version: 66.14
glider: 404
mission: 6
dive: 14
start: 7 20 118 8 44 10
data:
$ID,404
$MISSION,6
$DIVE,14
$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,17
$R_STBD_OVSHOOT,43
$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
$GPS1,200718,083119,4743.4062,-12224.7236,7,0.9,12,16.3,0.0,354.7,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-53.9
$GPS2,200718,084301,4743.5215,-12224.7119,5,1.0,30,16.3,0.4,8.1,8,5.3
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.054016,0.270537
$KALMAN_X,1086.583740,-9.430832,-170.159714,-991.035034,56.136322
$KALMAN_Y,-1771.654785,-197.356277,-371.792267,3796.885498,81.500656
$MHEAD_RNG_PITCHd_Wd,332.4,893,-16.1,-10.000,-19.92,2575
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-1.33,-171.4,550,1956,1875,2047,0.0,0.0,0,17,0.00,0.00,-4.03,0.000,16390,0.000,0.000,551,1953,2438,2438,2047,0,0,0,0,0,0,26.63,25.28,26.63,9.96,54.80
$GC,18,-1.33,-171.4,550,1957,2438,2047,0.0,0.0,0,49,23.00,2.78,0.00,0.000,2308,0.148,0.052,2312,3007,2439,2439,2047,0,0,0,0,0,0,26.20,26.23,26.27,10.09,55.31
$GC,69,-1.33,-171.4,2311,3010,2440,2047,8.7,-17.7,3,76,0.00,2.70,-0.03,0.000,17414,0.000,0.034,2313,1947,2448,2448,2048,0,0,0,0,0,0,26.41,26.33,26.02,10.09,54.64
$GC,263,-1.33,-171.4,2315,1947,2445,2048,30.7,-11.1,16,268,0.00,2.85,0.00,0.000,260,0.000,0.052,2318,3018,2451,2451,2048,0,0,0,0,0,0,26.79,26.43,26.82,10.09,54.41
$GC,426,-1.34,-177.6,2312,3018,2455,2048,46.0,-9.8,26,434,0.00,2.70,0.00,0.000,1030,0.000,0.034,2307,1957,2454,2454,2048,0,0,0,0,0,0,26.69,26.63,26.71,10.08,54.76
$GC,612,-1.38,-204.7,2312,1958,2459,2048,64.1,-8.9,39,617,0.00,2.92,0.00,0.000,516,0.000,0.065,2313,855,2457,2457,2041,0,0,0,0,0,0,26.98,26.63,27.00,10.08,54.37
$GC,780,-1.38,-204.7,2312,856,2460,2041,82.0,-10.5,50,785,0.00,2.70,0.00,0.000,1030,0.000,0.031,2312,1931,2461,2461,2047,0,0,0,0,0,0,26.84,26.73,26.82,10.08,54.13
$GC,978,-1.44,-244.4,2311,1932,2464,2047,99.8,-8.2,63,983,0.00,2.90,0.00,0.000,260,0.000,0.054,2313,3045,2470,2470,2047,0,0,0,0,0,0,27.09,26.73,27.10,10.08,54.88
$GC,1122,-1.44,-244.4,2312,3045,2462,2047,112.5,-9.0,72,1128,0.00,2.75,0.00,0.000,1030,0.000,0.034,2313,1941,2470,2470,2047,0,0,0,0,0,0,26.89,26.81,26.91,10.12,55.00
$GC,1315,-1.44,-244.4,2312,1942,2469,2047,129.4,-8.9,85,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,1942,2473,2473,2041,0,0,0,0,0,0,27.13,27.17,27.16,10.02,54.13
$GC,1495,-1.44,-244.4,2312,1942,2472,2041,146.2,-9.4,97,1501,0.00,2.88,0.00,0.000,260,0.000,0.054,2313,3047,2481,2481,2046,0,0,0,0,0,0,27.17,26.82,27.22,10.08,55.19
$STATE,1543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1543,begin apogee
$GC,1550,-0.33,0.0,2309,1882,2474,2047,150.9,-9.7,100,1574,3.65,0.00,12.48,1.804,10246,0.083,0.000,2639,1882,2251,2251,2048,0,0,0,0,0,0,26.82,26.19,24.91,10.22,54.88
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1577,1.44,244.4,2639,1882,2249,2048,152.7,0.0,102,1605,5.80,3.08,14.23,1.840,10756,0.044,0.071,3197,792,1989,1989,2047,0,0,0,0,0,0,26.46,25.71,24.45,10.03,54.52
$GC,1645,1.44,244.4,3194,794,1988,2047,147.6,9.7,106,1652,0.00,2.83,0.12,0.007,9222,0.000,0.031,3194,1889,1988,1988,2047,0,0,0,0,0,0,26.17,26.12,26.20,9.97,53.62
$GC,1840,1.44,244.4,3188,1888,1983,2047,124.5,12.2,119,1845,0.00,2.80,0.00,0.000,260,0.000,0.049,3194,2965,1983,1983,2047,0,0,0,0,0,0,26.69,26.36,26.70,9.97,55.00
$GC,1903,1.44,244.4,3188,2964,1982,2047,116.5,12.7,123,1908,0.00,2.78,0.00,0.000,1030,0.000,0.037,3194,1882,1982,1982,2048,0,0,0,0,0,0,26.53,26.46,26.55,9.97,54.44
$GC,2101,1.44,244.4,3194,1882,1977,2048,92.1,12.6,136,2106,0.00,2.85,0.00,0.000,260,0.000,0.050,3194,2964,1977,1977,2033,0,0,0,0,0,0,26.86,26.55,26.90,9.96,55.31
$GC,2151,1.44,244.4,3190,2967,1974,2033,85.7,13.3,139,2157,0.00,2.78,0.00,0.000,1030,0.000,0.037,3195,1875,1976,1976,2048,0,0,0,0,0,0,26.69,26.60,26.72,9.97,54.56
$GC,2344,1.44,244.4,3193,1874,1970,2048,60.3,13.4,152,2350,0.00,2.95,0.00,0.000,516,0.000,0.071,3194,791,1970,1970,2047,0,0,0,0,0,0,26.99,26.63,27.01,9.95,55.39
$GC,2425,1.44,244.4,3194,790,1968,2047,49.2,14.3,157,2431,0.00,2.72,0.00,0.000,1030,0.000,0.031,3194,1882,1972,1972,2048,0,0,0,0,0,0,26.81,26.75,26.83,9.96,55.11
$GC,2618,1.44,244.4,3194,1883,1963,2048,27.1,10.6,170,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,1882,1971,1971,2047,0,0,0,0,0,0,27.08,27.09,27.13,9.98,55.39
$GC,2799,1.48,266.5,3194,1878,1959,2047,9.4,9.1,182,2804,0.00,2.78,0.00,0.000,260,0.000,0.050,3194,2962,1959,1959,2048,0,0,0,0,0,0,27.11,26.77,27.17,9.91,56.02
$STATE,2875,end climb,SURFACE_DEPTH_REACHED
$STATE,2875,begin surface coast
$FINISH,-0.3,1.022132
$STATE,2892,end surface coast,CONTROL_FINISHED_OK
$STATE,2892,begin surface
$SM_CCo,2990,0.00,0.000,0,0,1955,271.48
$SM_GC,0.49,27.42,2.60,0.00,0.025,0.034,0.000,531,1946,1955,-6.93,0.87,271.48,0,0,0,0,0,0,26.83,26.82,26.89
$IRIDIUM_FIX,4808.40,-12337.82,200718,072253
$TT8_MAMPS,0.024717,0.817908
$HUMID,54.84
$INTERNAL_PRESSURE,9.92154
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.3,97.4
$SC_FREEKB,3902336
$24V_AH,24.45,4.179
$10V_AH,10.20,7.586
$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,59.875,56.300,26.825,0.000,0.000,25.421,16.583,508.375,0.500,0.000,31.633,715.525,1573.533,132.976,1236.817,62.300,33.437,417.558,0.000,469.525,0.000,8.247,0.000
$DEVICE_MAMPS,147.645,71.145,1839.825,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.044,0.000,0.000,0.000
$MEM,344224
$DATA_FILE_SIZE,7075,188
$CAP_FILE_SIZE,48853,0
$CFSIZE,1023623168,1018314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200718,093450,4744.082,-12224.752,8,0.9,11,16.3,0.0,0.0,8,8.7