version: 66.10
glider: 200
mission: 4
dive: 78
start: 8 23 114 22 58 11
data:
$ID,200
$MISSION,4
$DIVE,78
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52177
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0134447
$HD_C,1.6100001e-05
$HEADING,50
$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,-1285.5558
$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,2988
$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,30
$C_ROLL_DIVE,2430
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,155
$R_STBD_OVSHOOT,81
$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
$GPS1,230814,225023,2609.478,-7017.166,35,0.8,35,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.6
$GPS2,230814,225749,2609.469,-7017.142,4,1.2,4,-11.9
$SPEED_LIMITS,0.173,0.201
$TGT_NAME,HEADING
$TGT_LATLONG,2616.410,-7007.916
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.161,0.067
$KALMAN_X,48125.1,-221.1,-147.7,-52835.9,4085.6
$KALMAN_Y,-120993.6,343.5,463.0,-75393.1,-5795.5
$MHEAD_RNG_PITCHd_Wd,61.9,20000,-22.2,-10.000
$D_GRID,90
$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,-1.27,-116.8,0.0,0.0,0,82,0.00,0.00,-64.85,0.000,2,0.000,0.000,114,2438,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-1.27,-116.8,4.3,-7.9,4,102,8.60,1.42,-3.90,0.000,4,0.197,0.050,2566,3462,3215,0,0,0,0,0,0,26.72,27.03,27.29
$GC,330,-1.27,-116.8,79.4,-24.7,19,340,0.00,1.30,0.00,0.000,6,0.000,0.016,2566,2388,3217,0,0,0,0,0,0,28.83,27.20,28.83
$STATE,383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,383,begin apogee
$GC,386,-0.25,0.0,93.4,-22.4,23,448,1.00,0.00,56.72,0.331,6,0.122,0.000,2899,2388,2739,0,0,0,0,0,0,26.92,28.83,26.32
$STATE,449,end apogee,CONTROL_FINISHED_OK
$STATE,449,begin climb
$GC,450,1.27,116.8,99.2,0.0,27,521,1.33,1.42,58.53,0.337,4,0.064,0.031,3397,3346,2265,0,0,0,0,0,0,26.71,26.47,26.06
$GC,678,1.32,157.3,86.4,7.6,41,703,0.00,1.25,19.50,0.295,6,0.000,0.016,3399,2349,2097,0,0,0,0,0,0,28.83,26.89,26.29
$GC,763,1.35,177.9,78.6,8.8,47,778,0.00,1.42,10.00,0.279,4,0.000,0.034,3399,1355,2013,0,0,0,0,0,0,28.83,26.75,26.34
$GC,821,1.37,194.3,74.0,9.1,50,834,0.00,1.35,7.75,0.262,6,0.000,0.021,3398,2320,1945,0,0,0,0,0,0,28.83,26.84,26.37
$GC,907,1.37,194.3,64.0,10.9,56,910,0.00,1.50,0.00,0.000,4,0.000,0.031,3399,3382,1951,0,0,0,0,0,0,28.83,26.84,28.83
$GC,957,1.37,194.3,58.5,11.2,59,960,0.00,1.33,0.00,0.000,6,0.000,0.017,3399,2328,1951,0,0,0,0,0,0,28.83,26.98,28.83
$GC,1033,1.37,194.3,50.5,10.1,64,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,2328,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1093,1.37,194.3,44.1,10.6,68,1097,0.00,1.35,0.00,0.000,4,0.000,0.022,3398,1353,1951,0,0,0,0,0,0,28.83,27.01,28.83
$GC,1159,1.40,218.4,38.5,8.6,72,1177,0.08,1.35,10.05,0.190,6,0.045,0.021,3479,2330,1846,0,0,0,0,0,0,26.98,27.04,26.67
$GC,1236,1.42,238.4,32.2,8.8,77,1250,0.12,0.00,8.10,0.182,6,0.151,0.000,3446,2330,1764,0,0,0,0,0,0,26.88,28.83,26.70
$GC,1311,1.44,252.5,25.3,9.2,82,1325,0.00,0.00,5.70,0.175,6,0.000,0.000,3446,2330,1707,0,0,0,0,0,0,28.83,28.83,26.74
$GC,1386,1.45,264.4,18.5,9.3,87,1400,0.00,1.48,4.32,0.164,4,0.000,0.032,3446,3343,1659,0,0,0,0,0,0,28.83,27.00,26.78
$GC,1468,1.45,264.4,9.6,10.6,92,1471,0.00,1.27,0.00,0.000,6,0.000,0.016,3447,2328,1660,0,0,0,0,0,0,28.83,27.13,28.83
$STATE,1544,end climb,SURFACE_DEPTH_REACHED
$STATE,1544,begin surface coast
$FINISH,0.4,1.023041
$STATE,1560,end surface coast,CONTROL_FINISHED_OK
$STATE,1560,begin surface
$SM_CCo,1575,38.65,0.111,0,0,1206,375.06
$SM_GC,1.76,8.12,0.08,38.65,0.023,0.112,0.111,154,2412,1206,-8.70,-2.52,375.06,0,0,0,0,0,0,27.10,27.13,26.83
$IRIDIUM_FIX,2558.17,-7033.20,230814,181817
$TT8_MAMPS,0.028462,0.028462
$HUMID,41.84
$INTERNAL_PRESSURE,9.21062
$TCM_TEMP,26.00
$XPDR_PINGS,6
$24V_AH,26.1,13.961
$10V_AH,10.5,11.576
$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,19.250,16.525,180.675,38.650,0.000,24.509,44.205,101.781,1.500,0.000,5.496,330.177,576.065,225.891,708.967,30.617,0.000,511.458,0.000,529.309,0.000,0.551,0.000
$DEVICE_MAMPS,196.605,112.455,336.600,110.925,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,62.946,323.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334360
$DATA_FILE_SIZE,3619,98
$CAP_FILE_SIZE,34493,0
$CFSIZE,1024393216,1015005184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230814,232543,2609.385,-7016.905,3,0.9,3,-11.9