version: 66.14
glider: 404
mission: 6
dive: 19
start: 7 20 118 14 11 38
data:
$ID,404
$MISSION,6
$DIVE,19
$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,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,42
$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,-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
$GPS1,200718,135943,4743.3149,-12224.9424,8,0.8,26,16.3,0.0,0.0,10,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-52.0
$GPS2,200718,141032,4743.3096,-12225.0029,5,0.9,26,16.3,0.0,0.0,10,7.4
$SPEED_LIMITS,0.173,0.346
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.104501,-0.329431
$KALMAN_X,762.553955,-415.235382,191.698395,-980.219421,-145.517654
$KALMAN_Y,-451.975830,-167.518890,853.234497,839.521240,-16.100677
$MHEAD_RNG_PITCHd_Wd,146.1,1521,-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,-293.3,531,1967,1778,2047,0.0,0.0,0,18,0.00,0.00,-5.82,0.000,16390,0.000,0.000,530,1967,2594,2594,2047,0,0,0,0,0,0,26.64,25.34,26.65,9.94,54.76
$GC,20,-1.22,-293.3,530,1975,2601,2047,0.0,0.0,0,51,23.77,2.72,0.00,0.000,2820,0.149,0.050,2352,3014,2604,2604,2044,0,0,0,0,0,0,26.20,26.27,26.31,10.13,55.11
$GC,56,-1.22,-293.3,2359,3017,2604,2044,8.3,-34.2,2,62,0.00,2.72,0.00,0.000,1030,0.000,0.034,2350,1947,2614,2614,2041,0,0,0,0,0,0,26.40,26.32,26.42,10.13,55.00
$GC,249,-1.22,-293.3,2351,1947,2607,2041,30.8,-10.8,15,250,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1947,2608,2608,2058,0,0,0,0,0,0,26.80,26.82,26.81,10.14,54.01
$GC,429,-1.22,-293.3,2359,1947,2611,2058,49.9,-10.1,27,435,0.00,2.80,0.00,0.000,260,0.000,0.052,2351,3024,2611,2611,2047,0,0,0,0,0,0,26.91,26.56,26.93,10.12,54.41
$GC,478,-1.22,-293.3,2350,3016,2612,2047,54.4,-9.6,30,483,0.00,2.70,0.00,0.000,1030,0.000,0.034,2350,1944,2605,2605,2049,0,0,0,0,0,0,26.71,26.60,26.73,10.10,53.78
$GC,675,-1.22,-293.3,2350,1944,2615,2049,73.3,-10.8,43,681,0.00,2.83,0.00,0.000,260,0.000,0.052,2359,3019,2615,2615,2040,0,0,0,0,0,0,27.01,26.66,27.02,10.12,53.66
$GC,686,-1.22,-293.3,2352,3028,2623,2040,73.3,-10.8,43,694,0.00,2.70,0.00,0.000,1030,0.000,0.034,2362,1945,2615,2615,2043,0,0,0,0,0,0,26.79,26.71,26.78,10.14,54.44
$GC,874,-1.22,-293.3,2351,1945,2621,2043,93.5,-9.9,56,879,0.00,2.92,0.00,0.000,516,0.000,0.068,2363,860,2611,2611,2047,0,0,0,0,0,0,27.07,26.70,27.08,10.11,53.97
$GC,907,-1.22,-293.3,2351,859,2619,2047,96.9,-9.9,58,912,0.00,2.70,0.00,0.000,1030,0.000,0.031,2351,1934,2619,2619,2048,0,0,0,0,0,0,26.86,26.79,26.88,10.11,54.25
$GC,1105,-1.22,-293.3,2350,1935,2622,2048,115.3,-9.9,71,1111,0.00,2.85,0.00,0.000,260,0.000,0.054,2351,3034,2622,2622,2048,0,0,0,0,0,0,27.10,26.76,27.16,10.11,53.93
$GC,1168,-1.22,-293.3,2351,3034,2614,2048,121.7,-10.1,75,1173,0.00,2.72,0.00,0.000,1030,0.000,0.034,2351,1950,2624,2624,2047,0,0,0,0,0,0,26.91,26.82,26.92,10.11,53.81
$GC,1366,-1.22,-293.3,2351,1952,2627,2047,140.0,-9.2,88,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,1946,2627,2627,2048,0,0,0,0,0,0,27.16,27.18,27.17,10.11,54.84
$STATE,1486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1486,begin apogee
$GC,1490,-0.33,0.0,2350,1865,2628,2046,150.9,-9.1,96,1517,3.12,0.00,18.35,1.909,10246,0.070,0.000,2635,1865,2288,2288,2053,0,0,0,0,0,0,26.84,25.94,24.71,10.05,54.76
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1519,begin climb
$GC,1520,1.22,293.3,2635,1865,2279,2053,152.8,0.0,98,1547,5.15,0.00,17.00,1.884,10758,0.046,0.000,3124,1865,1962,1962,2047,0,0,0,0,0,0,26.20,25.07,24.19,10.03,54.05
$GC,1727,1.33,366.5,3121,1864,1960,2047,137.3,8.3,112,1735,0.28,0.00,5.82,1.312,10246,0.050,0.000,3150,1859,1878,1878,2047,0,0,0,0,0,0,26.28,25.91,24.75,9.96,54.76
$GC,1908,1.33,367.2,3150,1872,1874,2047,119.7,10.0,124,1914,0.00,2.92,0.00,0.000,260,0.000,0.048,3151,2971,1873,1873,2047,0,0,0,0,0,0,26.67,26.34,26.68,9.94,54.60
$GC,1941,1.33,367.2,3150,2971,1874,2047,116.3,10.1,126,1947,0.00,2.78,0.03,0.006,9222,0.000,0.036,3152,1890,1874,1874,2047,0,0,0,0,0,0,26.48,26.36,26.53,9.94,54.84
$GC,2140,1.38,398.8,3150,1892,1869,2047,96.7,9.3,139,2146,0.17,0.00,3.03,0.555,10246,0.057,0.000,3172,1890,1846,1846,2047,0,0,0,0,0,0,26.62,26.36,25.29,9.94,55.71
$GC,2320,1.44,438.6,3171,1889,1843,2047,80.1,9.1,151,2327,0.15,0.00,3.55,0.637,10246,0.062,0.000,3193,1889,1805,1805,2047,0,0,0,0,0,0,26.70,26.42,25.49,9.93,55.04
$GC,2500,1.44,438.6,3191,1889,1801,2047,61.6,11.1,163,2505,0.00,3.00,0.00,0.000,516,0.000,0.071,3192,789,1801,1801,2047,0,0,0,0,0,0,26.96,26.61,26.97,9.92,55.19
$GC,2526,1.44,438.6,3198,788,1792,2047,59.6,11.4,164,2534,0.00,2.75,0.00,0.000,1030,0.000,0.031,3192,1883,1797,1797,2053,0,0,0,0,0,0,26.77,26.70,26.77,10.00,55.47
$GC,2713,1.45,446.5,3186,1880,1796,2053,40.5,9.8,177,2719,0.00,2.80,0.22,0.007,8452,0.000,0.049,3192,2966,1796,1796,2058,0,0,0,0,0,0,27.04,26.70,27.03,9.92,55.90
$GC,2781,1.45,446.5,3191,2966,1794,2058,33.5,11.0,181,2787,0.00,2.78,0.03,0.008,9222,0.000,0.037,3192,1873,1793,1793,2048,0,0,0,0,0,0,26.80,26.74,26.84,9.92,55.43
$GC,2974,1.45,446.5,3191,1873,1789,2048,12.8,10.7,194,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,1874,1789,1789,2047,0,0,0,0,0,0,27.10,27.12,27.11,9.92,55.82
$STATE,3078,end climb,SURFACE_DEPTH_REACHED
$STATE,3078,begin surface coast
$FINISH,0.3,1.022148
$STATE,3094,end surface coast,CONTROL_FINISHED_OK
$STATE,3094,begin surface
$SM_CCo,3190,0.00,0.000,0,0,1785,451.54
$SM_GC,0.99,27.38,0.20,0.00,0.024,0.054,0.000,529,1970,1785,-6.93,-1.09,451.54,0,0,0,0,0,0,26.84,26.91,26.89
$IRIDIUM_FIX,4808.40,-12337.82,200718,125726
$TT8_MAMPS,0.023968,0.304843
$HUMID,54.76
$INTERNAL_PRESSURE,9.87271
$TCM_TEMP,10.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.3,98.9
$SC_FREEKB,3899488
$24V_AH,24.19,4.439
$10V_AH,10.52,8.017
$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,60.025,45.075,48.025,0.000,0.000,24.108,14.568,467.985,0.500,0.000,27.629,654.479,1895.561,146.229,1110.373,59.892,33.473,394.312,0.000,379.023,0.000,7.856,0.000
$DEVICE_MAMPS,149.175,78.030,1909.440,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3117.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.503,0.000,0.000,0.000
$MEM,344216
$DATA_FILE_SIZE,7093,202
$CAP_FILE_SIZE,49132,0
$CFSIZE,1023623168,1017724928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,200718,150536,4742.666,-12225.064,4,0.9,8,16.3,0.0,291.3,10,9.1