version: 66.14
glider: 404
mission: 7
dive: 7
start: 7 21 118 2 13 40
data:
$ID,404
$MISSION,7
$DIVE,7
$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,28
$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,34
$R_STBD_OVSHOOT,52
$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,-49.914471
$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
$GPS1,210718,020138,4743.1484,-12224.8525,5,0.9,15,16.3,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-52.4
$GPS2,210718,021231,4743.1064,-12224.7812,5,0.9,37,16.3,0.0,0.0,9,8.9
$SPEED_LIMITS,0.188,0.346
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.018279,-0.345133
$KALMAN_X,714.696838,440.900513,122.229507,-1611.960083,33.528770
$KALMAN_Y,624.805359,445.881714,151.449966,-690.765198,13.916954
$MHEAD_RNG_PITCHd_Wd,166.7,1124,-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,-293.3,530,1981,1799,2047,0.0,0.0,0,17,0.00,0.00,-5.75,0.000,16390,0.000,0.000,530,1981,2599,2599,2048,0,0,0,0,0,0,26.70,25.33,26.72,10.04,54.80
$GC,19,-1.22,-293.3,530,1982,2599,2048,0.0,0.0,0,50,23.60,2.67,0.00,0.000,2820,0.148,0.049,2348,3010,2600,2600,2047,0,0,0,0,0,0,26.22,26.32,26.34,10.23,55.04
$GC,191,-1.22,-293.3,2349,3007,2604,2047,23.9,-10.0,11,196,0.00,2.62,0.00,0.000,1030,0.000,0.033,2354,1965,2604,2604,2047,0,0,0,0,0,0,26.58,26.50,26.57,10.18,53.89
$GC,384,-1.22,-293.3,2348,1965,2606,2047,42.4,-9.5,24,389,0.00,2.97,0.00,0.000,516,0.000,0.064,2349,856,2609,2609,2048,0,0,0,0,0,0,26.94,26.58,26.96,10.21,54.25
$GC,420,-1.22,-293.3,2356,853,2608,2048,46.0,-9.9,26,425,0.00,2.70,0.00,0.000,1030,0.000,0.030,2349,1931,2607,2607,2048,0,0,0,0,0,0,26.75,26.68,26.77,10.21,54.01
$GC,613,-1.22,-293.3,2336,1931,2613,2048,65.6,-10.3,39,618,0.00,2.88,0.00,0.000,260,0.000,0.053,2349,3038,2610,2610,2040,0,0,0,0,0,0,27.08,26.65,27.03,10.24,54.01
$GC,676,-1.22,-293.3,2348,3039,2617,2040,71.8,-9.9,43,682,0.00,2.72,0.00,0.000,1030,0.000,0.032,2351,1948,2613,2613,2047,0,0,0,0,0,0,26.83,26.77,26.86,10.20,54.17
$GC,875,-1.22,-293.3,2348,1949,2616,2047,90.7,-8.8,56,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,1949,2616,2616,2043,0,0,0,0,0,0,27.10,27.13,27.12,10.29,54.29
$GC,1055,-1.22,-293.3,2348,1948,2616,2043,107.5,-9.7,68,1060,0.00,2.83,0.00,0.000,260,0.000,0.050,2348,3033,2613,2613,2046,0,0,0,0,0,0,27.15,26.78,27.16,10.22,54.56
$GC,1081,-1.22,-293.3,2347,3034,2628,2046,109.3,-9.9,69,1089,0.00,2.70,0.00,0.000,1030,0.000,0.033,2348,1951,2611,2611,2042,0,0,0,0,0,0,26.98,26.84,26.92,10.20,54.17
$GC,1268,-1.22,-293.3,2345,1958,2624,2042,128.2,-9.7,82,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,1951,2622,2622,2046,0,0,0,0,0,0,27.19,27.17,27.20,10.19,55.51
$GC,1449,-1.22,-293.3,2347,1951,2626,2046,145.8,-10.1,94,1454,0.00,2.83,0.00,0.000,260,0.000,0.050,2349,3038,2627,2627,2037,0,0,0,0,0,0,27.21,26.86,27.23,10.19,54.68
$GC,1475,-1.22,-293.3,2348,3038,2626,2037,148.0,-10.7,95,1483,0.00,2.70,0.00,0.000,1030,0.000,0.033,2349,1953,2626,2626,2047,0,0,0,0,0,0,26.99,26.91,27.01,10.19,55.71
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1500,-0.33,0.0,2348,1863,2627,2048,150.9,-10.2,97,1528,3.22,0.00,18.00,1.862,10246,0.070,0.000,2641,1859,2275,2275,2047,0,0,0,0,0,0,26.86,26.03,24.84,10.19,54.88
$STATE,1529,end apogee,CONTROL_FINISHED_OK
$STATE,1529,begin climb
$GC,1531,1.22,293.3,2641,1862,2280,2047,156.6,0.0,99,1558,5.12,0.00,17.25,1.837,10246,0.044,0.000,3122,1862,1956,1956,2047,0,0,0,0,0,0,26.28,25.21,24.40,10.13,54.60
$GC,1737,1.22,293.3,3122,1862,1946,2047,132.7,10.1,113,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1862,1955,1955,2047,0,0,0,0,0,0,26.59,26.60,26.58,10.05,54.84
$GC,1917,1.26,316.4,3122,1862,1951,2047,116.2,9.5,125,1921,0.00,0.00,2.35,0.282,8198,0.000,0.000,3125,1864,1941,1941,2047,0,0,0,0,0,0,26.79,26.32,25.20,10.05,54.84
$GC,2097,1.27,327.6,3122,1862,1938,2047,99.4,9.7,137,2102,0.12,0.00,2.67,0.419,10246,0.072,0.000,3138,1860,1919,1919,2047,0,0,0,0,0,0,26.68,26.43,25.33,10.04,55.47
$GC,2277,1.28,329.9,3138,1862,1918,2047,80.5,9.9,149,2279,0.00,0.00,0.05,0.007,8198,0.000,0.000,3138,1862,1918,1918,2049,0,0,0,0,0,0,26.98,26.99,26.99,10.02,55.59
$GC,2457,1.30,346.8,3138,1862,1915,2049,63.0,9.6,161,2467,0.00,2.88,2.55,0.291,8452,0.000,0.047,3139,2971,1900,1900,2048,0,0,0,0,0,0,27.05,26.66,25.63,10.03,55.31
$GC,2483,1.33,365.8,3138,2972,1899,2048,61.3,9.6,162,2492,0.15,2.72,2.92,0.402,11270,0.060,0.035,3155,1892,1876,1876,2045,0,0,0,0,0,0,26.78,26.72,25.67,10.03,55.19
$GC,2670,1.41,419.2,3160,1892,1873,2045,43.1,8.7,175,2680,0.12,2.97,4.28,0.564,10756,0.071,0.068,3180,791,1818,1818,2047,0,0,0,0,0,0,26.85,26.39,25.81,10.02,55.67
$GC,2706,1.43,428.3,3178,800,1812,2047,39.2,9.8,177,2711,0.00,2.75,0.00,0.000,1030,0.000,0.031,3180,1889,1817,1817,2049,0,0,0,0,0,0,26.83,26.77,26.85,10.01,55.27
$GC,2899,1.46,454.8,3178,1898,1812,2049,19.6,9.4,190,2910,0.12,2.97,3.25,0.321,10756,0.074,0.069,3197,791,1779,1779,2048,0,0,0,0,0,0,26.92,26.70,26.00,10.02,56.30
$GC,2932,1.47,457.3,3199,791,1778,2048,16.1,9.9,192,2938,0.00,2.72,0.03,0.007,9222,0.000,0.031,3197,1882,1778,1778,2048,0,0,0,0,0,0,26.87,26.82,26.89,9.99,55.47
$STATE,3085,end climb,SURFACE_DEPTH_REACHED
$STATE,3085,begin surface coast
$FINISH,1.9,1.001753
$STATE,3101,end surface coast,CONTROL_FINISHED_OK
$STATE,3101,begin surface
$SM_CCo,3197,0.00,0.000,0,0,1775,462.62
$SM_GC,2.87,27.48,0.15,0.00,0.027,0.068,0.000,532,1973,1775,-6.93,-1.23,462.62,0,0,0,0,0,0,26.82,26.89,26.89
$IRIDIUM_FIX,4808.40,-12337.82,210718,005828
$TT8_MAMPS,0.025466,0.623168
$HUMID,55.35
$INTERNAL_PRESSURE,9.9606
$TCM_TEMP,10.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,98.3
$SC_FREEKB,3906656
$24V_AH,24.40,4.866
$10V_AH,10.41,8.622
$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,59.950,45.000,53.350,0.000,0.000,24.224,16.484,453.637,0.500,0.000,38.993,673.718,1870.048,150.914,1125.025,60.394,33.460,406.931,0.000,394.585,0.000,7.859,0.000
$DEVICE_MAMPS,147.645,71.910,1862.010,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3129.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.317,0.000,0.000,0.000
$MEM,335736
$DATA_FILE_SIZE,7071,203
$CAP_FILE_SIZE,50862,0
$CFSIZE,1023623168,1019183104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210718,030746,4742.427,-12225.060,5,0.8,9,16.3,0.0,0.0,10,9.8