version: 66.10
glider: 70
mission: 80
dive: 9
start: 1 6 112 4 30 46
data:
$ID,70
$MISSION,80
$DIVE,9
$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,-524205.06
$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,20.8342
$FG_AHR_24V,6.3274336
$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
$GPS1,060112,042604,4807.156,-12542.326,30,1.3,38,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,060112,043021,4807.156,-12542.326,9,1.9,15,18.0
$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,225.9,213790,-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,-48.75,0.000,2,0.007,0.000,455,1982,3110,0,0,0,0,0,0,24.09,27.50,27.50
$GC,82,-1.31,-146.6,4.3,-10.7,5,123,9.57,0.00,-10.52,0.000,6,0.007,1282.565,2383,1982,3430,1,0,0,0,0,0,24.08,27.50,24.09
$GC,179,-1.31,-146.6,32.6,-23.5,14,182,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1984,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,239,-1.31,-146.6,46.6,-23.3,20,243,0.00,0.00,-0.10,0.000,6,0.007,0.009,2384,1987,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,300,-1.31,-146.6,60.3,-22.6,26,302,0.00,0.00,0.00,0.000,6,0.007,0.007,2383,1981,3430,0,0,0,0,0,0,24.09,24.09,27.50
$GC,359,-1.31,-146.6,73.5,-21.9,32,362,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1984,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,419,-1.31,-146.6,86.2,-21.1,38,422,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1981,3431,0,0,0,0,0,0,24.09,24.09,24.09
$GC,479,-1.31,-146.6,98.6,-20.4,44,482,0.00,0.00,0.00,1282.565,6,0.007,0.007,2383,1983,3434,0,0,0,0,0,0,24.09,24.09,27.50
$GC,541,-1.31,-146.6,110.5,-19.9,50,543,0.00,0.00,0.00,0.007,6,0.007,0.007,2382,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,600,-1.31,-146.6,122.2,-19.4,56,602,0.00,0.00,0.00,0.007,6,0.007,0.007,2383,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,660,-1.31,-146.6,133.7,-18.9,62,662,0.00,0.00,0.00,0.007,6,1282.565,0.007,2383,1982,3433,0,0,0,0,0,0,27.50,24.09,24.09
$GC,720,-1.31,-146.6,145.0,-18.7,68,722,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1982,3432,0,0,0,0,0,0,24.09,24.09,24.09
$GC,779,-1.31,-146.6,156.2,-18.5,74,782,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1984,3429,0,0,0,0,0,0,24.09,24.09,24.09
$GC,840,-1.31,-146.6,167.2,-18.2,80,842,0.00,0.00,0.00,0.000,6,0.007,0.007,2384,1983,3434,0,0,0,0,0,0,24.09,24.09,27.50
$GC,899,-1.31,-146.6,178.1,-18.1,86,902,0.00,0.00,0.00,0.007,6,0.007,0.007,2383,1981,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,959,-1.31,-146.6,188.9,-18.0,92,962,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1984,3438,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1019,-1.31,-146.6,199.7,-17.7,98,1022,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1982,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1080,-1.31,-146.6,210.3,-17.7,104,1082,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1981,3433,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1139,-1.31,-146.6,220.9,-17.6,110,1142,0.00,0.00,0.00,0.007,6,0.007,0.007,2383,1982,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1199,-1.31,-146.6,231.4,-17.5,116,1202,0.00,0.00,0.00,0.007,6,0.007,0.007,2383,1983,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1260,-1.31,-146.6,241.8,-17.3,122,1262,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,1984,3434,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1339,-1.31,-146.6,255.6,-17.6,128,1342,0.00,0.00,0.00,0.007,6,0.007,0.007,2383,1983,3433,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,1428,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1428,begin apogee
$GC,1433,-0.31,0.0,271.0,-17.3,131,1582,1.08,0.00,140.32,0.012,6,0.007,0.000,2599,1982,2839,0,0,0,0,0,0,27.50,27.50,24.01
$STATE,1584,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1586,1.31,146.6,276.7,0.0,136,1737,1.80,0.00,144.23,0.012,6,0.007,0.012,2958,1985,2243,1,0,0,0,0,0,27.50,24.02,24.01
$GC,1849,1.31,146.6,237.5,19.3,149,1852,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1981,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1909,1.31,146.6,226.0,19.1,155,1912,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1983,2238,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1970,1.31,146.6,214.5,19.1,161,1972,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1981,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2029,1.31,146.6,203.1,18.9,167,2032,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2089,1.31,146.6,191.8,18.8,173,2092,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1984,2233,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2150,1.31,146.6,180.7,18.6,179,2152,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1983,2244,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2209,1.31,146.6,169.6,18.4,185,2212,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2269,1.31,146.6,158.7,18.2,191,2272,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1981,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2330,1.31,146.6,147.8,18.0,197,2332,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1984,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2389,1.31,146.6,137.1,17.8,203,2392,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2449,1.31,146.6,126.7,17.4,209,2452,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2510,1.31,146.6,116.3,17.2,215,2512,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1984,2247,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2569,1.31,146.6,106.3,16.7,221,2572,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1983,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2629,1.31,146.6,96.5,16.3,227,2632,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1981,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2690,1.31,146.6,87.0,15.7,233,2692,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2749,1.31,146.6,78.0,15.1,239,2752,0.00,0.00,0.00,0.007,6,0.007,0.007,2958,1982,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2809,1.31,146.6,69.3,14.4,245,2812,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1983,2245,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2869,1.31,146.6,61.1,13.6,251,2872,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1983,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2929,1.31,146.6,53.3,12.8,257,2932,0.00,0.00,0.00,0.007,6,0.007,0.007,2956,1982,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2989,1.31,146.6,46.0,12.2,263,2992,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1984,2240,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3049,1.31,146.6,38.8,11.8,269,3052,0.00,0.00,0.00,0.007,6,0.007,0.007,2960,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3110,1.31,146.6,31.9,11.5,275,3112,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1981,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3169,1.31,146.6,25.1,11.3,281,3172,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3229,1.31,146.6,18.4,11.2,287,3232,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1983,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3290,1.31,146.6,11.7,11.1,293,3292,0.00,0.00,0.00,0.007,6,0.007,0.007,2959,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3349,1.31,146.6,5.1,11.1,299,3352,0.00,0.00,0.00,0.007,6,1282.565,0.007,2958,1984,2241,0,0,0,0,0,0,27.50,24.09,24.09
$STATE,3380,end climb,SURFACE_DEPTH_REACHED
$STATE,3380,begin surface coast
$STATE,3387,end surface coast,CONTROL_FINISHED_OK
$STATE,3388,begin surface
$SM_CCo,3411,95.22,0.011,0,0,1619,300.00
$SM_GC,0.88,10.60,0.00,95.22,0.007,0.007,0.011,463,1983,1619,-10.18,-0.06,300.00,11,0,0,0,0,0,24.08,24.09,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,25.32
$INTERNAL_PRESSURE,14.4727
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,250.4,68.9
$24V_AH,24.0,5.905
$10V_AH,10.1,16.527
$FG_AHR_24Vo,6.335
$FG_AHR_10Vo,20.869
$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,23.050,0.000,284.550,95.225,0.000,0.003,2.069,78.746,1.250,0.000,17.346,594.091,1708.276,500.833,585.648,357.908,0.000,576.476,0.000,511.624,0.000,9.244,0.000
$DEVICE_MAMPS,7.348,0.000,11.609,11.466,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3382.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.479,0.000,0.000,0.000
$MEM,354876
$DATA_FILE_SIZE,6783,303
$CAP_FILE_SIZE,299644,0
$CFSIZE,260165632,249769984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,13,0,0,0,0
$CURRENT,0.261,224.4,1
$GPS,060112,053026,4806.798,-12542.851,26,1.3,33,18.0