version: 66.10
glider: 200
mission: 4
dive: 8
start: 8 10 114 10 59 20
data:
$ID,200
$MISSION,4
$DIVE,8
$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,180
$T_MISSION,115
$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,200
$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,400
$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,-1089.7931
$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,3273
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,141
$R_STBD_OVSHOOT,46
$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
$GPS1,100814,104830,2758.599,-7009.402,12,1.1,12,-12.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.36
$_SM_ANGLEo,-60.5
$GPS2,100814,105822,2758.526,-7009.425,36,1.2,36,-12.3
$SPEED_LIMITS,0.160,0.247
$TGT_NAME,ALFA
$TGT_LATLONG,2800.000,-7015.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.136,0.206
$KALMAN_X,-824.2,-17.8,-64.0,-5216.3,-434.9
$KALMAN_Y,-6024.0,-714.1,-398.4,5243.4,-1655.7
$MHEAD_RNG_PITCHd_Wd,338.9,9516,-15.3,-9.259
$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,-1.01,-194.6,0.0,0.0,0,111,0.00,0.00,-93.85,0.000,2,0.000,0.000,170,3263,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.01,-194.6,3.2,-7.0,12,139,8.90,1.90,-10.43,0.000,4,0.203,0.033,2638,1906,3533,0,0,0,0,0,0,26.65,26.99,27.22
$GC,395,-1.01,-194.6,69.6,-17.5,60,404,0.00,2.00,0.00,0.000,6,0.000,0.031,2630,3270,3532,0,0,0,0,0,0,28.83,27.08,28.83
$GC,469,-1.01,-194.6,83.3,-19.2,69,478,0.00,1.85,0.00,0.000,4,0.000,0.016,2630,1915,3533,0,0,0,0,0,0,28.83,27.17,28.83
$GC,739,-1.01,-194.6,129.7,-15.4,115,748,0.00,1.98,0.00,0.000,6,0.000,0.032,2620,3269,3533,0,0,0,0,0,0,28.83,27.17,28.83
$GC,812,-1.01,-194.6,141.5,-16.2,124,821,0.00,1.85,0.00,0.000,4,0.000,0.016,2620,1910,3533,0,0,0,0,0,0,28.83,27.25,28.83
$GC,978,-1.01,-194.6,168.2,-16.4,152,988,0.10,1.98,0.00,0.000,6,0.133,0.032,2645,3272,3533,0,0,0,0,0,0,27.06,27.24,28.83
$GC,1058,-1.01,-194.6,180.1,-14.4,160,1061,0.00,1.80,0.00,0.000,4,0.000,0.016,2645,1947,3533,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1131,-1.01,-194.6,189.6,-14.4,164,1141,0.00,1.98,0.00,0.000,6,0.000,0.031,2637,3271,3533,0,0,0,0,0,0,28.83,27.24,28.83
$GC,1260,-1.01,-194.6,209.7,-14.7,173,1264,0.00,1.80,0.00,0.000,4,0.000,0.016,2637,1946,3532,0,0,0,0,0,0,28.83,27.31,28.83
$GC,1491,-1.01,-194.6,242.6,-14.4,187,1496,0.00,1.98,0.00,0.000,6,0.000,0.031,2628,3270,3532,0,0,0,0,0,0,28.83,27.27,28.83
$GC,1626,-1.01,-194.6,262.8,-14.8,196,1629,0.00,1.83,0.00,0.000,4,0.000,0.016,2628,1941,3532,0,0,0,0,0,0,28.83,27.34,28.83
$GC,1792,-1.01,-194.6,286.6,-14.7,206,1797,0.00,1.98,0.00,0.000,6,0.000,0.031,2618,3271,3531,0,0,0,0,0,0,28.83,27.29,28.83
$GC,1928,-1.01,-194.6,307.7,-15.6,215,1931,0.00,1.80,0.00,0.000,4,0.000,0.016,2618,1946,3530,0,0,0,0,0,0,28.83,27.36,28.83
$GC,2164,-1.01,-194.6,342.7,-15.3,229,2174,0.10,1.98,0.00,0.000,6,0.130,0.032,2644,3271,3529,0,0,0,0,0,0,27.15,27.31,28.83
$GC,2293,-1.01,-194.6,362.3,-14.3,238,2296,0.00,1.83,0.00,0.000,4,0.000,0.016,2644,1945,3528,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2415,-1.01,-194.6,378.2,-13.5,245,2425,0.00,1.98,0.00,0.000,6,0.000,0.032,2636,3272,3528,0,0,0,0,0,0,28.83,27.32,28.83
$GC,2544,-1.01,-194.6,397.6,-14.4,254,2547,0.00,1.80,0.00,0.000,4,0.000,0.017,2636,1948,3528,0,0,0,0,0,0,28.83,27.38,28.83
$GC,2733,-1.01,-194.6,423.2,-13.9,261,2737,0.00,1.98,0.00,0.000,6,0.000,0.032,2627,3272,3527,0,0,0,0,0,0,28.83,27.32,28.83
$GC,3055,-1.01,-194.6,470.8,-14.4,272,3059,0.00,1.83,0.00,0.000,4,0.000,0.017,2627,1912,3524,0,0,0,0,0,0,28.83,27.39,28.83
$STATE,3265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3266,begin apogee
$GC,3270,-0.25,0.0,500.3,-14.1,279,3416,0.75,0.00,138.27,0.845,6,0.106,0.000,2885,2622,2731,0,0,0,0,0,0,27.20,28.83,25.25
$STATE,3418,end apogee,CONTROL_FINISHED_OK
$STATE,3418,begin climb
$GC,3419,1.01,194.6,506.7,0.0,284,3574,1.12,1.90,140.77,1.179,4,0.061,0.037,3299,3822,1949,0,0,0,0,1,0,25.94,25.58,24.72
$GC,3664,1.01,194.6,487.2,11.7,292,3669,0.00,1.67,1.23,0.189,6,0.000,0.017,3303,2594,1941,0,0,0,0,0,0,28.83,26.47,26.20
$GC,3981,1.01,194.6,448.8,11.7,303,3988,0.00,1.88,1.10,0.216,4,0.000,0.022,3308,1263,1945,0,0,0,0,0,0,28.83,26.93,26.73
$GC,4104,1.01,194.6,435.0,11.5,307,4109,0.00,1.92,0.90,0.196,6,0.000,0.024,3309,2597,1941,0,0,0,0,0,0,28.83,27.01,26.82
$GC,4418,1.01,194.6,397.6,11.9,318,4424,0.00,1.85,0.90,0.240,4,0.000,0.023,3309,1260,1944,0,0,0,0,0,0,28.83,27.12,26.94
$GC,4522,1.01,194.6,386.4,11.7,324,4532,0.00,1.92,0.88,0.186,6,0.000,0.024,3308,2601,1945,0,0,0,0,0,0,28.83,27.15,26.96
$GC,4652,1.01,194.6,370.0,12.1,333,4658,0.00,1.85,0.82,0.230,4,0.000,0.023,3308,1260,1943,0,0,0,0,0,0,28.83,27.17,26.99
$GC,4698,1.01,194.6,364.4,12.0,336,4704,0.00,1.88,0.00,0.000,6,0.000,0.024,3309,2603,1951,0,0,0,0,0,0,28.83,27.18,28.83
$GC,4835,1.01,194.6,348.2,12.0,345,4841,0.00,1.85,0.85,0.228,4,0.000,0.023,3309,1267,1943,0,0,0,0,0,0,28.83,27.20,27.01
$GC,4866,1.01,194.6,344.5,11.8,347,4872,0.00,1.90,0.85,0.197,6,0.000,0.024,3308,2594,1939,0,0,0,0,0,0,28.83,27.20,27.02
$GC,5001,1.01,194.6,328.3,11.7,356,5006,0.00,1.85,0.00,0.000,4,0.000,0.024,3309,1263,1951,0,0,0,0,0,0,28.83,27.22,28.83
$GC,5089,1.01,194.6,319.0,11.3,361,5099,0.00,1.90,0.73,0.200,6,0.000,0.024,3310,2594,1944,0,0,0,0,0,0,28.83,27.24,27.07
$GC,5219,1.01,194.6,303.4,11.5,370,5220,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2594,1951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5338,1.01,194.6,289.5,11.7,378,5344,0.00,1.83,0.77,0.261,4,0.000,0.023,3310,1267,1943,0,0,0,0,0,0,28.83,27.25,27.07
$GC,5425,1.01,194.6,280.2,11.6,383,5435,0.00,1.90,0.77,0.224,6,0.000,0.024,3309,2593,1944,0,0,0,0,0,0,28.83,27.25,27.08
$GC,5555,1.01,194.6,263.8,12.2,392,5560,0.00,1.85,0.00,0.000,4,0.000,0.024,3309,1257,1951,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5592,1.01,194.6,260.1,12.1,394,5602,0.00,1.92,0.00,0.000,6,0.000,0.024,3310,2600,1951,0,0,0,0,0,0,28.83,27.27,28.83
$GC,5721,1.01,194.6,243.8,11.8,403,5726,0.00,1.85,0.00,0.000,4,0.000,0.024,3313,1254,1951,0,0,0,0,0,0,28.83,27.29,28.83
$GC,5776,1.01,194.6,238.2,12.0,406,5786,0.00,1.92,0.75,0.195,6,0.000,0.024,3313,2603,1943,0,0,0,0,0,0,28.83,27.30,27.10
$GC,5906,1.01,194.6,221.9,12.3,415,5912,0.00,1.85,0.00,0.000,4,0.000,0.024,3318,1264,1950,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6008,1.01,194.6,210.5,11.7,421,6018,0.00,1.90,0.00,0.000,6,0.000,0.024,3317,2597,1950,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6139,1.01,194.6,193.7,12.2,430,6144,0.00,1.85,0.00,0.000,4,0.000,0.024,3318,1260,1951,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6219,1.01,194.6,184.4,11.6,435,6225,0.00,1.92,0.62,0.249,6,0.000,0.023,3318,2603,1939,0,0,0,0,0,0,28.83,27.32,27.13
$GC,6348,1.01,194.6,169.4,11.1,446,6357,0.00,1.90,0.00,0.000,4,0.000,0.025,3318,1267,1950,0,0,0,0,0,0,28.83,27.31,28.83
$GC,6432,1.01,194.6,160.7,9.8,460,6441,0.00,1.90,0.00,0.000,6,0.000,0.024,3318,2601,1950,0,0,0,0,0,0,28.83,27.32,28.83
$GC,6506,1.01,194.6,153.1,10.3,469,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2600,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6579,1.01,194.6,145.7,10.1,478,6587,0.00,1.80,0.00,0.000,4,0.000,0.037,3318,3833,1950,0,0,0,0,0,0,28.83,27.29,28.83
$GC,6647,1.01,194.6,137.7,12.1,489,6656,0.00,1.62,0.00,0.000,6,0.000,0.018,3324,2584,1950,0,0,0,0,0,0,28.83,27.39,28.83
$GC,6720,1.01,194.6,129.5,11.4,498,6729,0.00,1.85,0.00,0.000,4,0.000,0.025,3323,1273,1950,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6777,1.01,194.6,123.5,10.9,507,6785,0.00,1.90,0.00,0.000,6,0.000,0.024,3323,2607,1950,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6850,1.01,194.6,115.8,10.7,516,6859,0.00,1.90,0.00,0.000,4,0.000,0.024,3326,1270,1950,0,0,0,0,0,0,28.83,27.34,28.83
$GC,6889,1.01,194.6,111.5,10.6,522,6898,0.00,1.90,0.00,0.000,6,0.000,0.024,3326,2604,1950,0,0,0,0,0,0,28.83,27.33,28.83
$GC,6915,1.45,548.7,108.8,10.6,525,7180,0.28,2.03,250.95,0.503,4,0.047,0.024,3480,1274,490,0,0,0,0,0,0,27.36,26.10,25.66
$GC,7319,1.45,548.7,16.2,23.2,583,7328,0.10,1.95,0.00,0.000,6,0.111,0.024,3444,2609,482,0,0,0,0,0,0,26.53,26.66,28.83
$STATE,7384,end climb,SURFACE_DEPTH_REACHED
$STATE,7384,begin surface coast
$FINISH,-0.2,1.023405
$STATE,7393,end surface coast,CONTROL_FINISHED_OK
$STATE,7393,begin surface
$SM_CCo,7468,0.00,0.000,0,0,481,553.40
$SM_GC,0.18,8.30,0.95,0.00,0.028,0.034,0.000,176,3273,481,-8.65,-1.75,553.40,0,0,0,0,0,0,26.77,26.77,28.83
$IRIDIUM_FIX,2746.98,-7007.48,100814,101014
$TT8_MAMPS,0.027713,0.027713
$HUMID,50.86
$INTERNAL_PRESSURE,9.08366
$TCM_TEMP,21.40
$XPDR_PINGS,33
$24V_AH,24.7,6.016
$10V_AH,10.5,4.024
$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,19.650,97.950,541.175,0.000,0.000,28.266,43.700,238.166,8.250,0.000,37.676,1477.344,2972.480,541.895,2831.930,78.693,33.217,1525.037,0.000,2468.182,0.000,0.553,0.000
$DEVICE_MAMPS,203.490,37.485,1178.865,0.000,0.000,2780.010,160.000,223.000,420.000,0.000,23.970,13.470,2.190,12.720,38.930,56.910,62.900,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.166,1746.805,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,33518,592
$CAP_FILE_SIZE,104131,1
$CFSIZE,1024393216,1020608512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,100814,130459,2758.846,-7010.491,39,1.1,39,-12.3