version: 66.10
glider: 70
mission: 80
dive: 4
start: 1 6 112 0 11 54
data:
$ID,70
$MISSION,80
$DIVE,4
$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,-524195.38
$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,20.660917
$FG_AHR_24V,6.2938781
$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
$GPS1,060112,000711,4808.427,-12540.387,6,1.7,12,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.0
$GPS2,060112,001129,4808.427,-12540.387,21,1.7,27,18.0
$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,219.5,217153,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-48.85,0.000,2,1282.565,0.000,448,3800,3109,0,0,0,0,0,0,27.50,27.50,27.50
$GC,82,-1.31,-146.6,4.4,-11.1,5,119,9.50,0.82,-10.70,0.000,4,0.007,0.007,2385,3374,3437,0,0,0,0,0,0,24.08,27.50,24.09
$GC,324,-1.31,-146.6,64.7,-22.5,28,340,0.00,2.50,0.00,0.007,6,0.007,0.007,2385,1987,3439,0,0,0,0,0,0,24.09,27.50,24.09
$GC,398,-1.31,-146.6,80.6,-21.2,35,400,0.00,0.00,0.00,0.007,6,1282.565,0.007,2384,1986,3437,0,0,0,0,0,0,27.50,24.09,24.09
$GC,457,-1.31,-146.6,93.1,-20.4,41,459,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1986,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,517,-1.31,-146.6,105.1,-19.9,47,519,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1987,3438,0,0,0,0,0,0,24.08,24.09,24.09
$GC,577,-1.31,-146.6,116.8,-19.3,53,593,0.00,2.55,0.00,0.007,4,0.007,0.007,2385,564,3440,0,0,0,0,0,0,24.09,24.08,24.09
$GC,599,-1.31,-146.6,118.5,-19.5,54,607,0.00,2.45,0.00,0.007,6,0.007,0.007,2385,1983,3436,0,0,1,0,0,0,24.08,24.08,24.08
$GC,666,-1.31,-146.6,133.6,-18.9,61,668,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1983,3437,0,0,0,0,0,0,24.09,24.09,24.09
$GC,725,-1.31,-146.6,144.9,-18.3,67,727,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1983,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,785,-1.31,-146.6,155.9,-18.5,73,787,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1981,3438,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,805,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,805,begin apogee
$GC,810,-0.31,0.0,159.6,-18.3,75,940,0.98,0.00,118.88,0.011,6,0.007,0.012,2591,1983,2840,0,0,0,0,0,0,24.08,24.01,24.01
$STATE,943,end apogee,CONTROL_FINISHED_OK
$STATE,943,begin climb
$GC,945,1.31,146.6,165.9,0.0,88,1079,1.67,0.00,121.40,0.012,6,0.007,0.007,2945,1983,2239,0,0,0,0,0,0,27.50,24.01,24.01
$GC,1137,1.31,146.6,144.3,16.9,108,1140,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1983,2237,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1196,1.31,146.6,134.2,16.7,114,1198,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1983,2237,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1256,1.31,146.6,124.3,16.4,120,1258,0.00,0.00,0.00,0.007,6,0.000,0.007,2945,1984,2238,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1316,1.31,146.6,114.6,16.1,126,1318,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1984,2236,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1376,1.31,146.6,105.2,15.7,132,1378,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1983,2237,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1436,1.31,146.6,96.0,15.3,138,1438,0.00,0.00,0.00,0.007,6,1282.565,0.007,2945,1980,2238,0,0,0,0,0,0,27.50,24.08,24.08
$GC,1496,1.31,146.6,87.0,14.7,144,1498,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1983,2236,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1556,1.31,146.6,78.5,14.1,150,1558,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1984,2233,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1616,1.31,146.6,70.2,13.6,156,1618,0.00,0.00,0.00,0.007,6,0.000,0.007,2945,1981,2240,0,0,0,0,0,0,27.50,24.09,24.09
$GC,1676,1.31,146.6,62.4,12.9,162,1678,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1982,2234,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1736,1.31,146.6,54.9,12.2,168,1738,0.00,0.00,0.00,0.007,6,0.007,0.007,2944,1981,2236,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1796,1.31,146.6,47.9,11.7,174,1798,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1984,2237,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1856,1.31,146.6,41.1,11.2,180,1858,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1983,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1916,1.31,146.6,34.4,11.0,186,1918,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1982,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1976,1.31,146.6,28.0,10.7,192,1978,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1986,2236,0,0,0,0,0,0,24.08,24.09,24.09
$GC,2036,1.31,146.6,21.5,10.7,198,2038,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,1983,2236,0,0,0,0,0,0,24.08,24.08,24.08
$GC,2096,1.31,146.6,15.2,10.5,204,2098,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1983,2236,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2156,1.31,146.6,8.8,10.6,210,2158,0.00,0.00,0.00,0.007,6,1282.565,0.007,2945,1985,2236,0,0,0,0,0,0,27.50,24.08,24.08
$GC,2216,1.31,146.6,2.6,10.5,216,2218,0.00,0.00,0.00,0.007,6,0.007,0.007,2945,1983,2232,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,2224,end climb,SURFACE_DEPTH_REACHED
$STATE,2224,begin surface coast
$STATE,2236,end surface coast,CONTROL_FINISHED_OK
$STATE,2236,begin surface
$SM_CCo,2260,95.57,0.011,0,0,1617,300.00
$SM_GC,0.87,12.75,0.00,95.57,0.008,0.007,0.011,452,1983,1617,-10.20,-0.11,300.00,22,0,0,0,0,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,25.91
$INTERNAL_PRESSURE,14.4755
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,150.7,58.0
$24V_AH,24.0,5.874
$10V_AH,10.0,16.323
$FG_AHR_24Vo,6.299
$FG_AHR_10Vo,20.687
$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,24.900,8.325,240.275,95.575,0.000,0.002,2.072,75.831,0.750,0.000,28.633,416.201,989.942,430.545,486.714,280.812,0.000,539.063,0.000,404.749,0.000,6.588,0.000
$DEVICE_MAMPS,7.555,7.305,11.585,11.468,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2243.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.979,0.000,0.000,0.000
$MEM,354920
$DATA_FILE_SIZE,3466,218
$CAP_FILE_SIZE,223307,0
$CFSIZE,260165632,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,22,1,0,0,0
$CURRENT,0.201,229.1,1
$GPS,060112,005208,4808.257,-12540.680,9,1.3,19,18.0