version: 66.10
glider: 70
mission: 80
dive: 2
start: 1 5 112 22 46 53
data:
$ID,70
$MISSION,80
$DIVE,2
$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,-524191.5
$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,20.601555
$FG_AHR_24V,6.2827139
$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
$GPS1,050112,224205,4808.818,-12539.864,26,1.8,33,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.1
$GPS2,050112,224628,4808.818,-12539.864,21,1.6,29,18.0
$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,224.0,218112,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-48.67,0.000,2,0.007,0.000,456,194,3096,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.3,-11.1,5,119,9.27,0.77,-10.82,0.000,4,0.007,0.007,2385,621,3432,1,0,2,0,0,0,24.07,27.50,24.08
$GC,285,-1.31,-146.6,55.1,-22.9,24,292,0.00,2.60,0.00,0.007,6,1282.565,0.007,2384,2022,3433,0,0,2,0,0,0,27.50,27.50,24.09
$GC,352,-1.31,-146.6,70.5,-21.8,31,354,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2023,3431,0,0,0,0,0,0,24.08,24.08,24.08
$GC,411,-1.31,-146.6,83.3,-21.0,37,413,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,2023,3433,0,0,0,0,0,0,24.08,24.08,24.08
$GC,471,-1.31,-146.6,95.6,-20.4,43,473,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2024,3431,0,0,0,0,0,0,24.09,24.09,24.09
$GC,531,-1.31,-146.6,107.6,-19.8,49,533,0.00,0.00,0.00,0.007,6,0.007,0.007,2386,2024,3432,0,0,0,0,0,0,24.08,24.08,24.08
$GC,591,-1.31,-146.6,119.2,-19.5,55,593,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,2025,3432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,651,-1.31,-146.6,130.7,-19.1,61,653,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2026,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,711,-1.31,-146.6,141.9,-18.8,67,713,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,2021,3436,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,765,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,765,begin apogee
$GC,770,-0.31,0.0,151.2,-18.5,72,896,1.02,0.00,117.97,0.012,6,0.003,0.012,2604,1978,2834,0,0,0,0,0,0,27.50,24.01,24.01
$STATE,900,end apogee,CONTROL_FINISHED_OK
$STATE,900,begin climb
$GC,901,1.31,146.6,157.8,0.0,85,1029,1.62,0.00,120.55,0.012,6,0.007,0.012,2956,1979,2238,0,0,0,0,0,0,24.08,24.01,24.01
$GC,1086,1.31,146.6,136.5,17.5,104,1088,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1977,2237,0,0,0,0,0,0,24.08,24.09,24.08
$GC,1146,1.31,146.6,126.1,17.3,110,1148,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1978,2237,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1206,1.31,146.6,115.9,16.9,116,1208,0.00,0.00,0.00,0.007,6,0.007,0.007,2955,1977,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1266,1.31,146.6,106.0,16.5,122,1268,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1980,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1326,1.31,146.6,96.3,16.0,128,1328,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1978,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1386,1.31,146.6,87.0,15.5,134,1388,0.00,0.00,0.00,0.007,6,0.007,1282.565,2956,1975,2241,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1446,1.31,146.6,78.0,14.9,140,1448,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1978,2239,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1506,1.31,146.6,69.4,14.2,146,1508,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1977,2239,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1566,1.31,146.6,61.2,13.5,152,1568,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1977,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1626,1.31,146.6,53.5,12.7,158,1628,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1979,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1686,1.31,146.6,46.3,12.0,164,1688,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1977,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1746,1.31,146.6,39.2,11.7,170,1748,0.00,0.00,0.00,0.007,6,0.007,1282.565,2956,1977,2237,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1806,1.31,146.6,32.3,11.5,176,1808,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1980,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1866,1.31,146.6,25.6,11.2,182,1868,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1979,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1926,1.31,146.6,18.9,11.1,188,1928,0.00,0.00,0.00,0.007,6,0.007,0.000,2956,1978,2235,0,0,0,0,0,0,24.08,27.50,24.08
$GC,1986,1.31,146.6,12.3,11.0,194,1988,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1979,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2046,1.31,146.6,5.7,11.0,200,2048,0.00,0.00,0.00,0.007,6,0.007,0.007,2957,1978,2238,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,2084,end climb,SURFACE_DEPTH_REACHED
$STATE,2084,begin surface coast
$STATE,2096,end surface coast,CONTROL_FINISHED_OK
$STATE,2096,begin surface
$SM_CCo,2119,95.65,0.011,0,0,1617,300.00
$SM_GC,0.88,12.25,0.00,95.65,0.007,0.007,0.011,459,1977,1617,-10.18,-0.23,300.00,18,0,0,0,0,0,24.08,24.08,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,26.79
$INTERNAL_PRESSURE,14.4528
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,151.2,35.9
$24V_AH,24.0,5.862
$10V_AH,10.0,16.249
$FG_AHR_24Vo,6.287
$FG_AHR_10Vo,20.627
$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,24.175,3.500,238.525,95.650,0.000,0.002,2.051,77.484,0.750,0.000,31.585,408.577,932.803,398.572,473.033,265.029,0.000,494.005,0.000,384.007,0.000,6.732,0.000
$DEVICE_MAMPS,7.213,7.178,11.539,11.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2105.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,32.006,0.000,0.000,0.000
$MEM,354948
$DATA_FILE_SIZE,3467,205
$CAP_FILE_SIZE,209708,0
$CFSIZE,260165632,250380288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,19,4,0,0,0
$CURRENT,0.207,211.7,1
$GPS,050112,232519,4808.602,-12540.064,34,1.5,42,18.0