version: 66.10
glider: 70
mission: 80
dive: 5
start: 1 6 112 0 57 3
data:
$ID,70
$MISSION,80
$DIVE,5
$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,-524197.31
$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,20.692045
$FG_AHR_24V,6.2997618
$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
$GPS1,060112,005208,4808.257,-12540.680,9,1.3,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,060112,005638,4808.257,-12540.680,29,1.8,39,18.0
$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,220.2,216669,-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,28,-1.31,-146.6,0.0,0.0,0,79,0.00,0.00,-48.67,0.000,2,0.007,0.000,452,1985,3098,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.4,-11.1,5,124,9.75,0.00,-11.23,0.000,6,0.007,0.007,2389,1981,3434,2,0,0,0,0,0,24.08,24.09,24.09
$GC,180,-1.31,-146.6,31.6,-23.1,14,182,0.00,0.00,0.00,0.007,6,0.007,1282.565,2389,1982,3435,0,0,0,0,0,0,24.09,27.50,24.09
$GC,240,-1.31,-146.6,45.3,-22.8,20,242,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,300,-1.31,-146.6,58.8,-22.3,26,302,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,360,-1.31,-146.6,71.7,-21.5,32,362,0.00,0.00,0.00,0.007,6,0.007,0.000,2390,1984,3435,0,0,0,0,0,0,24.09,27.50,24.09
$GC,420,-1.31,-146.6,84.2,-20.6,38,422,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1984,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,480,-1.31,-146.6,96.3,-20.1,44,482,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1984,3437,0,0,0,0,0,0,24.09,24.09,24.09
$GC,540,-1.31,-146.6,108.0,-19.5,50,543,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1981,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,600,-1.31,-146.6,119.5,-19.1,56,603,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1981,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,660,-1.31,-146.6,130.7,-18.7,62,663,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1983,3431,0,0,0,0,0,0,24.09,24.09,24.09
$GC,720,-1.31,-146.6,141.8,-18.5,68,723,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1984,3435,0,0,0,0,0,0,24.08,24.08,24.08
$GC,780,-1.31,-146.6,152.7,-18.1,74,782,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1983,3431,0,0,0,0,0,0,24.09,24.09,24.09
$GC,840,-1.31,-146.6,163.5,-18.1,80,842,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1985,3434,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,879,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,879,begin apogee
$GC,884,-0.31,0.0,170.7,-17.8,84,1013,0.90,0.00,118.18,0.012,6,0.007,0.012,2590,1984,2840,0,0,0,0,0,0,27.50,24.01,24.01
$STATE,1017,end apogee,CONTROL_FINISHED_OK
$STATE,1017,begin climb
$GC,1019,1.31,146.6,176.9,0.0,97,1156,1.83,0.00,120.22,0.012,6,0.011,0.012,2975,1982,2245,1,0,0,0,0,0,24.08,24.01,24.01
$GC,1214,1.31,146.6,151.2,19.3,117,1216,0.00,0.00,0.00,1282.565,6,0.007,0.007,2975,1983,2242,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1272,1.31,146.6,139.7,19.0,123,1275,0.00,0.00,0.00,0.007,6,1282.565,0.007,2975,1983,2248,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1332,1.31,146.6,128.5,18.7,129,1335,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1392,1.31,146.6,117.4,18.4,135,1395,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1452,1.31,146.6,106.6,17.9,141,1455,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1512,1.31,146.6,96.1,17.4,147,1515,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1981,2247,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1572,1.31,146.6,86.2,16.6,153,1575,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1632,1.31,146.6,76.5,16.0,159,1635,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1983,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1692,1.31,146.6,67.3,15.3,165,1695,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1982,2245,0,0,0,0,0,0,24.08,24.09,24.08
$GC,1752,1.31,146.6,58.7,14.3,171,1755,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1983,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1812,1.31,146.6,50.5,13.4,177,1815,0.00,0.00,0.00,0.007,6,1282.565,0.007,2975,1982,2243,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1872,1.31,146.6,42.8,12.8,183,1874,0.00,0.00,0.00,0.000,6,0.007,0.007,2975,1982,2243,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1932,1.31,146.6,35.3,12.5,189,1934,0.00,0.00,0.00,0.000,6,0.007,0.007,2974,1983,2242,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1992,1.31,146.6,28.1,12.1,195,1995,0.00,0.00,0.00,0.007,6,1282.565,0.007,2975,1982,2247,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2052,1.31,146.6,20.9,12.0,201,2055,0.00,0.00,0.00,0.007,6,0.007,0.007,2976,1988,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2112,1.31,146.6,13.8,11.9,207,2115,0.00,0.00,0.00,0.007,6,0.007,0.007,2975,1984,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2172,1.31,146.6,6.7,11.8,213,2175,0.00,0.00,0.00,0.007,6,0.001,0.007,2975,1983,2246,0,0,0,0,0,0,27.50,24.09,24.09
$STATE,2222,end climb,SURFACE_DEPTH_REACHED
$STATE,2222,begin surface coast
$STATE,2231,end surface coast,CONTROL_FINISHED_OK
$STATE,2231,begin surface
$SM_CCo,2257,96.38,0.011,0,0,1613,300.00
$SM_GC,0.90,12.15,0.00,96.38,0.007,0.007,0.011,451,1982,1613,-10.21,-0.14,300.00,18,0,0,0,0,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,25.89
$INTERNAL_PRESSURE,14.4765
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,150.9,68.6
$24V_AH,24.0,5.880
$10V_AH,10.0,16.359
$FG_AHR_24Vo,6.305
$FG_AHR_10Vo,20.718
$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,24.625,0.000,238.400,96.375,0.000,0.002,2.068,76.457,0.750,0.000,39.952,409.997,1035.004,420.552,468.834,278.253,0.000,517.664,0.000,381.699,0.000,6.572,0.000
$DEVICE_MAMPS,10.789,0.000,11.575,11.461,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2239.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.162,0.000,0.000,0.000
$MEM,354904
$DATA_FILE_SIZE,3474,219
$CAP_FILE_SIZE,217114,0
$CFSIZE,260165632,250159104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,21,0,0,0,1
$CURRENT,0.242,225.3,1
$GPS,060112,013722,4808.038,-12541.013,18,1.6,24,18.0