version: 66.14
glider: 404
mission: 6
dive: 20
start: 7 20 118 15 18 17
data:
$ID,404
$MISSION,6
$DIVE,20
$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,300
$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,19
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3680
$C_VBD,2275
$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
$GPS1,200718,150536,4742.6660,-12225.0645,4,0.9,8,16.3,0.0,291.3,10,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-50.5
$GPS2,200718,151710,4742.6328,-12225.1826,8,0.9,12,16.3,0.0,0.0,10,9.7
$SPEED_LIMITS,0.173,0.346
$TGT_NAME,NW
$TGT_LATLONG,4744.000,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.117230,0.325119
$KALMAN_X,407.764191,-455.067230,95.941216,-708.601013,-221.848053
$KALMAN_Y,-569.482849,-85.568794,652.288086,-175.540680,-277.130371
$MHEAD_RNG_PITCHd_Wd,3.5,2576,-11.7,-10.000,-16.14,4354
$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,-1.22,-293.3,529,1975,1785,2047,0.0,0.0,0,18,0.00,0.00,-5.75,0.000,16390,0.000,0.000,530,1970,2598,2598,2047,0,0,0,0,0,0,26.61,25.34,26.62,9.94,54.25
$GC,19,-1.22,-293.3,529,1967,2597,2047,0.0,0.0,0,50,23.67,2.72,0.00,0.000,2820,0.145,0.047,2352,3030,2599,2599,2047,0,0,0,0,0,0,26.23,26.21,26.27,10.12,55.31
$GC,197,-1.22,-293.3,2352,3029,2602,2047,22.6,-9.2,11,204,0.00,2.72,0.00,0.000,1030,0.000,0.033,2353,1948,2600,2600,2047,0,0,0,0,0,0,26.53,26.44,26.56,10.12,54.25
$GC,383,-1.22,-293.3,2352,1952,2606,2047,42.8,-10.3,24,389,0.00,2.95,0.00,0.000,516,0.000,0.066,2352,857,2606,2606,2058,0,0,0,0,0,0,26.88,26.51,26.89,10.12,53.97
$GC,449,-1.22,-293.3,2352,859,2607,2058,49.8,-11.1,28,455,0.00,2.72,0.00,0.000,1030,0.000,0.030,2353,1940,2611,2611,2047,0,0,0,0,0,0,26.72,26.63,26.70,10.12,53.46
$GC,643,-1.22,-293.3,2352,1941,2609,2047,69.2,-9.7,41,648,0.00,2.85,0.00,0.000,260,0.000,0.053,2353,3033,2622,2622,2047,0,0,0,0,0,0,26.99,26.68,27.00,10.05,53.70
$GC,691,-1.22,-293.3,2352,3033,2612,2047,73.9,-9.7,44,696,0.00,2.72,0.00,0.000,1030,0.000,0.034,2353,1948,2611,2611,2049,0,0,0,0,0,0,26.79,26.71,26.81,10.11,54.21
$GC,889,-1.22,-293.3,2350,1949,2615,2049,90.5,-7.3,57,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,1948,2618,2618,2042,0,0,0,0,0,0,27.06,27.08,27.08,10.11,54.09
$GC,1069,-1.22,-293.3,2360,1944,2620,2042,104.9,-8.4,69,1074,0.00,2.85,0.00,0.000,260,0.000,0.053,2353,3044,2617,2617,2040,0,0,0,0,0,0,27.14,26.75,27.10,10.11,54.44
$GC,1117,-1.22,-293.3,2357,3039,2626,2040,109.4,-9.0,72,1123,0.00,2.72,0.00,0.000,1030,0.000,0.034,2355,1946,2618,2618,2043,0,0,0,0,0,0,26.89,26.81,26.91,10.11,54.56
$GC,1316,-1.22,-293.3,2347,1951,2616,2043,127.6,-8.9,85,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1955,2621,2621,2048,0,0,0,0,0,0,27.18,27.16,27.15,10.10,54.37
$GC,1496,-1.22,-293.3,2352,1950,2624,2048,144.1,-9.2,97,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,1957,2624,2624,2047,0,0,0,0,0,0,27.15,27.18,27.16,10.08,54.88
$STATE,1569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1569,begin apogee
$GC,1573,-0.33,0.0,2360,1874,2631,2057,151.3,-9.2,102,1601,3.17,0.00,18.40,1.916,10246,0.070,0.000,2641,1874,2263,2263,2046,0,0,0,0,0,0,26.85,25.95,24.70,10.13,55.04
$STATE,1603,end apogee,CONTROL_FINISHED_OK
$STATE,1603,begin climb
$GC,1604,1.22,293.3,2641,1873,2274,2046,153.0,0.0,104,1634,5.15,3.03,16.88,1.893,10756,0.048,0.070,3122,808,1960,1960,2047,0,0,0,0,0,0,26.20,25.43,24.20,10.03,54.60
$GC,1675,1.22,293.3,3121,801,1960,2047,149.2,8.6,108,1682,0.00,2.80,0.00,0.000,1030,0.000,0.031,3122,1884,1950,1950,2047,0,0,0,0,0,0,26.04,25.99,26.02,9.96,54.88
$GC,1862,1.29,338.0,3129,1884,1956,2047,131.7,8.9,121,1873,0.12,2.88,3.97,0.965,10500,0.072,0.047,3137,2971,1912,1912,2047,0,0,0,0,0,0,26.36,25.82,24.91,9.96,54.37
$GC,1949,1.29,338.0,3137,2971,1912,2047,123.9,10.2,126,1957,0.00,2.78,0.00,0.000,1030,0.000,0.035,3138,1893,1909,1909,2048,0,0,0,0,0,0,26.44,26.31,26.45,9.95,55.19
$GC,2135,1.29,338.0,3138,1893,1907,2048,102.8,11.6,139,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1893,1907,1907,2047,0,0,0,0,0,0,26.81,26.82,26.82,9.94,54.72
$GC,2315,1.29,338.0,3138,1893,1902,2047,82.8,10.3,151,2321,0.00,3.00,0.00,0.000,516,0.000,0.071,3138,791,1903,1903,2047,0,0,0,0,0,0,26.91,26.56,26.94,9.94,54.76
$GC,2357,1.33,366.5,3138,791,1903,2047,79.9,9.3,153,2366,0.10,2.78,3.00,0.490,11270,0.084,0.031,3152,1892,1881,1881,2047,0,0,0,0,0,0,26.63,26.70,25.45,9.94,54.96
$GC,2544,1.37,390.5,3155,1893,1884,2047,61.9,9.4,166,2554,0.10,2.80,2.95,0.423,10500,0.083,0.050,3170,2974,1843,1843,2055,0,0,0,0,0,0,26.73,26.57,25.60,9.94,55.35
$GC,2637,1.37,390.5,3168,2973,1848,2055,51.3,11.7,172,2642,0.00,2.78,0.00,0.000,1030,0.000,0.035,3169,1880,1857,1857,2046,0,0,0,0,0,0,26.77,26.68,26.79,9.93,54.88
$GC,2835,1.37,390.5,3168,1880,1844,2046,29.2,10.9,185,2840,0.00,2.95,0.00,0.000,516,0.000,0.072,3169,792,1846,1846,2047,0,0,0,0,0,0,27.05,26.70,27.06,9.92,55.31
$GC,2876,1.37,390.5,3168,792,1847,2047,25.3,11.4,187,2883,0.00,2.75,0.00,0.000,1030,0.000,0.031,3177,1890,1852,1852,2046,0,0,0,0,0,0,26.86,26.80,26.88,9.92,55.86
$GC,3062,1.37,390.5,3168,1894,1838,2046,4.6,10.3,200,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,1883,1836,1836,2040,0,0,0,0,0,0,27.10,27.13,27.12,9.94,55.82
$STATE,3092,end climb,SURFACE_DEPTH_REACHED
$STATE,3093,begin surface coast
$FINISH,0.2,1.022123
$STATE,3107,end surface coast,CONTROL_FINISHED_OK
$STATE,3107,begin surface
$SM_CCo,3202,0.00,0.000,0,0,1836,405.37
$SM_GC,1.08,26.92,0.12,0.00,0.025,0.077,0.000,552,1957,1836,-6.87,-1.32,405.37,0,0,0,0,0,0,26.81,26.89,26.88
$IRIDIUM_FIX,4808.40,-12337.82,200718,140136
$TT8_MAMPS,0.024717,0.490595
$HUMID,54.96
$INTERNAL_PRESSURE,9.88248
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.2,98.9
$SC_FREEKB,3898880
$24V_AH,24.20,4.495
$10V_AH,10.45,8.104
$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,59.250,51.075,45.200,0.000,0.000,25.774,21.245,511.004,0.500,0.000,13.575,703.794,1799.798,146.462,1209.575,64.165,33.449,426.591,0.000,439.754,0.000,7.857,0.000
$DEVICE_MAMPS,145.350,84.915,1915.560,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3136.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.411,0.000,0.000,0.000
$MEM,344336
$DATA_FILE_SIZE,7022,203
$CAP_FILE_SIZE,51460,0
$CFSIZE,1023623168,1017593856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200718,161229,4742.808,-12225.164,4,0.7,10,16.3,0.0,0.0,11,9.0