version: 66.10
glider: 70
mission: 80
dive: 179
start: 1 29 112 10 54 23
data:
$ID,70
$MISSION,80
$DIVE,179
$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,-524585.69
$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,0
$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,35.870396
$FG_AHR_24V,10.401222
$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
$GPS1,290112,104915,4701.021,-12459.515,27,1.5,34,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,290112,105354,4701.021,-12459.515,18,1.5,26,18.0
$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,119.1,2689,-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,27,-2.75,-26.0,0.0,0.0,0,86,0.00,0.00,-43.72,0.000,6,0.007,0.010,461,1994,2953,0,0,0,0,0,0,24.09,24.03,24.09
$GC,88,-2.75,-26.0,4.4,-11.1,5,99,7.95,0.00,0.00,0.007,6,0.007,0.007,2082,1994,2950,0,0,0,0,0,0,24.08,24.08,24.08
$GC,161,-2.75,-26.0,35.2,-36.1,13,163,0.00,0.00,0.00,0.007,6,0.007,0.007,2081,1991,2951,0,0,0,0,0,0,24.09,24.09,24.09
$GC,220,-2.75,-26.0,56.0,-33.9,19,222,0.00,0.00,0.00,1282.565,6,0.007,0.007,2082,1991,2950,0,0,0,0,0,0,24.09,24.09,27.50
$GC,280,-2.75,-26.0,74.3,-30.3,25,282,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1991,2950,0,0,0,0,0,0,24.09,24.09,24.09
$GC,340,-2.75,-26.0,90.2,-26.1,31,342,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1995,2951,0,0,0,0,0,0,24.09,24.09,24.09
$GC,400,-2.75,-26.0,104.4,-23.0,37,402,0.00,0.00,0.00,0.007,6,1282.565,0.007,2082,1993,2951,0,0,0,0,0,0,27.50,24.09,24.09
$GC,460,-2.75,-26.0,117.2,-21.2,43,462,0.00,0.00,0.00,0.007,6,0.000,0.007,2082,1993,2958,0,0,0,0,0,0,27.50,24.09,24.09
$GC,520,-2.75,-26.0,129.1,-19.6,49,523,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1993,2951,0,0,0,0,0,0,24.09,24.09,24.09
$GC,580,-2.75,-26.0,140.2,-18.4,55,582,0.00,0.00,0.00,0.007,6,0.000,0.007,2082,1995,2950,0,0,0,0,0,0,27.50,24.09,24.09
$GC,640,-2.75,-26.0,150.7,-17.4,61,643,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1995,2950,0,0,0,0,0,0,24.09,24.09,24.09
$GC,700,-2.75,-26.0,160.9,-16.8,67,703,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1992,2951,0,0,0,0,0,0,24.09,24.09,24.09
$GC,760,-2.75,-26.0,170.6,-16.0,73,762,0.00,0.00,0.00,1282.565,6,0.007,0.007,2082,1992,2952,0,0,0,0,0,0,24.09,24.09,27.50
$GC,820,-2.75,-26.0,179.9,-15.6,79,822,0.00,0.00,0.00,0.000,6,0.007,0.007,2082,1994,2949,0,0,0,0,0,0,24.09,24.09,27.50
$GC,880,-2.75,-26.0,188.9,-15.0,85,883,0.00,0.00,0.00,0.007,6,0.007,0.007,2080,1996,2947,0,0,0,0,0,0,24.09,24.09,24.09
$GC,940,-2.75,-26.0,197.5,-14.3,91,942,0.00,0.00,0.00,0.000,6,0.007,0.007,2082,1993,2950,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1000,-2.75,-26.0,205.9,-13.8,97,1002,0.00,0.00,0.00,0.000,6,0.007,0.007,2084,1993,2952,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1060,-2.75,-26.0,214.0,-13.5,103,1062,0.00,0.00,0.00,0.000,6,0.007,0.007,2082,1993,2951,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1120,-2.75,-26.0,221.9,-13.2,109,1123,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1992,2951,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1180,-2.75,-26.0,229.6,-12.8,115,1182,0.00,0.00,0.00,1282.565,6,0.007,0.007,2082,1991,2951,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1240,-2.75,-26.0,237.1,-12.6,121,1242,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1991,2951,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1300,-2.75,-26.0,244.4,-12.1,127,1303,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1995,2949,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1380,-2.75,-26.0,253.9,-11.8,133,1382,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,1991,2948,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1500,-2.75,-26.0,267.6,-11.4,137,1502,0.00,0.00,0.00,0.007,6,0.007,1282.565,2082,1994,2947,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1620,-2.75,-26.0,280.7,-10.9,141,1622,0.00,0.00,0.00,0.007,6,0.007,0.007,2080,1992,2952,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1740,-2.75,-26.0,293.2,-10.4,145,1748,0.00,2.67,0.00,0.007,4,0.007,0.007,2082,532,2950,0,0,0,0,0,0,24.09,24.08,24.09
$GC,1758,-2.75,-26.0,293.2,-10.4,145,1764,0.00,2.62,0.00,0.007,6,0.007,0.007,2081,2015,2950,0,0,1,0,0,0,24.09,27.50,24.09
$GC,1887,-2.76,-26.2,307.6,-10.0,149,1889,0.00,0.00,0.00,0.007,6,0.000,0.007,2082,2013,2950,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2005,-2.76,-28.1,319.0,-9.5,153,2008,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,2015,2951,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2126,-2.76,-31.5,330.0,-9.1,157,2128,0.00,0.00,0.00,0.007,6,0.007,0.000,2082,2016,2951,0,0,0,0,0,0,24.09,27.50,24.09
$GC,2245,-2.77,-36.4,340.5,-8.8,161,2247,0.00,0.00,0.00,0.007,6,1282.565,0.007,2082,2014,2950,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2366,-2.78,-42.9,350.5,-8.3,165,2368,0.00,0.00,0.00,0.007,6,0.007,0.007,2082,2016,2952,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2485,-2.79,-50.5,360.2,-8.1,169,2487,0.00,0.00,0.00,0.007,6,0.007,0.000,2082,2017,2946,0,0,0,0,0,0,24.09,27.50,24.09
$GC,2605,-2.80,-59.3,369.5,-7.8,173,2615,0.00,2.55,0.00,0.007,4,0.007,0.010,2082,572,2949,0,0,0,0,0,0,24.09,24.08,24.09
$GC,2632,-2.81,-68.1,369.5,-7.8,173,2641,0.10,2.50,0.00,0.007,6,0.007,0.007,2067,1996,2952,0,0,1,0,0,0,24.08,24.08,24.08
$GC,2759,-2.82,-77.5,380.9,-7.6,178,2761,0.00,0.00,0.00,0.007,6,0.007,0.007,2067,1994,2952,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2877,-2.83,-88.4,389.6,-7.2,182,2879,0.00,0.00,0.00,0.007,6,0.007,0.007,2067,1996,2949,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2997,-2.85,-100.4,397.9,-6.9,186,2999,0.00,0.00,0.00,0.007,6,0.007,0.007,2067,1995,2949,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,3061,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3061,begin apogee
$GC,3067,-0.31,0.0,401.9,-6.8,188,3101,2.47,0.00,27.40,0.011,6,0.007,0.011,2588,1997,2841,2,0,0,0,0,0,24.08,24.01,24.01
$STATE,3106,end apogee,CONTROL_FINISHED_OK
$STATE,3106,begin climb
$GC,3107,2.85,100.4,403.2,0.0,189,3218,3.38,0.00,99.82,0.012,6,0.007,0.007,3288,1995,2430,0,0,0,0,0,0,27.50,24.01,24.01
$GC,3322,2.85,100.4,334.3,39.6,197,3325,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,1995,2429,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3442,2.85,100.4,287.5,39.1,201,3445,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,1995,2428,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3562,2.85,100.4,241.7,38.1,205,3566,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,1995,2433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3622,2.85,100.4,219.3,37.2,211,3625,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,1996,2432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3682,2.85,100.4,197.2,36.6,217,3700,0.00,2.62,0.73,0.009,4,0.007,0.010,3289,555,2430,0,0,0,0,0,0,24.09,24.08,27.50
$GC,3707,2.85,100.4,193.7,36.3,218,3715,0.00,2.55,0.00,0.007,6,1282.565,0.010,3288,2022,2429,0,0,0,0,0,0,27.50,27.50,24.09
$GC,3776,2.85,100.4,165.2,35.2,225,3788,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2025,2430,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3844,2.85,100.4,140.6,34.0,232,3847,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2022,2428,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3904,2.85,100.4,121.0,32.5,238,3906,0.00,0.00,0.00,0.007,6,0.007,0.001,3288,2022,2428,0,0,0,0,0,0,24.09,27.50,24.09
$GC,3965,2.85,100.4,102.5,30.3,244,3968,0.00,0.00,0.00,0.007,6,0.001,0.007,3285,2024,2429,0,0,0,0,0,0,27.50,24.09,24.09
$GC,4024,2.85,100.4,85.7,27.5,250,4027,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2025,2430,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4084,2.85,100.4,71.0,23.8,256,4087,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2022,2432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4145,2.85,100.4,58.6,20.0,262,4147,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2022,2430,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4204,2.85,100.4,48.4,16.4,268,4207,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2022,2429,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4264,2.85,100.4,39.7,14.2,274,4267,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2024,2432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4325,2.85,100.4,32.0,12.6,280,4327,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2023,2430,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4384,2.85,100.4,25.0,11.5,286,4386,0.00,0.00,0.00,0.007,6,0.007,0.000,3288,2024,2432,0,0,0,0,0,0,24.09,27.50,24.09
$GC,4444,2.85,100.4,18.4,10.9,292,4446,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,2025,2430,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4505,2.85,100.4,12.0,10.7,298,4520,0.00,2.65,0.80,0.009,4,0.007,0.007,3288,554,2427,0,0,1,0,0,0,24.09,24.08,27.50
$GC,4526,2.85,100.4,11.0,10.7,299,4534,0.00,2.60,0.00,0.007,6,0.007,0.010,3288,1986,2431,0,0,0,0,0,0,24.08,24.08,24.08
$GC,4594,2.85,100.4,2.6,10.7,306,4597,0.00,0.00,0.00,0.007,6,0.007,0.007,3288,1985,2429,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,4600,end climb,SURFACE_DEPTH_REACHED
$STATE,4601,begin surface coast
$STATE,4614,end surface coast,CONTROL_FINISHED_OK
$STATE,4614,begin surface
$SM_CCo,4638,125.00,0.011,0,0,1616,300.49
$SM_GC,0.88,11.50,0.00,125.00,0.007,1282.565,0.011,448,1985,1616,-10.23,0.00,300.49,8,0,0,0,0,0,24.08,27.50,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,19.01
$INTERNAL_PRESSURE,14.2373
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,401.9,12.3
$24V_AH,24.0,9.575
$10V_AH,10.1,27.960
$FG_AHR_24Vo,10.411
$FG_AHR_10Vo,35.911
$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,25.400,20.775,128.750,125.000,0.000,0.002,2.120,84.862,2.000,0.000,27.304,662.942,2894.753,446.585,597.520,434.710,0.000,512.465,0.000,534.897,0.000,14.701,0.000
$DEVICE_MAMPS,7.362,9.825,11.520,11.425,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4619.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.065,0.000,0.000,0.000
$MEM,354940
$DATA_FILE_SIZE,6784,308
$CAP_FILE_SIZE,313468,0
$CFSIZE,260165632,225882112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,10,3,0,0,0
$CURRENT,0.090,120.7,1
$GPS,290112,121450,4700.902,-12459.221,10,1.4,14,18.0