version: 66.10
glider: 200
mission: 4
dive: 10
start: 8 10 114 15 29 40
data:
$ID,200
$MISSION,4
$DIVE,10
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,720
$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,195
$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,250
$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,-1092.3024
$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,121
$R_STBD_OVSHOOT,31
$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
$GPS1,100814,151948,2758.430,-7010.202,15,0.8,15,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-63.7
$GPS2,100814,152842,2758.381,-7010.168,5,1.7,5,-12.3
$SPEED_LIMITS,0.231,0.310
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.226,-0.213
$KALMAN_X,-2554.7,-60.9,-8.7,-4708.7,-1428.6
$KALMAN_Y,-11772.8,755.7,445.6,8406.6,-3972.6
$MHEAD_RNG_PITCHd_Wd,145.6,53242,-19.3,-13.333
$D_GRID,720
$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,-1.28,-243.3,0.0,0.0,0,111,0.00,0.00,-93.65,0.000,2,0.000,0.000,178,3347,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.28,-243.3,3.1,-5.8,12,146,8.57,0.77,-13.82,0.000,4,0.205,0.086,2548,3868,3730,0,0,0,0,0,0,26.65,26.88,27.16
$GC,274,-1.28,-243.3,56.8,-28.6,38,283,0.00,0.57,0.00,0.000,6,0.000,0.024,2548,3388,3730,0,0,0,0,0,0,28.83,27.06,28.83
$GC,347,-1.28,-243.3,77.4,-27.6,47,356,0.00,1.92,0.00,0.000,4,0.000,0.015,2549,1972,3730,0,0,0,0,0,0,28.83,27.09,28.83
$GC,617,-1.28,-243.3,141.6,-22.1,93,626,0.00,2.08,0.00,0.000,6,0.000,0.032,2538,3385,3730,0,0,0,0,0,0,28.83,27.12,28.83
$GC,691,-1.28,-243.3,158.3,-23.2,102,699,0.00,1.92,0.00,0.000,4,0.000,0.016,2538,1969,3730,0,0,0,0,0,0,28.83,27.20,28.83
$GC,870,-1.28,-243.3,197.1,-22.4,120,880,0.08,2.05,0.00,0.000,6,0.138,0.032,2555,3369,3730,0,0,0,0,0,0,27.03,27.18,28.83
$GC,1001,-1.28,-243.3,227.4,-21.7,129,1006,0.00,1.88,0.00,0.000,4,0.000,0.015,2555,1968,3730,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1250,-1.28,-243.3,276.8,-20.1,144,1260,0.00,2.08,0.00,0.000,6,0.000,0.032,2546,3381,3729,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1392,-1.28,-243.3,308.8,-21.1,153,1396,0.00,1.88,0.00,0.000,4,0.000,0.016,2546,1964,3729,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1597,-1.28,-243.3,350.8,-20.5,160,1601,0.00,2.03,0.00,0.000,6,0.000,0.032,2536,3385,3728,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1922,-1.28,-243.3,420.7,-21.5,171,1926,0.00,1.90,0.00,0.000,4,0.000,0.016,2536,1963,3727,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2151,-1.28,-243.3,464.5,-20.6,178,2156,0.10,2.05,0.00,0.000,6,0.132,0.032,2560,3366,3725,0,0,0,0,0,0,27.16,27.29,28.83
$GC,2463,-1.28,-243.3,529.3,-19.5,189,2466,0.00,1.85,0.00,0.000,4,0.000,0.016,2560,1967,3723,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2692,-1.28,-243.3,567.5,-18.5,196,2699,0.00,2.03,0.00,0.000,6,0.000,0.033,2551,3385,3722,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2998,-1.28,-243.3,631.0,-19.4,207,3001,0.00,0.65,0.00,0.000,4,0.000,0.047,2548,3850,3720,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3226,-1.28,-243.3,671.1,-19.0,214,3230,0.00,0.60,0.00,0.000,6,0.000,0.025,2548,3373,3719,0,0,0,0,0,0,28.83,27.41,28.83
$STATE,3477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3477,begin apogee
$GC,3481,-0.25,0.0,721.6,-19.0,223,3672,0.98,0.08,176.82,1.407,6,0.109,0.110,2886,2616,2741,0,0,0,0,1,0,27.20,25.32,24.50
$STATE,3673,end apogee,CONTROL_FINISHED_OK
$STATE,3673,begin climb
$GC,3674,1.28,243.3,730.3,0.0,229,3873,1.38,1.92,188.93,0.975,4,0.057,0.037,3384,3831,1740,0,0,0,0,0,0,25.60,25.63,24.98
$GC,4088,1.28,243.3,672.3,20.5,243,4092,0.00,1.65,0.00,0.000,6,0.000,0.018,3387,2595,1733,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4409,1.28,243.3,611.7,18.0,254,4413,0.00,1.90,0.00,0.000,4,0.000,0.026,3387,1248,1730,0,0,0,0,0,0,28.83,26.96,28.83
$GC,4587,1.28,243.3,581.2,17.2,260,4592,0.00,1.98,0.00,0.000,6,0.000,0.024,3387,2608,1729,0,0,0,0,0,0,28.83,27.05,28.83
$GC,4914,1.28,243.3,523.2,17.5,271,4918,0.00,1.92,0.00,0.000,4,0.000,0.026,3387,1246,1728,0,0,0,0,0,0,28.83,27.14,28.83
$GC,5063,1.28,243.3,498.7,16.8,276,5067,0.00,1.95,0.00,0.000,6,0.000,0.024,3387,2599,1727,0,0,0,0,0,0,28.83,27.17,28.83
$GC,5389,1.28,243.3,440.4,18.0,287,5393,0.00,1.92,0.00,0.000,4,0.000,0.026,3387,1246,1727,0,0,0,0,0,0,28.83,27.21,28.83
$GC,5552,1.28,243.3,415.6,17.2,292,5557,0.00,1.95,0.00,0.000,6,0.000,0.024,3387,2603,1726,0,0,0,0,0,0,28.83,27.24,28.83
$GC,5865,1.28,243.3,357.4,17.8,303,5868,0.00,1.90,0.00,0.000,4,0.000,0.025,3387,1247,1726,0,0,0,0,0,0,28.83,27.27,28.83
$GC,6003,1.28,243.3,337.2,17.3,307,6010,0.00,1.95,0.00,0.000,6,0.000,0.024,3387,2607,1726,0,0,0,0,0,0,28.83,27.28,28.83
$GC,6312,1.28,243.3,279.8,17.4,321,6317,0.00,1.90,0.00,0.000,4,0.000,0.025,3387,1241,1725,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6459,1.28,243.3,255.4,16.9,330,6464,0.00,1.95,0.00,0.000,6,0.000,0.024,3387,2601,1726,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6594,1.28,243.3,231.4,17.7,339,6599,0.00,1.90,0.00,0.000,4,0.000,0.025,3387,1234,1726,0,0,0,0,0,0,28.83,27.30,28.83
$GC,6676,1.28,243.3,217.6,17.2,344,6681,0.00,1.95,0.00,0.000,6,0.000,0.024,3387,2599,1726,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6812,1.28,243.3,194.5,16.6,353,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2599,1726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,1.28,243.3,174.2,16.9,361,6939,0.00,1.92,0.00,0.000,4,0.000,0.025,3387,1251,1726,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6999,1.28,243.3,163.0,16.2,372,7008,0.00,1.92,0.00,0.000,6,0.000,0.024,3387,2596,1726,0,0,0,0,0,0,28.83,27.33,28.83
$GC,7073,1.28,243.3,150.8,16.8,381,7081,0.00,1.92,0.00,0.000,4,0.000,0.026,3387,1242,1726,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7112,1.28,243.3,144.4,16.4,387,7121,0.00,1.92,0.00,0.000,6,0.000,0.024,3387,2596,1726,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7185,1.28,243.3,132.6,16.1,396,7194,0.00,1.92,0.00,0.000,4,0.000,0.025,3387,1249,1726,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7231,1.28,243.3,125.3,15.9,403,7240,0.00,1.92,0.00,0.000,6,0.000,0.024,3387,2599,1726,0,0,0,0,0,0,28.83,27.33,28.83
$GC,7304,1.28,243.3,113.7,15.4,412,7313,0.00,1.92,0.00,0.000,4,0.000,0.025,3387,1251,1726,0,0,0,0,0,0,28.83,27.32,28.83
$GC,7384,1.28,243.3,101.5,14.3,425,7392,0.00,1.92,0.00,0.000,6,0.000,0.024,3387,2603,1726,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7457,1.28,243.3,90.6,14.9,434,7466,0.00,1.95,0.00,0.000,4,0.000,0.025,3387,1238,1726,0,0,0,0,0,0,28.83,27.33,28.83
$GC,7537,1.28,243.3,79.2,13.7,447,7545,0.00,1.95,0.00,0.000,6,0.000,0.024,3387,2606,1726,0,0,0,0,0,0,28.83,27.34,28.83
$GC,7610,1.28,243.3,69.1,14.1,456,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2606,1726,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7683,1.29,253.4,59.5,13.0,465,7691,0.00,0.00,2.35,0.213,6,0.000,0.000,3387,2607,1709,0,0,0,0,0,0,28.83,28.83,27.00
$GC,7757,1.29,253.4,49.7,14.0,474,7766,0.00,1.92,1.20,0.233,4,0.000,0.023,3387,1251,1711,0,0,0,0,0,0,28.83,27.32,27.10
$GC,7860,1.36,311.0,36.9,11.2,491,7893,0.00,1.92,23.27,0.197,6,0.000,0.024,3387,2605,1470,0,0,0,0,0,0,28.83,27.33,26.97
$GC,7959,1.40,342.4,25.3,12.2,503,7976,0.10,0.00,12.43,0.174,6,0.093,0.000,3464,2605,1338,0,0,0,0,0,0,27.27,28.83,26.96
$GC,8042,1.40,342.4,12.8,16.1,513,8050,0.12,0.00,0.00,0.000,6,0.148,0.000,3426,2605,1344,0,0,0,0,0,0,27.08,28.83,28.83
$STATE,8114,end climb,SURFACE_DEPTH_REACHED
$STATE,8114,begin surface coast
$FINISH,0.6,1.023362
$STATE,8123,end surface coast,CONTROL_FINISHED_OK
$STATE,8123,begin surface
$SM_CCo,8138,37.45,0.120,0,0,899,450.13
$SM_GC,0.41,8.12,1.10,37.45,0.029,0.038,0.120,182,3353,899,-8.64,-1.89,450.13,0,0,0,0,0,0,27.21,27.21,26.97
$IRIDIUM_FIX,2746.98,-7010.60,100814,151526
$TT8_MAMPS,0.029211,0.029211
$HUMID,50.27
$INTERNAL_PRESSURE,9.10319
$TCM_TEMP,21.90
$XPDR_PINGS,35
$24V_AH,24.5,6.307
$10V_AH,10.5,4.215
$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,19.450,78.350,405.000,37.450,0.000,34.351,44.627,217.504,8.750,0.000,6.712,1387.124,4121.956,509.387,2475.744,72.127,33.230,1414.328,0.000,2156.819,0.000,0.551,0.000
$DEVICE_MAMPS,205.020,110.160,1406.835,120.105,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.546,1186.490,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334228
$DATA_FILE_SIZE,30268,523
$CAP_FILE_SIZE,99511,0
$CFSIZE,1024393216,1020493824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,100814,174705,2757.347,-7009.630,35,1.0,35,-12.3