,0,0,28.83,27.34,28.83
$STATE,3227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3227,begin apogee
$GC,3232,-0.25,0.0,501.3,-14.1,254,3323,0.85,0.08,85.70,0.920,6,0.112,0.111,2886,2612,2735,0,0,0,0,0,0,27.20,25.96,25.46
$STATE,3324,end apogee,CONTROL_FINISHED_OK
$STATE,3324,begin climb
$GC,3325,1.18,121.7,505.4,0.0,257,3423,1.27,2.03,89.93,0.895,4,0.060,0.023,3359,1248,2236,0,0,0,0,0,0,26.08,25.83,25.23
$GC,3647,1.18,121.7,475.3,11.6,268,3652,0.00,1.98,0.00,0.000,6,0.000,0.024,3359,2602,2229,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3975,1.18,121.7,436.5,11.7,279,3978,0.00,1.92,0.00,0.000,4,0.000,0.024,3366,1234,2230,0,0,0,0,0,0,28.83,27.02,28.83
$GC,4203,1.18,121.7,412.5,11.7,286,4210,0.00,1.98,0.00,0.000,6,0.000,0.024,3366,2607,2229,0,0,0,0,0,0,28.83,27.12,28.83
$GC,4510,1.18,121.7,373.6,11.7,297,4514,0.00,1.90,0.00,0.000,4,0.000,0.025,3370,1244,2228,0,0,0,0,0,0,28.83,27.17,28.83
$GC,4739,1.18,121.7,350.2,11.4,304,4746,0.00,1.90,0.00,0.000,6,0.000,0.024,3369,2604,2228,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5045,1.18,121.7,312.2,11.6,315,5049,0.00,1.90,0.00,0.000,4,0.000,0.025,3371,1237,2227,0,0,0,0,0,0,28.83,27.26,28.83
$GC,5212,1.18,121.7,293.1,11.6,322,5217,0.00,1.95,0.00,0.000,6,0.000,0.024,3372,2599,2227,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5348,1.18,121.7,276.4,12.4,331,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2599,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5467,1.18,121.7,262.1,11.8,339,5472,0.00,1.88,0.00,0.000,4,0.000,0.024,3378,1241,2226,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5579,1.18,121.7,249.2,11.4,346,5585,0.00,1.90,0.00,0.000,6,0.000,0.024,3378,2608,2226,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5715,1.18,121.7,233.5,11.7,355,5720,0.00,1.92,0.00,0.000,4,0.000,0.024,3382,1228,2226,0,0,0,0,0,0,28.83,27.31,28.83
$GC,5829,1.18,121.7,221.1,11.1,362,5835,0.08,1.95,0.00,0.000,6,0.132,0.024,3355,2604,2226,0,0,0,0,0,0,27.16,27.32,28.83
$GC,5964,1.18,121.7,207.0,10.2,371,5969,0.00,1.88,0.00,0.000,4,0.000,0.024,3363,1240,2226,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6044,1.18,121.7,199.0,9.9,376,6050,0.00,1.90,0.00,0.000,6,0.000,0.024,3364,2608,2226,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6179,1.18,121.7,185.6,10.1,385,6180,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2608,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,1.18,121.7,173.4,10.4,393,6308,0.00,1.95,0.00,0.000,4,0.000,0.024,3367,1236,2226,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6397,1.18,121.7,163.3,11.0,409,6405,0.00,1.95,0.00,0.000,6,0.000,0.024,3366,2606,2226,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6470,1.18,121.7,155.6,10.3,418,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2606,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6542,1.18,121.7,148.1,10.1,427,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2606,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,1.18,121.7,140.8,9.9,436,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2606,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,1.18,121.7,133.8,9.6,445,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2606,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6760,1.19,134.9,127.7,8.6,454,6770,0.00,1.98,4.43,0.695,4,0.000,0.024,3370,1236,2194,0,0,0,0,0,0,28.83,27.27,26.34
$GC,6887,1.25,181.2,118.4,6.9,475,6912,0.00,1.95,20.83,0.948,2,0.000,0.024,3370,2599,2046,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6921,1.73,573.0,115.6,8.0,479,7199,0.38,0.00,271.65,0.497,6,0.039,0.000,3561,2599,494,0,0,0,0,0,0,26.90,28.83,25.58
$GC,7264,1.73,573.0,21.1,34.0,523,7273,0.12,2.00,0.00,0.000,4,0.155,0.022,3532,1244,484,0,0,0,0,0,0,26.27,26.41,28.83
$STATE,7332,end climb,SURFACE_DEPTH_REACHED
$STATE,7332,begin surface coast
$FINISH,-0.5,1.023396
$STATE,7340,end surface coast,CONTROL_FINISHED_OK
$STATE,7340,begin surface
$SM_CCo,7418,0.00,0.000,0,0,480,553.64
$SM_GC,0.06,8.62,3.22,0.00,0.031,0.031,0.000,181,3345,480,-8.63,-1.78,553.64,0,0,0,0,0,0,26.61,26.57,28.83
$IRIDIUM_FIX,2746.98,-7012.89,100814,131302
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.35
$INTERNAL_PRESSURE,9.07389
$TCM_TEMP,21.00
$XPDR_PINGS,12
$24V_AH,25.2,6.140
$10V_AH,10.5,4.123
$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,20.225,67.075,472.525,0.000,0.000,28.371,42.263,172.246,3.000,0.000,6.728,1325.867,3425.036,456.619,2471.319,69.149,33.226,1366.102,0.000,2212.125,0.000,0.552,0.000
$DEVICE_MAMPS,203.490,110.925,947.835,0.000,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.702,1397.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334220
$DATA_FILE_SIZE,30207,535
$CAP_FILE_SIZE,91804,1
$CFSIZE,1024393216,1020575744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,151948,2758.430,-7010.202,15,0.8,15,-12.3