version: 66.10
glider: 200
mission: 4
dive: 19
start: 8 12 114 0 25 35
data:
$ID,200
$MISSION,4
$DIVE,19
$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,-1103.5968
$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,126
$R_STBD_OVSHOOT,68
$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
$GPS1,120814,001736,2739.872,-7001.134,13,0.9,13,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-66.4
$GPS2,120814,002439,2739.823,-7001.127,6,1.7,6,-12.3
$SPEED_LIMITS,0.175,0.224
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.018,-0.223
$KALMAN_X,-14401.4,557.6,223.9,21055.0,-1638.7
$KALMAN_Y,-18263.3,576.5,398.9,-19251.7,-1998.7
$MHEAD_RNG_PITCHd_Wd,187.8,19273,-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,-62.92,0.000,2,0.000,0.000,169,2662,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.18,-146.0,3.3,-6.3,8,108,8.57,1.73,-8.62,0.000,4,0.201,0.052,2576,3830,3334,0,0,0,0,0,0,26.79,26.98,27.27
$GC,348,-1.18,-146.0,72.2,-18.9,53,357,0.00,1.55,0.00,0.000,6,0.000,0.017,2575,2610,3334,0,0,0,0,0,0,28.83,27.18,28.83
$GC,421,-1.18,-146.0,86.2,-18.8,62,430,0.00,1.75,0.00,0.000,4,0.000,0.020,2575,1344,3334,0,0,0,0,0,0,28.83,27.15,28.83
$GC,455,-1.18,-146.0,92.9,-19.8,67,464,0.00,1.88,0.00,0.000,6,0.000,0.025,2566,2649,3334,0,0,0,0,0,0,28.83,27.15,28.83
$GC,528,-1.18,-146.0,106.7,-18.6,76,537,0.00,1.83,0.00,0.000,4,0.000,0.020,2566,1340,3335,0,0,0,0,0,0,28.83,27.20,28.83
$GC,568,-1.18,-146.0,113.9,-18.3,82,577,0.08,1.90,0.00,0.000,6,0.143,0.025,2582,2655,3335,0,0,0,0,0,0,27.03,27.17,28.83
$GC,642,-1.18,-146.0,127.1,-17.6,91,650,0.00,1.83,0.00,0.000,4,0.000,0.020,2582,1343,3335,0,0,0,0,0,0,28.83,27.21,28.83
$GC,676,-1.18,-146.0,132.8,-17.2,96,684,0.00,1.90,0.00,0.000,6,0.000,0.025,2574,2665,3335,0,0,0,0,0,0,28.83,27.20,28.83
$GC,749,-1.18,-146.0,145.6,-17.8,105,758,0.00,1.85,0.00,0.000,4,0.000,0.020,2574,1336,3335,0,0,0,0,0,0,28.83,27.23,28.83
$GC,806,-1.18,-146.0,155.8,-17.4,114,814,0.00,1.92,0.00,0.000,6,0.000,0.025,2564,2670,3335,0,0,0,0,0,0,28.83,27.22,28.83
$GC,879,-1.18,-146.0,168.7,-17.7,123,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2670,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,949,-1.18,-146.0,181.1,-17.4,130,952,0.00,1.80,0.00,0.000,4,0.000,0.019,2564,1369,3335,0,0,0,0,0,0,28.83,27.26,28.83
$GC,1015,-1.18,-146.0,192.7,-17.6,134,1021,0.12,1.85,0.00,0.000,6,0.163,0.025,2588,2662,3335,0,0,0,0,0,0,27.10,27.24,28.83
$GC,1210,-1.18,-146.0,224.2,-16.1,147,1213,0.00,1.80,0.00,0.000,4,0.000,0.020,2589,1361,3335,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1283,-1.18,-146.0,234.9,-16.4,151,1293,0.00,1.90,0.00,0.000,6,0.000,0.024,2580,2660,3335,0,0,0,0,0,0,28.83,27.28,28.83
$GC,1474,-1.18,-146.0,267.9,-17.0,164,1477,0.00,1.80,0.00,0.000,4,0.000,0.020,2580,1356,3335,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1506,-1.18,-146.0,273.8,-17.1,166,1512,0.00,1.88,0.00,0.000,6,0.000,0.025,2571,2667,3335,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1699,-1.18,-146.0,306.2,-16.6,178,1703,0.00,1.80,0.00,0.000,4,0.000,0.020,2571,1363,3334,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1777,-1.18,-146.0,316.1,-16.4,180,1782,0.00,1.90,0.00,0.000,6,0.000,0.025,2562,2659,3334,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2090,-1.18,-146.0,372.3,-17.1,191,2093,0.00,1.83,0.00,0.000,4,0.000,0.020,2562,1325,3333,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2180,-1.18,-146.0,387.3,-16.8,194,2184,0.15,1.88,0.00,0.000,6,0.151,0.025,2594,2667,3333,0,0,0,0,0,0,27.19,27.33,28.83
$GC,2506,-1.18,-146.0,436.8,-15.1,205,2509,0.00,1.80,0.00,0.000,4,0.000,0.020,2595,1365,3331,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2596,-1.18,-146.0,450.3,-15.0,208,2599,0.00,1.88,0.00,0.000,6,0.000,0.026,2588,2665,3331,0,0,0,0,0,0,28.83,27.34,28.83
$GC,2926,-1.18,-146.0,499.9,-15.1,219,2929,0.00,1.80,0.00,0.000,4,0.000,0.021,2588,1363,3330,0,0,0,0,0,0,28.83,27.36,28.83
$STATE,2955,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2955,begin apogee
$GC,2960,-0.25,0.0,504.5,-15.1,220,3070,0.88,0.00,105.10,0.920,6,0.112,0.000,2884,2343,2735,0,0,0,0,0,0,27.22,28.83,25.31
$STATE,3070,end apogee,CONTROL_FINISHED_OK
$STATE,3071,begin climb
$GC,3072,1.18,146.0,509.0,0.0,223,3192,1.27,2.15,107.57,0.886,4,0.059,0.034,3353,3708,2136,0,0,0,0,0,0,25.94,25.72,25.15
$GC,3272,1.18,146.0,495.0,10.2,229,3276,0.00,1.85,0.00,0.000,6,0.000,0.016,3356,2376,2133,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3584,1.18,146.0,454.6,11.9,240,3588,0.00,1.92,0.00,0.000,4,0.000,0.025,3366,1023,2131,0,0,0,0,0,0,28.83,26.86,28.83
$GC,3687,1.18,146.0,444.5,11.9,243,3692,0.00,1.85,0.00,0.000,6,0.000,0.021,3366,2321,2131,0,0,0,0,0,0,28.83,26.95,28.83
$GC,3999,1.18,146.0,405.1,12.1,254,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2321,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4299,1.18,146.0,366.8,13.0,264,4303,0.00,1.83,0.00,0.000,4,0.000,0.027,3366,1041,2129,0,0,0,0,0,0,28.83,27.15,28.83
$GC,4392,1.18,146.0,355.2,13.0,267,4397,0.00,1.85,0.00,0.000,6,0.000,0.021,3365,2333,2129,0,0,0,0,0,0,28.83,27.19,28.83
$GC,4719,1.18,146.0,313.4,12.6,278,4723,0.00,1.98,0.00,0.000,4,0.000,0.034,3366,3709,2129,0,0,0,0,0,0,28.83,27.20,28.83
$GC,4744,1.18,146.0,310.1,12.7,279,4748,0.00,1.75,0.00,0.000,6,0.000,0.017,3370,2383,2128,0,0,0,0,0,0,28.83,27.28,28.83
$GC,5061,1.18,146.0,271.1,12.0,297,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2355,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5241,1.18,146.0,249.8,12.2,309,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2355,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5421,1.18,146.0,228.3,12.1,321,5427,0.00,1.95,0.00,0.000,4,0.000,0.034,3370,3718,2128,0,0,0,0,0,0,28.83,27.26,28.83
$GC,5471,1.18,146.0,222.1,12.8,324,5476,0.00,1.80,0.00,0.000,6,0.000,0.016,3371,2365,2128,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5666,1.18,146.0,198.3,12.0,337,5671,0.00,1.92,0.00,0.000,4,0.000,0.026,3379,980,2128,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5746,1.18,146.0,188.7,11.7,342,5751,0.00,1.85,0.00,0.000,6,0.000,0.021,3379,2330,2128,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5939,1.18,146.0,164.1,12.8,359,5948,0.00,1.92,0.00,0.000,4,0.000,0.027,3380,987,2128,0,0,0,0,0,0,28.83,27.32,28.83
$GC,5996,1.18,146.0,156.8,11.9,368,6005,0.00,1.88,0.00,0.000,6,0.000,0.021,3380,2322,2128,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6069,1.18,146.0,147.6,12.2,377,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2322,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,1.18,146.0,138.9,12.4,386,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2322,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6214,1.18,146.0,130.4,11.4,395,6223,0.00,2.03,0.00,0.000,4,0.000,0.034,3379,3714,2128,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6242,1.18,146.0,127.1,11.7,399,6251,0.00,1.85,0.00,0.000,6,0.000,0.017,3381,2312,2128,0,0,0,0,0,0,28.83,27.37,28.83
$GC,6315,1.18,146.0,119.0,11.0,408,6324,0.00,1.88,0.00,0.000,4,0.000,0.027,3385,1001,2128,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6401,1.18,146.0,109.9,10.8,422,6410,0.08,1.85,0.00,0.000,6,0.125,0.021,3358,2327,2128,0,0,0,0,0,0,27.19,27.34,28.83
$GC,6475,1.21,166.0,103.0,9.2,431,6492,0.00,2.03,7.85,0.774,4,0.000,0.033,3357,3708,2068,0,0,0,0,0,0,28.83,27.15,26.43
$GC,6518,1.21,166.0,98.4,10.5,437,6527,0.00,1.83,0.95,0.190,6,0.000,0.017,3365,2324,2065,0,0,0,0,0,0,28.83,27.24,26.96
$GC,6594,1.21,166.5,90.6,10.1,446,6603,0.00,1.90,1.08,0.234,4,0.000,0.024,3371,995,2065,0,0,0,0,0,0,28.83,27.21,26.90
$GC,6663,1.22,172.0,83.8,9.8,457,6672,0.00,1.88,3.55,0.272,6,0.000,0.021,3371,2323,2037,0,0,0,0,0,0,28.83,27.24,26.86
$GC,6739,1.22,175.0,76.1,10.0,466,6747,0.00,0.00,2.33,0.272,6,0.000,0.000,3371,2323,2027,0,0,0,0,0,0,28.83,28.83,26.89
$GC,6813,1.22,175.0,68.7,10.4,475,6821,0.00,0.00,0.93,0.276,6,0.000,0.000,3370,2323,2028,0,0,0,0,0,0,28.83,28.83,26.97
$GC,6887,1.23,180.5,60.8,9.8,484,6897,0.00,1.98,2.97,0.249,4,0.000,0.032,3371,3708,2006,0,0,0,0,0,0,28.83,27.18,26.92
$GC,7002,1.23,180.5,48.6,10.9,503,7011,0.00,1.83,0.88,0.242,6,0.000,0.017,3371,2334,2005,0,0,0,0,0,0,28.83,27.29,26.99
$GC,7077,1.28,224.6,42.1,8.0,512,7101,0.00,0.00,17.85,0.207,6,0.000,0.000,3371,2333,1823,0,0,0,0,0,0,28.83,28.83,26.91
$GC,7167,1.32,253.9,34.0,8.7,523,7185,0.00,1.98,11.82,0.194,4,0.000,0.026,3372,977,1701,0,0,0,0,0,0,28.83,27.13,26.91
$GC,7234,1.35,280.4,28.4,8.9,533,7251,0.00,1.92,10.27,0.185,6,0.000,0.021,3372,2330,1592,0,0,0,0,0,0,28.83,27.17,26.90
$GC,7317,1.40,317.1,21.1,8.4,543,7342,0.12,2.03,13.88,0.164,4,0.077,0.034,3467,3704,1442,0,0,0,0,0,0,27.17,27.06,26.89
$GC,7368,1.40,317.1,14.4,14.8,550,7377,0.15,1.85,0.00,0.000,6,0.131,0.017,3426,2323,1443,0,0,0,0,0,0,26.96,27.16,28.83
$GC,7442,1.40,317.1,4.1,13.4,559,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2322,1443,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7457,end climb,SURFACE_DEPTH_REACHED
$STATE,7457,begin surface coast
$FINISH,0.4,1.023444
$STATE,7467,end surface coast,CONTROL_FINISHED_OK
$STATE,7467,begin surface
$SM_CCo,7481,20.05,0.121,0,0,1205,375.06
$SM_GC,1.10,8.07,0.45,20.05,0.024,0.039,0.121,166,2667,1205,-8.63,-1.95,375.06,0,0,0,0,0,0,27.15,27.15,26.94
$IRIDIUM_FIX,2732.37,-6959.97,110814,222254
$TT8_MAMPS,0.028462,0.028462
$HUMID,46.92
$INTERNAL_PRESSURE,9.11296
$TCM_TEMP,22.60
$XPDR_PINGS,21
$24V_AH,25.2,7.484
$10V_AH,10.5,5.192
$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,19.500,97.200,287.025,20.050,0.000,26.274,50.996,107.021,5.250,0.000,6.685,1457.139,3588.273,405.585,2254.862,69.533,33.242,1201.349,0.000,2054.443,0.000,0.552,0.000
$DEVICE_MAMPS,201.195,52.020,920.295,120.870,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,372.366,1506.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30161,562
$CAP_FILE_SIZE,100162,0
$CFSIZE,1024393216,1019805696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120814,023135,2738.147,-7001.261,24,1.2,24,-12.3