version: 66.11
glider: 204
mission: 7
dive: 4
start: 1 14 114 20 16 37
data:
$ID,204
$MISSION,7
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,2
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51746
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,260
$N_FILEKB,4
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-565.13098
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,210
$PITCH_MAX,3900
$C_PITCH,3061
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3704
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,2005
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,20
$AH0_24V,150
$AH0_10V,97
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-73.463333
$PRESSURE_SLOPE,0.0001157966
$AD7714Ch0Gain,128
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043959874
$SEABIRD_T_H,0.00063999143
$SEABIRD_T_I,2.6240119e-05
$SEABIRD_T_J,3.2438568e-06
$SEABIRD_C_G,-9.8023682
$SEABIRD_C_H,1.1326066
$SEABIRD_C_I,-0.0012119424
$SEABIRD_C_J,0.00017415492
$GPS1,140114,200240,4743.291,-12224.882,3,1.1,3,16.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.3
$GPS2,140114,201537,4743.270,-12224.870,5,1.1,5,16.3
$SPEED_LIMITS,0.139,0.210
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,0.210
$KALMAN_X,15.1,31.2,61.1,-472.1,-21.9
$KALMAN_Y,-254.8,-244.5,-117.9,1374.8,-278.4
$MHEAD_RNG_PITCHd_Wd,348.0,1171,-16.9,-8.032,-20.91,2029
$D_GRID,177
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.98,-107.5,192,2049,1766,1800,0.0,0.0,0,72,0.00,0.00,-54.88,0.000,16386,0.000,0.000,192,2049,3257,3205,3310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.98,-107.5,192,2049,3205,3310,3.3,-3.2,10,93,11.88,2.30,-0.68,0.000,18948,0.284,0.069,2741,631,3289,3248,3331,0,0,0,0,0,0,25.95,26.36,26.61
$GC,321,-0.98,-107.5,1728,631,3236,3325,38.4,-12.0,58,327,0.00,2.15,0.00,0.000,1030,0.000,0.043,2732,2041,3290,3253,3328,0,0,0,0,0,0,28.83,26.58,28.83
$GC,389,-0.98,-107.5,2731,2041,3253,3327,46.5,-11.5,71,395,0.00,2.20,0.00,0.000,516,0.000,0.057,2739,632,3290,3253,3327,0,0,0,0,0,0,28.83,26.56,28.83
$GC,561,-0.98,-107.5,2740,632,3253,3327,67.9,-12.0,105,568,0.00,2.15,0.00,0.000,1030,0.000,0.043,2729,2046,3289,3253,3326,0,0,0,0,0,0,28.83,26.68,28.83
$GC,690,-0.98,-107.5,2730,2046,3253,3326,82.8,-11.8,130,696,0.00,2.20,0.00,0.000,516,0.000,0.056,2739,628,3289,3253,3326,0,0,0,0,0,0,28.83,26.67,28.83
$GC,774,-0.98,-107.5,2739,628,3254,3326,92.4,-11.7,146,780,0.00,2.15,0.00,0.000,1030,0.000,0.043,2730,2046,3289,3253,3326,0,0,0,0,0,0,28.83,26.74,28.83
$GC,902,-0.98,-107.5,2729,2046,3254,3326,107.1,-11.7,171,907,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2046,3289,3254,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1031,-0.98,-107.5,2730,2046,3254,3326,120.6,-9.7,196,1038,0.00,2.15,0.00,0.000,260,0.000,0.057,2719,3440,3290,3254,3326,0,0,0,0,0,0,28.83,26.74,28.83
$GC,1169,-0.98,-107.5,2719,3441,3253,3326,134.6,-11.5,223,1176,0.00,2.10,0.00,0.000,1030,0.000,0.042,2721,2037,3290,3254,3326,0,0,0,0,0,0,28.83,26.83,28.83
$GC,1298,-0.98,-107.5,2721,2033,3253,3326,147.7,-9.3,248,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2034,3289,3254,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1425,-0.98,-107.5,2721,2034,3254,3326,160.2,-9.7,273,1431,0.00,2.12,0.00,0.000,516,0.000,0.055,2732,640,3290,3254,3326,0,0,0,0,0,0,28.83,26.81,28.83
$GC,1548,-0.98,-107.5,1744,639,3238,3323,173.0,-10.6,297,1554,0.00,2.12,0.00,0.000,1030,0.000,0.043,2723,2047,3290,3254,3326,0,0,0,0,0,0,28.83,26.87,28.83
$STATE,1589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1589,begin apogee
$GC,1592,-0.25,0.0,2723,2047,3253,3325,177.4,-10.5,305,1680,0.93,0.00,81.75,0.746,10246,0.216,0.000,2967,2049,2845,2824,2867,0,0,0,0,0,0,26.34,28.83,25.01
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1682,0.98,107.5,2967,2049,2823,2865,181.0,0.0,321,1770,1.48,2.47,80.40,0.630,10756,0.191,0.056,3371,602,2405,2396,2415,0,0,0,0,0,0,25.46,25.37,24.74
$GC,1796,0.98,107.5,2464,602,2353,2404,175.7,8.9,342,1803,0.00,2.22,0.00,0.000,1030,0.000,0.043,3362,2003,2402,2394,2411,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1925,0.98,107.5,3362,2004,2393,2409,163.5,9.5,367,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2004,2401,2394,2409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2052,1.00,124.2,3362,2003,2394,2409,153.0,7.2,392,2071,0.00,2.33,13.48,0.625,8708,0.000,0.057,3371,605,2337,2331,2344,0,0,0,0,0,0,28.83,26.08,25.48
$GC,2167,1.00,124.2,2448,605,2286,2333,142.5,10.9,414,2173,0.00,2.17,0.00,0.000,1030,0.000,0.044,3362,2009,2334,2328,2340,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2295,1.00,124.2,3362,2009,2328,2340,128.7,10.6,439,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2009,2334,2328,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2422,1.00,124.2,3362,2009,2328,2340,116.0,9.0,464,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2010,2333,2328,2339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2549,1.00,124.2,3362,2009,2328,2340,103.3,10.1,489,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2009,2334,2328,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,1.00,124.2,3362,2010,2328,2340,92.1,8.3,514,2683,0.00,2.20,0.00,0.000,260,0.000,0.059,3351,3418,2334,2328,2340,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2714,1.03,147.3,3351,3417,2328,2340,89.3,6.9,521,2727,0.00,2.15,7.62,0.306,9222,0.000,0.043,3360,1994,2248,2243,2254,0,0,0,0,0,0,28.83,26.65,26.13
$GC,2848,1.03,147.3,2448,1992,2223,2263,75.8,10.5,547,2854,0.00,0.00,1.50,0.202,8198,0.000,0.000,3360,1994,2252,2249,2255,0,0,0,0,0,0,28.83,28.83,26.32
$GC,2976,1.03,147.3,2432,1992,2222,2263,62.8,10.2,572,2983,0.00,2.25,1.48,0.203,8708,0.000,0.057,3371,596,2253,2250,2256,0,0,0,0,0,0,28.83,26.65,26.34
$GC,3050,1.03,147.3,3371,597,2264,2267,55.4,10.3,586,3057,0.00,2.15,1.55,0.207,9222,0.000,0.044,3362,2008,2250,2249,2252,0,0,0,0,0,0,28.83,26.70,26.33
$GC,3179,1.03,147.3,3362,2008,2263,2267,43.4,9.2,611,3185,0.00,0.00,1.45,0.203,8198,0.000,0.000,3362,2008,2251,2249,2254,0,0,0,0,0,0,28.83,28.83,26.41
$GC,3307,1.03,147.3,3361,2008,2262,2266,31.7,9.4,636,3313,0.00,0.00,1.33,0.204,8198,0.000,0.000,3362,2008,2251,2249,2253,0,0,0,0,0,0,28.83,28.83,26.46
$GC,3376,1.03,147.3,3362,2008,2261,2265,25.1,9.0,649,3382,0.00,0.00,1.33,0.205,8198,0.000,0.000,3362,2008,2250,2249,2251,0,0,0,0,0,0,28.83,28.83,26.48
$GC,3443,1.03,147.3,3362,2008,2258,2262,18.5,9.9,662,3450,0.00,0.00,1.10,0.214,8198,0.000,0.000,3362,2009,2248,2247,2250,0,0,0,0,0,0,28.83,28.83,26.53
$GC,3511,1.03,147.3,3362,2008,2258,2262,12.1,9.1,675,3518,0.00,0.00,1.08,0.213,8198,0.000,0.000,3362,2008,2247,2245,2249,0,0,0,0,0,0,28.83,28.83,26.55
$GC,3579,1.03,147.3,3362,2008,2255,2259,5.8,9.4,688,3585,0.00,2.15,0.00,0.000,260,0.000,0.058,3352,3410,2257,2255,2259,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,3626,end climb,SURFACE_DEPTH_REACHED
$STATE,3626,begin surface coast
$FINISH,0.5,0.999805
$STATE,3646,end surface coast,CONTROL_FINISHED_OK
$STATE,3646,begin surface
$SM_CCo,3664,39.25,0.133,0,0,1787,260.02
$SM_GC,1.31,9.85,2.12,39.25,0.126,0.042,0.133,190,2040,1787,-8.89,1.07,260.02,0,0,0,0,0,0,26.81,26.80,26.47
$IRIDIUM_FIX,4722.92,-12226.07,140114,202030
$TT8_MAMPS,0.029211,0.029211
$HUMID,32.87
$INTERNAL_PRESSURE,8.75461
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.2,80.1
$24V_AH,24.7,5.886
$10V_AH,10.3,3.100
$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,24.125,43.875,194.050,39.250,0.000,92.103,221.155,187.657,0.750,0.000,8.359,1565.579,983.937,344.818,1566.510,44.142,32.218,904.067,0.000,1006.109,0.000,7.461,0.000
$DEVICE_MAMPS,283.815,68.850,745.875,133.110,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323024
$DATA_FILE_SIZE,26780,701
$CAP_FILE_SIZE,75538,0
$CFSIZE,1024393216,1020674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140114,211858,4743.378,-12224.839,3,1.2,3,16.3