version: 66.10
glider: 200
mission: 4
dive: 80
start: 8 24 114 0 5 5
data:
$ID,200
$MISSION,4
$DIVE,80
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52177
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0134447
$HD_C,1.6100001e-05
$HEADING,50
$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,375
$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,-1288.0596
$T_RSLEEP,30
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,197
$PITCH_MAX,3889
$C_PITCH,2988
$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,30
$C_ROLL_DIVE,2430
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,185
$R_STBD_OVSHOOT,84
$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
$GPS1,240814,000006,2609.206,-7016.604,3,0.9,3,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-65.3
$GPS2,240814,000443,2609.212,-7016.590,3,1.4,4,-11.9
$SPEED_LIMITS,0.173,0.201
$TGT_NAME,HEADING
$TGT_LATLONG,2616.154,-7007.365
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.067
$KALMAN_X,48125.1,-221.1,-147.7,-52835.9,4085.6
$KALMAN_Y,-120993.6,343.5,463.0,-75393.1,-5795.5
$MHEAD_RNG_PITCHd_Wd,61.9,20000,-22.2,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.27,-116.8,0.0,0.0,0,82,0.00,0.00,-64.40,0.000,2,0.000,0.000,144,2442,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.27,-116.8,4.4,-7.9,4,102,8.60,1.40,-4.35,0.000,4,0.200,0.050,2569,3454,3214,0,0,0,0,0,0,26.74,27.02,27.27
$GC,281,-1.27,-116.8,64.6,-25.2,16,291,0.00,1.25,0.00,0.000,6,0.000,0.016,2569,2424,3214,0,0,0,0,0,0,28.83,27.20,28.83
$GC,352,-1.27,-116.8,81.5,-22.0,21,355,0.00,1.27,0.00,0.000,4,0.000,0.020,2568,1470,3214,0,0,0,0,0,0,28.83,27.18,28.83
$GC,452,-1.27,-116.8,102.4,-21.1,27,457,0.00,1.35,0.00,0.000,6,0.000,0.024,2562,2418,3214,0,0,0,0,0,0,28.83,27.19,28.83
$GC,528,-1.27,-116.8,118.2,-20.6,32,531,0.00,1.27,0.00,0.000,4,0.000,0.019,2561,1463,3214,0,0,0,0,0,0,28.83,27.24,28.83
$GC,563,-1.27,-116.8,124.6,-18.6,34,568,0.00,1.38,0.00,0.000,6,0.000,0.024,2554,2429,3214,0,0,0,0,0,0,28.83,27.22,28.83
$GC,638,-1.27,-116.8,139.5,-19.8,39,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2429,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,698,-1.27,-116.8,150.4,-18.2,43,701,0.00,1.30,0.00,0.000,4,0.000,0.019,2554,1458,3214,0,0,0,0,0,0,28.83,27.26,28.83
$GC,780,-1.27,-116.8,163.2,-15.5,48,783,0.00,1.35,0.00,0.000,6,0.000,0.024,2547,2424,3214,0,0,0,0,0,0,28.83,27.24,28.83
$GC,857,-1.27,-116.8,175.0,-15.7,53,861,0.12,1.45,0.00,0.000,4,0.167,0.031,2579,3468,3214,0,0,0,0,0,0,27.08,27.22,28.83
$STATE,890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,890,begin apogee
$GC,895,-0.25,0.0,180.2,-15.6,55,982,0.95,0.00,80.40,0.701,6,0.113,0.000,2903,2308,2734,0,0,0,0,0,0,27.07,28.83,25.82
$STATE,983,end apogee,CONTROL_FINISHED_OK
$STATE,983,begin climb
$GC,984,1.27,116.8,184.4,0.0,61,1073,1.30,1.40,81.45,0.685,4,0.057,0.021,3400,1350,2256,0,0,0,0,0,0,26.32,26.12,25.64
$GC,1173,1.27,116.8,169.9,10.5,73,1177,0.00,1.40,0.00,0.000,6,0.000,0.022,3400,2330,2255,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1250,1.27,116.8,161.7,10.7,78,1254,0.00,1.50,0.00,0.000,4,0.000,0.031,3400,3390,2255,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1498,1.28,121.6,133.5,9.7,93,1504,0.00,1.38,1.42,0.370,6,0.000,0.015,3403,2305,2243,0,0,0,0,0,0,28.83,27.08,26.51
$GC,1573,1.31,151.2,127.1,8.3,98,1593,0.00,0.00,18.42,0.896,6,0.000,0.000,3403,2305,2120,0,0,0,0,0,0,28.83,28.83,25.98
$GC,1649,1.34,168.7,120.4,9.0,103,1664,0.00,1.60,10.38,0.821,4,0.000,0.031,3404,3368,2053,0,0,0,0,0,0,28.83,26.63,25.93
$GC,1750,1.34,168.7,108.4,13.0,109,1755,0.00,1.33,0.00,0.000,6,0.000,0.015,3404,2339,2055,0,0,0,0,0,0,28.83,26.89,28.83
$GC,1826,1.34,168.7,100.1,10.3,114,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2339,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,1.34,168.7,93.9,10.4,118,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2338,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,1.34,169.1,87.9,10.0,122,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2339,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,1.34,169.1,81.7,10.3,126,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2338,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2065,1.34,172.1,75.8,9.8,130,2071,0.00,1.38,1.88,0.281,4,0.000,0.020,3410,1339,2037,0,0,0,0,0,0,28.83,27.08,26.71
$GC,2177,1.37,193.6,65.7,8.8,137,2193,0.00,1.40,9.62,0.249,6,0.000,0.021,3410,2333,1947,0,0,0,0,0,0,28.83,27.14,26.74
$GC,2254,1.37,195.4,58.4,9.9,142,2256,0.00,0.00,1.02,0.311,6,0.000,0.000,3410,2333,1939,0,0,0,0,0,0,28.83,28.83,26.77
$GC,2312,1.37,195.4,52.0,10.6,146,2315,0.00,1.38,0.00,0.000,4,0.000,0.022,3412,1341,1944,0,0,0,0,0,0,28.83,27.13,28.83
$GC,2353,1.37,195.4,48.9,10.0,148,2362,0.00,1.38,0.00,0.000,6,0.000,0.021,3412,2320,1944,0,0,0,0,0,0,28.83,27.15,28.83
$GC,2422,1.39,212.3,42.1,9.0,153,2437,0.00,0.00,7.10,0.206,6,0.000,0.000,3412,2320,1873,0,0,0,0,0,0,28.83,28.83,26.82
$GC,2498,1.43,247.9,36.2,7.9,158,2515,0.10,0.00,14.10,0.190,6,0.090,0.000,3493,2320,1724,0,0,0,0,0,0,27.18,28.83,26.83
$GC,2573,1.43,247.9,28.5,10.9,163,2577,0.12,1.35,0.00,0.000,4,0.151,0.019,3458,1310,1726,0,0,0,0,0,0,26.98,27.14,28.83
$GC,2623,1.43,247.9,22.9,10.9,166,2627,0.00,1.42,0.00,0.000,6,0.000,0.021,3458,2337,1726,0,0,0,0,0,0,28.83,27.16,28.83
$GC,2702,1.46,267.9,16.0,8.8,171,2716,0.00,1.45,7.07,0.152,4,0.000,0.030,3459,3346,1641,0,0,0,0,0,0,28.83,27.13,26.94
$GC,2775,1.46,267.9,8.3,11.3,175,2784,0.00,1.27,0.00,0.000,6,0.000,0.016,3460,2323,1642,0,0,0,0,0,0,28.83,27.24,28.83
$STATE,2828,end climb,SURFACE_DEPTH_REACHED
$STATE,2828,begin surface coast
$FINISH,0.3,1.002964
$STATE,2844,end surface coast,CONTROL_FINISHED_OK
$STATE,2844,begin surface
$SM_CCo,2859,37.08,0.112,0,0,1205,375.06
$SM_GC,1.37,8.20,0.10,37.08,0.028,0.091,0.112,161,2447,1205,-8.69,-2.18,375.06,0,0,0,0,0,0,27.19,27.21,26.95
$IRIDIUM_FIX,2600.57,-7014.96,230814,232311
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.10
$INTERNAL_PRESSURE,9.23015
$TCM_TEMP,24.90
$XPDR_PINGS,15
$24V_AH,25.6,14.092
$10V_AH,10.5,11.644
$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,19.400,33.175,232.875,37.075,0.000,25.228,43.861,74.158,3.750,0.000,5.476,578.004,1152.689,270.148,1080.264,43.831,0.000,697.444,0.000,923.280,0.000,0.554,0.000
$DEVICE_MAMPS,200.430,91.035,895.815,111.690,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,117.983,593.492,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334356
$DATA_FILE_SIZE,10242,180
$CAP_FILE_SIZE,55884,0
$CFSIZE,1024393216,1014890496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240814,005402,2609.070,-7016.109,6,0.7,7,-11.9