version: 66.10
glider: 70
mission: 80
dive: 11
start: 1 6 112 6 46 8
data:
$ID,70
$MISSION,80
$DIVE,11
$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,-524208.94
$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,20.917143
$FG_AHR_24V,6.3446584
$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
$GPS1,060112,064108,4806.393,-12543.438,10,1.9,16,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,060112,064542,4806.393,-12543.438,25,1.4,31,18.0
$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,227.1,211826,-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,-48.67,0.000,2,0.007,0.000,442,1983,3106,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.4,-10.8,5,123,9.68,0.00,-10.88,0.000,6,0.007,0.007,2385,1980,3434,0,0,0,0,0,0,24.08,24.09,24.09
$GC,179,-1.31,-146.6,32.5,-23.6,14,182,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1985,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,239,-1.31,-146.6,46.5,-23.4,20,242,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1980,3439,0,0,0,0,0,0,24.09,24.09,24.09
$GC,299,-1.31,-146.6,60.2,-22.7,26,302,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1985,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,359,-1.31,-146.6,73.4,-21.9,32,362,0.00,0.00,0.00,0.007,6,0.007,0.007,2383,1980,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,419,-1.31,-146.6,86.1,-21.1,38,422,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,479,-1.31,-146.6,98.4,-20.5,44,482,0.00,0.00,0.00,0.000,6,0.007,0.007,2385,1984,3434,0,0,0,0,0,0,24.09,24.09,27.50
$GC,539,-1.31,-146.6,110.4,-19.8,50,542,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,599,-1.31,-146.6,122.1,-19.5,56,602,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,660,-1.31,-146.6,133.5,-19.2,62,662,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,719,-1.31,-146.6,144.8,-18.9,68,722,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1988,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,779,-1.31,-146.6,156.0,-18.7,74,782,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,839,-1.31,-146.6,167.0,-18.4,80,842,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1982,3432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,899,-1.31,-146.6,177.9,-18.2,86,902,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1985,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,959,-1.31,-146.6,188.7,-17.9,92,962,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1981,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1019,-1.31,-146.6,199.4,-17.8,98,1022,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1079,-1.31,-146.6,210.0,-17.7,104,1082,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1984,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1139,-1.31,-146.6,220.6,-17.6,110,1142,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1986,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1199,-1.31,-146.6,231.1,-17.4,116,1202,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1981,3432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1259,-1.31,-146.6,241.5,-17.4,122,1262,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1983,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1339,-1.31,-146.6,255.3,-17.2,128,1342,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1459,-1.31,-146.6,275.8,-17.1,132,1462,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1981,3431,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1579,-1.31,-146.6,296.2,-17.0,136,1582,0.00,0.00,0.00,0.007,6,0.007,1282.565,2385,1982,3433,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1699,-1.31,-146.6,316.3,-16.8,140,1702,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1985,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1819,-1.31,-146.6,336.4,-16.7,144,1822,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1983,3432,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,1910,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1910,begin apogee
$GC,1916,-0.31,0.0,351.3,-16.6,147,2064,1.00,0.00,140.52,0.012,6,0.007,0.012,2592,1984,2841,0,0,0,0,0,0,27.50,24.01,24.01
$STATE,2067,end apogee,CONTROL_FINISHED_OK
$STATE,2067,begin climb
$GC,2069,1.31,146.6,357.5,0.0,152,2218,1.67,0.00,143.27,0.012,6,0.007,0.011,2953,1984,2245,1,0,0,0,0,0,27.50,24.02,24.01
$GC,2324,1.31,146.6,319.0,19.3,161,2327,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2444,1.31,146.6,296.0,19.2,165,2447,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1984,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2564,1.31,146.6,273.1,19.1,169,2567,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2685,1.31,146.6,250.5,18.9,173,2687,0.00,0.00,0.00,0.007,6,0.007,0.007,2951,1984,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2806,1.31,146.6,228.0,18.6,183,2808,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1983,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2865,1.31,146.6,216.8,18.5,189,2867,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1982,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2925,1.31,146.6,205.8,18.4,195,2927,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2985,1.31,146.6,194.8,18.3,201,2987,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1984,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3045,1.31,146.6,183.9,18.1,207,3047,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3105,1.31,146.6,173.2,17.9,213,3107,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1984,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3165,1.31,146.6,162.5,17.7,219,3167,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1985,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3225,1.31,146.6,152.0,17.5,225,3227,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1984,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3285,1.31,146.6,141.6,17.2,231,3287,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3345,1.31,146.6,131.3,17.0,237,3347,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3405,1.31,146.6,121.3,16.8,243,3407,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1981,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3465,1.31,146.6,111.4,16.4,249,3468,0.00,0.00,0.00,0.007,6,0.007,0.001,2953,1983,2244,0,0,0,0,0,0,24.09,27.50,24.09
$GC,3525,1.31,146.6,101.8,15.9,255,3527,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1981,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3585,1.31,146.6,92.4,15.5,261,3587,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1982,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3645,1.31,146.6,83.4,15.0,267,3647,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3705,1.31,146.6,74.7,14.3,273,3710,0.00,0.00,1.77,0.006,6,0.007,0.007,2953,1985,2244,0,0,0,0,0,0,24.09,24.03,24.03
$GC,3766,1.31,146.6,66.3,13.6,279,3783,0.00,0.00,2.42,0.013,6,0.007,0.012,2952,1983,2243,0,0,0,0,0,0,24.09,24.09,27.50
$GC,3841,1.31,146.6,56.9,12.9,286,3843,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1983,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3899,1.31,146.6,49.5,12.0,292,3902,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1983,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3960,1.31,146.6,42.5,11.6,298,3962,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1980,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4019,1.31,146.6,35.6,11.3,304,4022,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4079,1.31,146.6,29.0,11.0,310,4082,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1984,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4140,1.31,146.6,22.4,10.8,316,4142,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4199,1.31,146.6,15.9,10.8,322,4202,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1982,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4259,1.31,146.6,9.4,10.7,328,4262,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4320,1.31,146.6,3.0,10.7,334,4322,0.00,0.00,0.00,0.007,6,0.007,0.007,2952,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,4328,end climb,SURFACE_DEPTH_REACHED
$STATE,4328,begin surface coast
$STATE,4341,end surface coast,CONTROL_FINISHED_OK
$STATE,4341,begin surface
$SM_CCo,4363,96.38,0.011,1,0,1618,300.00
$SM_GC,0.90,10.07,0.00,96.38,0.008,0.007,0.011,456,1983,1618,-10.19,-0.17,300.00,9,0,0,0,1,0,24.08,24.09,24.01
$SUPER,3,254,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,24.88
$INTERNAL_PRESSURE,14.4922
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,351.3,46.7
$24V_AH,24.0,5.918
$10V_AH,10.0,16.638
$FG_AHR_24Vo,6.354
$FG_AHR_10Vo,20.959
$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,22.425,0.000,288.000,96.375,0.000,0.002,2.697,78.618,1.750,0.000,32.720,656.102,2474.115,525.402,664.549,401.316,0.000,609.630,0.000,571.524,0.000,11.978,0.000
$DEVICE_MAMPS,7.632,0.000,12.885,11.143,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4341.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.313,0.000,0.000,0.000
$MEM,354904
$DATA_FILE_SIZE,6785,336
$CAP_FILE_SIZE,332603,0
$CFSIZE,260165632,249569280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,10,0,1,0,0
$CURRENT,0.270,223.7,1
$GPS,060112,080124,4805.919,-12544.117,6,2.0,11,18.0