version: 66.10
glider: 200
mission: 4
dive: 5
start: 8 10 114 5 46 47
data:
$ID,200
$MISSION,4
$DIVE,5
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,75
$T_MISSION,90
$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,-1066.7592
$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,3173
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,150
$R_STBD_OVSHOOT,52
$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
$GPS1,100814,054128,2758.665,-7006.876,11,1.3,11,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-63.3
$GPS2,100814,054552,2758.631,-7006.888,15,1.3,15,-12.3
$SPEED_LIMITS,0.231,0.280
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7015.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.216,0.178
$KALMAN_X,1.7,-10.3,89.0,-2049.2,-47.5
$KALMAN_Y,-1485.5,-799.1,-286.2,885.5,-607.7
$MHEAD_RNG_PITCHd_Wd,321.8,13506,-21.8,-13.333
$D_GRID,300
$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,-1.35,-194.6,0.0,0.0,0,118,0.00,0.00,-100.95,0.000,2,0.000,0.000,188,3120,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-1.35,-194.6,4.4,-8.8,13,139,8.43,1.80,-4.70,0.000,4,0.205,0.035,2533,1827,3532,0,0,0,0,0,0,26.82,27.22,27.44
$GC,395,-1.35,-194.6,86.1,-23.7,60,404,0.00,1.92,0.00,0.000,6,0.000,0.030,2525,3162,3532,0,0,0,0,0,0,28.83,27.24,28.83
$GC,475,-1.35,-194.6,103.5,-22.6,73,483,0.00,1.83,0.00,0.000,4,0.000,0.017,2525,1829,3532,0,0,0,0,0,0,28.83,27.32,28.83
$GC,744,-1.35,-194.6,160.3,-21.1,115,755,0.00,1.90,0.00,0.000,6,0.000,0.031,2515,3181,3531,0,0,0,0,0,0,28.83,27.29,28.83
$GC,875,-1.35,-194.6,188.0,-21.7,128,879,0.00,1.80,0.00,0.000,4,0.000,0.017,2514,1854,3531,0,0,0,0,0,0,28.83,27.36,28.83
$GC,1046,-1.35,-194.6,225.2,-21.9,143,1057,0.10,1.90,0.00,0.000,6,0.179,0.031,2534,3173,3531,0,0,0,0,0,0,27.12,27.31,28.83
$GC,1176,-1.35,-194.6,251.9,-20.2,156,1179,0.00,1.80,0.00,0.000,4,0.000,0.017,2535,1847,3530,0,0,0,0,0,0,28.83,27.37,28.83
$GC,1369,-1.35,-194.6,289.8,-19.7,173,1380,0.00,1.90,0.00,0.000,6,0.000,0.031,2526,3174,3529,0,0,0,0,0,0,28.83,27.32,28.83
$STATE,1419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1419,begin apogee
$GC,1424,-0.25,0.0,300.2,-21.1,178,1565,1.05,0.00,135.70,0.710,6,0.116,0.000,2884,2486,2734,0,0,0,0,0,0,27.13,28.83,25.62
$STATE,1566,end apogee,CONTROL_FINISHED_OK
$STATE,1567,begin climb
$GC,1568,1.35,194.6,308.3,0.0,185,1714,1.40,1.90,138.75,0.661,4,0.060,0.025,3411,1190,1939,0,0,0,0,0,0,26.20,26.13,25.58
$GC,1744,1.35,194.6,293.0,14.8,196,1755,0.00,1.90,0.00,0.000,6,0.000,0.024,3411,2519,1935,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1875,1.35,194.6,270.9,17.1,209,1885,0.00,1.90,0.00,0.000,4,0.000,0.025,3412,1188,1933,0,0,0,0,0,0,28.83,26.83,28.83
$GC,1955,1.35,194.6,257.0,17.0,216,1966,0.00,1.88,0.00,0.000,6,0.000,0.024,3412,2514,1933,0,0,0,0,0,0,28.83,26.94,28.83
$GC,2087,1.35,194.6,234.8,16.7,229,2097,0.00,1.88,0.00,0.000,4,0.000,0.024,3419,1180,1931,0,0,0,0,0,0,28.83,27.04,28.83
$GC,2145,1.35,194.6,224.8,16.5,234,2155,0.00,1.88,0.00,0.000,6,0.000,0.024,3419,2511,1931,0,0,0,0,0,0,28.83,27.08,28.83
$GC,2276,1.35,194.6,203.3,16.5,247,2286,0.00,1.88,0.00,0.000,4,0.000,0.026,3419,1177,1931,0,0,0,0,0,0,28.83,27.14,28.83
$GC,2323,1.35,194.6,195.3,16.5,251,2333,0.00,1.85,0.00,0.000,6,0.000,0.024,3419,2510,1930,0,0,0,0,0,0,28.83,27.17,28.83
$GC,2453,1.35,194.6,173.4,17.0,264,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3419,2510,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2573,1.35,194.6,152.9,17.2,276,2583,0.00,1.85,0.00,0.000,4,0.000,0.025,3424,1175,1929,0,0,0,0,0,0,28.83,27.23,28.83
$GC,2683,1.35,194.6,135.0,15.7,293,2692,0.00,1.88,0.00,0.000,6,0.000,0.024,3424,2498,1929,0,0,0,0,0,0,28.83,27.26,28.83
$GC,2763,1.35,194.6,122.1,16.1,306,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2499,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2842,1.35,194.6,109.7,15.4,319,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2498,1929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2921,1.35,194.6,97.1,15.4,332,2930,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2498,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3001,1.35,194.6,85.0,15.2,345,3009,0.00,1.85,0.00,0.000,4,0.000,0.025,3427,1191,1928,0,0,0,0,0,0,28.83,27.29,28.83
$GC,3184,1.37,213.1,59.4,12.5,376,3201,0.00,1.85,5.97,0.238,6,0.000,0.024,3427,2502,1872,0,0,0,0,0,0,28.83,27.33,26.90
$GC,3273,1.38,218.7,48.6,13.1,390,3282,0.00,1.92,3.03,0.220,4,0.000,0.034,3427,3836,1848,0,0,0,0,0,0,28.83,27.24,26.91
$GC,3365,1.38,218.7,35.3,15.5,405,3373,0.00,1.73,0.00,0.000,6,0.000,0.018,3435,2515,1853,0,0,0,0,0,0,28.83,27.37,28.83
$GC,3445,1.40,240.2,24.6,12.3,418,3462,0.00,1.92,8.73,0.177,4,0.000,0.035,3435,3824,1756,0,0,0,0,0,0,28.83,27.24,26.98
$GC,3590,1.48,302.4,10.0,10.4,442,3622,0.00,1.73,21.60,0.132,6,0.000,0.018,3438,2501,1499,0,0,0,0,0,0,28.83,27.36,27.01
$STATE,3659,end climb,SURFACE_DEPTH_REACHED
$STATE,3659,begin surface coast
$FINISH,-0.5,1.023397
$STATE,3672,end surface coast,CONTROL_FINISHED_OK
$STATE,3672,begin surface
$SM_CCo,3687,49.58,0.116,0,0,900,450.13
$SM_GC,0.23,8.15,0.95,49.58,0.029,0.037,0.116,170,3156,900,-8.65,-1.98,450.13,0,0,0,0,0,0,27.24,27.24,26.94
$IRIDIUM_FIX,2746.98,-7041.45,100814,050510
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.47
$INTERNAL_PRESSURE,9.19109
$TCM_TEMP,22.70
$XPDR_PINGS,10
$24V_AH,25.6,5.535
$10V_AH,10.6,3.706
$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,19.125,46.375,313.775,49.575,0.000,0.000,0.000,0.000,2.500,0.000,16.301,1063.769,543.664,444.719,1711.427,43.469,33.206,1021.767,0.000,1706.219,0.000,0.553,0.000
$DEVICE_MAMPS,205.020,36.720,709.920,115.515,0.000,0.000,0.000,0.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.466,1450.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334100
$DATA_FILE_SIZE,23623,454
$CAP_FILE_SIZE,69241,0
$CFSIZE,1024393216,1020854272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100814,064954,2758.658,-7007.594,16,1.3,16,-12.3