version: 66.10
glider: 70
mission: 80
dive: 3
start: 1 5 112 23 30 12
data:
$ID,70
$MISSION,80
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,270
$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,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51641
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,1
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-524193.44
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3300
$C_PITCH,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,1986
$C_ROLL_CLIMB,1986
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,1
$R_STBD_OVSHOOT,2
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3500
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,0
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,90
$AH0_10V,60
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,20.632174
$FG_AHR_24V,6.2883911
$PHONE_SUPPLY,2
$PRESSURE_YINT,0
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,50
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,51
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,0
$SEABIRD_T_J,0
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,0
$SEABIRD_C_J,0
$SC_RECORDABOVE,1500.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,050112,232519,4808.602,-12540.064,34,1.5,42,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.0
$GPS2,050112,232947,4808.602,-12540.064,34,1.7,38,18.0
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,233.9,217673,-18.1,-10.000
$D_GRID,990
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.31,-146.6,0.0,0.0,0,79,0.00,0.00,-48.92,0.000,2,0.007,0.000,456,1976,3116,0,0,0,0,0,0,24.08,27.50,27.50
$GC,82,-1.31,-146.6,4.5,-11.5,5,117,9.32,2.55,-10.38,0.000,4,0.007,0.005,2373,545,3432,1,0,0,0,0,0,24.07,27.50,24.08
$GC,129,-1.31,-146.6,20.8,-31.7,9,146,0.00,2.58,0.00,1282.565,6,0.007,0.007,2373,2003,3435,0,0,0,0,0,0,24.08,24.08,27.50
$GC,204,-1.31,-146.6,39.2,-24.9,16,206,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,2006,3442,0,0,0,0,0,0,24.08,24.08,24.08
$GC,263,-1.31,-146.6,53.9,-24.4,22,265,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,2005,3434,0,0,0,0,0,0,24.08,24.08,24.08
$GC,323,-1.31,-146.6,68.1,-23.5,28,325,0.00,0.00,0.00,0.007,6,0.007,0.000,2372,2006,3433,0,0,0,0,0,0,24.09,27.50,24.09
$GC,383,-1.31,-146.6,81.8,-22.5,34,385,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,2006,3437,0,0,0,0,0,0,24.09,24.09,24.09
$GC,443,-1.31,-146.6,94.9,-21.7,40,445,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,2008,3432,0,0,0,0,0,0,24.08,24.08,24.08
$GC,503,-1.31,-146.6,107.6,-21.1,46,505,0.00,0.00,0.00,0.007,6,0.007,0.000,2372,2006,3433,0,0,0,0,0,0,24.09,27.50,24.09
$GC,563,-1.31,-146.6,120.1,-20.5,52,565,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,2006,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,623,-1.31,-146.6,132.2,-20.1,58,625,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,2008,3430,0,0,0,0,0,0,24.09,24.09,24.09
$GC,683,-1.31,-146.6,144.2,-19.9,64,685,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,2007,3435,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,715,begin apogee
$GC,722,-0.31,0.0,150.4,-19.6,67,850,1.05,0.20,118.12,0.011,6,0.007,0.007,2594,2163,2841,0,0,1,0,0,0,27.50,24.01,24.01
$STATE,852,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,854,1.31,146.6,157.3,0.0,80,982,1.88,0.00,120.12,0.012,6,0.007,0.007,2956,2164,2245,0,0,0,0,0,0,24.08,24.01,24.01
$GC,1038,1.31,146.6,136.2,17.6,99,1055,0.00,2.88,1.30,0.009,4,0.007,0.007,2956,570,2243,0,0,0,0,0,0,24.09,27.50,24.03
$GC,1070,1.31,146.6,131.4,17.2,101,1078,0.00,2.58,0.00,0.007,6,0.007,0.010,2956,1970,2246,0,0,2,0,0,0,24.07,24.07,24.07
$GC,1138,1.31,146.6,119.4,17.1,108,1140,0.00,0.00,0.00,0.000,6,0.007,0.007,2956,1974,2242,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1196,1.31,146.6,109.4,16.6,114,1199,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1972,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1256,1.31,146.6,99.7,16.2,120,1259,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1974,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1316,1.31,146.6,90.2,15.7,126,1320,0.00,0.00,0.62,0.009,6,1282.565,0.009,2956,1975,2238,0,0,0,0,0,0,27.50,24.09,27.50
$GC,1376,1.31,146.6,81.1,15.0,132,1379,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1972,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1436,1.31,146.6,72.4,14.4,138,1453,0.00,2.85,0.80,0.010,4,0.007,0.006,2956,3455,2244,0,0,2,0,0,0,24.09,24.08,27.50
$GC,1459,1.31,146.6,71.1,14.3,139,1465,0.00,3.03,0.00,0.007,6,0.007,0.007,2956,1932,2243,0,0,8,0,0,0,24.07,24.07,24.07
$GC,1526,1.31,146.6,60.5,13.3,146,1528,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1933,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1585,1.31,146.6,52.8,12.6,152,1587,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1934,2243,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1644,1.31,146.6,45.6,11.9,158,1647,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1930,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1704,1.31,146.6,38.6,11.6,164,1707,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1932,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1765,1.31,146.6,31.8,11.4,170,1767,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1933,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1824,1.31,146.6,25.1,11.1,176,1827,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1935,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1884,1.31,146.6,18.5,11.0,182,1887,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1931,2241,0,0,0,0,0,0,24.08,24.09,24.08
$GC,1945,1.31,146.6,11.9,10.9,188,1947,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1933,2242,0,0,0,0,0,0,24.08,24.08,24.08
$GC,2004,1.31,146.6,5.4,10.9,194,2007,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1932,2245,0,0,0,0,0,0,24.08,24.08,24.08
$STATE,2034,end climb,SURFACE_DEPTH_REACHED
$STATE,2035,begin surface coast
$STATE,2043,end surface coast,CONTROL_FINISHED_OK
$STATE,2043,begin surface
$SM_CCo,2069,96.35,0.011,0,0,1617,300.00
$SM_GC,0.88,9.27,4.03,96.35,0.007,0.007,0.011,448,3794,1617,-10.22,51.11,300.00,7,0,32,0,0,0,24.08,24.08,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,26.91
$INTERNAL_PRESSURE,14.4659
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,150.4,46.7
$24V_AH,24.0,5.868
$10V_AH,10.0,16.286
$FG_AHR_24Vo,6.293
$FG_AHR_10Vo,20.656
$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,21.525,20.825,240.975,96.350,0.000,0.002,2.084,75.821,0.750,0.000,39.114,390.397,873.585,436.601,460.641,264.541,0.000,545.836,0.000,367.621,0.000,6.569,0.000
$DEVICE_MAMPS,7.394,9.507,11.544,11.456,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.230,0.000,0.000,0.000
$MEM,354916
$DATA_FILE_SIZE,3462,198
$CAP_FILE_SIZE,205192,0
$CFSIZE,260165632,250314752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,8,46,0,0,0
$CURRENT,0.234,230.8,1
$GPS,060112,000711,4808.427,-12540.387,6,1.7,12,18.0