version: 66.14
glider: 404
mission: 7
dive: 16
start: 7 21 118 11 52 26
data:
$ID,404
$MISSION,7
$DIVE,16
$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,14
$R_STBD_OVSHOOT,46
$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
$GPS1,210718,113932,4742.5967,-12224.6270,39,0.9,40,16.3,0.0,0.0,9,4.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-51.1
$GPS2,210718,115118,4742.6406,-12224.5918,5,0.9,11,16.3,0.0,40.9,9,9.9
$SPEED_LIMITS,0.188,0.346
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.099885,-0.270707
$KALMAN_X,-555.661621,-249.497772,106.606544,595.425842,45.130402
$KALMAN_Y,-487.932739,-196.090164,313.943054,30.972870,555.240540
$MHEAD_RNG_PITCHd_Wd,184.0,367,-15.2,-10.000,-19.11,2853
$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,-1.30,-190.2,531,1970,1793,2047,0.0,0.0,0,17,0.00,0.00,-4.90,0.000,16390,0.000,0.000,531,1971,2485,2485,2047,0,0,0,0,0,0,26.61,25.35,26.62,10.03,54.96
$GC,19,-1.30,-190.2,530,1969,2484,2047,0.0,0.0,0,49,23.58,2.75,0.00,0.000,2820,0.149,0.050,2330,3013,2486,2486,2047,0,0,0,0,0,0,26.19,26.25,26.33,10.19,55.31
$GC,356,-1.32,-205.0,2329,3015,2491,2047,38.2,-9.5,22,365,0.00,2.70,-0.08,0.000,17414,0.000,0.032,2331,1938,2519,2519,2047,0,0,0,0,0,0,26.63,26.58,26.27,10.17,54.25
$GC,543,-1.45,-291.9,2331,1940,2520,2047,53.5,-6.9,35,545,0.28,0.00,0.00,0.000,4102,0.041,0.000,2298,1945,2522,2522,2047,0,0,0,0,0,0,26.72,26.79,26.77,10.17,53.85
$GC,723,-1.45,-293.3,2305,1939,2518,2047,67.8,-7.7,47,728,0.00,2.80,0.00,0.000,260,0.000,0.050,2297,3017,2525,2525,2047,0,0,0,0,0,0,27.00,26.69,27.03,10.17,54.37
$GC,765,-1.45,-293.3,2292,3017,2536,2047,70.8,-8.3,49,773,0.00,2.65,0.00,0.000,1030,0.000,0.033,2297,1962,2525,2525,2047,0,0,0,0,0,0,26.82,26.74,26.83,10.20,54.44
$GC,951,-1.45,-293.3,2297,1955,2528,2047,88.1,-9.2,62,957,0.00,2.75,0.00,0.000,260,0.000,0.049,2297,3016,2528,2528,2048,0,0,0,0,0,0,27.13,26.75,27.10,10.17,54.37
$GC,993,-1.45,-293.3,2296,3016,2528,2048,91.2,-9.5,64,1001,0.00,2.67,0.00,0.000,1030,0.000,0.031,2300,1937,2528,2528,2045,0,0,0,0,0,0,26.89,26.77,26.90,10.17,54.09
$GC,1179,-1.45,-293.3,2297,1938,2532,2045,109.3,-13.8,77,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,1938,2532,2532,2048,0,0,0,0,0,0,27.13,27.15,27.15,10.17,53.85
$GC,1360,-1.45,-293.3,2297,1936,2537,2048,135.1,-15.7,89,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,1937,2537,2537,2047,0,0,0,0,0,0,27.16,27.18,27.17,10.17,54.52
$STATE,1463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1463,begin apogee
$GC,1467,-0.33,0.0,2297,1868,2540,2050,150.9,-15.3,96,1488,3.85,0.00,14.18,1.834,10246,0.080,0.000,2639,1868,2277,2277,2040,0,0,0,0,0,0,26.82,26.16,24.94,10.17,54.41
$STATE,1490,end apogee,CONTROL_FINISHED_OK
$STATE,1490,begin climb
$GC,1491,1.45,293.3,2638,1868,2277,2040,152.0,0.0,97,1525,5.85,3.00,17.02,1.869,10756,0.041,0.067,3201,809,1958,1958,2047,0,0,0,0,0,0,26.39,25.60,24.39,10.10,54.33
$GC,1582,1.45,293.3,3201,809,1956,2047,143.0,13.0,102,1590,0.00,2.70,0.00,0.000,1030,0.000,0.030,3197,1862,1955,1955,2048,0,0,0,0,0,0,26.15,26.09,26.17,10.04,54.64
$GC,1768,1.45,293.3,3201,1857,1951,2048,114.4,13.3,115,1774,0.00,2.88,0.00,0.000,260,0.000,0.047,3201,2961,1950,1950,2048,0,0,0,0,0,0,26.66,26.33,26.68,10.04,54.37
$GC,1825,1.45,293.3,3201,2961,1949,2048,107.9,13.3,118,1832,0.00,2.72,0.00,0.000,1030,0.000,0.034,3211,1893,1946,1946,2043,0,0,0,0,0,0,26.51,26.43,26.54,9.97,54.17
$GC,2011,1.45,293.3,3195,1893,1943,2043,78.4,15.8,131,2016,0.00,3.00,0.00,0.000,516,0.000,0.070,3202,791,1943,1943,2047,0,0,0,0,0,0,26.86,26.52,26.87,10.06,54.88
$GC,2089,1.45,293.3,3200,800,1954,2047,66.4,15.4,136,2095,0.00,2.75,0.00,0.000,1030,0.000,0.031,3202,1884,1940,1940,2047,0,0,0,0,0,0,26.70,26.65,26.78,10.04,55.23
$GC,2288,1.48,307.9,3200,1894,1937,2047,44.8,9.5,149,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1885,1936,1936,2043,0,0,0,0,0,0,26.99,27.01,27.00,10.03,55.51
$GC,2468,1.52,334.7,3210,1885,1932,2043,28.0,9.0,161,2473,0.12,0.00,2.90,0.296,10246,0.071,0.000,3217,1886,1908,1908,2047,0,0,0,0,0,0,26.83,26.67,25.94,10.03,55.51
$GC,2647,1.52,334.7,3214,1880,1914,2047,7.4,12.8,173,2653,0.00,2.78,0.00,0.000,260,0.000,0.047,3216,2965,1903,1903,2048,0,0,0,0,0,0,27.09,26.75,27.09,10.02,54.96
$GC,2689,1.52,334.7,3216,2965,1902,2048,3.2,12.7,175,2696,0.00,2.75,0.00,0.000,1030,0.000,0.035,3212,1874,1900,1900,2054,0,0,0,0,0,0,26.87,26.79,26.89,10.00,55.59
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,0.8,1.009214
$STATE,2725,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2821,0.00,0.000,0,0,1902,344.43
$SM_GC,2.11,27.62,0.20,0.00,0.024,0.054,0.000,529,1974,1902,-6.93,-1.14,344.43,0,0,0,0,0,0,26.81,26.89,26.86
$IRIDIUM_FIX,4808.40,-12337.82,210718,103442
$TT8_MAMPS,0.025466,0.596204
$HUMID,54.96
$INTERNAL_PRESSURE,9.97037
$TCM_TEMP,10.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.0,75.6
$SC_FREEKB,3901472
$24V_AH,24.39,5.365
$10V_AH,10.42,9.352
$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,61.300,39.225,34.100,0.000,0.000,22.511,22.050,527.691,0.750,0.000,12.568,640.781,1556.033,133.285,1167.198,59.570,33.439,386.506,0.000,401.616,0.000,9.845,0.000
$DEVICE_MAMPS,149.175,94.095,1868.895,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2749.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.023,0.000,0.000,0.000
$MEM,335708
$DATA_FILE_SIZE,7074,178
$CAP_FILE_SIZE,45971,0
$CFSIZE,1023623168,1018150912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210718,124018,4742.475,-12224.581,8,0.9,10,16.3,0.0,0.0,9,9.5