version: 66.10
glider: 70
mission: 80
dive: 1
start: 1 5 112 22 2 22
data:
$ID,70
$MISSION,80
$DIVE,1
$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,-524189.56
$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,3
$R_STBD_OVSHOOT,3
$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,20.570444
$FG_AHR_24V,6.2768888
$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
$GPS1,050112,215942,4809.000,-12539.600,15,2.0,22,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,050112,220159,4809.000,-12539.600,21,1.5,27,18.0
$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,216.2,218580,-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,-146.6,0.0,0.0,0,121,0.00,0.00,-90.03,0.000,2,0.007,0.000,454,1987,3141,0,0,0,0,0,0,24.09,27.50,27.50
$GC,124,-1.31,-146.6,4.3,-7.3,9,153,9.77,2.53,-9.60,0.000,4,0.007,0.010,2389,3420,3437,3,0,1,0,0,0,24.08,24.08,24.08
$GC,330,-1.31,-146.6,57.4,-22.7,29,340,0.00,2.58,0.00,0.007,6,0.007,0.007,2390,1947,3435,0,0,0,0,0,0,24.08,27.50,24.08
$GC,398,-1.31,-146.6,72.6,-21.5,36,401,0.00,0.00,0.00,0.007,6,1282.565,0.007,2388,1950,3432,0,0,0,0,0,0,27.50,24.08,24.08
$GC,457,-1.31,-146.6,85.1,-20.8,42,459,0.00,0.00,0.00,0.007,6,1282.565,0.007,2388,1949,3436,0,0,0,0,0,0,27.50,24.09,24.09
$GC,517,-1.31,-146.6,97.2,-20.1,48,519,0.00,0.00,0.00,0.007,6,0.007,1282.565,2389,1947,3434,0,0,0,0,0,0,24.09,27.50,24.09
$GC,577,-1.31,-146.6,109.1,-19.6,54,579,0.00,0.00,0.00,0.007,6,0.007,0.007,2388,1947,3437,0,0,0,0,0,0,24.08,24.08,24.08
$GC,637,-1.31,-146.6,120.5,-19.0,60,639,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1946,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,697,-1.31,-146.6,131.8,-18.8,66,699,0.00,0.00,0.00,0.007,6,0.007,0.000,2389,1949,3437,0,0,0,0,0,0,24.09,27.50,24.09
$GC,757,-1.31,-146.6,142.9,-18.4,72,759,0.00,0.00,0.00,0.007,6,0.007,0.007,2389,1950,3437,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,798,begin apogee
$GC,806,-0.31,0.0,150.3,-18.5,76,932,1.00,0.00,118.80,0.012,6,0.014,0.000,2598,1997,2839,0,0,0,0,0,0,27.50,27.50,24.01
$STATE,936,end apogee,CONTROL_FINISHED_OK
$STATE,936,begin climb
$GC,938,1.31,146.6,156.9,0.0,89,1065,1.67,0.00,120.47,0.012,6,0.007,0.012,2945,1995,2241,0,0,0,0,0,0,24.08,24.01,24.01
$GC,1122,1.31,146.6,136.7,16.7,108,1124,0.00,0.00,0.00,0.007,6,0.007,0.007,2947,1996,2242,0,0,0,0,0,0,24.08,24.09,24.09
$GC,1182,1.31,146.6,126.8,16.4,114,1184,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1996,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1242,1.31,146.6,117.1,16.2,120,1244,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1997,2242,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1302,1.31,146.6,107.6,15.8,126,1304,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1996,2240,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1362,1.31,146.6,98.3,15.4,132,1364,0.00,0.00,0.00,0.007,6,0.007,0.007,2947,1997,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1422,1.31,146.6,89.4,14.9,138,1424,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1997,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1482,1.31,146.6,80.7,14.3,144,1484,0.00,0.00,0.00,0.007,6,0.000,0.007,2946,1998,2238,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1542,1.31,146.6,72.4,13.7,150,1544,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1997,2241,0,0,0,0,0,0,24.08,24.09,24.09
$GC,1602,1.31,146.6,64.5,13.1,156,1604,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1997,2236,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1662,1.31,146.6,57.0,12.5,162,1664,0.00,0.00,0.00,0.007,6,0.007,0.007,2950,1991,2242,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1722,1.31,146.6,49.9,11.7,168,1724,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1998,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1782,1.31,146.6,43.1,11.3,174,1784,0.00,0.00,0.00,0.007,6,0.007,1282.565,2946,1995,2242,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1842,1.31,146.6,36.5,11.0,180,1845,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1996,2237,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1902,1.31,146.6,29.9,10.8,186,1904,0.00,0.00,0.00,0.007,6,0.007,0.000,2946,1997,2241,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1962,1.31,146.6,23.6,10.6,192,1978,0.00,2.62,1.40,0.009,4,0.007,0.009,2946,533,2243,0,0,0,0,0,0,24.09,27.50,27.50
$GC,1983,1.31,146.6,22.6,10.6,193,1991,0.00,2.75,0.00,0.007,6,0.007,0.007,2946,2074,2242,0,0,1,0,0,0,24.08,24.08,24.08
$GC,2052,1.31,146.6,14.4,10.5,200,2065,0.00,0.00,0.00,0.007,6,0.007,0.000,2946,2076,2242,0,0,0,0,0,0,24.08,27.50,24.08
$GC,2123,1.31,146.6,6.9,10.5,207,2125,0.00,0.00,0.00,0.007,6,0.007,0.007,2947,2077,2243,0,0,0,0,0,0,24.08,24.08,24.08
$STATE,2171,end climb,SURFACE_DEPTH_REACHED
$STATE,2171,begin surface coast
$STATE,2180,end surface coast,CONTROL_FINISHED_OK
$STATE,2180,begin surface
$SM_CCo,2203,96.12,0.011,0,0,1619,300.49
$SM_GC,0.88,9.27,0.10,96.12,0.007,1282.565,0.011,458,195,1619,-10.18,-50.58,300.49,15,0,0,0,0,0,24.08,27.50,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,26.40
$INTERNAL_PRESSURE,14.4592
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,150.3,34.7
$24V_AH,24.0,5.856
$10V_AH,10.1,16.210
$FG_AHR_24Vo,6.282
$FG_AHR_10Vo,20.596
$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,21.725,10.625,240.675,96.125,0.000,0.002,2.065,43.093,0.750,0.000,29.711,407.963,943.663,445.956,421.764,237.868,0.000,558.422,0.000,395.143,0.000,6.587,0.000
$DEVICE_MAMPS,14.297,1282565.186,11.536,11.487,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2154.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.769,0.000,0.000,0.000
$MEM,354980
$DATA_FILE_SIZE,3463,213
$CAP_FILE_SIZE,216393,0
$CFSIZE,260165632,250449920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,18,2,0,0,0
$CURRENT,0.199,224.2,1
$GPS,050112,224205,4808.818,-12539.864,26,1.8,33,18.0