version: 66.07
glider: 99
mission: 63
dive: 188
start: 10 1 109 0 40 5
data:
$ID,99
$MISSION,63
$DIVE,188
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,4
$D_SAFE,100
$D_CALL,2
$SURFACE_URGENCY,1
$SURFACE_URGENCY_TRY,20
$SURFACE_URGENCY_FORCE,20
$T_DIVE,150
$T_MISSION,190
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,-2
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.02764
$MASS,51779
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-822265.06
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0.2
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,5400
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,2657
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.9
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,10
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,6
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,2745
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,250
$VBD_MAXERRORS,20
$CF8_MAXERRORS,10
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.22403635
$PRESSURE_SLOPE,9.9999997e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,50
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,1
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,32
$GPS_DEVICE,48
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043498399
$SEABIRD_T_H,0.0006493734
$SEABIRD_T_I,0
$SEABIRD_T_J,0
$SEABIRD_C_G,-10.106751
$SEABIRD_C_H,1.1366181
$SEABIRD_C_I,0
$SEABIRD_C_J,0
$GPS1,003542,6634.436,-5915.972,19,1.1,19,18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-70.0
$GPS2,003944,6634.436,-5915.972,29,1.1,30,18.0
$SPEED_LIMITS,0.100,0.263
$TGT_NAME,TARGET_W_IN
$TGT_LATLONG,6642.000,-6043.000
$TGT_RADIUS,8000.000
$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,264.4,65273,-18.1,-10.000
$D_GRID,823
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.32,-146.0,0.0,0.0,0,71,0.00,0.00,-53.50,0.000,6,0.000,0.000,303,2228,3342,0,0,0,0,0,0
$GC,75,-1.32,-146.0,3.8,-17.9,11,89,10.43,0.00,0.00,0.000,6,0.000,0.000,2445,2225,3342,3,0,0,0,0,0
$GC,157,-1.32,-146.0,19.8,-9.0,26,162,0.57,0.00,0.00,0.000,6,0.000,0.000,2340,2225,3348,0,0,0,0,0,0
$GC,226,-1.32,-146.0,28.8,-13.4,33,228,0.22,0.00,0.00,0.000,6,0.000,0.000,2383,2230,3344,0,0,0,0,0,0
$GC,418,-1.32,-146.0,50.0,-10.7,51,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2217,3345,0,0,0,0,0,0
$GC,609,-1.32,-146.0,70.0,-10.3,69,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2225,3346,0,0,0,0,0,0
$GC,928,-1.32,-146.0,102.4,-10.0,99,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2230,3347,0,0,0,0,0,0
$GC,1246,-1.32,-146.0,134.0,-9.9,129,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2230,3348,0,0,0,0,0,0
$GC,1565,-1.32,-146.0,164.9,-9.6,159,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2220,3346,0,0,0,0,0,0
$GC,1883,-1.32,-146.0,195.3,-9.5,189,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2228,3346,0,0,0,0,0,0
$GC,2202,-1.32,-146.0,225.3,-9.3,219,2203,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2225,3343,0,0,0,0,0,0
$GC,2521,-1.32,-146.0,255.0,-9.3,249,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2221,3348,0,0,0,0,0,0
$GC,2840,-1.32,-146.0,284.6,-9.1,279,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2226,3343,0,0,0,0,0,0
$GC,3158,-1.32,-146.0,314.0,-9.1,309,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2226,3347,0,0,0,0,0,0
$GC,3477,-1.32,-146.0,343.4,-9.2,339,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2237,3348,0,0,0,0,0,0
$GC,3795,-1.32,-146.0,372.6,-9.1,369,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2224,3344,0,0,0,0,0,0
$GC,4114,-1.32,-146.0,401.8,-9.2,399,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2223,3343,0,0,0,0,0,0
$GC,4433,-1.32,-146.0,430.9,-9.3,429,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2227,3346,0,0,0,0,0,0
$STATE,4643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4643,begin apogee
$GC,4649,-0.31,0.0,450.2,9.2,449,4797,1.08,0.00,143.52,0.001,6,0.000,0.000,2628,2437,2746,0,0,0,0,0,0
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4803,1.32,146.0,452.3,0.0,464,4951,1.65,0.00,141.93,0.001,6,0.000,0.000,2960,2437,2151,0,0,0,0,0,0
$GC,5269,1.32,146.0,387.1,15.4,508,5273,0.00,2.90,0.00,0.000,4,0.000,0.000,2960,825,2155,0,0,0,0,0,0
$GC,5289,1.32,146.0,383.7,15.5,509,5295,0.00,2.95,0.00,0.000,6,0.000,0.000,2958,2444,2153,0,0,1,0,0,0
$GC,5614,1.32,146.0,333.5,15.6,540,5619,0.00,3.05,0.00,0.000,4,0.000,0.000,2957,784,2153,0,0,3,0,0,0
$GC,5642,1.32,146.0,329.2,15.2,542,5646,0.00,3.03,0.00,0.000,6,0.000,0.000,2955,2448,2150,0,0,0,0,0,0
$GC,5966,1.32,146.0,279.1,15.3,572,5970,0.00,2.85,0.00,0.000,4,0.000,0.000,2959,858,2151,0,0,0,0,0,0
$GC,5993,1.32,146.0,274.9,15.7,574,5998,0.00,2.75,0.00,0.000,6,0.000,0.000,2957,2451,2153,0,0,0,0,0,0
$GC,6318,1.32,146.0,225.1,15.5,604,6322,0.00,2.83,0.00,0.000,4,0.000,0.000,2956,820,2153,0,0,2,0,0,0
$GC,6347,1.32,146.0,220.8,15.2,606,6351,0.00,2.83,0.00,0.000,6,0.000,0.000,2958,2388,2154,0,0,0,0,0,0
$GC,6671,1.32,146.0,171.3,15.0,636,6673,0.00,0.00,0.32,0.000,6,0.000,0.000,2958,2380,2156,0,0,0,0,0,0
$GC,6989,1.32,146.0,123.5,15.0,666,6994,0.00,2.88,0.00,0.000,4,0.000,0.000,2957,852,2150,0,0,1,0,0,0
$GC,7017,1.32,146.0,119.5,15.0,668,7022,0.00,2.97,0.00,0.000,6,0.000,0.000,2958,2483,2148,0,0,2,0,0,0
$GC,7341,1.32,146.0,72.3,14.3,698,7346,0.00,2.83,0.00,0.000,4,0.000,0.000,2955,871,2155,0,0,1,0,0,0
$GC,7373,1.32,146.0,67.6,14.7,700,7378,0.00,2.83,0.00,0.000,6,0.000,0.000,2960,2433,2154,0,0,0,0,0,0
$GC,7698,1.32,146.0,22.9,13.2,731,7703,0.00,2.92,0.08,0.000,4,0.000,0.000,2958,788,2150,0,0,1,0,0,0
$GC,7726,1.32,146.0,19.2,13.3,733,7731,0.00,2.90,0.00,0.000,6,0.000,0.000,2959,2410,2153,0,0,0,0,0,0
$GC,7799,1.32,146.0,10.3,12.2,746,7803,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2409,2149,0,0,0,0,0,0
$STATE,7863,end climb,SURFACE_DEPTH_REACHED
$STATE,7863,begin surface coast
$FINISH,-0.0,1.026567
$STATE,7881,end surface coast,CONTROL_FINISHED_OK
$STATE,7882,begin surface
$SM_CCo,7906,67.50,0.001,0,0,1730,250.70
$SM_GC,0.00,0.00,0.00,67.50,0.000,0.000,0.001,344,2175,1730,-10.66,-1.27,250.70
$RAFOS_CLK,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.031447
$HUMID,1079014605
$INTERNAL_PRESSURE,16.0944
$TCM_TEMP,15.00
$XPDR_PINGS,-1
$ALTIM_BOTTOM_PING,425.1,999.0
$24V_AH,24.1,90.717
$10V_AH,10.7,23.742
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,27.075,41.350,285.850,67.500,0.000,0.000,0.000,81.462,9.750,0.000,32.588,1266.081,5504.338,444.656,719.008,279.392,0.000,1024.211,0.000,595.762,720.000,55.809,0.000
$DEVICE_MAMPS,119.000,60.000,0.767,0.767,0.000,103.000,0.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,26.000,1.500,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,129516
$DATA_FILE_SIZE,22112,761
$CAP_FILE_SIZE,84918,0
$CFSIZE,260165632,246050816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,12,0,0
$SOUNDSPEED,1468.5
$GPS,011009,025410,6634.291,-5918.706,19,1.1,19,18.0