version: 66.10
glider: 200
mission: 4
dive: 18
start: 8 11 114 22 14 13
data:
$ID,200
$MISSION,4
$DIVE,18
$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,165
$T_MISSION,180
$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,150
$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,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,-1102.3423
$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,2660
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,151
$R_STBD_OVSHOOT,75
$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
$GPS1,110814,220505,2741.458,-7001.011,25,0.9,25,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-65.8
$GPS2,110814,221317,2741.389,-7000.962,5,1.1,5,-12.3
$SPEED_LIMITS,0.175,0.224
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.032,-0.222
$KALMAN_X,-13694.7,441.1,206.5,20750.4,-1488.0
$KALMAN_Y,-17600.3,639.4,368.1,-17045.5,-1557.5
$MHEAD_RNG_PITCHd_Wd,184.2,22111,-19.8,-10.101
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-63.20,0.000,2,0.000,0.000,169,2622,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.18,-146.0,3.3,-6.7,8,108,8.55,1.77,-8.20,0.000,4,0.200,0.052,2573,3816,3333,0,0,0,0,0,0,26.75,26.96,27.23
$GC,330,-1.18,-146.0,69.2,-20.9,50,338,0.00,1.50,0.00,0.000,6,0.000,0.018,2573,2637,3334,0,0,0,0,0,0,28.83,27.15,28.83
$GC,404,-1.18,-146.0,84.2,-20.6,59,413,0.00,1.80,0.00,0.000,4,0.000,0.020,2574,1339,3333,0,0,0,0,0,0,28.83,27.12,28.83
$GC,432,-1.18,-146.0,90.5,-21.9,63,441,0.00,1.88,0.00,0.000,6,0.000,0.025,2564,2641,3334,0,0,0,0,0,0,28.83,27.10,28.83
$GC,505,-1.18,-146.0,105.3,-20.4,72,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2640,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,578,-1.18,-146.0,119.4,-19.3,81,586,0.00,1.83,0.00,0.000,4,0.000,0.020,2564,1333,3334,0,0,0,0,0,0,28.83,27.16,28.83
$GC,675,-1.18,-146.0,137.5,-17.7,97,684,0.10,1.90,0.00,0.000,6,0.135,0.025,2588,2655,3335,0,0,0,0,0,0,27.02,27.17,28.83
$GC,748,-1.18,-146.0,150.5,-17.5,106,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2655,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,821,-1.18,-146.0,162.9,-17.0,115,830,0.00,1.85,0.00,0.000,4,0.000,0.020,2588,1328,3335,0,0,0,0,0,0,28.83,27.21,28.83
$GC,884,-1.18,-146.0,173.6,-17.5,125,892,0.00,1.90,0.00,0.000,6,0.000,0.025,2580,2654,3335,0,0,0,0,0,0,28.83,27.20,28.83
$GC,961,-1.18,-146.0,186.5,-16.7,131,964,0.00,1.80,0.00,0.000,4,0.000,0.020,2580,1355,3335,0,0,0,0,0,0,28.83,27.22,28.83
$GC,1067,-1.18,-146.0,203.4,-17.4,137,1076,0.00,1.92,0.00,0.000,6,0.000,0.024,2571,2662,3334,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1257,-1.18,-146.0,236.4,-16.5,150,1260,0.00,1.80,0.00,0.000,4,0.000,0.020,2571,1362,3334,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1297,-1.18,-146.0,242.3,-16.8,152,1307,0.00,1.90,0.00,0.000,6,0.000,0.024,2561,2657,3335,0,0,0,0,0,0,28.83,27.25,28.83
$GC,1486,-1.18,-146.0,275.1,-16.7,165,1488,0.12,0.00,0.00,0.000,6,0.164,0.000,2594,2657,3335,0,0,0,0,0,0,27.14,28.83,28.83
$GC,1679,-1.18,-146.0,304.9,-14.9,177,1683,0.00,1.80,0.00,0.000,4,0.000,0.020,2594,1357,3334,0,0,0,0,0,0,28.83,27.30,28.83
$GC,1762,-1.18,-146.0,314.3,-15.2,179,1770,0.00,1.92,0.00,0.000,6,0.000,0.024,2586,2664,3334,0,0,0,0,0,0,28.83,27.29,28.83
$GC,2069,-1.18,-146.0,366.3,-15.9,190,2072,0.00,1.80,0.00,0.000,4,0.000,0.020,2586,1364,3333,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2177,-1.18,-146.0,380.9,-16.2,193,2181,0.00,1.90,0.00,0.000,6,0.000,0.025,2577,2661,3332,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2489,-1.18,-146.0,435.4,-16.7,204,2492,0.00,1.80,0.00,0.000,4,0.000,0.021,2577,1360,3331,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2572,-1.18,-146.0,445.3,-16.6,206,2580,0.00,1.90,0.00,0.000,6,0.000,0.025,2570,2655,3331,0,0,0,0,0,0,28.83,27.33,28.83
$STATE,2878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2878,begin apogee
$GC,2882,-0.25,0.0,500.3,-16.3,217,2992,0.93,0.00,105.50,0.915,6,0.113,0.000,2887,2334,2734,0,0,0,0,0,0,27.20,28.83,25.26
$STATE,2993,end apogee,CONTROL_FINISHED_OK
$STATE,2993,begin climb
$GC,2995,1.18,146.0,504.6,0.0,220,3113,1.27,2.17,108.45,0.903,4,0.058,0.033,3354,3718,2138,0,0,0,0,0,0,25.89,25.65,25.05
$GC,3183,1.18,146.0,489.4,11.1,227,3187,0.00,1.90,0.00,0.000,6,0.000,0.016,3359,2351,2133,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3510,1.18,146.0,446.3,12.9,238,3514,0.00,1.95,0.00,0.000,4,0.000,0.026,3364,985,2132,0,0,0,0,0,0,28.83,26.81,28.83
$GC,3583,1.18,146.0,439.2,12.8,240,3587,0.00,1.95,0.00,0.000,6,0.000,0.021,3364,2339,2131,0,0,0,0,0,0,28.83,26.89,28.83
$GC,3895,1.18,146.0,396.8,12.9,251,3896,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2339,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4195,1.18,146.0,359.2,12.2,261,4199,0.00,1.95,0.00,0.000,4,0.000,0.027,3364,981,2130,0,0,0,0,0,0,28.83,27.10,28.83
$GC,4288,1.18,146.0,348.1,12.3,264,4293,0.00,1.92,0.00,0.000,6,0.000,0.021,3364,2332,2129,0,0,0,0,0,0,28.83,27.15,28.83
$GC,4615,1.18,146.0,307.5,12.3,275,4619,0.00,1.98,0.00,0.000,4,0.000,0.034,3364,3706,2129,0,0,0,0,0,0,28.83,27.16,28.83
$GC,4663,1.18,146.0,304.1,12.6,276,4671,0.00,1.85,0.00,0.000,6,0.000,0.016,3372,2321,2129,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4972,1.18,146.0,261.8,12.6,296,4978,0.00,1.88,0.00,0.000,4,0.000,0.028,3372,988,2128,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5004,1.18,146.0,257.9,12.5,298,5009,0.00,1.85,0.00,0.000,6,0.000,0.021,3372,2332,2129,0,0,0,0,0,0,28.83,27.24,28.83
$GC,5200,1.18,146.0,233.3,12.6,311,5205,0.00,1.95,0.00,0.000,4,0.000,0.034,3372,3712,2128,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5253,1.18,146.0,226.9,13.6,314,5263,0.00,1.85,0.00,0.000,6,0.000,0.016,3372,2331,2128,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5443,1.18,146.0,202.3,12.2,327,5449,0.00,1.90,0.00,0.000,4,0.000,0.026,3378,976,2128,0,0,0,0,0,0,28.83,27.25,28.83
$GC,5538,1.18,146.0,190.6,12.2,333,5543,0.00,1.85,0.00,0.000,6,0.000,0.021,3378,2326,2128,0,0,0,0,0,0,28.83,27.28,28.83
$GC,5729,1.18,146.0,167.8,11.7,349,5738,0.00,1.92,0.00,0.000,4,0.000,0.028,3378,986,2129,0,0,0,0,0,0,28.83,27.28,28.83
$GC,5809,1.18,146.0,158.9,11.6,362,5817,0.00,1.88,0.00,0.000,6,0.000,0.021,3378,2321,2128,0,0,0,0,0,0,28.83,27.30,28.83
$GC,5882,1.18,146.0,150.8,10.8,371,5890,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2320,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5954,1.18,146.0,143.0,11.0,380,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2321,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,1.18,146.0,135.3,10.5,389,6035,0.00,1.92,0.00,0.000,4,0.000,0.027,3378,980,2128,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6089,1.18,146.0,128.2,11.5,399,6098,0.00,1.88,0.00,0.000,6,0.000,0.021,3378,2317,2128,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6162,1.18,146.0,120.4,10.6,408,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2317,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6235,1.18,146.0,112.5,10.9,417,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2317,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6307,1.18,146.0,104.9,10.7,426,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2317,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6379,1.18,146.0,97.3,10.3,435,6388,0.00,1.92,0.00,0.000,4,0.000,0.027,3381,982,2128,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6442,1.19,147.1,91.2,10.0,445,6451,0.00,1.88,0.00,0.000,6,0.000,0.021,3380,2320,2128,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6516,1.21,166.4,84.3,9.2,454,6533,0.00,2.05,7.40,0.295,4,0.000,0.034,3381,3716,2064,0,0,0,0,0,0,28.83,27.23,26.93
$GC,6570,1.21,166.4,78.9,11.1,462,6580,0.00,1.85,1.05,0.197,6,0.000,0.016,3389,2311,2062,0,0,0,0,0,0,28.83,27.34,26.97
$GC,6646,1.22,172.6,71.3,9.8,471,6654,0.00,0.00,3.45,0.261,6,0.000,0.000,3390,2311,2038,0,0,0,0,0,0,28.83,28.83,26.94
$GC,6720,1.22,172.6,63.2,11.2,480,6729,0.00,1.88,0.88,0.271,4,0.000,0.024,3392,1001,2038,0,0,0,0,0,0,28.83,27.24,27.05
$GC,6793,1.22,172.6,55.2,10.8,492,6803,0.00,1.88,0.85,0.199,6,0.000,0.021,3392,2326,2036,0,0,0,0,0,0,28.83,27.27,27.05
$GC,6869,1.23,179.2,48.1,9.8,501,6878,0.00,2.05,3.53,0.235,4,0.000,0.033,3392,3714,2008,0,0,0,0,0,0,28.83,27.22,26.98
$GC,6920,1.23,179.8,42.9,10.1,509,6929,0.00,1.83,0.93,0.202,6,0.000,0.016,3392,2337,2006,0,0,0,0,0,0,28.83,27.31,27.01
$GC,6996,1.29,235.3,36.9,7.5,518,7028,0.00,1.95,21.75,0.198,4,0.000,0.026,3392,987,1779,0,0,0,0,0,0,28.83,27.15,26.93
$GC,7066,1.40,319.2,32.8,6.2,528,7107,0.05,1.90,32.10,0.186,6,0.063,0.021,3456,2334,1434,0,0,0,0,0,0,27.11,27.20,26.83
$GC,7173,1.40,319.2,21.5,12.4,541,7182,0.12,2.00,0.00,0.000,4,0.150,0.031,3418,3700,1436,0,0,0,0,0,0,26.96,27.09,28.83
$GC,7264,1.40,319.2,8.8,13.6,556,7273,0.00,1.83,0.00,0.000,6,0.000,0.016,3420,2335,1436,0,0,0,0,0,0,28.83,27.18,28.83
$STATE,7312,end climb,SURFACE_DEPTH_REACHED
$STATE,7313,begin surface coast
$FINISH,0.5,1.023438
$STATE,7322,end surface coast,CONTROL_FINISHED_OK
$STATE,7322,begin surface
$SM_CCo,7337,19.30,0.122,0,0,1207,375.06
$SM_GC,0.92,8.10,0.43,19.30,0.027,0.038,0.122,171,2658,1207,-8.63,-2.09,375.06,0,0,0,0,0,0,27.13,27.15,26.94
$IRIDIUM_FIX,2734.80,-6959.97,110814,181835
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.49
$INTERNAL_PRESSURE,9.10319
$TCM_TEMP,22.50
$XPDR_PINGS,21
$24V_AH,25.0,7.394
$10V_AH,10.5,5.095
$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,19.250,91.225,285.875,19.300,0.000,24.236,50.965,113.075,5.250,0.000,6.705,1430.413,3465.181,420.700,2247.935,68.211,33.250,1207.984,0.000,2048.288,0.000,0.551,0.000
$DEVICE_MAMPS,199.665,52.020,914.940,121.635,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.434,1519.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,30295,563
$CAP_FILE_SIZE,96074,0
$CFSIZE,1024393216,1019887616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120814,001736,2739.872,-7001.134,13,0.9,13,-12.3