version: 66.14
glider: 404
mission: 6
dive: 16
start: 7 20 118 10 56 16
data:
$ID,404
$MISSION,6
$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,250
$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,18
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3680
$C_VBD,2250
$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
$GPS1,200718,104331,4744.0161,-12224.8096,7,0.8,13,16.3,0.0,0.0,9,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-52.0
$GPS2,200718,105507,4744.1323,-12224.8936,7,1.0,27,16.3,0.3,341.5,8,9.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.003908,-0.320632
$KALMAN_X,1024.312744,-225.362167,120.502708,-1225.040283,8.968010
$KALMAN_Y,-1135.915527,-352.328217,330.983673,3742.068359,422.559998
$MHEAD_RNG_PITCHd_Wd,163.0,3025,-13.1,-10.000,-17.32,3645
$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,-1.24,-244.4,549,1966,1819,2047,0.0,0.0,0,17,0.00,0.00,-4.97,0.000,16390,0.000,0.000,550,1967,2526,2526,2050,0,0,0,0,0,0,26.63,25.30,26.63,9.95,54.48
$GC,19,-1.24,-244.4,549,1966,2526,2050,0.0,0.0,0,50,23.38,2.97,0.00,0.000,2820,0.147,0.062,2345,860,2528,2528,2047,0,0,0,0,0,0,26.18,26.23,26.27,10.11,55.27
$GC,188,-1.24,-244.4,2344,859,2532,2047,21.9,-9.6,11,193,0.00,2.72,0.00,0.000,1030,0.000,0.030,2344,1933,2531,2531,2048,0,0,0,0,0,0,26.55,26.48,26.57,10.09,53.66
$GC,386,-1.24,-244.4,2345,1927,2535,2048,41.0,-9.7,24,391,0.00,2.90,0.00,0.000,260,0.000,0.054,2345,3038,2534,2534,2048,0,0,0,0,0,0,26.92,26.54,26.95,10.10,53.38
$GC,452,-1.24,-244.4,2348,3038,2527,2048,47.5,-10.4,28,457,0.00,2.78,0.00,0.000,1030,0.000,0.034,2345,1940,2535,2535,2047,0,0,0,0,0,0,26.68,26.61,26.70,10.10,53.74
$GC,645,-1.24,-244.4,2345,1940,2539,2047,67.8,-10.2,41,650,0.00,2.88,0.00,0.000,260,0.000,0.053,2345,3036,2534,2534,2047,0,0,0,0,0,0,27.00,26.64,27.01,10.10,53.85
$GC,731,-1.24,-244.4,2345,3035,2540,2047,75.7,-10.0,46,739,0.00,2.72,0.00,0.000,1030,0.000,0.034,2346,1954,2540,2540,2048,0,0,0,0,0,0,26.80,26.70,26.82,10.09,53.66
$GC,918,-1.24,-244.4,2341,1959,2544,2048,93.5,-8.6,59,924,0.00,2.92,0.00,0.000,516,0.000,0.067,2342,860,2543,2543,2047,0,0,0,0,0,0,27.05,26.71,27.09,10.10,53.89
$GC,966,-1.24,-244.4,2345,860,2536,2047,98.0,-9.2,62,972,0.00,2.72,0.00,0.000,1030,0.000,0.031,2346,1951,2545,2545,2048,0,0,0,0,0,0,26.88,26.79,26.89,10.10,53.74
$GC,1164,-1.24,-244.4,2345,1950,2547,2048,115.6,-8.9,75,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1950,2546,2546,2048,0,0,0,0,0,0,27.17,27.14,27.14,10.12,54.33
$GC,1344,-1.24,-244.4,2345,1951,2561,2048,132.6,-10.1,87,1350,0.00,2.80,0.00,0.000,260,0.000,0.054,2341,3036,2551,2551,2047,0,0,0,0,0,0,27.16,26.80,27.17,10.10,54.48
$GC,1439,-1.24,-244.4,2345,3036,2552,2047,143.0,-10.9,93,1444,0.00,2.72,0.00,0.000,1030,0.000,0.035,2344,1944,2552,2552,2048,0,0,0,0,0,0,26.94,26.86,26.97,10.10,54.09
$STATE,1516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1516,begin apogee
$GC,1520,-0.33,0.0,2339,1865,2554,2047,150.4,-9.2,98,1547,3.20,0.00,16.10,1.869,10246,0.074,0.000,2634,1869,2252,2252,2047,0,0,0,0,0,0,26.83,26.03,24.80,10.09,54.96
$STATE,1549,end apogee,CONTROL_FINISHED_OK
$STATE,1549,begin climb
$GC,1550,1.24,244.4,2634,1870,2251,2047,151.6,0.0,100,1578,5.28,0.00,14.70,1.834,10246,0.046,0.000,3128,1869,1984,1984,2047,0,0,0,0,0,0,26.29,25.27,24.35,10.03,54.29
$GC,1757,1.35,315.3,3128,1869,1982,2047,134.7,8.0,114,1774,0.28,2.95,5.40,1.248,10500,0.053,0.048,3160,2969,1908,1908,2051,0,0,0,0,0,0,26.33,26.02,24.80,9.98,53.74
$GC,1800,1.44,375.2,3159,2969,1909,2051,131.7,8.3,116,1813,0.30,2.78,4.80,1.132,11270,0.046,0.037,3193,1894,1845,1845,2047,0,0,0,0,0,0,26.27,26.22,24.79,9.96,54.60
$GC,2006,1.44,375.2,3188,1893,1841,2047,107.9,11.6,130,2011,0.00,2.83,0.00,0.000,260,0.000,0.049,3194,2970,1840,1840,2048,0,0,0,0,0,0,26.70,26.36,26.74,9.83,54.48
$GC,2032,1.44,375.2,3191,2965,1840,2048,105.9,11.6,131,2040,0.00,2.80,0.00,0.000,1030,0.000,0.037,3197,1877,1840,1840,2047,0,0,0,0,0,0,26.51,26.41,26.53,9.94,54.60
$GC,2219,1.44,375.2,3192,1878,1835,2047,85.0,11.0,144,2224,0.00,2.97,0.00,0.000,516,0.000,0.072,3194,787,1835,1835,2047,0,0,0,0,0,0,26.84,26.48,26.87,9.94,54.80
$GC,2282,1.44,375.2,3190,786,1834,2047,77.7,11.7,148,2287,0.00,2.78,0.00,0.000,1030,0.000,0.031,3194,1888,1837,1837,2048,0,0,0,0,0,0,26.70,26.63,26.71,9.96,55.07
$GC,2480,1.51,424.6,3187,1888,1833,2048,57.2,8.6,161,2491,0.12,2.78,3.62,0.550,10500,0.070,0.050,3211,2965,1794,1794,2047,0,0,0,0,0,0,26.74,26.54,25.62,9.99,54.76
$GC,2552,1.51,424.6,3220,2964,1788,2047,50.0,11.3,165,2559,0.00,2.78,0.00,0.000,1030,0.000,0.037,3212,1874,1799,1799,2056,0,0,0,0,0,0,26.75,26.65,26.77,9.96,55.15
$GC,2739,1.51,424.6,3204,1874,1778,2056,28.2,11.4,178,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1874,1785,1785,2050,0,0,0,0,0,0,27.03,27.05,27.05,9.92,55.51
$GC,2919,1.51,424.6,3206,1872,1777,2050,7.9,11.5,190,2924,0.00,2.83,0.00,0.000,260,0.000,0.050,3212,2964,1787,1787,2048,0,0,0,0,0,0,27.07,26.74,27.11,9.93,55.55
$GC,2945,1.51,424.6,3211,2963,1778,2048,5.7,11.8,191,2952,0.00,2.72,0.00,0.000,1030,0.000,0.037,3211,1880,1777,1777,2057,0,0,0,0,0,0,26.89,26.77,26.84,9.94,55.31
$STATE,2980,end climb,SURFACE_DEPTH_REACHED
$STATE,2980,begin surface coast
$FINISH,-0.3,1.021946
$STATE,2996,end surface coast,CONTROL_FINISHED_OK
$STATE,2997,begin surface
$SM_CCo,3092,0.00,0.000,0,0,1776,437.69
$SM_GC,0.45,27.70,0.17,0.00,0.026,0.060,0.000,530,1968,1776,-6.93,-1.28,437.69,0,0,0,0,0,0,26.79,26.87,26.85
$IRIDIUM_FIX,4808.40,-12337.82,200718,093643
$TT8_MAMPS,0.025466,0.569989
$HUMID,55.04
$INTERNAL_PRESSURE,9.88248
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.9,104.1
$SC_FREEKB,3901184
$24V_AH,24.35,4.284
$10V_AH,10.39,7.760
$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,60.250,56.675,44.625,0.000,0.000,25.844,20.275,498.447,0.500,0.000,28.258,695.892,1693.931,158.349,1205.347,63.928,33.442,442.310,0.000,439.816,0.000,8.295,0.000
$DEVICE_MAMPS,146.880,87.975,1868.895,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3026.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.310,0.000,0.000,0.000
$MEM,344344
$DATA_FILE_SIZE,7047,195
$CAP_FILE_SIZE,51506,0
$CFSIZE,1023623168,1018068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200718,114902,4743.954,-12224.882,33,0.9,34,16.3,0.0,0.0,9,5.2