version: 66.10
glider: 200
mission: 4
dive: 22
start: 8 12 114 15 7 11
data:
$ID,200
$MISSION,4
$DIVE,22
$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,-1107.3596
$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,160
$R_STBD_OVSHOOT,80
$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
$GPS1,120814,145535,2730.736,-7004.085,33,0.9,33,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-65.1
$GPS2,120814,150615,2730.694,-7004.065,6,0.9,6,-12.2
$SPEED_LIMITS,0.175,0.224
$TGT_NAME,BRAVO
$TGT_LATLONG,2730.000,-7005.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.174,-0.022
$KALMAN_X,-15703.8,-18.8,12.0,18347.1,-446.6
$KALMAN_Y,-23151.3,187.0,-146.8,-30328.9,-1143.8
$MHEAD_RNG_PITCHd_Wd,274.9,2003,-26.2,-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,14,-1.44,-87.7,0.0,0.0,0,80,0.00,0.00,-63.45,0.000,2,0.000,0.000,168,2676,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.51,-141.9,3.2,-5.9,8,108,8.23,1.90,-8.12,0.000,4,0.200,0.034,2482,1322,3316,0,0,0,0,0,0,26.72,26.97,27.22
$GC,269,-1.51,-141.9,59.4,-25.5,39,278,0.00,1.90,0.00,0.000,6,0.000,0.024,2474,2641,3317,0,0,0,0,0,0,28.83,27.05,28.83
$GC,342,-1.51,-141.9,78.1,-25.7,48,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2641,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,415,-1.51,-141.9,95.8,-24.0,57,424,0.00,1.85,0.00,0.000,4,0.000,0.020,2474,1316,3317,0,0,0,0,0,0,28.83,27.11,28.83
$GC,455,-1.51,-141.9,105.6,-25.3,63,463,0.00,1.92,0.00,0.000,6,0.000,0.024,2464,2656,3316,0,0,0,0,0,0,28.83,27.11,28.83
$GC,528,-1.51,-141.9,122.3,-22.9,72,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2656,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,600,-1.51,-141.9,138.8,-22.4,81,609,0.00,1.85,0.00,0.000,4,0.000,0.019,2464,1327,3316,0,0,0,0,0,0,28.83,27.16,28.83
$GC,668,-1.51,-141.9,154.3,-22.5,92,678,0.10,1.92,0.00,0.000,6,0.151,0.024,2486,2661,3317,0,0,0,0,0,0,26.98,27.17,28.83
$GC,742,-1.51,-141.9,170.2,-21.4,101,751,0.00,1.85,0.00,0.000,4,0.000,0.020,2486,1330,3317,0,0,0,0,0,0,28.83,27.19,28.83
$GC,797,-1.51,-141.9,182.3,-21.8,106,803,0.00,1.88,0.00,0.000,6,0.000,0.024,2478,2664,3317,0,0,0,0,0,0,28.83,27.18,28.83
$GC,992,-1.51,-141.9,225.2,-21.5,119,996,0.00,1.83,0.00,0.000,4,0.000,0.019,2478,1352,3317,0,0,0,0,0,0,28.83,27.23,28.83
$GC,1124,-1.51,-141.9,254.3,-22.6,127,1129,0.00,1.88,0.00,0.000,6,0.000,0.024,2468,2663,3317,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1320,-1.51,-141.9,297.6,-22.4,140,1323,0.00,1.83,0.00,0.000,4,0.000,0.019,2468,1347,3316,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1402,-1.51,-141.9,316.3,-22.4,145,1408,0.12,1.88,0.00,0.000,6,0.177,0.024,2489,2661,3316,0,0,0,0,0,0,27.09,27.27,28.83
$GC,1597,-1.51,-141.9,356.2,-20.0,158,1600,0.00,1.83,0.00,0.000,4,0.000,0.020,2489,1344,3315,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1664,-1.51,-141.9,369.6,-20.5,162,1669,0.00,1.95,0.00,0.000,6,0.000,0.024,2480,2665,3315,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1860,-1.51,-141.9,410.5,-21.0,175,1864,0.00,1.83,0.00,0.000,4,0.000,0.019,2480,1350,3314,0,0,0,0,0,0,28.83,27.32,28.83
$GC,1950,-1.51,-141.9,427.8,-20.7,180,1960,0.00,1.92,0.00,0.000,6,0.000,0.024,2470,2657,3314,0,0,0,0,0,0,28.83,27.31,28.83
$GC,2139,-1.51,-141.9,468.5,-21.0,193,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,2657,3313,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2303,begin apogee
$GC,2307,-0.25,0.0,502.7,-20.5,204,2415,1.23,0.00,102.03,0.922,6,0.128,0.000,2880,2312,2734,0,0,0,0,0,0,27.15,28.83,25.31
$STATE,2416,end apogee,CONTROL_FINISHED_OK
$STATE,2416,begin climb
$GC,2417,1.51,141.9,507.9,0.0,207,2528,1.58,0.00,106.18,0.894,6,0.059,0.000,3464,2312,2156,0,0,0,0,0,0,25.92,28.83,25.10
$GC,2814,1.51,141.9,455.1,15.8,230,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2312,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2994,1.51,141.9,426.1,16.4,242,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2312,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3174,1.51,141.9,396.9,16.2,254,3175,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2312,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,1.51,141.9,366.9,16.5,266,3357,0.00,1.83,0.00,0.000,4,0.000,0.026,3466,1024,2148,0,0,0,0,0,0,28.83,27.05,28.83
$GC,3389,1.51,141.9,361.6,16.5,268,3394,0.00,1.90,0.00,0.000,6,0.000,0.020,3466,2345,2148,0,0,0,0,0,0,28.83,27.08,28.83
$GC,3583,1.51,141.9,329.2,16.8,281,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2345,2148,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3763,1.51,141.9,300.7,15.2,293,3769,0.00,1.88,0.00,0.000,4,0.000,0.026,3466,1013,2147,0,0,0,0,0,0,28.83,27.15,28.83
$GC,3819,1.51,141.9,293.3,15.4,296,3828,0.00,1.85,0.00,0.000,6,0.000,0.021,3467,2320,2146,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4007,1.51,141.9,263.6,14.9,309,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2320,2146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,1.51,141.9,236.4,15.2,321,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2320,2145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4367,1.51,141.9,208.9,15.1,333,4373,0.00,1.85,0.00,0.000,4,0.000,0.025,3475,994,2145,0,0,0,0,0,0,28.83,27.23,28.83
$GC,4439,1.51,141.9,199.3,15.2,337,4449,0.00,1.90,0.00,0.000,6,0.000,0.021,3474,2338,2144,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4630,1.51,141.9,169.9,14.8,352,4639,0.00,1.92,0.00,0.000,4,0.000,0.025,3485,1002,2144,0,0,0,0,0,0,28.83,27.26,28.83
$GC,4727,1.51,141.9,155.1,14.9,368,4736,0.00,1.88,0.00,0.000,6,0.000,0.021,3484,2333,2144,0,0,0,0,0,0,28.83,27.29,28.83
$GC,4800,1.51,141.9,144.1,14.8,377,4809,0.00,2.00,0.00,0.000,4,0.000,0.034,3485,3709,2144,0,0,0,0,0,0,28.83,27.24,28.83
$GC,4828,1.51,141.9,139.8,15.3,381,4837,0.10,1.80,0.00,0.000,6,0.155,0.017,3461,2348,2144,0,0,0,0,0,0,27.10,27.32,28.83
$GC,4902,1.51,141.9,129.7,13.2,390,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2347,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4974,1.51,141.9,120.2,13.3,399,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2347,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5047,1.51,141.9,110.9,12.6,408,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2347,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,1.51,141.9,101.5,12.7,417,5128,0.00,2.00,0.00,0.000,4,0.000,0.034,3461,3706,2144,0,0,0,0,0,0,28.83,27.26,28.83
$GC,5182,1.51,141.9,93.6,12.6,427,5191,0.00,1.85,0.00,0.000,6,0.000,0.018,3460,2330,2144,0,0,0,0,0,0,28.83,27.34,28.83
$GC,5255,1.51,141.9,85.3,11.5,436,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2331,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5327,1.51,141.9,77.0,11.7,445,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2331,2144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5401,1.51,148.5,69.9,9.6,454,5409,0.00,0.00,1.23,0.238,6,0.000,0.000,3461,2331,2137,0,0,0,0,0,0,28.83,28.83,26.98
$GC,5475,1.52,152.3,62.9,9.8,463,5484,0.00,0.00,2.55,0.252,6,0.000,0.000,3461,2331,2120,0,0,0,0,0,0,28.83,28.83,26.98
$GC,5550,1.52,154.0,55.4,10.0,472,5558,0.00,0.00,1.55,0.240,6,0.000,0.000,3461,2331,2112,0,0,0,0,0,0,28.83,28.83,26.99
$GC,5624,1.55,175.6,48.7,8.4,481,5641,0.00,0.00,9.32,0.225,6,0.000,0.000,3461,2331,2023,0,0,0,0,0,0,28.83,28.83,26.96
$GC,5707,1.56,185.5,41.0,9.3,491,5717,0.00,2.05,4.50,0.213,4,0.000,0.032,3461,3710,1980,0,0,0,0,0,0,28.83,27.20,26.98
$GC,5973,1.62,234.7,19.7,6.3,537,5998,0.00,1.85,17.92,0.158,6,0.000,0.017,3467,2311,1778,0,0,0,0,0,0,28.83,27.32,27.01
$GC,6064,1.62,234.7,12.2,10.5,548,6072,0.00,2.05,0.00,0.000,4,0.000,0.032,3466,3712,1781,0,0,0,0,0,0,28.83,27.22,28.83
$STATE,6143,end climb,SURFACE_DEPTH_REACHED
$STATE,6143,begin surface coast
$FINISH,-0.1,1.023336
$STATE,6156,end surface coast,CONTROL_FINISHED_OK
$STATE,6156,begin surface
$SM_CCo,6172,47.78,0.116,0,0,1204,375.06
$SM_GC,1.53,8.20,1.40,47.78,0.027,0.017,0.116,170,2627,1204,-8.66,3.65,375.06,0,0,0,0,0,0,27.21,27.30,26.97
$IRIDIUM_FIX,2722.64,-7002.47,120814,080806
$TT8_MAMPS,0.028462,0.028462
$HUMID,44.84
$INTERNAL_PRESSURE,9.14226
$TCM_TEMP,23.30
$XPDR_PINGS,15
$24V_AH,25.1,7.785
$10V_AH,10.6,5.638
$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,19.550,60.300,245.275,47.775,0.000,23.984,62.601,153.007,3.750,0.000,6.701,1400.321,2303.965,417.186,2358.712,69.483,33.243,1081.475,0.000,2117.017,0.000,0.552,0.000
$DEVICE_MAMPS,199.665,34.425,921.825,116.280,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.158,1829.240,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334272
$DATA_FILE_SIZE,30373,563
$CAP_FILE_SIZE,83214,0
$CFSIZE,1024393216,1019527168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120814,165129,2729.887,-7005.062,4,1.3,4,-12.2