version: 66.10
glider: 70
mission: 80
dive: 12
start: 1 6 112 8 6 38
data:
$ID,70
$MISSION,80
$DIVE,12
$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,-524210.88
$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,20.963882
$FG_AHR_24V,6.3548098
$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
$GPS1,060112,080124,4805.919,-12544.117,6,2.0,11,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-70.0
$GPS2,060112,080612,4805.919,-12544.117,17,1.5,22,18.0
$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,227.8,210619,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.31,-146.6,0.0,0.0,0,78,0.00,0.00,-48.80,0.000,2,0.007,0.000,457,1983,3098,0,0,0,0,0,0,24.09,27.50,27.50
$GC,80,-1.31,-146.6,4.2,-10.4,5,121,9.50,0.00,-11.02,0.000,6,0.007,0.007,2372,1981,3436,0,0,0,0,0,0,24.08,24.09,24.09
$GC,178,-1.31,-146.6,33.8,-24.9,14,180,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,238,-1.31,-146.6,48.6,-24.6,20,240,0.00,0.00,0.00,0.007,6,0.007,0.007,2373,1984,3432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,298,-1.31,-146.6,63.0,-23.8,26,300,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,358,-1.31,-146.6,76.8,-22.9,32,360,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,418,-1.31,-146.6,90.1,-22.1,38,420,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3438,0,0,0,0,0,0,24.09,24.09,24.09
$GC,478,-1.31,-146.6,102.9,-21.3,44,480,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1985,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,538,-1.31,-146.6,115.4,-20.7,50,540,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,598,-1.31,-146.6,127.6,-20.3,56,600,0.00,0.00,0.00,0.007,6,0.007,0.007,2373,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,658,-1.31,-146.6,139.7,-20.0,62,661,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,718,-1.31,-146.6,151.5,-19.6,68,721,0.00,0.00,0.00,0.007,6,0.007,0.007,2373,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,778,-1.31,-146.6,163.2,-19.5,74,780,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,838,-1.31,-146.6,174.7,-19.3,80,840,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,898,-1.31,-146.6,186.2,-19.0,86,900,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,958,-1.31,-146.6,197.5,-18.7,92,960,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1984,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1018,-1.31,-146.6,208.7,-18.7,98,1020,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1078,-1.31,-146.6,219.8,-18.6,104,1080,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1138,-1.31,-146.6,230.9,-18.4,110,1140,0.00,0.00,0.00,0.007,6,0.007,0.007,2373,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1198,-1.31,-146.6,241.9,-18.3,116,1200,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1278,-1.31,-146.6,256.5,-18.1,122,1280,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1398,-1.31,-146.6,278.1,-18.0,126,1400,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1518,-1.31,-146.6,299.5,-17.9,130,1520,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1638,-1.31,-146.6,320.8,-17.7,134,1640,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1758,-1.31,-146.6,341.9,-17.5,138,1760,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1878,-1.31,-146.6,362.9,-17.5,142,1880,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1984,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1998,-1.31,-146.6,383.6,-17.3,146,2000,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2119,-1.31,-146.6,404.3,-17.2,150,2121,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2238,-1.31,-146.6,424.9,-17.1,154,2241,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1981,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2358,-1.31,-146.6,445.2,-16.9,158,2360,0.00,0.00,0.00,0.007,6,0.007,0.007,2372,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,2389,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2389,begin apogee
$GC,2394,-0.31,0.0,450.3,-16.9,159,2543,1.10,0.00,140.25,0.011,6,0.015,0.007,2606,1983,2841,0,0,0,0,0,0,27.50,24.01,24.01
$STATE,2545,end apogee,CONTROL_FINISHED_OK
$STATE,2545,begin climb
$GC,2547,1.31,146.6,455.8,0.0,164,2697,1.67,0.00,142.85,0.012,6,0.007,0.000,2955,1983,2247,0,0,0,0,0,0,27.50,27.50,24.01
$GC,2803,1.31,146.6,415.5,19.8,173,2805,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1982,2247,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2923,1.31,146.6,391.7,19.9,177,2925,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2248,0,0,0,0,0,0,24.08,24.08,24.08
$GC,3043,1.31,146.6,368.0,19.8,181,3048,0.00,0.00,2.53,0.010,6,0.007,0.012,2955,1983,2244,0,0,0,0,0,0,24.09,24.03,24.03
$GC,3163,1.31,146.6,344.4,19.7,185,3165,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3283,1.31,146.6,321.0,19.5,189,3285,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3403,1.31,146.6,297.7,19.4,193,3405,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3523,1.31,146.6,274.6,19.2,197,3525,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1981,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3643,1.31,146.6,251.8,19.1,201,3645,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1981,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3764,1.31,146.6,229.1,18.8,211,3766,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3823,1.31,146.6,217.9,18.6,217,3825,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3883,1.31,146.6,206.7,18.6,223,3885,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2247,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3943,1.31,146.6,195.6,18.5,229,3945,0.00,0.00,0.00,0.007,6,0.007,0.007,2953,1983,2247,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4003,1.31,146.6,184.7,18.2,235,4005,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4063,1.31,146.6,173.8,18.1,241,4065,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4123,1.31,146.6,163.0,18.0,247,4125,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4183,1.31,146.6,152.4,17.8,253,4185,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4243,1.31,146.6,141.9,17.4,259,4245,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4303,1.31,146.6,131.5,17.2,265,4305,0.00,0.00,0.00,0.007,6,0.007,0.007,2954,1985,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4363,1.31,146.6,121.3,16.9,271,4365,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1984,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4423,1.31,146.6,111.4,16.6,277,4425,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1981,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4483,1.31,146.6,101.7,16.1,283,4485,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1985,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4543,1.31,146.6,92.2,15.6,289,4545,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1981,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4603,1.31,146.6,83.2,15.0,295,4605,0.00,0.00,0.00,0.007,6,0.007,0.007,2954,1984,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4663,1.31,146.6,74.5,14.3,301,4665,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4723,1.31,146.6,66.2,13.8,307,4725,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4783,1.31,146.6,58.3,13.0,313,4785,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1985,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4843,1.31,146.6,50.9,12.3,319,4845,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2247,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4903,1.31,146.6,43.8,11.7,325,4905,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4963,1.31,146.6,36.9,11.4,331,4965,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5023,1.31,146.6,30.2,11.1,337,5025,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1984,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5083,1.31,146.6,23.6,11.0,343,5085,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5143,1.31,146.6,17.1,10.9,349,5145,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1983,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5203,1.31,146.6,10.6,10.8,355,5205,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1981,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,5263,1.31,146.6,4.1,10.8,361,5265,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1982,2244,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,5284,end climb,SURFACE_DEPTH_REACHED
$STATE,5284,begin surface coast
$STATE,5291,end surface coast,CONTROL_FINISHED_OK
$STATE,5291,begin surface
$SM_CCo,5312,96.50,0.011,0,0,1620,300.00
$SM_GC,0.88,8.98,0.00,96.50,0.007,0.007,0.011,453,1983,1620,-10.20,-0.03,300.00,5,0,0,0,0,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,24.65
$INTERNAL_PRESSURE,14.4743
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,450.3,25.2
$24V_AH,24.0,5.926
$10V_AH,10.1,16.692
$FG_AHR_24Vo,6.366
$FG_AHR_10Vo,21.011
$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,21.250,0.000,285.625,96.500,0.000,0.002,2.269,96.303,2.250,0.000,23.577,713.365,3285.338,525.924,717.317,435.671,0.000,605.730,0.000,628.029,0.000,14.583,0.000
$DEVICE_MAMPS,14.640,0.000,11.601,11.458,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.276,0.000,0.000,0.000
$MEM,355012
$DATA_FILE_SIZE,6789,364
$CAP_FILE_SIZE,361329,0
$CFSIZE,260165632,249450496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,5,0,0,0,0
$CURRENT,0.277,223.3,1
$GPS,060112,093750,4805.326,-12544.953,16,1.3,23,18.0