version: 66.14
glider: 404
mission: 6
dive: 12
start: 7 20 118 6 25 23
data:
$ID,404
$MISSION,6
$DIVE,12
$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,15
$R_STBD_OVSHOOT,40
$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
$GPS1,200718,061349,4742.6758,-12225.1768,7,0.8,35,16.3,0.0,177.7,12,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-50.8
$GPS2,200718,062413,4742.6099,-12225.1631,9,1.0,12,16.3,0.0,0.0,9,9.8
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.107397,0.302135
$KALMAN_X,812.701294,340.658875,-226.252731,-1567.483154,-218.498199
$KALMAN_Y,-1649.480591,192.509369,-685.240723,1921.281982,-314.726227
$MHEAD_RNG_PITCHd_Wd,3.3,2614,-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,-244.4,550,1969,1804,2047,0.0,0.0,0,17,0.00,0.00,-5.07,0.000,16390,0.000,0.000,547,1971,2522,2522,2047,0,0,0,0,0,0,26.63,25.26,26.63,9.94,54.92
$GC,19,-1.24,-244.4,551,1969,2522,2047,0.0,0.0,0,49,23.27,3.05,0.00,0.000,2820,0.144,0.062,2348,857,2532,2532,2048,0,0,0,0,0,0,26.15,26.22,26.32,10.12,55.47
$GC,101,-1.24,-244.4,2348,857,2525,2048,11.4,-14.0,5,109,0.00,2.75,0.00,0.000,1030,0.000,0.031,2349,1936,2525,2525,2048,0,0,0,0,0,0,26.46,26.39,26.48,10.11,54.80
$GC,287,-1.24,-244.4,2348,1936,2528,2048,33.6,-11.4,18,292,0.00,2.90,0.00,0.000,260,0.000,0.056,2349,3042,2528,2528,2047,0,0,0,0,0,0,26.83,26.47,26.84,10.19,54.29
$GC,365,-1.24,-244.4,2347,3036,2530,2047,41.8,-10.6,23,370,0.00,2.78,0.00,0.000,1030,0.000,0.034,2349,1939,2530,2530,2047,0,0,0,0,0,0,26.66,26.53,26.72,10.12,54.68
$GC,563,-1.24,-244.4,2348,1939,2534,2047,60.7,-9.7,36,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1938,2541,2541,2048,0,0,0,0,0,0,26.96,26.98,26.98,10.10,54.48
$GC,743,-1.24,-244.4,2348,1939,2537,2048,77.0,-10.2,48,748,0.00,2.90,0.00,0.000,260,0.000,0.056,2348,3038,2537,2537,2045,0,0,0,0,0,0,27.03,26.67,27.04,10.09,54.76
$GC,839,-1.24,-244.4,2348,3038,2534,2045,85.1,-8.7,54,844,0.00,2.75,0.00,0.000,1030,0.000,0.034,2347,1940,2540,2540,2047,0,0,0,0,0,0,26.84,26.74,26.86,10.04,54.64
$GC,1032,-1.24,-244.4,2348,1940,2541,2047,101.7,-8.4,67,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1940,2540,2540,2045,0,0,0,0,0,0,27.10,27.12,27.11,10.10,54.80
$GC,1212,-1.24,-244.4,2348,1940,2544,2045,116.8,-8.0,79,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1940,2543,2543,2048,0,0,0,0,0,0,27.18,27.16,27.17,10.10,54.92
$GC,1392,-1.24,-244.4,2348,1942,2546,2048,130.5,-7.7,91,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1940,2540,2540,2053,0,0,0,0,0,0,27.17,27.19,27.19,10.10,54.80
$GC,1572,-1.24,-244.4,2348,1940,2549,2053,145.9,-8.1,103,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,1940,2549,2549,2048,0,0,0,0,0,0,27.18,27.22,27.21,10.10,55.19
$STATE,1631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1631,begin apogee
$GC,1635,-0.33,0.0,2348,1875,2553,2047,151.0,-8.6,107,1662,3.25,0.00,15.80,1.860,10246,0.071,0.000,2638,1874,2254,2254,2048,0,0,0,0,0,0,26.89,26.05,24.80,10.10,55.07
$STATE,1664,end apogee,CONTROL_FINISHED_OK
$STATE,1664,begin climb
$GC,1665,1.24,244.4,2641,1875,2254,2048,152.3,0.0,109,1692,5.20,0.00,14.48,1.828,10246,0.046,0.000,3128,1874,1990,1990,2048,0,0,0,0,0,0,26.32,25.27,24.37,10.03,54.80
$GC,1872,1.24,244.4,3128,1875,1986,2048,132.1,11.4,123,1877,0.00,2.97,0.00,0.000,516,0.000,0.070,3129,795,1986,1986,2047,0,0,0,0,0,0,26.60,26.21,26.61,9.97,54.41
$GC,1913,1.24,244.4,3128,795,1986,2047,128.4,11.1,125,1920,0.00,2.75,0.00,0.000,1030,0.000,0.031,3129,1883,1985,1985,2047,0,0,0,0,0,0,26.46,26.45,26.47,9.97,54.68
$GC,2099,1.24,244.4,3129,1884,1981,2047,106.4,11.7,138,2105,0.00,2.83,0.00,0.000,260,0.000,0.050,3129,2960,1981,1981,2047,0,0,0,0,0,0,26.82,26.52,26.83,9.97,55.15
$GC,2157,1.24,244.4,3127,2960,1986,2047,100.9,11.4,141,2165,0.00,2.72,0.00,0.000,1030,0.000,0.037,3128,1893,1967,1967,2044,0,0,0,0,0,0,26.63,26.54,26.65,9.97,55.00
$GC,2343,1.31,286.3,3128,1899,1974,2044,82.0,8.8,154,2353,0.12,3.00,3.67,0.669,10756,0.068,0.071,3145,789,1946,1946,2048,0,0,0,0,0,0,26.72,26.48,25.43,9.99,55.47
$GC,2391,1.33,304.6,3153,789,1936,2048,77.3,9.5,157,2401,0.00,2.75,2.50,0.304,9222,0.000,0.031,3145,1880,1923,1923,2050,0,0,0,0,0,0,26.70,26.65,25.45,9.96,55.63
$GC,2588,1.33,304.6,3146,1885,1920,2050,58.1,10.0,170,2594,0.00,2.80,0.00,0.000,260,0.000,0.050,3146,2965,1919,1919,2047,0,0,0,0,0,0,26.98,26.65,26.99,9.91,55.07
$GC,2621,1.33,304.6,3145,2965,1919,2047,54.6,10.5,172,2627,0.00,2.75,0.00,0.000,1030,0.000,0.037,3152,1878,1918,1918,2046,0,0,0,0,0,0,26.77,26.69,26.78,9.95,55.74
$GC,2819,1.42,365.0,3145,1878,1913,2046,38.5,8.3,185,2827,0.38,0.00,4.53,0.569,10246,0.042,0.000,3188,1878,1854,1854,2047,0,0,0,0,0,0,26.82,26.56,25.79,9.95,56.22
$GC,2999,1.42,365.0,3181,1878,1850,2047,20.5,10.2,197,3005,0.00,2.83,0.00,0.000,260,0.000,0.049,3190,2954,1842,1842,2047,0,0,0,0,0,0,27.07,26.72,27.08,9.93,55.67
$GC,3032,1.42,365.0,3188,2960,1849,2047,16.9,10.5,199,3037,0.00,2.72,0.00,0.000,1030,0.000,0.037,3188,1880,1849,1849,2047,0,0,0,0,0,0,26.86,26.75,26.87,9.94,55.51
$STATE,3169,end climb,SURFACE_DEPTH_REACHED
$STATE,3169,begin surface coast
$FINISH,-0.5,1.011048
$STATE,3185,end surface coast,CONTROL_FINISHED_OK
$STATE,3185,begin surface
$SM_CCo,3279,0.00,0.000,0,0,1844,373.98
$SM_GC,0.71,27.08,0.17,0.00,0.023,0.062,0.000,548,1965,1844,-6.87,-1.32,373.98,0,0,0,0,0,0,26.82,26.88,26.88
$IRIDIUM_FIX,4808.40,-12337.82,200718,051253
$TT8_MAMPS,0.024717,0.6741
$HUMID,55.04
$INTERNAL_PRESSURE,9.88248
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,100.3
$SC_FREEKB,3903584
$24V_AH,24.37,4.078
$10V_AH,10.33,7.413
$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,59.300,45.550,40.975,0.000,0.000,23.989,16.475,457.250,0.500,0.000,12.592,692.522,1916.484,147.182,1116.701,61.742,33.440,408.840,0.000,411.326,0.000,7.867,0.000
$DEVICE_MAMPS,143.820,94.860,1860.480,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3210.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.405,0.000,0.000,0.000
$MEM,344352
$DATA_FILE_SIZE,7060,209
$CAP_FILE_SIZE,49855,0
$CFSIZE,1023623168,1018560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200718,072055,4742.863,-12224.963,7,1.1,13,16.3,0.0,0.0,10,7.8