version: 66.14
glider: 404
mission: 6
dive: 6
start: 7 19 118 23 44 45
data:
$ID,404
$MISSION,6
$DIVE,6
$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,2740
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,190718,233220,4743.6655,-12224.6367,7,0.8,8,16.3,0.0,0.0,10,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-51.2
$GPS2,190718,234336,4743.6592,-12224.5996,8,0.8,10,16.3,0.0,0.0,10,9.1
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,SW
$TGT_LATLONG,4742.500,-12224.800
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.068180,-0.313323
$KALMAN_X,949.415771,533.332825,293.628571,-1716.062500,112.802338
$KALMAN_Y,783.361084,477.364594,153.032471,301.447021,153.996368
$MHEAD_RNG_PITCHd_Wd,176.0,2161,-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,-244.4,545,1939,1762,2047,0.0,0.0,0,17,0.00,0.00,-5.38,0.000,16390,0.000,0.000,551,1939,2522,2522,2058,0,0,0,0,0,0,26.66,25.13,26.66,9.96,56.61
$GC,19,-1.24,-244.4,550,1935,2522,2058,0.0,0.0,0,50,23.27,2.92,0.00,0.000,2820,0.146,0.065,2337,863,2524,2524,2048,0,0,0,0,0,0,26.17,26.24,26.27,10.19,56.93
$GC,271,-1.24,-244.4,2337,863,2531,2048,31.8,-9.4,16,279,0.00,2.75,0.00,0.000,1030,0.000,0.032,2338,1950,2521,2521,2047,0,0,0,0,0,0,26.63,26.57,26.66,10.12,56.10
$GC,458,-1.24,-244.4,2334,1952,2528,2047,48.1,-7.9,29,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,1949,2536,2536,2042,0,0,0,0,0,0,26.97,26.99,26.99,10.12,55.63
$GC,638,-1.24,-244.4,2343,1960,2533,2042,62.2,-8.1,41,644,0.00,2.83,0.00,0.000,260,0.000,0.055,2338,3035,2534,2534,2056,0,0,0,0,0,0,27.08,26.64,27.05,10.12,55.35
$GC,725,-1.24,-244.4,2337,3035,2535,2056,68.2,-7.6,46,733,0.00,2.72,0.00,0.000,1030,0.000,0.034,2337,1947,2536,2536,2043,0,0,0,0,0,0,26.84,26.73,26.86,10.12,55.51
$GC,912,-1.24,-244.4,2339,1946,2538,2043,84.3,-8.8,59,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2338,1945,2538,2538,2048,0,0,0,0,0,0,27.12,27.13,27.12,10.12,55.63
$GC,1092,-1.24,-244.4,2337,1946,2541,2048,99.4,-8.3,71,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,1946,2541,2541,2047,0,0,0,0,0,0,27.16,27.15,27.17,10.12,56.10
$GC,1272,-1.24,-244.4,2337,1946,2550,2047,114.7,-8.9,83,1277,0.00,2.88,0.00,0.000,516,0.000,0.067,2338,866,2544,2544,2048,0,0,0,0,0,0,27.19,26.77,27.19,10.11,55.51
$GC,1298,-1.24,-244.4,2339,857,2546,2048,116.6,-9.2,84,1306,0.00,2.72,0.00,0.000,1030,0.000,0.034,2338,1961,2545,2545,2058,0,0,0,0,0,0,26.97,26.88,27.03,10.10,56.22
$GC,1484,-1.24,-244.4,2345,1953,2551,2058,138.5,-10.6,97,1490,0.00,2.80,0.00,0.000,260,0.000,0.054,2337,3033,2548,2548,2050,0,0,0,0,0,0,27.22,26.82,27.22,10.11,55.55
$GC,1556,-1.24,-244.4,2341,3033,2547,2050,144.6,-9.8,101,1564,0.00,2.70,0.00,0.000,1030,0.000,0.035,2338,1951,2546,2546,2042,0,0,0,0,0,0,26.98,26.89,27.00,10.13,56.10
$STATE,1606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1606,begin apogee
$GC,1610,-0.33,0.0,2335,1862,2551,2047,150.3,-9.5,105,1638,3.25,0.00,15.95,1.844,10246,0.075,0.000,2629,1862,2250,2250,2048,0,0,0,0,0,0,26.79,26.03,24.79,10.08,56.18
$STATE,1639,end apogee,CONTROL_FINISHED_OK
$STATE,1639,begin climb
$GC,1641,1.24,244.4,2629,1862,2250,2048,151.9,0.0,107,1668,5.22,0.00,14.60,1.815,10246,0.048,0.000,3120,1862,1983,1983,2047,0,0,0,0,0,0,26.34,25.28,24.36,10.05,55.31
$GC,1848,1.31,291.6,3117,1861,1980,2047,135.2,8.7,121,1858,0.17,2.95,4.15,1.017,10500,0.063,0.048,3138,2969,1933,1933,2049,0,0,0,0,0,0,26.40,25.82,24.91,9.98,55.47
$GC,1884,1.37,330.4,3138,2969,1932,2049,132.0,8.9,123,1898,0.12,2.80,3.85,0.921,11270,0.074,0.037,3156,1883,1892,1892,2047,0,0,0,0,0,0,26.34,26.32,24.91,10.03,55.67
$GC,2077,1.38,334.2,3155,1883,1887,2047,111.5,9.9,136,2082,0.00,2.85,0.00,0.000,260,0.000,0.051,3156,2965,1887,1887,2047,0,0,0,0,0,0,26.78,26.44,26.79,9.96,55.78
$GC,2103,1.38,334.2,3149,2965,1889,2047,109.4,10.4,137,2110,0.00,2.80,0.00,0.000,1030,0.000,0.038,3155,1872,1896,1896,2042,0,0,0,0,0,0,26.58,26.51,26.60,9.97,55.63
$GC,2290,1.39,342.7,3155,1866,1883,2042,88.7,9.8,150,2295,0.00,2.95,0.00,0.000,516,0.000,0.072,3156,789,1883,1883,2047,0,0,0,0,0,0,26.93,26.53,26.94,9.96,56.26
$GC,2371,1.40,346.2,3156,788,1881,2047,81.1,9.9,155,2377,0.00,2.75,0.45,0.009,9222,0.000,0.033,3156,1882,1883,1883,2047,0,0,0,0,0,0,26.77,26.68,26.77,9.95,56.14
$GC,2565,1.43,369.0,3150,1883,1877,2047,62.9,9.4,168,2575,0.15,2.80,2.95,0.421,10500,0.061,0.050,3180,2967,1854,1854,2048,0,0,0,0,0,0,26.82,26.60,25.57,9.95,56.77
$GC,2636,1.43,369.0,3174,2967,1861,2048,55.7,11.3,172,2644,0.00,2.78,0.00,0.000,1030,0.000,0.038,3182,1874,1850,1850,2047,0,0,0,0,0,0,26.79,26.70,26.82,9.99,56.57
$GC,2823,1.49,407.8,3177,1877,1839,2047,37.7,8.9,185,2833,0.12,2.92,3.50,0.444,10756,0.071,0.070,3200,790,1810,1810,2056,0,0,0,0,0,0,26.91,26.63,25.79,9.89,56.93
$GC,2856,1.52,428.9,3203,790,1809,2056,34.4,9.4,187,2866,0.00,2.75,3.00,0.338,9222,0.000,0.034,3194,1893,1785,1785,2047,0,0,0,0,0,0,26.82,26.79,25.82,9.93,56.45
$GC,3054,1.52,428.9,3196,1887,1778,2047,12.5,11.5,200,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,1884,1778,1778,2047,0,0,0,0,0,0,27.10,27.12,27.12,9.94,56.02
$STATE,3157,end climb,SURFACE_DEPTH_REACHED
$STATE,3157,begin surface coast
$FINISH,-0.3,1.001382
$STATE,3175,end surface coast,CONTROL_FINISHED_OK
$STATE,3175,begin surface
$SM_CCo,3270,0.00,0.000,0,0,1775,439.54
$SM_GC,0.39,27.40,0.12,0.00,0.028,0.077,0.000,550,1961,1775,-6.84,-1.50,439.54,0,0,0,0,0,0,26.81,26.91,26.87
$IRIDIUM_FIX,4808.40,-12337.82,190718,222608
$TT8_MAMPS,0.024717,0.619423
$HUMID,56.30
$INTERNAL_PRESSURE,9.89224
$TCM_TEMP,10.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.6,92.5
$SC_FREEKB,3907136
$24V_AH,24.36,3.762
$10V_AH,10.34,6.898
$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,59.725,51.000,48.450,0.000,0.000,25.532,24.377,496.290,0.500,0.000,11.586,723.070,1824.530,159.727,1207.477,61.488,33.422,446.519,0.000,449.662,0.000,8.232,0.000
$DEVICE_MAMPS,146.115,77.265,1844.415,0.000,0.000,32.130,160.000,223.000,420.000,0.000,27.710,14.210,2.190,14.210,38.930,55.410,62.150,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3203.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,74.298,0.000,0.000,0.000
$MEM,344248
$DATA_FILE_SIZE,7054,208
$CAP_FILE_SIZE,53012,0
$CFSIZE,1023623168,1019314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200718,004007,4743.172,-12224.690,7,0.9,12,16.3,0.0,0.0,9,9.2