version: 66.10
glider: 70
mission: 80
dive: 6
start: 1 6 112 1 42 3
data:
$ID,70
$MISSION,80
$DIVE,6
$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,-524199.25
$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,20.723146
$FG_AHR_24V,6.3056293
$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
$GPS1,060112,013722,4808.038,-12541.013,18,1.6,24,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.0
$GPS2,060112,014138,4808.038,-12541.013,18,1.8,22,18.0
$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,224.4,216090,-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,-48.78,0.000,2,0.007,0.000,451,1982,3103,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.4,-11.1,5,123,9.55,0.00,-10.85,0.000,6,0.007,0.009,2377,1981,3432,1,0,0,0,0,0,24.08,24.09,24.09
$GC,179,-1.31,-146.6,32.7,-24.4,14,182,0.00,0.00,0.00,0.007,6,1282.565,0.007,2377,1981,3434,0,0,0,0,0,0,27.50,24.09,24.09
$GC,239,-1.31,-146.6,47.2,-24.1,20,242,0.00,0.00,0.00,0.007,6,1282.565,0.007,2378,1982,3435,0,0,0,0,0,0,27.50,24.09,24.09
$GC,299,-1.31,-146.6,61.3,-23.4,26,302,0.00,0.00,0.00,0.007,6,0.007,0.000,2377,1983,3433,0,0,0,0,0,0,24.09,27.50,24.09
$GC,359,-1.31,-146.6,74.9,-22.5,32,362,0.00,0.00,0.00,0.007,6,0.000,0.007,2377,1984,3429,0,0,0,0,0,0,27.50,24.09,24.09
$GC,419,-1.31,-146.6,87.9,-21.6,38,422,0.00,0.00,0.00,0.007,6,0.007,0.007,2377,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,481,-1.31,-146.6,100.6,-21.0,44,484,0.00,0.00,0.00,0.007,6,0.007,0.007,2377,1984,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,540,-1.31,-146.6,113.1,-20.4,50,543,0.00,0.00,0.00,0.007,6,0.007,0.007,2377,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,600,-1.31,-146.6,125.1,-20.1,56,603,0.00,0.00,0.00,0.007,6,0.007,0.007,2377,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,660,-1.31,-146.6,136.9,-19.7,62,663,0.00,0.00,0.00,0.007,6,0.007,0.007,2377,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,720,-1.31,-146.6,148.5,-19.5,68,722,0.00,0.00,0.00,0.007,6,0.007,0.007,2377,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,780,-1.31,-146.6,159.9,-19.1,74,782,0.00,0.00,0.00,0.007,6,1282.565,0.007,2377,1983,3433,0,0,0,0,0,0,27.50,24.09,24.09
$GC,840,-1.31,-146.6,171.3,-18.9,80,842,0.00,0.00,0.00,0.007,6,1282.565,0.007,2378,1984,3435,0,0,0,0,0,0,27.50,24.09,24.09
$GC,900,-1.31,-146.6,182.5,-18.8,86,903,0.00,0.00,0.00,0.007,6,0.007,0.007,2378,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,960,-1.31,-146.6,193.6,-18.5,92,962,0.00,0.00,0.00,0.007,6,0.007,0.007,2377,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,1001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1001,begin apogee
$GC,1008,-0.31,0.0,201.0,-18.3,96,1172,1.10,0.00,139.90,0.011,6,0.007,1282.565,2609,1984,2842,0,0,0,0,0,0,24.08,27.50,24.01
$STATE,1174,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1176,1.31,146.6,207.5,0.0,112,1327,1.75,0.00,137.20,0.012,6,0.007,0.011,2959,1984,2242,0,0,0,0,0,0,24.08,24.02,24.01
$GC,1384,1.31,146.6,181.0,18.7,134,1387,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1984,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1443,1.31,146.6,169.9,18.5,140,1445,0.00,0.00,0.00,0.007,6,0.000,0.007,2959,1982,2237,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1503,1.31,146.6,158.9,18.2,146,1505,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1985,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1563,1.31,146.6,148.1,18.1,152,1565,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1982,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1623,1.31,146.6,137.3,17.8,158,1625,0.00,0.00,0.00,0.007,6,1282.565,0.007,2958,1983,2244,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1683,1.31,146.6,126.8,17.5,164,1685,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1982,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1743,1.31,146.6,116.5,17.2,170,1745,0.00,0.00,0.00,0.007,6,0.007,0.007,2962,1981,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1803,1.31,146.6,106.4,16.8,176,1805,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1985,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1863,1.31,146.6,96.6,16.3,182,1865,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1985,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1923,1.31,146.6,87.1,15.7,188,1925,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1983,1.31,146.6,78.0,15.0,194,1985,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1983,2247,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2043,1.31,146.6,69.3,14.4,200,2046,0.00,0.00,0.03,0.007,6,0.007,0.007,2959,1985,2242,0,0,0,0,0,0,24.09,24.03,24.03
$GC,2103,1.31,146.6,61.1,13.6,206,2105,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2163,1.31,146.6,53.3,12.8,212,2165,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1986,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2223,1.31,146.6,45.9,12.2,218,2225,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1983,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2283,1.31,146.6,38.7,11.9,224,2285,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1983,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2343,1.31,146.6,31.8,11.6,230,2345,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1986,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2403,1.31,146.6,25.0,11.3,236,2405,0.00,0.00,0.00,0.007,6,0.007,0.007,2960,1984,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2463,1.31,146.6,18.3,11.1,242,2465,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1981,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2524,1.31,146.6,11.6,11.2,248,2526,0.00,0.00,0.00,0.007,6,1282.565,0.007,2959,1981,2240,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2583,1.31,146.6,4.9,11.1,254,2585,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,2613,end climb,SURFACE_DEPTH_REACHED
$STATE,2613,begin surface coast
$STATE,2621,end surface coast,CONTROL_FINISHED_OK
$STATE,2621,begin surface
$SM_CCo,2643,95.78,0.011,1,0,1620,300.00
$SM_GC,0.89,8.45,0.00,95.78,0.008,0.007,0.011,450,1981,1620,-10.22,-0.03,300.00,3,0,0,0,1,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,25.76
$INTERNAL_PRESSURE,14.4819
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,201.0,34.0
$24V_AH,24.0,5.886
$10V_AH,10.1,16.398
$FG_AHR_24Vo,6.311
$FG_AHR_10Vo,20.753
$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,20.850,0.000,277.125,95.775,0.000,0.002,2.075,76.352,1.000,0.000,24.616,472.131,1223.025,459.091,513.247,321.499,0.000,575.292,0.000,441.601,0.000,7.917,0.000
$DEVICE_MAMPS,7.735,0.000,11.525,11.198,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2632.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.515,0.000,0.000,0.000
$MEM,354912
$DATA_FILE_SIZE,6797,258
$CAP_FILE_SIZE,253444,0
$CFSIZE,260165632,250052608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0,0
$CURRENT,0.247,225.1,1
$GPS,060112,022844,4807.776,-12541.405,10,1.8,18,18.0