version: 66.11
glider: 204
mission: 7
dive: 5
start: 1 14 114 21 25 35
data:
$ID,204
$MISSION,7
$DIVE,5
$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,-566.38641
$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,33
$R_STBD_OVSHOOT,31
$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,2
$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
$GPS1,140114,211858,4743.378,-12224.839,3,1.2,3,16.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.3
$GPS2,140114,212437,4743.370,-12224.859,5,1.2,5,16.3
$SPEED_LIMITS,0.139,0.210
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.029,0.208
$KALMAN_X,-47.8,28.4,70.6,-403.8,-101.7
$KALMAN_Y,-838.6,-524.8,24.9,2282.4,-552.6
$MHEAD_RNG_PITCHd_Wd,351.7,985,-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,-107.5,189,2039,1768,1802,0.0,0.0,0,67,0.00,0.00,-49.83,0.000,16386,0.000,0.000,190,2039,3116,3068,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.98,-107.5,189,2039,3068,3164,3.2,-3.4,9,93,11.88,2.22,-4.18,0.000,18948,0.284,0.072,2743,632,3290,3261,3319,0,0,0,0,0,0,25.96,26.36,26.72
$GC,274,-0.98,-107.5,2743,632,3262,3319,28.9,-11.5,49,281,0.00,2.17,0.00,0.000,1030,0.000,0.043,2733,2043,3290,3262,3319,0,0,0,0,0,0,28.83,26.55,28.83
$GC,343,-0.98,-107.5,2733,2043,3262,3319,36.7,-12.1,62,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2043,3290,3262,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,410,-0.98,-107.5,2733,2043,3263,3319,44.3,-11.0,75,416,0.00,2.20,0.00,0.000,516,0.000,0.056,2743,634,3291,3263,3319,0,0,0,0,0,0,28.83,26.57,28.83
$GC,452,-0.98,-107.5,2743,634,3263,3319,49.3,-11.5,83,459,0.00,2.15,0.00,0.000,1030,0.000,0.043,2734,2045,3291,3263,3319,0,0,0,0,0,0,28.83,26.63,28.83
$GC,581,-0.98,-107.5,2734,2045,3262,3319,63.2,-10.9,108,587,0.00,2.17,0.00,0.000,260,0.000,0.057,2723,3447,3291,3263,3319,0,0,0,0,0,0,28.83,26.63,28.83
$GC,608,-0.98,-107.5,2723,3447,3264,3319,66.4,-11.1,113,615,0.00,2.12,0.00,0.000,1030,0.000,0.042,2732,2038,3291,3263,3319,0,0,0,0,0,0,28.83,26.69,28.83
$GC,738,-0.98,-107.5,2732,2037,3262,3319,79.8,-10.3,138,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2036,3291,3263,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,865,-0.98,-107.5,2732,2036,3263,3319,93.2,-10.6,163,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2036,3291,3263,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,993,-0.98,-107.5,2732,2037,3263,3319,106.6,-9.8,188,999,0.00,2.17,0.00,0.000,260,0.000,0.057,2723,3444,3291,3263,3319,0,0,0,0,0,0,28.83,26.73,28.83
$GC,1050,-0.98,-107.5,1736,3443,3248,3316,112.7,-10.6,199,1057,0.00,2.12,0.00,0.000,1030,0.000,0.042,2732,2027,3291,3263,3319,0,0,0,0,0,0,28.83,26.80,28.83
$GC,1183,-0.98,-107.5,2732,2026,3263,3319,126.6,-10.6,224,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2026,3291,3263,3319,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1310,-0.98,-107.5,2732,2026,3263,3319,140.0,-9.9,249,1317,0.00,2.12,0.00,0.000,516,0.000,0.057,2743,637,3291,3263,3319,0,0,0,0,0,0,28.83,26.78,28.83
$GC,1348,-0.98,-107.5,2743,637,3263,3319,144.5,-11.9,256,1355,0.00,2.12,0.00,0.000,1030,0.000,0.042,2733,2045,3291,3263,3319,0,0,0,0,0,0,28.83,26.84,28.83
$GC,1476,-0.98,-107.5,2733,2044,3263,3319,158.6,-10.7,281,1483,0.00,2.17,0.00,0.000,516,0.000,0.055,2743,633,3291,3263,3319,0,0,0,0,0,0,28.83,26.81,28.83
$GC,1554,-0.98,-107.5,2743,632,3263,3318,167.1,-10.3,296,1561,0.00,2.15,0.00,0.000,1030,0.000,0.042,2734,2049,3291,3263,3319,0,0,0,0,0,0,28.83,26.86,28.83
$STATE,1646,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1646,begin apogee
$GC,1649,-0.25,0.0,2733,2049,3263,3319,177.0,-10.2,314,1773,0.88,0.00,114.38,0.716,10246,0.214,0.000,2968,2050,2849,2829,2870,0,0,0,0,1,0,26.37,28.83,24.39
$STATE,1774,end apogee,CONTROL_FINISHED_OK
$STATE,1775,begin climb
$GC,1776,0.98,107.5,2968,2050,2836,2878,181.2,0.0,337,1874,1.48,2.45,85.97,0.626,10756,0.191,0.056,3369,610,2403,2394,2412,0,0,0,0,0,0,25.32,25.32,24.70
$GC,1930,0.98,107.5,3368,610,2393,2409,172.0,9.6,366,1937,0.00,2.20,0.00,0.000,1030,0.000,0.043,3360,2002,2400,2393,2408,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2059,0.98,107.5,3360,2002,2393,2408,160.8,8.6,391,2065,0.00,2.25,0.00,0.000,260,0.000,0.057,3349,3421,2400,2393,2408,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2101,0.98,107.5,2432,3419,2352,2401,156.9,9.1,399,2108,0.00,2.17,0.00,0.000,1030,0.000,0.042,3358,2010,2400,2393,2408,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2229,0.98,107.5,3358,2009,2393,2408,144.3,10.1,424,2236,0.00,2.22,0.00,0.000,516,0.000,0.056,3369,597,2400,2393,2408,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2277,0.98,107.5,3368,596,2393,2408,138.9,11.3,433,2284,0.00,2.17,0.00,0.000,1030,0.000,0.043,3360,2009,2400,2393,2408,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2406,0.98,107.5,3359,2009,2393,2408,125.8,9.7,458,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2009,2400,2393,2408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2532,0.98,107.5,2448,2007,2352,2401,114.2,9.2,483,2539,0.00,2.22,0.00,0.000,516,0.000,0.056,3369,594,2400,2393,2408,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2580,0.98,107.5,3369,594,2393,2408,109.6,9.4,492,2587,0.00,2.17,0.00,0.000,1030,0.000,0.043,3359,2018,2400,2393,2408,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2708,0.98,107.5,3359,2019,2393,2408,97.4,9.1,517,2715,0.00,2.15,0.00,0.000,260,0.000,0.057,3349,3408,2400,2392,2408,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2766,0.98,107.5,3349,3408,2393,2408,91.7,11.0,528,2773,0.00,2.12,0.00,0.000,1030,0.000,0.042,3358,2000,2400,2393,2408,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2894,0.98,107.5,3358,1999,2392,2408,79.4,9.8,553,2901,0.00,2.20,0.00,0.000,260,0.000,0.057,3349,3407,2400,2393,2408,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2952,0.98,107.5,3349,3408,2393,2408,73.5,10.0,564,2959,0.00,2.12,0.00,0.000,1030,0.000,0.042,3358,1998,2400,2393,2408,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3080,0.98,107.5,3358,1998,2393,2408,61.1,9.5,589,3087,0.00,2.17,0.00,0.000,516,0.000,0.057,3370,594,2400,2393,2408,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3158,0.98,107.5,3369,594,2393,2407,53.5,9.9,604,3165,0.00,2.15,0.00,0.000,1030,0.000,0.043,3360,2007,2400,2392,2408,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3287,0.98,107.5,3359,2007,2393,2408,42.5,8.2,629,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2007,2400,2393,2407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3414,0.99,116.3,3360,2007,2393,2408,32.0,7.6,654,3420,0.00,0.00,2.25,0.197,8198,0.000,0.000,3360,2007,2375,2371,2380,0,0,0,0,0,0,28.83,28.83,26.46
$GC,3482,0.99,117.0,3359,2007,2387,2394,26.4,8.0,667,3489,0.00,2.28,1.70,0.191,8708,0.000,0.056,3369,596,2376,2372,2380,0,0,0,0,0,0,28.83,26.75,26.51
$GC,3541,0.99,117.0,3369,596,2387,2392,21.3,8.9,678,3548,0.00,2.15,1.50,0.195,9222,0.000,0.043,3359,2017,2371,2368,2375,0,0,0,0,0,0,28.83,26.81,26.54
$GC,3610,0.99,117.0,3359,2016,2385,2391,15.4,8.4,691,3616,0.00,0.00,1.45,0.196,8198,0.000,0.000,3360,2017,2373,2370,2376,0,0,0,0,0,0,28.83,28.83,26.55
$GC,3678,0.99,118.5,3359,2016,2381,2389,9.8,8.0,704,3684,0.00,0.00,1.62,0.194,8198,0.000,0.000,3360,2016,2365,2362,2369,0,0,0,0,0,0,28.83,28.83,26.57
$GC,3746,0.99,119.1,3360,2016,2374,2380,4.9,8.0,717,3753,0.00,2.15,1.08,0.211,8452,0.000,0.056,3349,3409,2365,2361,2369,0,0,0,0,0,0,28.83,26.77,26.60
$STATE,3789,end climb,SURFACE_DEPTH_REACHED
$STATE,3789,begin surface coast
$FINISH,0.5,1.010451
$STATE,3815,end surface coast,CONTROL_FINISHED_OK
$STATE,3815,begin surface
$SM_CCo,3833,48.72,0.131,0,0,1788,260.02
$SM_GC,2.14,9.98,2.12,48.72,0.135,0.041,0.131,196,2033,1788,-8.87,0.90,260.02,0,0,0,0,0,0,26.83,26.84,26.47
$IRIDIUM_FIX,4726.11,-12232.20,140114,202052
$TT8_MAMPS,0.029211,0.029211
$HUMID,33.26
$INTERNAL_PRESSURE,8.75461
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.2,17.4
$24V_AH,24.4,5.943
$10V_AH,10.4,3.140
$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,24.200,65.425,209.950,48.725,0.000,20.505,47.526,197.101,1.250,0.000,6.850,1623.225,824.512,399.884,1344.160,45.901,33.201,998.232,0.000,1046.669,0.000,11.551,0.000
$DEVICE_MAMPS,283.815,71.910,716.040,130.815,0.000,12.240,160.000,223.000,420.000,0.000,26.220,18.710,2.190,18.710,44.920,61.400,68.890,15.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,26773,730
$CAP_FILE_SIZE,80894,0
$CFSIZE,1024393216,1020608512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,140114,223129,4743.555,-12224.703,38,1.3,38,16.3