version: 66.10
glider: 70
mission: 80
dive: 178
start: 1 29 112 9 30 12
data:
$ID,70
$MISSION,80
$DIVE,178
$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,-524583.69
$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,1
$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,35.825867
$FG_AHR_24V,10.390795
$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
$GPS1,290112,092452,4701.168,-12459.758,28,1.6,36,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,290112,092943,4701.168,-12459.758,23,2.0,29,18.0
$SPEED_LIMITS,0.100,0.264
$TGT_NAME,GRAYS_HARBOR
$TGT_LATLONG,4700.000,-12458.000
$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,129.6,3100,-43.6,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-2.75,-26.0,0.0,0.0,0,85,0.00,0.00,-43.35,0.000,6,0.007,0.009,457,1979,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,87,-2.75,-26.0,4.3,-10.8,5,104,7.93,2.58,0.00,0.007,4,0.007,0.005,2070,540,2942,1,0,0,0,0,0,24.08,27.50,24.08
$GC,125,-2.75,-26.0,23.2,-39.6,9,140,0.00,2.42,0.00,0.007,6,1282.565,0.007,2069,2013,2944,0,0,0,0,0,0,27.50,27.50,24.09
$GC,200,-2.75,-26.0,48.9,-35.2,16,213,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,2011,2941,0,0,0,0,0,0,24.09,24.09,24.09
$GC,270,-2.75,-26.0,71.8,-30.5,23,272,0.00,0.00,0.00,0.007,6,0.007,0.000,2070,2011,2943,0,0,0,0,0,0,24.09,27.50,24.09
$GC,329,-2.75,-26.0,88.1,-26.7,29,332,0.00,0.00,0.00,1282.565,6,0.007,0.007,2069,2008,2941,0,0,0,0,0,0,24.09,24.09,27.50
$GC,390,-2.75,-26.0,102.5,-23.5,35,392,0.00,0.00,0.00,0.007,6,0.000,0.007,2069,2009,2939,0,0,0,0,0,0,27.50,24.09,24.09
$GC,449,-2.75,-26.0,115.5,-21.5,41,452,0.00,0.00,0.00,0.000,6,0.007,0.007,2075,2010,2945,0,0,0,0,0,0,24.09,24.09,27.50
$GC,510,-2.75,-26.0,127.4,-19.7,47,512,0.00,0.00,0.00,0.007,6,0.007,0.007,2069,2010,2943,0,0,0,0,0,0,24.09,24.09,24.09
$GC,569,-2.75,-26.0,138.6,-18.5,53,572,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,2010,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,629,-2.75,-26.0,149.2,-17.5,59,632,0.00,0.00,0.00,0.007,6,0.007,0.007,2069,2008,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,690,-2.75,-26.0,159.2,-16.7,65,692,0.00,0.00,0.00,0.007,6,0.007,0.007,2069,2011,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,749,-2.75,-26.0,168.9,-16.1,71,752,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,2010,2946,0,0,0,0,0,0,24.09,24.09,24.09
$GC,809,-2.75,-26.0,178.1,-15.4,77,812,0.00,0.00,0.00,1282.565,6,0.007,0.007,2070,2011,2945,0,0,0,0,0,0,24.09,24.09,27.50
$GC,870,-2.75,-26.0,187.1,-14.8,83,872,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,2010,2938,0,0,0,0,0,0,24.09,24.09,24.09
$GC,929,-2.75,-26.0,195.6,-14.2,89,932,0.00,0.00,0.00,1282.565,6,0.007,0.007,2069,2011,2945,0,0,0,0,0,0,24.09,24.09,27.50
$GC,990,-2.75,-26.0,203.8,-13.8,95,992,0.00,0.00,0.00,0.007,6,0.000,0.007,2070,2010,2944,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1050,-2.75,-26.0,211.8,-13.4,101,1052,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,2012,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1109,-2.75,-26.0,219.6,-12.9,107,1112,0.00,0.00,0.00,0.000,6,0.007,0.007,2069,2010,2940,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1169,-2.75,-26.0,227.2,-12.6,113,1172,0.00,0.00,0.00,0.000,6,0.007,0.007,2069,2011,2944,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1230,-2.75,-26.0,234.5,-12.2,119,1247,0.00,2.58,0.00,0.007,4,0.007,0.010,2067,547,2947,0,0,2,0,0,0,24.09,24.08,24.09
$GC,1253,-2.75,-26.0,235.8,-12.2,120,1261,0.00,2.50,0.00,0.007,6,0.007,0.007,2070,1985,2945,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1322,-2.75,-26.0,245.2,-11.7,127,1334,0.00,2.47,0.00,0.007,4,1282.565,0.007,2069,3416,2943,0,0,0,0,0,0,27.50,27.50,24.09
$GC,1340,-2.75,-26.0,246.4,-11.8,128,1347,0.00,2.55,0.00,0.007,6,0.007,0.007,2069,1962,2947,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1427,-2.75,-26.0,257.3,-11.2,133,1430,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,1960,2948,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1545,-2.75,-26.0,270.3,-10.9,137,1548,0.00,0.00,0.00,0.007,6,0.007,1282.565,2069,1963,2940,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1665,-2.75,-26.0,282.8,-10.4,141,1668,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,1963,2944,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1786,-2.76,-26.4,294.7,-9.9,145,1788,0.00,0.00,0.00,0.000,6,0.007,0.007,2070,1962,2943,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1906,-2.76,-28.5,306.0,-9.4,149,1908,0.00,0.00,0.00,0.007,6,0.007,0.007,2071,1958,2943,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2026,-2.76,-32.0,316.9,-9.1,153,2028,0.00,0.00,0.00,1282.565,6,0.007,0.007,2069,1963,2945,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2146,-2.77,-37.2,327.3,-8.7,157,2148,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,1962,2946,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2266,-2.78,-43.8,337.3,-8.3,161,2268,0.00,0.00,0.00,1282.565,6,0.007,0.007,2074,1962,2940,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2386,-2.79,-51.8,346.8,-7.9,165,2388,0.00,0.00,0.00,0.000,6,0.007,0.007,2070,1961,2945,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2506,-2.80,-61.3,355.9,-7.6,169,2508,0.00,0.00,0.00,0.000,6,0.007,0.007,2070,1962,2944,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2626,-2.81,-71.8,364.7,-7.3,173,2628,0.00,0.00,0.00,1282.565,6,0.007,0.007,2070,1961,2944,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2746,-2.83,-83.6,373.1,-7.0,177,2754,0.00,2.55,0.00,0.001,4,0.007,0.007,2070,3407,2943,0,0,0,0,0,0,24.09,27.50,27.50
$GC,2764,-2.84,-95.3,373.1,-7.0,177,2770,0.00,2.58,0.00,0.007,6,0.001,0.010,2070,1955,2944,0,0,0,0,0,0,27.50,24.08,24.08
$GC,2893,-2.86,-108.4,382.7,-6.6,181,2895,0.00,0.00,0.00,0.007,6,0.007,0.007,2070,1953,2945,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3011,-2.87,-122.8,390.2,-6.3,185,3015,0.12,0.00,0.00,0.007,6,1282.565,0.007,2052,1953,2948,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3131,-2.89,-137.6,397.7,-6.2,189,3134,0.00,0.00,0.00,0.007,6,0.007,0.007,2052,1953,2939,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3253,-2.90,-146.6,404.8,-5.9,193,3255,0.00,0.00,0.00,0.007,6,1282.564,0.007,2052,1952,2945,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3371,-2.90,-146.6,411.6,-5.6,197,3374,0.00,0.00,0.00,0.007,6,1282.564,0.007,2054,1954,2944,0,0,0,0,0,0,27.50,24.09,24.09
$STATE,3459,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3459,begin apogee
$GC,3465,-0.31,0.0,416.4,-5.4,200,3500,2.55,0.08,26.42,0.011,6,0.007,0.000,2592,1961,2839,0,0,0,0,0,0,27.50,27.50,24.01
$STATE,3504,end apogee,CONTROL_FINISHED_OK
$STATE,3504,begin climb
$GC,3506,2.90,146.6,417.1,0.0,201,3658,3.42,0.00,142.88,0.012,6,0.007,0.007,3317,1959,2243,1,0,0,0,0,0,27.50,24.01,24.01
$GC,3760,2.90,146.6,316.3,51.0,210,3763,0.00,0.00,0.00,0.007,6,0.007,0.007,3316,1959,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3881,2.90,146.6,255.9,50.4,214,3883,0.00,0.00,0.00,0.007,6,0.007,0.007,3317,1959,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4003,2.90,146.6,197.0,48.6,224,4005,0.00,0.00,0.00,0.007,6,0.007,0.007,3317,1963,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4061,2.90,146.6,167.9,47.4,230,4064,0.00,0.00,0.00,0.007,6,0.001,0.007,3317,1961,2246,0,0,0,0,0,0,27.50,24.09,24.09
$GC,4122,2.90,146.6,140.0,46.2,236,4124,0.00,0.00,0.00,1282.564,6,0.007,0.007,3317,1960,2244,0,0,0,0,0,0,24.09,24.09,27.50
$GC,4181,2.90,146.6,113.3,44.3,242,4184,0.00,0.00,0.00,0.007,6,0.001,0.007,3317,1961,2245,0,0,0,0,0,0,27.50,24.09,24.09
$GC,4241,2.90,146.6,88.2,41.2,248,4244,0.00,0.00,0.00,0.007,6,0.007,0.007,3317,1961,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4302,2.90,146.6,65.7,36.7,254,4304,0.00,0.00,0.00,0.000,6,0.007,0.007,3317,1963,2246,0,0,0,0,0,0,24.09,24.09,27.50
$GC,4361,2.90,146.6,46.3,31.5,260,4364,0.00,0.00,0.00,0.007,6,0.007,0.007,3316,1959,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4421,2.90,146.6,28.9,28.5,266,4424,0.00,0.00,0.00,0.007,6,0.000,0.007,3317,1961,2245,0,0,0,0,0,0,27.50,24.09,24.09
$GC,4482,2.90,146.6,12.6,27.1,272,4484,0.00,0.00,0.00,0.000,6,0.007,0.007,3317,1960,2246,0,0,0,0,0,0,24.09,24.09,27.50
$STATE,4520,end climb,SURFACE_DEPTH_REACHED
$STATE,4520,begin surface coast
$STATE,4532,end surface coast,CONTROL_FINISHED_OK
$STATE,4532,begin surface
$SM_CCo,4559,97.05,0.011,1,0,1617,300.00
$SM_GC,0.88,13.73,0.08,97.05,0.007,0.007,0.011,461,1992,1617,-10.16,0.20,300.00,19,0,0,0,1,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,18.93
$INTERNAL_PRESSURE,14.2849
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,401.3,64.2
$24V_AH,24.0,9.568
$10V_AH,10.1,27.926
$FG_AHR_24Vo,10.400
$FG_AHR_10Vo,35.865
$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,27.750,20.475,169.300,97.050,0.000,0.002,2.089,86.682,2.000,0.000,30.627,603.661,2905.731,450.751,579.703,400.921,0.000,525.790,0.000,494.445,0.000,14.699,0.000
$DEVICE_MAMPS,1282565.186,9.648,11.503,11.217,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4531.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.065,0.000,0.000,0.000
$MEM,354908
$DATA_FILE_SIZE,6802,277
$CAP_FILE_SIZE,286025,0
$CFSIZE,260165632,225992704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,21,2,1,0,1
$CURRENT,0.087,131.7,1
$GPS,290112,104915,4701.021,-12459.515,27,1.5,34,18.0