version: 66.14
glider: 404
mission: 6
dive: 8
start: 7 20 118 1 58 55
data:
$ID,404
$MISSION,6
$DIVE,8
$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,250
$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,18
$R_STBD_OVSHOOT,44
$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
$GPS1,200718,014636,4743.4141,-12224.7178,6,0.8,26,16.3,0.0,0.0,10,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-53.9
$GPS2,200718,015746,4743.3789,-12224.7168,5,0.8,34,16.3,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.008176,0.320551
$KALMAN_X,1227.225464,589.250977,76.270599,-1980.097168,-90.077606
$KALMAN_Y,455.750427,433.391968,88.067146,230.064697,-232.121017
$MHEAD_RNG_PITCHd_Wd,345.2,1155,-13.1,-10.000,-17.32,3645
$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,8,begin dive
$GC,10,-1.24,-244.4,550,1971,1869,2047,0.0,0.0,0,17,0.00,0.00,-4.68,0.000,16390,0.000,0.000,550,1971,2524,2524,2045,0,0,0,0,0,0,26.67,25.18,26.67,9.97,56.14
$GC,18,-1.24,-244.4,550,1971,2521,2045,0.0,0.0,0,49,23.17,3.08,0.00,0.000,2820,0.145,0.063,2338,862,2523,2523,2048,0,0,0,0,0,0,26.20,26.25,26.35,10.13,55.51
$GC,110,-1.24,-244.4,2346,861,2524,2048,14.3,-13.2,6,116,0.00,2.72,0.00,0.000,1030,0.000,0.031,2338,1931,2531,2531,2048,0,0,0,0,0,0,26.50,26.44,26.52,10.12,54.76
$GC,303,-1.24,-244.4,2337,1930,2528,2048,34.0,-9.5,19,309,0.00,2.92,0.00,0.000,260,0.000,0.055,2337,3039,2538,2538,2046,0,0,0,0,0,0,26.87,26.49,26.90,10.12,54.41
$GC,490,-1.24,-244.4,2338,3037,2531,2046,53.5,-10.4,31,495,0.00,2.75,0.00,0.000,1030,0.000,0.034,2328,1945,2524,2524,2047,0,0,0,0,0,0,26.73,26.65,26.76,10.11,54.56
$GC,683,-1.24,-244.4,2337,1945,2534,2047,70.6,-7.4,44,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,1945,2535,2535,2043,0,0,0,0,0,0,27.04,27.05,27.05,10.10,55.55
$GC,863,-1.24,-244.4,2337,1944,2537,2043,86.4,-9.7,56,869,0.00,2.88,0.00,0.000,260,0.000,0.054,2338,3039,2538,2538,2048,0,0,0,0,0,0,27.09,26.70,27.10,10.10,54.96
$GC,950,-1.24,-244.4,2337,3040,2537,2048,94.3,-9.9,61,958,0.00,2.72,0.00,0.000,1030,0.000,0.035,2338,1952,2549,2549,2047,0,0,0,0,0,0,26.87,26.82,26.89,10.04,55.19
$GC,1136,-1.24,-244.4,2337,1958,2542,2047,111.9,-8.9,74,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1950,2543,2543,2047,0,0,0,0,0,0,27.15,27.17,27.16,10.10,55.98
$GC,1316,-1.24,-244.4,2337,1950,2550,2047,128.8,-9.6,86,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1950,2546,2546,2047,0,0,0,0,0,0,27.18,27.19,27.20,10.10,55.39
$GC,1497,-1.24,-244.4,2346,1949,2557,2047,145.5,-9.1,98,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1950,2555,2555,2053,0,0,0,0,0,0,27.20,27.22,27.22,10.10,55.47
$STATE,1555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1555,begin apogee
$GC,1559,-0.33,0.0,2338,1868,2550,2047,151.0,-9.1,102,1586,3.25,0.00,16.02,1.857,10246,0.076,0.000,2629,1864,2249,2249,2048,0,0,0,0,0,0,26.81,26.03,24.79,10.11,55.23
$STATE,1588,end apogee,CONTROL_FINISHED_OK
$STATE,1588,begin climb
$GC,1589,1.24,244.4,2630,1868,2249,2048,152.2,0.0,104,1619,5.22,3.03,14.40,1.820,10756,0.048,0.071,3118,802,1986,1986,2049,0,0,0,0,0,0,26.32,25.60,24.35,10.04,55.71
$GC,1639,1.24,244.4,3117,806,1989,2049,149.5,8.1,107,1645,0.00,2.80,0.00,0.000,1030,0.000,0.031,3117,1887,1985,1985,2048,0,0,0,0,0,0,26.06,26.00,26.08,9.99,54.52
$GC,1833,1.24,244.6,3117,1888,1982,2048,130.5,10.0,120,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,1888,1982,1982,2047,0,0,0,0,0,0,26.67,26.70,26.67,9.97,55.15
$GC,2013,1.25,251.2,3117,1882,1979,2047,112.7,9.8,132,2018,0.00,2.83,0.00,0.000,260,0.000,0.050,3117,2966,1978,1978,2052,0,0,0,0,0,0,26.84,26.46,26.85,9.97,56.02
$GC,2046,1.26,255.3,3117,2965,1978,2052,109.4,9.9,134,2053,0.00,2.75,0.77,0.007,9222,0.000,0.037,3111,1887,1978,1978,2047,0,0,0,0,0,0,26.63,26.53,26.65,9.98,56.02
$GC,2245,1.27,264.7,3117,1888,1973,2047,90.0,9.7,147,2255,0.00,3.00,2.33,0.239,8708,0.000,0.071,3126,795,1965,1965,2047,0,0,0,0,0,0,26.96,26.51,25.38,9.98,55.94
$GC,2286,1.31,287.7,3116,795,1972,2047,86.9,9.4,149,2296,0.15,2.72,3.15,0.560,11270,0.066,0.031,3138,1882,1937,1937,2047,0,0,0,0,0,0,26.68,26.69,25.39,9.97,56.30
$GC,2473,1.31,287.7,3137,1882,1933,2047,66.9,10.2,162,2478,0.00,2.80,0.00,0.000,260,0.000,0.050,3137,2959,1933,1933,2047,0,0,0,0,0,0,27.01,26.65,27.02,9.94,56.18
$GC,2505,1.31,287.7,3137,2960,1931,2047,63.7,10.0,164,2511,0.00,2.72,0.00,0.000,1030,0.000,0.037,3140,1883,1932,1932,2048,0,0,0,0,0,0,26.78,26.69,26.81,9.96,55.63
$GC,2704,1.33,303.6,3138,1883,1928,2048,45.1,9.6,177,2706,0.00,0.00,0.98,0.007,8198,0.000,0.000,3137,1886,1935,1935,2049,0,0,0,0,0,0,27.08,27.00,27.00,9.96,55.82
$GC,2884,1.36,323.1,3137,1882,1925,2049,27.3,9.5,189,2894,0.15,2.95,2.80,0.275,10756,0.061,0.070,3159,787,1908,1908,2056,0,0,0,0,0,0,26.91,26.69,25.86,9.96,56.30
$GC,2917,1.41,353.4,3159,787,1901,2056,24.2,9.2,191,2927,0.00,2.72,3.35,0.362,9222,0.000,0.033,3160,1876,1867,1867,2047,0,0,0,0,0,0,26.89,26.87,25.91,9.96,56.37
$GC,3115,1.44,374.7,3159,1880,1855,2047,5.9,9.4,204,3125,0.15,2.85,2.50,0.158,10500,0.063,0.051,3181,2971,1845,1845,2047,0,0,0,0,0,0,26.91,26.71,26.07,9.96,56.26
$STATE,3162,end climb,SURFACE_DEPTH_REACHED
$STATE,3162,begin surface coast
$FINISH,-0.4,1.021820
$STATE,3179,end surface coast,CONTROL_FINISHED_OK
$STATE,3179,begin surface
$SM_CCo,3277,0.00,0.000,0,0,1845,373.98
$SM_GC,0.58,27.38,2.60,0.00,0.028,0.034,0.000,530,1943,1845,-6.90,0.82,373.98,0,0,0,0,0,0,26.80,26.82,26.86
$IRIDIUM_FIX,4808.40,-12337.82,200718,004213
$TT8_MAMPS,0.024717,0.399217
$HUMID,56.02
$INTERNAL_PRESSURE,9.90201
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.2,95.2
$SC_FREEKB,3905984
$24V_AH,24.35,3.863
$10V_AH,10.48,7.072
$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,59.475,51.025,46.300,0.000,0.000,23.221,17.719,479.479,0.500,0.000,35.604,714.192,1864.572,149.875,1186.774,62.513,33.454,425.103,0.000,435.504,0.000,7.851,0.000
$DEVICE_MAMPS,144.585,78.030,1856.655,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3207.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.369,0.000,0.000,0.000
$MEM,344344
$DATA_FILE_SIZE,7019,208
$CAP_FILE_SIZE,52449,0
$CFSIZE,1023623168,1019068416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200718,025450,4743.477,-12224.807,36,0.8,37,16.3,0.0,0.0,11,9.0