version: 66.14
glider: 404
mission: 6
dive: 4
start: 7 19 118 21 29 46
data:
$ID,404
$MISSION,6
$DIVE,4
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,2
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,74482
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$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,250
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,530
$PITCH_MAX,3860
$C_PITCH,2740
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.02
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,15
$PITCH_TIMEOUT,45
$PITCH_AD_RATE,50
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,300
$ROLL_MAX,3750
$ROLL_DEG,50
$C_ROLL_DIVE,1950
$C_ROLL_CLIMB,1880
$HEAD_ERRBAND,15
$ROLL_CNV,0.04555
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3680
$C_VBD,2250
$VBD_DBAND,2
$VBD_CNV,-0.92339998
$VBD_LP_IGNORE,2
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,280
$MINV_24V,19
$MINV_10V,8
$MAXI_24V,1.2
$MAXI_10V,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-50.240669
$PRESSURE_SLOPE,2.575e-05
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.7
$DEEPGLIDER,2
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043947315
$SEABIRD_T_H,0.00063707196
$SEABIRD_T_I,2.5246234e-05
$SEABIRD_T_J,3.049423e-06
$SEABIRD_C_G,-9.6769676
$SEABIRD_C_H,1.1278293
$SEABIRD_C_I,-0.0014273003
$SEABIRD_C_J,0.00018861827
$SEABIRD_C_Z,2932.53
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,190718,212001,4743.4170,-12224.4229,4,1.0,33,16.3,0.4,73.1,8,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-55.2
$GPS2,190718,212841,4743.4644,-12224.2773,4,1.0,10,16.3,0.0,0.0,8,9.8
$SPEED_LIMITS,0.173,0.292
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.253510,0.144814
$KALMAN_X,444.066589,305.137970,257.997803,-552.687134,355.380829
$KALMAN_Y,239.565521,209.531921,186.970978,718.675903,190.723434
$MHEAD_RNG_PITCHd_Wd,283.4,1186,-15.0,-10.000,-18.91,2931
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts,int_press,humidity
$STATE,8,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,10,-1.29,-195.5,549,1966,1975,2047,0.0,0.0,0,16,0.00,0.00,-3.40,0.000,16390,0.000,0.000,549,1968,2457,2457,2047,0,0,0,0,0,0,26.77,25.10,26.79,10.04,57.36
$GC,18,-1.29,-195.5,549,1966,2466,2047,0.0,0.0,0,48,22.98,2.97,0.00,0.000,2820,0.146,0.060,2321,865,2465,2465,2047,0,0,0,0,0,0,26.25,26.32,26.34,10.15,57.04
$GC,141,-1.29,-195.5,2320,865,2467,2047,14.1,-10.1,8,146,0.00,2.70,0.00,0.000,1030,0.000,0.032,2321,1932,2467,2467,2048,0,0,0,0,0,0,26.61,26.54,26.64,10.15,56.77
$GC,339,-1.29,-195.5,2320,1931,2476,2048,35.6,-11.4,21,344,0.00,2.90,0.00,0.000,260,0.000,0.054,2321,3035,2476,2476,2047,0,0,0,0,0,0,26.98,26.56,27.00,10.21,55.67
$GC,515,-1.29,-195.5,2320,3036,2475,2047,53.5,-10.3,32,523,0.00,2.70,0.00,0.000,1030,0.000,0.035,2321,1958,2474,2474,2047,0,0,0,0,0,0,26.84,26.71,26.83,10.14,55.71
$GC,702,-1.29,-195.5,2321,1958,2477,2047,69.4,-8.3,45,707,0.00,2.95,0.00,0.000,516,0.000,0.065,2321,854,2477,2477,2048,0,0,0,0,0,0,27.13,26.67,27.17,10.13,56.65
$GC,825,-1.29,-195.5,2315,854,2480,2048,82.4,-10.8,53,830,0.00,2.75,0.00,0.000,1030,0.000,0.034,2316,1953,2480,2480,2051,0,0,0,0,0,0,26.91,26.82,26.93,10.13,56.37
$GC,1023,-1.29,-195.5,2317,1953,2484,2051,102.7,-9.9,66,1029,0.00,2.80,0.00,0.000,260,0.000,0.055,2321,3033,2480,2480,2047,0,0,0,0,0,0,27.20,26.77,27.21,10.12,56.81
$GC,1173,-1.29,-195.5,2326,3032,2487,2047,116.8,-9.8,75,1181,0.00,2.72,0.00,0.000,1030,0.000,0.034,2321,1938,2489,2489,2048,0,0,0,0,0,0,26.96,26.86,26.98,10.12,56.61
$GC,1360,-1.29,-195.5,2320,1938,2493,2048,132.9,-8.4,88,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1938,2489,2489,2047,0,0,0,0,0,0,27.25,27.27,27.26,10.07,56.77
$GC,1540,-1.29,-195.5,2321,1946,2493,2047,149.9,-10.1,100,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,1937,2486,2486,2047,0,0,0,0,0,0,27.27,27.29,27.28,10.12,56.89
$STATE,1554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1554,begin apogee
$GC,1558,-0.33,0.0,2321,1864,2494,2053,151.4,-10.2,101,1578,3.45,0.00,13.23,1.801,10246,0.079,0.000,2628,1863,2250,2250,2047,0,0,0,0,0,0,26.83,26.19,24.93,10.12,56.69
$STATE,1579,end apogee,CONTROL_FINISHED_OK
$STATE,1580,begin climb
$GC,1581,1.29,195.5,2628,1863,2250,2047,152.8,0.0,102,1601,5.32,0.00,11.85,1.756,10246,0.049,0.000,3136,1863,2038,2038,2048,0,0,0,0,0,0,26.46,25.77,24.56,10.07,56.53
$GC,1780,1.37,248.0,3133,1864,2035,2048,138.1,8.2,116,1787,0.22,0.00,4.25,1.054,10246,0.059,0.000,3158,1863,1985,1985,2053,0,0,0,0,0,0,26.49,26.16,24.99,10.02,56.26
$GC,1960,1.37,248.0,3157,1863,1991,2053,120.8,10.3,128,1962,0.00,0.00,0.05,0.003,8198,0.000,0.000,3157,1863,1979,1979,2043,0,0,0,0,0,0,26.95,26.91,26.86,10.02,56.26
$GC,2140,1.37,248.0,3157,1863,1979,2043,102.3,10.5,140,2145,0.00,2.90,0.00,0.000,260,0.000,0.048,3158,2975,1978,1978,2047,0,0,0,0,0,0,26.98,26.60,27.00,9.96,56.06
$GC,2181,1.37,248.0,3157,2975,1977,2047,98.8,10.6,142,2189,0.00,2.75,0.00,0.000,1030,0.000,0.036,3158,1887,1977,1977,2047,0,0,0,0,0,0,26.75,26.66,26.79,10.00,56.22
$GC,2368,1.37,249.0,3153,1898,1977,2047,78.2,10.0,155,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1887,1973,1973,2049,0,0,0,0,0,0,27.08,27.12,27.09,10.03,57.52
$GC,2548,1.37,249.0,3156,1889,1970,2049,59.7,10.1,167,2553,0.00,2.95,0.00,0.000,516,0.000,0.070,3159,792,1970,1970,2047,0,0,0,0,0,0,27.13,26.71,27.15,9.99,57.08
$GC,2641,1.37,249.0,3158,792,1967,2047,49.3,11.1,173,2646,0.00,2.72,0.00,0.000,1030,0.000,0.034,3159,1882,1964,1964,2042,0,0,0,0,0,0,26.92,26.86,26.95,9.99,57.32
$GC,2839,1.40,269.4,3158,1883,1963,2042,30.1,9.3,186,2845,0.00,2.80,0.20,0.008,8452,0.000,0.049,3151,2968,1972,1972,2047,0,0,0,0,0,0,27.19,26.79,27.19,9.99,57.83
$GC,2887,1.40,269.4,3158,2968,1961,2047,25.0,10.3,189,2894,0.00,2.75,0.15,0.008,9222,0.000,0.037,3157,1876,1961,1961,2047,0,0,0,0,0,0,26.93,26.88,27.01,10.00,56.97
$GC,3086,1.40,269.4,3158,1878,1955,2047,3.8,10.4,202,3091,0.00,2.92,0.00,0.000,516,0.000,0.071,3160,792,1956,1956,2048,0,0,0,0,0,0,27.23,26.79,27.24,10.00,56.97
$STATE,3103,end climb,SURFACE_DEPTH_REACHED
$STATE,3103,begin surface coast
$FINISH,0.4,1.022083
$STATE,3119,end surface coast,CONTROL_FINISHED_OK
$STATE,3119,begin surface
$SM_CCo,3217,0.00,0.000,0,0,1956,271.48
$SM_GC,0.45,26.98,2.97,0.00,0.030,0.034,0.000,551,1950,1956,-6.84,-1.05,271.48,0,0,0,0,0,0,26.88,26.91,26.95
$IRIDIUM_FIX,4808.40,-12337.82,190718,203840
$TT8_MAMPS,0.024717,0.78645
$HUMID,57.08
$INTERNAL_PRESSURE,9.95084
$TCM_TEMP,11.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,106.1,82.9
$SC_FREEKB,3908352
$24V_AH,24.56,3.656
$10V_AH,10.14,6.722
$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,58.950,45.425,29.725,0.000,0.000,25.151,18.724,365.811,1.000,0.000,11.747,731.057,1780.880,126.558,1074.728,52.982,32.436,405.484,0.000,463.939,0.000,12.369,0.000
$DEVICE_MAMPS,146.115,90.270,1800.810,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3137.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.311,0.000,0.000,0.000
$MEM,344264
$DATA_FILE_SIZE,7024,204
$CAP_FILE_SIZE,48884,0
$CFSIZE,1023623168,1019576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190718,222413,4743.909,-12224.631,3,1.0,10,16.3,0.0,0.0,8,8.0