version: 66.10
glider: 70
mission: 80
dive: 10
start: 1 6 112 5 35 24
data:
$ID,70
$MISSION,80
$DIVE,10
$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,-524207
$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,20.874378
$FG_AHR_24V,6.3356767
$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
$GPS1,060112,053026,4806.798,-12542.851,26,1.3,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,060112,053459,4806.798,-12542.851,28,2.0,33,18.0
$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,226.3,212866,-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,-49.05,0.000,2,0.007,0.000,458,1984,3113,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.4,-10.8,5,123,9.50,0.00,-10.68,0.000,6,0.007,0.007,2379,1981,3433,2,0,0,0,0,0,24.08,24.09,24.09
$GC,179,-1.31,-146.6,32.8,-24.1,14,181,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,239,-1.31,-146.6,47.1,-23.8,20,241,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,299,-1.31,-146.6,61.1,-23.2,26,301,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1985,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,359,-1.31,-146.6,74.5,-22.3,32,361,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,419,-1.31,-146.6,87.5,-21.5,38,421,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1983,3431,0,0,0,0,0,0,24.09,24.09,24.09
$GC,479,-1.31,-146.6,100.0,-20.7,44,481,0.00,0.00,0.00,1282.565,6,0.007,0.007,2380,1981,3432,0,0,0,0,0,0,24.09,24.09,27.50
$GC,539,-1.31,-146.6,112.1,-20.2,50,542,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1984,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,599,-1.31,-146.6,124.0,-19.8,56,602,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1983,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,659,-1.31,-146.6,135.7,-19.4,62,662,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1981,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,719,-1.31,-146.6,147.2,-19.2,68,722,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,779,-1.31,-146.6,158.5,-18.9,74,781,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,839,-1.31,-146.6,169.7,-18.7,80,841,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,899,-1.31,-146.6,180.9,-18.5,86,902,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1984,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,959,-1.31,-146.6,191.9,-18.4,92,961,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1019,-1.31,-146.6,202.8,-18.2,98,1021,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1981,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1079,-1.31,-146.6,213.6,-18.0,104,1082,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1982,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1139,-1.31,-146.6,224.3,-17.9,110,1141,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1984,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1199,-1.31,-146.6,235.0,-17.6,116,1201,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1259,-1.31,-146.6,245.6,-17.7,122,1262,0.00,0.00,0.00,0.007,6,0.007,0.007,2379,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1319,-1.31,-146.6,256.2,-17.6,126,1322,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1983,3438,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1439,-1.31,-146.6,277.1,-17.5,130,1442,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1980,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1559,-1.31,-146.6,297.9,-17.3,134,1561,0.00,0.00,0.00,0.007,6,0.007,0.007,2380,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,1619,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1619,begin apogee
$GC,1624,-0.31,0.0,308.2,-17.2,136,1771,1.02,0.00,139.32,0.012,6,0.007,1282.565,2595,1981,2845,0,0,0,0,0,0,27.50,27.50,24.01
$STATE,1773,end apogee,CONTROL_FINISHED_OK
$STATE,1773,begin climb
$GC,1775,1.31,146.6,314.1,0.0,141,1927,1.85,0.00,145.50,0.012,6,0.007,0.012,2957,1985,2241,0,0,0,0,0,0,24.08,24.02,24.01
$GC,2040,1.31,146.6,274.2,19.7,150,2043,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1985,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2159,1.31,146.6,250.8,19.5,154,2161,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1983,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2280,1.31,146.6,227.7,19.2,164,2283,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2339,1.31,146.6,216.3,19.1,170,2342,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1985,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2399,1.31,146.6,204.9,18.9,176,2402,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1982,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2459,1.31,146.6,193.6,19.4,182,2462,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2519,1.31,146.6,182.4,18.6,188,2522,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1985,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2579,1.31,146.6,171.4,18.4,194,2582,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2639,1.31,146.6,160.4,18.2,200,2642,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1982,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2699,1.31,146.6,149.6,18.0,206,2702,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1981,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2759,1.31,146.6,138.9,17.7,212,2762,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2819,1.31,146.6,128.4,17.4,218,2821,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1985,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2879,1.31,146.6,118.1,17.2,224,2882,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1983,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2939,1.31,146.6,108.0,16.7,230,2942,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1982,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2999,1.31,146.6,98.2,16.3,236,3001,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1983,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3059,1.31,146.6,88.7,15.7,242,3062,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1983,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3119,1.31,146.6,79.6,15.1,248,3122,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1984,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3179,1.31,146.6,70.9,14.4,254,3182,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1985,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3239,1.31,146.6,62.5,13.8,260,3242,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3299,1.31,146.6,54.7,13.0,266,3302,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1984,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3359,1.31,146.6,47.3,12.3,272,3361,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3419,1.31,146.6,40.2,11.9,278,3422,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1980,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3479,1.31,146.6,33.2,11.5,284,3481,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1985,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3539,1.31,146.6,26.4,11.4,290,3542,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1981,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3599,1.31,146.6,19.7,11.2,296,3602,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1985,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3659,1.31,146.6,13.0,11.1,302,3661,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1981,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3719,1.31,146.6,6.3,11.2,308,3721,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,3757,end climb,SURFACE_DEPTH_REACHED
$STATE,3757,begin surface coast
$STATE,3769,end surface coast,CONTROL_FINISHED_OK
$STATE,3769,begin surface
$SM_CCo,3792,95.80,0.011,0,0,1614,300.98
$SM_GC,0.87,11.20,0.00,95.80,0.007,0.007,0.011,446,1983,1614,-10.16,-0.11,300.98,14,0,0,0,0,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,25.09
$INTERNAL_PRESSURE,14.4862
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,303.0,52.9
$24V_AH,24.0,5.912
$10V_AH,10.1,16.589
$FG_AHR_24Vo,6.344
$FG_AHR_10Vo,20.912
$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,23.575,0.000,284.825,95.800,0.000,0.002,2.201,77.898,1.500,0.000,35.816,609.084,2028.424,505.839,628.418,372.749,0.000,581.636,0.000,535.600,0.000,10.572,0.000
$DEVICE_MAMPS,7.429,0.000,11.558,11.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3761.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.974,0.000,0.000,0.000
$MEM,354920
$DATA_FILE_SIZE,6782,313
$CAP_FILE_SIZE,309231,0
$CFSIZE,260165632,249679872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,16,0,0,0,0
$CURRENT,0.267,224.1,1
$GPS,060112,064108,4806.393,-12543.438,10,1.9,16,18.0