version: 66.14
glider: 404
mission: 6
dive: 9
start: 7 20 118 3 6 32
data:
$ID,404
$MISSION,6
$DIVE,9
$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,2750
$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,20
$R_STBD_OVSHOOT,25
$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
$GPS1,200718,025450,4743.4766,-12224.8066,36,0.8,37,16.3,0.0,0.0,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-53.7
$GPS2,200718,030523,4743.4194,-12224.7949,8,0.8,9,16.3,0.0,0.0,10,9.1
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.039351,0.318242
$KALMAN_X,1286.349609,551.590210,-61.928688,-1959.164429,-121.244713
$KALMAN_Y,-112.496887,441.236206,-157.900635,1114.275269,-455.235016
$MHEAD_RNG_PITCHd_Wd,350.7,1075,-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,-244.4,530,1942,1837,2047,0.0,0.0,0,17,0.00,0.00,-4.80,0.000,16390,0.000,0.000,530,1943,2522,2522,2047,0,0,0,0,0,0,26.63,25.18,26.63,9.97,55.59
$GC,19,-1.24,-244.4,530,1942,2522,2047,0.0,0.0,0,48,23.65,0.00,0.00,0.000,2822,0.145,0.000,2347,1942,2525,2525,2047,0,0,0,0,0,0,26.17,26.29,26.25,10.12,55.39
$GC,224,-1.24,-244.4,2342,1942,2527,2047,25.1,-10.1,14,229,0.00,2.92,0.00,0.000,260,0.000,0.054,2347,3046,2527,2527,2048,0,0,0,0,0,0,26.79,26.43,26.82,10.08,54.56
$GC,295,-1.24,-244.4,2353,3038,2528,2048,31.5,-10.1,18,303,0.00,2.75,0.00,0.000,1030,0.000,0.035,2347,1951,2528,2528,2049,0,0,0,0,0,0,26.63,26.53,26.64,10.08,55.11
$GC,482,-1.24,-244.4,2352,1953,2535,2049,52.1,-11.2,31,488,0.00,2.92,0.00,0.000,516,0.000,0.067,2347,864,2532,2532,2047,0,0,0,0,0,0,26.94,26.60,26.97,10.12,55.00
$GC,530,-1.24,-244.4,2346,863,2536,2047,57.6,-11.5,34,535,0.00,2.75,0.00,0.000,1030,0.000,0.033,2346,1952,2541,2541,2052,0,0,0,0,0,0,26.74,26.66,26.76,10.10,54.37
$GC,728,-1.24,-244.4,2346,1954,2536,2052,75.3,-8.2,47,733,0.00,2.83,0.00,0.000,260,0.000,0.057,2346,3033,2536,2536,2047,0,0,0,0,0,0,27.04,26.66,27.05,10.10,54.44
$GC,860,-1.24,-244.4,2347,3033,2538,2047,85.3,-8.3,55,868,0.00,2.72,0.00,0.000,1030,0.000,0.034,2347,1946,2532,2532,2043,0,0,0,0,0,0,26.84,26.75,26.86,10.10,54.72
$GC,1046,-1.24,-244.4,2346,1949,2555,2043,102.3,-8.9,68,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,1947,2542,2542,2047,0,0,0,0,0,0,27.11,27.13,27.13,10.10,54.96
$GC,1226,-1.24,-244.4,2347,1950,2546,2047,118.2,-9.1,80,1232,0.00,2.85,0.00,0.000,260,0.000,0.056,2347,3037,2544,2544,2048,0,0,0,0,0,0,27.16,26.77,27.14,10.12,55.19
$GC,1284,-1.24,-244.4,2346,3033,2545,2048,123.0,-9.8,83,1292,0.00,2.70,0.00,0.000,1030,0.000,0.034,2347,1950,2545,2545,2050,0,0,0,0,0,0,26.92,26.83,26.95,10.10,55.35
$GC,1470,-1.24,-244.4,2346,1950,2548,2050,140.6,-9.1,96,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,1950,2547,2547,2047,0,0,0,0,0,0,27.18,27.20,27.20,10.10,55.67
$STATE,1573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1573,begin apogee
$GC,1577,-0.33,0.0,2347,1872,2550,2047,150.3,-9.3,103,1605,3.28,0.00,15.88,1.851,10246,0.076,0.000,2640,1866,2251,2251,2050,0,0,0,0,0,0,26.82,26.03,24.78,10.15,55.59
$STATE,1606,end apogee,CONTROL_FINISHED_OK
$STATE,1606,begin climb
$GC,1608,1.24,244.4,2640,1866,2252,2050,151.6,0.0,105,1638,5.20,3.03,14.32,1.813,10756,0.046,0.071,3126,800,1990,1990,2047,0,0,0,0,0,0,26.32,25.60,24.32,10.04,55.23
$GC,1658,1.24,244.4,3127,800,1989,2047,149.0,7.2,108,1664,0.00,2.78,0.15,0.007,9222,0.000,0.031,3127,1877,1990,1990,2047,0,0,0,0,0,0,26.06,26.00,26.08,9.98,54.17
$GC,1852,1.24,244.9,3126,1880,1986,2047,131.4,10.0,121,1857,0.00,2.85,0.00,0.000,260,0.000,0.048,3136,2972,1989,1989,2047,0,0,0,0,0,0,26.63,26.30,26.67,9.98,55.39
$GC,1900,1.24,244.9,3126,2972,1985,2047,126.2,10.8,124,1906,0.00,2.78,0.00,0.000,1030,0.000,0.038,3127,1890,1985,1985,2047,0,0,0,0,0,0,26.49,26.39,26.51,9.97,55.15
$GC,2098,1.27,263.1,3126,1890,1976,2047,106.4,9.5,137,2103,0.00,0.00,2.65,0.433,8198,0.000,0.000,3127,1889,1965,1965,2057,0,0,0,0,0,0,26.86,26.35,25.21,9.99,55.55
$GC,2278,1.42,360.5,3126,1890,1962,2057,91.3,7.3,149,2293,0.52,0.00,6.35,1.052,10246,0.041,0.000,3181,1888,1886,1886,2041,0,0,0,0,0,0,26.65,26.33,25.29,9.96,55.59
$GC,2473,1.42,360.5,3182,1889,1862,2041,67.8,13.4,162,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1889,1859,1859,2048,0,0,0,0,0,0,26.92,26.94,26.94,9.94,55.82
$GC,2653,1.42,360.5,3182,1888,1855,2048,47.7,11.4,174,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1889,1854,1854,2048,0,0,0,0,0,0,27.01,27.02,27.01,9.89,56.06
$GC,2833,1.42,360.5,3182,1889,1849,2048,26.0,13.1,186,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,1889,1858,1858,2048,0,0,0,0,0,0,27.06,27.08,27.08,9.94,56.65
$GC,3013,1.42,360.5,3182,1888,1844,2048,4.1,11.1,198,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1889,1844,1844,2047,0,0,0,0,0,0,27.13,27.13,27.12,9.94,56.81
$STATE,3042,end climb,SURFACE_DEPTH_REACHED
$STATE,3042,begin surface coast
$FINISH,-0.4,1.021976
$STATE,3058,end surface coast,CONTROL_FINISHED_OK
$STATE,3058,begin surface
$SM_CCo,3153,0.00,0.000,0,0,1843,375.82
$SM_GC,0.51,27.45,0.17,0.00,0.028,0.061,0.000,531,1982,1843,-6.93,-0.87,375.82,0,0,0,0,0,0,26.79,26.89,26.86
$IRIDIUM_FIX,4808.40,-12337.82,200718,014828
$TT8_MAMPS,0.025466,0.803677
$HUMID,55.78
$INTERNAL_PRESSURE,9.89224
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.0,98.6
$SC_FREEKB,3905408
$24V_AH,24.32,3.912
$10V_AH,10.15,7.157
$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,60.100,34.225,39.350,0.000,0.000,19.325,18.167,464.162,0.500,0.000,10.946,653.862,1868.295,139.710,1094.635,59.442,33.456,386.932,0.000,388.882,0.000,8.259,0.000
$DEVICE_MAMPS,145.350,76.500,1851.300,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.115,0.000,0.000,0.000
$MEM,344256
$DATA_FILE_SIZE,7073,201
$CAP_FILE_SIZE,46447,0
$CFSIZE,1023623168,1018953728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200718,035953,4743.487,-12224.823,8,0.7,9,16.3,0.0,0.0,12,8.5