version: 66.10
glider: 70
mission: 80
dive: 181
start: 1 29 112 13 49 57
data:
$ID,70
$MISSION,80
$DIVE,181
$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,-524589.69
$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,35.972172
$FG_AHR_24V,10.422992
$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
$GPS1,290112,134308,4700.765,-12459.022,27,1.3,31,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.0
$GPS2,290112,134931,4700.765,-12459.022,34,1.8,39,18.0
$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,262.9,228590,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,28,-1.31,-146.6,0.0,0.0,0,79,0.00,0.00,-47.03,0.000,2,0.007,0.000,1362,1999,3052,0,0,0,0,0,0,24.09,27.50,27.50
$GC,81,-1.31,-146.6,3.8,-8.9,5,118,5.00,2.62,-12.52,0.000,4,0.007,0.007,2385,559,3436,1,0,1,0,0,0,24.08,24.08,24.09
$GC,282,-1.31,-146.6,53.5,-23.0,24,295,0.00,2.55,0.00,0.007,6,0.007,0.007,2385,2006,3437,0,0,0,0,0,0,24.09,27.50,24.09
$GC,356,-1.31,-146.6,69.6,-21.9,31,368,0.00,0.00,0.00,0.007,6,0.000,0.007,2385,2006,3437,0,0,0,0,0,0,27.50,24.09,24.09
$GC,425,-1.31,-146.6,84.9,-21.1,38,427,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,2006,3437,0,0,0,0,0,0,24.09,24.09,24.09
$GC,485,-1.31,-146.6,97.1,-20.2,44,487,0.00,0.00,0.00,0.000,6,0.007,0.007,2385,2007,3437,0,0,0,0,0,0,24.09,24.09,27.50
$GC,545,-1.31,-146.6,108.9,-19.6,50,548,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2009,3438,0,0,0,0,0,0,24.09,24.09,24.09
$GC,605,-1.31,-146.6,120.5,-19.1,56,607,0.00,0.00,0.00,0.007,6,1282.565,0.007,2385,2008,3438,0,0,0,0,0,0,27.50,24.09,24.09
$GC,665,-1.31,-146.6,131.8,-18.8,62,667,0.00,0.00,0.00,0.007,6,1282.565,0.007,2385,2008,3434,0,0,0,0,0,0,27.50,24.09,24.09
$GC,725,-1.31,-146.6,143.0,-18.6,68,728,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2006,3439,0,0,0,0,0,0,24.09,24.09,24.09
$GC,785,-1.31,-146.6,154.0,-18.3,74,787,0.00,0.00,0.00,0.000,6,0.007,0.007,2385,2009,3438,0,0,0,0,0,0,24.09,24.09,27.50
$GC,845,-1.31,-146.6,165.0,-18.1,80,847,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2008,3440,0,0,0,0,0,0,24.09,24.09,24.09
$GC,905,-1.31,-146.6,175.8,-18.1,86,907,0.00,0.00,0.00,0.000,6,0.007,0.007,2382,2005,3439,0,0,0,0,0,0,24.09,24.09,27.50
$GC,965,-1.31,-146.6,186.5,-17.8,92,968,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,2006,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1025,-1.31,-146.6,197.2,-17.6,98,1027,0.00,0.00,0.00,0.000,6,0.007,0.007,2385,2005,3439,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1085,-1.31,-146.6,207.7,-17.6,104,1087,0.00,0.00,0.00,1282.565,6,0.007,0.007,2385,2007,3438,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1145,-1.31,-146.6,218.2,-17.5,110,1148,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2009,3437,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1205,-1.31,-146.6,228.7,-17.4,116,1207,0.00,0.00,0.00,1282.565,6,0.007,0.007,2385,2012,3437,0,0,0,0,0,0,24.09,24.09,27.50
$GC,1265,-1.31,-146.6,239.1,-17.3,122,1268,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2007,3437,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1325,-1.31,-146.6,249.4,-17.2,128,1328,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2006,3435,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1395,-1.31,-146.6,261.4,-17.1,131,1398,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,2008,3438,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1515,-1.31,-146.6,281.8,-17.0,135,1518,0.00,0.00,0.00,0.007,6,0.007,0.007,2384,2009,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1635,-1.31,-146.6,302.0,-16.8,139,1645,0.00,2.65,0.00,0.007,4,0.007,0.005,2384,559,3436,0,0,0,0,0,0,24.09,27.50,24.09
$GC,1655,-1.31,-146.6,302.0,-16.8,139,1661,0.00,2.53,0.00,0.007,6,0.007,0.007,2385,1983,3434,0,0,0,0,0,0,24.08,24.08,24.08
$GC,1783,-1.31,-146.6,326.5,-16.8,143,1786,0.00,0.00,0.00,0.007,6,0.007,0.007,2385,1982,3436,0,0,0,0,0,0,24.09,24.09,24.09
$GC,1902,-1.31,-146.6,346.3,-16.6,147,1904,0.00,0.00,0.00,0.007,6,1282.565,0.007,2385,1982,3437,0,0,0,0,0,0,27.50,24.09,24.09
$STATE,1933,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1933,begin apogee
$GC,1939,-0.31,0.0,351.3,-16.5,148,2092,1.00,0.00,139.62,0.012,6,0.007,0.012,2596,1982,2845,0,0,0,0,0,0,27.50,24.01,24.01
$STATE,2097,end apogee,CONTROL_FINISHED_OK
$STATE,2097,begin climb
$GC,2099,1.31,146.6,357.4,0.0,153,2250,1.73,0.00,145.18,0.012,6,0.005,0.007,2966,1984,2239,0,0,0,0,0,0,27.50,24.01,24.01
$GC,2351,1.31,146.6,317.4,20.5,162,2353,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2472,1.31,146.6,292.8,20.4,166,2474,0.00,0.00,0.00,0.007,6,0.001,0.007,2967,1982,2242,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2592,1.31,146.6,268.5,20.2,170,2594,0.00,0.00,0.00,0.007,6,0.000,0.007,2966,1981,2243,0,0,0,0,0,0,27.50,24.09,24.09
$GC,2712,1.31,146.6,244.5,20.0,174,2728,0.00,0.00,1.67,0.006,6,0.007,0.007,2967,1984,2243,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2786,1.31,146.6,230.0,19.9,181,2788,0.00,0.00,0.00,1282.565,6,0.007,0.007,2966,1979,2244,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2845,1.31,146.6,218.0,19.8,187,2847,0.00,0.00,0.00,0.007,6,0.007,0.007,2967,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,2904,1.31,146.6,206.3,19.6,193,2906,0.00,0.00,0.00,0.001,6,0.007,0.007,2966,1984,2240,0,0,0,0,0,0,24.09,24.09,27.50
$GC,2964,1.31,146.6,194.6,19.5,199,2967,0.00,0.00,0.00,0.007,6,0.000,0.007,2967,1981,2243,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3025,1.31,146.6,183.0,19.3,205,3027,0.00,0.00,0.00,0.000,6,0.007,0.007,2966,1983,2242,0,0,0,0,0,0,24.08,24.09,27.50
$GC,3084,1.31,146.6,171.5,19.1,211,3087,0.00,0.00,0.00,0.007,6,0.000,0.007,2966,1984,2242,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3144,1.31,146.6,160.1,18.9,217,3146,0.00,0.00,0.00,0.000,6,0.007,0.007,2966,1984,2241,0,0,0,0,0,0,24.09,24.09,27.50
$GC,3205,1.31,146.6,148.9,18.7,223,3207,0.00,0.00,0.00,0.007,6,0.007,0.007,2967,1981,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3264,1.31,146.6,137.7,18.5,229,3267,0.00,0.00,0.00,0.007,6,1282.565,0.007,2966,1980,2241,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3324,1.31,146.6,126.8,18.2,235,3326,0.00,0.00,0.00,0.001,6,0.007,0.007,2966,1984,2241,0,0,0,0,0,0,24.09,24.09,27.50
$GC,3384,1.31,146.6,116.1,17.8,241,3387,0.00,0.00,0.00,0.007,6,0.007,0.007,2967,1981,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3445,1.31,146.6,105.6,17.3,247,3447,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1983,2244,0,0,0,0,0,0,24.08,24.09,24.08
$GC,3504,1.31,146.6,95.4,16.9,253,3507,0.00,0.00,0.00,0.007,6,0.001,0.007,2967,1984,2242,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3564,1.31,146.6,85.7,16.1,259,3566,0.00,0.00,0.00,0.000,6,0.007,0.007,2967,1983,2241,0,0,0,0,0,0,24.09,24.09,27.50
$GC,3625,1.31,146.6,76.3,15.5,265,3627,0.00,0.00,0.00,0.007,6,0.007,0.007,2967,1983,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3684,1.31,146.6,67.5,14.6,271,3687,0.00,0.00,0.00,0.007,6,0.007,0.007,2967,1982,2241,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3744,1.31,146.6,59.1,13.8,277,3747,0.00,0.00,0.00,0.007,6,0.000,0.007,2967,1981,2244,0,0,0,0,0,0,27.50,24.09,24.09
$GC,3805,1.31,146.6,51.2,13.0,283,3807,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1982,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3864,1.31,146.6,43.8,12.2,289,3867,0.00,0.00,0.00,0.007,6,0.007,0.007,2967,1983,2243,0,0,0,0,0,0,24.08,24.08,24.08
$GC,3924,1.31,146.6,36.6,11.8,295,3927,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1984,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,3985,1.31,146.6,29.6,11.5,301,3987,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1984,2246,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4044,1.31,146.6,22.8,11.2,307,4047,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1981,2243,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4104,1.31,146.6,16.1,11.1,313,4107,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1983,2242,0,0,0,0,0,0,24.09,24.09,24.09
$GC,4165,1.31,146.6,9.4,11.2,319,4167,0.00,0.00,0.00,1282.564,6,0.007,0.007,2967,1982,2241,0,0,0,0,0,0,24.09,24.09,27.50
$GC,4224,1.31,146.6,2.7,11.1,325,4227,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,1984,2241,0,0,0,0,0,0,24.09,24.09,24.09
$STATE,4233,end climb,SURFACE_DEPTH_REACHED
$STATE,4233,begin surface coast
$STATE,4244,end surface coast,CONTROL_FINISHED_OK
$STATE,4244,begin surface
$SM_CCo,4264,95.93,0.011,0,0,1621,300.25
$SM_GC,0.86,8.00,0.00,95.93,0.007,1282.564,0.011,453,1983,1621,-10.20,-0.08,300.25,1,0,0,0,0,0,24.08,27.50,24.01
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,0.00,0.00,010170,000000
$HUMID,19.61
$INTERNAL_PRESSURE,14.2285
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,351.3,44.2
$24V_AH,24.0,9.590
$10V_AH,10.0,28.036
$FG_AHR_24Vo,10.432
$FG_AHR_10Vo,36.015
$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,15.725,10.350,286.475,95.925,0.000,0.002,2.155,121.968,1.750,0.000,40.825,657.174,2322.796,524.063,722.682,471.483,0.000,626.121,0.000,609.339,0.000,11.901,0.000
$DEVICE_MAMPS,7.225,7.315,11.571,11.376,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4254.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.551,0.000,0.000,0.000
$MEM,354988
$DATA_FILE_SIZE,6778,327
$CAP_FILE_SIZE,334369,2
$CFSIZE,260165632,225660928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0,0
$CURRENT,0.256,261.0,1
$GPS,290112,150334,4700.670,-12459.901,9,1.8,17,18.0