version: 66.10
glider: 70
mission: 80
dive: 7
start: 1 6 112 2 33 36
data:
$ID,70
$MISSION,80
$DIVE,7
$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,-524201.19
$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,20.75758
$FG_AHR_24V,6.3123465
$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
$GPS1,060112,022844,4807.776,-12541.405,10,1.8,18,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-70.0
$GPS2,060112,023311,4807.776,-12541.405,23,1.3,32,18.0
$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,225.1,215405,-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,-48.80,0.000,2,0.007,0.000,449,1985,3110,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.4,-11.1,5,122,9.48,0.00,-10.68,0.000,6,0.007,0.009,2379,1984,3424,1,0,0,0,0,0,24.08,24.09,24.09
$GC,179,-1.31,-146.6,33.1,-24.1,14,181,0.00,0.00,0.00,0.000,6,0.007,0.007,2380,1982,3433,0,0,0,0,0,0,24.09,24.09,27.50
$GC,239,-1.31,-146.6,47.5,-23.8,20,241,0.00,0.00,0.00,0.000,6,0.007,0.007,2380,1982,3433,0,0,0,0,0,0,24.09,24.09,27.50
$GC,299,-1.31,-146.6,61.5,-23.2,26,301,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,359,-1.31,-146.6,74.9,-22.2,32,361,0.00,0.00,0.00,1282.565,6,0.007,0.007,2380,1983,3433,0,0,0,0,0,0,24.09,24.09,27.50
$GC,419,-1.31,-146.6,87.8,-21.4,38,421,0.00,0.00,0.00,0.000,6,0.007,0.007,2380,1981,3434,0,0,0,0,0,0,24.09,24.09,27.50
$GC,481,-1.31,-146.6,100.3,-20.7,44,483,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,540,-1.31,-146.6,112.7,-20.1,50,542,0.00,0.00,0.00,0.007,6,0.000,0.007,2380,1983,3433,0,0,0,0,0,0,27.50,24.09,24.09
$GC,600,-1.31,-146.6,124.6,-19.7,56,602,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1982,3432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,660,-1.31,-146.6,136.3,-19.3,62,662,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,720,-1.31,-146.6,147.8,-19.1,68,722,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1981,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,779,-1.31,-146.6,159.1,-18.9,74,782,0.00,0.00,0.00,0.000,6,0.007,0.007,2380,1984,3434,0,0,0,0,0,0,24.09,24.09,27.50
$GC,839,-1.31,-146.6,170.4,-18.6,80,842,0.00,0.00,0.00,1282.565,6,0.007,0.007,2380,1982,3434,0,0,0,0,0,0,24.09,24.09,27.50
$GC,899,-1.31,-146.6,181.4,-18.2,86,902,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1983,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,959,-1.31,-146.6,192.5,-18.2,92,962,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1982,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1019,-1.31,-146.6,203.4,-18.0,98,1022,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1982,3436,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,1058,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1058,begin apogee
$GC,1063,-0.31,0.0,210.6,-18.1,102,1214,0.98,0.00,140.70,0.012,6,0.004,0.011,2593,1983,2841,0,0,0,0,0,0,27.50,24.02,24.01
$STATE,1218,end apogee,CONTROL_FINISHED_OK
$STATE,1218,begin climb
$GC,1219,1.31,146.6,217.2,0.0,117,1376,1.83,0.00,143.40,0.011,6,0.007,0.007,2955,1982,2239,1,0,0,0,0,0,27.50,24.01,24.01
$GC,1434,1.31,146.6,189.8,18.8,139,1436,0.00,0.00,0.00,0.007,6,0.007,0.000,2953,1982,2239,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1493,1.31,146.6,178.7,18.3,145,1495,0.00,0.00,0.00,0.007,6,0.007,0.007,2954,1982,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1552,1.31,146.6,167.9,18.1,151,1555,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1981,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1612,1.31,146.6,157.1,17.9,157,1615,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1983,2237,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1673,1.31,146.6,146.4,17.7,163,1675,0.00,0.00,0.00,0.001,6,0.007,0.007,2955,1984,2237,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1732,1.31,146.6,135.9,17.5,169,1735,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1792,1.31,146.6,125.5,17.3,175,1795,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1981,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1853,1.31,146.6,115.4,16.8,181,1855,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1912,1.31,146.6,105.5,16.5,187,1915,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1980,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1972,1.31,146.6,95.9,16.0,193,1975,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2033,1.31,146.6,86.6,15.4,199,2035,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2235,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2092,1.31,146.6,77.7,14.9,205,2095,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1984,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2152,1.31,146.6,69.1,14.2,211,2155,0.00,0.00,0.00,0.007,6,0.007,0.007,2954,1982,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2213,1.31,146.6,61.0,13.5,217,2215,0.00,0.00,0.00,1282.565,6,0.007,0.007,2955,1984,2241,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2272,1.31,146.6,53.3,12.7,223,2275,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2332,1.31,146.6,46.1,12.0,229,2335,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1981,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2393,1.31,146.6,39.0,11.8,235,2395,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2452,1.31,146.6,32.1,11.5,241,2455,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2512,1.31,146.6,25.4,11.3,247,2515,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2573,1.31,146.6,18.7,11.1,253,2575,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1985,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2633,1.31,146.6,12.1,10.9,259,2635,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2693,1.31,146.6,5.5,10.8,265,2695,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1981,2239,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,2731,end climb,SURFACE_DEPTH_REACHED
$STATE,2731,begin surface coast
$STATE,2742,end surface coast,CONTROL_FINISHED_OK
$STATE,2742,begin surface
$SM_CCo,2767,95.78,0.012,0,0,1614,300.00
$SM_GC,0.90,12.10,0.00,95.78,0.007,0.007,0.012,450,1983,1614,-10.22,-0.08,300.00,17,0,0,0,0,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,25.67
$INTERNAL_PRESSURE,14.4719
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,201.6,57.7
$24V_AH,24.0,5.893
$10V_AH,10.0,16.438
$FG_AHR_24Vo,6.318
$FG_AHR_10Vo,20.788
$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,24.375,0.000,284.100,95.775,0.000,0.003,2.060,76.476,1.000,0.000,33.787,493.069,1301.886,462.628,534.655,323.862,0.000,569.577,0.000,454.680,0.000,7.895,0.000
$DEVICE_MAMPS,7.213,0.000,11.507,11.527,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2752.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.066,0.000,0.000,0.000
$MEM,354924
$DATA_FILE_SIZE,6774,270
$CAP_FILE_SIZE,264626,0
$CFSIZE,260165632,249966592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,19,0,0,0,0
$CURRENT,0.249,224.9,1
$GPS,060112,032237,4807.499,-12541.819,35,2.0,39,18.0