version: 66.10
glider: 70
mission: 80
dive: 8
start: 1 6 112 3 27 26
data:
$ID,70
$MISSION,80
$DIVE,8
$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,-524203.12
$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,20.793463
$FG_AHR_24V,6.3193097
$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
$GPS1,060112,032237,4807.499,-12541.819,35,2.0,39,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,060112,032701,4807.499,-12541.819,22,1.2,27,18.0
$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,225.2,214681,-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,-48.60,0.000,2,0.007,0.000,449,1982,3096,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.3,-10.6,5,123,9.62,0.00,-11.12,0.000,6,0.007,0.009,2390,1983,3433,0,0,0,0,0,0,24.08,24.09,24.09
$GC,179,-1.31,-146.6,31.4,-23.0,14,181,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,239,-1.31,-146.6,45.0,-22.7,20,241,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1985,3437,0,0,0,0,0,0,24.09,24.09,24.09
$GC,299,-1.31,-146.6,58.4,-22.2,26,302,0.00,0.00,0.00,0.000,6,0.007,0.007,2389,1982,3434,0,0,0,0,0,0,24.09,24.09,27.50
$GC,359,-1.31,-146.6,71.3,-21.4,32,361,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,419,-1.31,-146.6,83.7,-20.6,38,421,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,479,-1.31,-146.6,95.7,-19.9,44,482,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,539,-1.31,-146.6,107.4,-19.4,50,542,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,599,-1.31,-146.6,118.8,-19.0,56,602,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,659,-1.31,-146.6,130.0,-18.7,62,662,0.00,0.00,0.00,0.007,6,1282.565,0.007,2390,1984,3436,0,0,0,0,0,0,27.50,24.09,24.09
$GC,719,-1.31,-146.6,141.1,-18.4,68,722,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,779,-1.31,-146.6,151.9,-18.1,74,781,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1984,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,839,-1.31,-146.6,162.7,-17.9,80,841,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,899,-1.31,-146.6,173.3,-17.7,86,902,0.00,0.00,0.00,0.000,6,0.007,0.007,2389,1982,3435,0,0,0,0,0,0,24.09,24.09,27.50
$GC,959,-1.31,-146.6,183.9,-17.6,92,961,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1984,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1019,-1.31,-146.6,194.3,-17.4,98,1021,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1079,-1.31,-146.6,204.7,-17.2,104,1082,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1139,-1.31,-146.6,215.0,-17.2,110,1141,0.00,0.00,0.00,0.007,6,0.007,0.007,2387,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1199,-1.31,-146.6,225.2,-17.1,116,1201,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1259,-1.31,-146.6,235.3,-16.9,122,1262,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1319,-1.31,-146.6,245.5,-16.8,128,1321,0.00,0.00,0.00,0.007,6,0.007,0.007,2390,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,1350,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1350,begin apogee
$GC,1355,-0.31,0.0,250.5,-16.7,131,1503,1.00,0.00,140.18,0.012,6,0.007,0.007,2595,1984,2841,0,0,0,0,0,0,27.50,24.02,24.01
$STATE,1505,end apogee,CONTROL_FINISHED_OK
$STATE,1505,begin climb
$GC,1507,1.31,146.6,256.6,0.0,136,1666,1.65,0.00,145.02,0.011,6,0.007,0.007,2944,1984,2244,0,0,0,0,1,0,27.50,24.01,24.01
$GC,1722,1.31,146.6,229.2,17.9,150,1724,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1782,1.31,146.6,218.4,17.9,156,1785,0.00,0.00,0.00,0.007,6,0.000,0.007,2943,1985,2246,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1842,1.31,146.6,207.8,17.7,162,1844,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1902,1.31,146.6,197.2,17.7,168,1904,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1985,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1962,1.31,146.6,186.7,17.5,174,1965,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1980,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2022,1.31,146.6,176.3,17.2,180,2025,0.00,0.00,0.25,0.007,6,0.007,0.007,2944,1982,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2082,1.31,146.6,166.1,17.1,186,2084,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1986,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2142,1.31,146.6,155.9,16.9,192,2145,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2202,1.31,146.6,145.8,16.8,198,2204,0.00,0.00,0.00,0.007,6,0.007,0.007,2943,1982,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2262,1.31,146.6,135.9,16.5,204,2264,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1982,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2322,1.31,146.6,126.0,16.3,210,2325,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2382,1.31,146.6,116.4,16.0,216,2384,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2442,1.31,146.6,107.1,15.6,222,2444,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2502,1.31,146.6,97.8,15.2,228,2505,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1984,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2562,1.31,146.6,89.0,14.7,234,2565,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1984,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2622,1.31,146.6,80.4,14.1,240,2625,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1982,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2682,1.31,146.6,72.2,13.6,246,2685,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2742,1.31,146.6,64.4,13.0,252,2745,0.00,0.00,0.00,0.007,6,0.007,0.007,2941,1985,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2802,1.31,146.6,57.0,12.3,258,2804,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2862,1.31,146.6,49.9,11.7,264,2865,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2922,1.31,146.6,43.2,11.2,270,2926,0.00,0.00,0.22,0.007,6,0.007,0.007,2944,1985,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2982,1.31,146.6,36.6,11.0,276,2985,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1982,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3042,1.31,146.6,30.2,10.6,282,3045,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3102,1.31,146.6,23.9,10.6,288,3105,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3162,1.31,146.6,17.6,10.4,294,3165,0.00,0.00,0.00,0.007,6,0.007,0.007,2942,1983,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3222,1.31,146.6,11.4,10.4,300,3225,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3282,1.31,146.6,5.2,10.4,306,3285,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1983,2245,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,3312,end climb,SURFACE_DEPTH_REACHED
$STATE,3312,begin surface coast
$STATE,3320,end surface coast,CONTROL_FINISHED_OK
$STATE,3320,begin surface
$SM_CCo,3343,96.28,0.011,0,0,1615,300.98
$SM_GC,0.89,9.30,0.00,96.28,0.007,0.007,0.011,456,1983,1615,-10.19,-0.11,300.98,7,0,0,0,0,0,24.08,24.09,24.01
$SUPER,3,254,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,25.49
$INTERNAL_PRESSURE,14.4718
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,250.5,38.8
$24V_AH,24.0,5.899
$10V_AH,10.0,16.483
$FG_AHR_24Vo,6.327
$FG_AHR_10Vo,20.829
$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,21.575,0.000,285.675,96.275,0.000,0.003,2.043,77.031,1.250,0.000,28.707,599.176,1611.726,497.257,613.009,368.037,0.000,583.557,0.000,533.288,0.000,9.294,0.000
$DEVICE_MAMPS,7.226,0.000,11.522,11.487,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3317.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.674,0.000,0.000,0.000
$MEM,354920
$DATA_FILE_SIZE,6794,310
$CAP_FILE_SIZE,307128,0
$CFSIZE,260165632,249847808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,1,0,0
$CURRENT,0.256,224.6,1
$GPS,060112,042604,4807.156,-12542.326,30,1.3,38,18.0