version: 66.14
glider: 38
mission: 14
dive: 14
start: 9 6 118 17 41 59
data:
$ID,38
$MISSION,14
$DIVE,14
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,6050
$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,60
$T_MISSION,90
$T_ABORT,1440
$T_TURN,540
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80388.797
$MASS_COMP,11240.1
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0049999999
$HD_B,0.013
$HD_C,2.4999999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3210
$TGT_DEFAULT_LON,-6430
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,384
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,-15
$N_GPS,50840
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3880
$C_PITCH,3249
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,150
$C_ROLL_CLIMB,150
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2240
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.499046
$PRESSURE_SLOPE,0
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043154242
$SEABIRD_T_H,0.00062410574
$SEABIRD_T_I,2.302181e-05
$SEABIRD_T_J,2.4339581e-06
$SEABIRD_C_G,-9.7676115
$SEABIRD_C_H,1.1309991
$SEABIRD_C_I,-0.0018490348
$SEABIRD_C_J,0.00021460596
$SEABIRD_C_Z,2943.3999
$GPS1,060918,173143,3213.2141,-6433.1367,5,0.8,46,-14.9,0.0,307.6,9,5.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-57.4
$GPS2,060918,174122,3213.2603,-6433.1641,6,0.9,34,-14.9,0.0,0.0,8,4.9
$SPEED_LIMITS,0.200,0.268
$TGT_NAME,BATS
$TGT_LATLONG,3140.000,-6410.000
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,0.000000,0.000000
$KALMAN_X,0.000000,0.000000,0.000000,0.000000,0.000000
$KALMAN_Y,0.000000,0.000000,0.000000,0.000000,0.000000
$MHEAD_RNG_PITCHd_Wd,127.2,71607,-35.5,-20.000,-36.78,1122
$D_GRID,360
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-2.18,-146.6,157,159,516,500,0.0,0.0,0,214,0.00,0.00,-200.35,0.151,16390,0.000,0.000,158,160,2744,2766,2723,0,0,0,0,0,0,26.55,26.10,25.96,8.64,16.64
$GC,217,-2.18,-146.6,157,160,2767,2723,2.3,-1.9,32,231,9.20,0.00,0.00,0.000,2054,0.273,0.000,2547,158,2743,2763,2723,0,0,0,0,0,0,25.85,26.08,26.04,8.87,16.41
$GC,293,-2.30,-146.6,2546,158,2756,2719,1.3,-0.4,46,301,0.00,0.00,-0.93,0.608,20486,0.000,0.000,2547,158,2744,2761,2728,0,0,0,0,0,0,26.46,26.15,26.07,8.88,16.33
$GC,365,-2.30,-146.6,2546,158,2761,2726,1.7,0.4,59,371,0.00,0.00,0.00,0.000,4102,0.000,0.000,2547,158,2743,2761,2726,0,0,0,0,0,0,26.54,26.55,26.54,8.88,16.45
$GC,433,-2.30,-146.6,2546,158,2760,2725,1.7,0.7,72,439,0.00,0.00,0.00,0.000,4102,0.000,0.000,2547,158,2742,2760,2724,0,0,0,0,0,0,26.60,26.61,26.61,8.88,16.76
$GC,504,-2.17,-146.6,2546,158,2760,2723,1.6,0.6,85,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,158,2741,2760,2723,0,0,0,0,0,0,26.65,26.66,26.65,8.88,16.80
$GC,573,-2.17,-146.6,2546,158,2760,2723,1.8,-0.5,98,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,158,2741,2760,2723,0,0,0,0,0,0,26.70,26.70,26.70,8.88,17.31
$GC,644,-2.12,-146.6,2546,158,2760,2722,1.7,0.1,111,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,157,2741,2760,2722,0,0,0,0,0,0,26.72,26.74,26.73,8.88,16.72
$GC,712,-2.05,-146.6,2546,158,2759,2722,1.8,0.2,124,719,0.12,0.00,0.00,0.000,2054,0.236,0.000,2586,157,2740,2759,2721,0,0,0,0,0,0,26.36,26.49,26.43,8.88,16.64
$GC,782,-2.14,-146.6,2586,158,2759,2721,1.4,-0.1,137,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,158,2739,2758,2721,0,0,0,0,0,0,26.77,26.79,26.79,8.89,16.92
$GC,851,-2.14,-146.6,2586,158,2758,2721,1.6,-1.1,150,859,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,157,2740,2759,2721,0,0,0,0,0,0,26.79,26.80,26.80,8.89,16.72
$GC,923,-2.14,-146.6,2585,158,2758,2721,1.6,-0.1,163,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,158,2739,2758,2721,0,0,0,0,0,0,26.82,26.82,26.82,8.89,16.72
$GC,991,-2.14,-146.6,2586,158,2758,2721,1.7,0.3,176,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,158,2739,2758,2721,0,0,0,0,0,0,26.82,26.84,26.84,8.89,17.51
$GC,1060,-2.21,-146.6,2586,158,2758,2720,1.7,-0.9,189,1066,0.00,0.00,0.00,0.000,4102,0.000,0.000,2586,158,2739,2758,2720,0,0,0,0,0,0,26.84,26.85,26.85,8.89,16.64
$GC,1129,-2.33,-146.6,2586,158,2758,2720,1.4,0.2,202,1137,0.12,0.00,0.00,0.000,4102,0.134,0.000,2511,158,2739,2758,2720,0,0,0,0,0,0,26.58,26.64,26.61,8.89,16.80
$GC,1201,-2.33,-146.6,2511,157,2759,2719,1.6,1.2,215,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,158,2738,2758,2719,0,0,0,0,0,0,26.86,26.87,26.86,8.89,16.64
$GC,1270,-2.27,-146.6,2510,158,2758,2719,1.5,-0.8,228,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,158,2738,2758,2719,0,0,0,0,0,0,26.87,26.88,26.88,8.89,16.84
$GC,1339,-2.27,-146.6,2511,158,2758,2719,1.5,-1.1,241,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,157,2738,2758,2719,0,0,0,0,0,0,26.88,26.89,26.89,8.89,17.08
$GC,1409,-2.27,-146.6,2511,158,2758,2719,1.7,-0.5,254,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,157,2738,2758,2719,0,0,0,0,0,0,26.89,26.89,26.89,8.89,16.64
$GC,1480,-2.19,-146.6,2510,158,2758,2719,1.6,1.0,267,1487,0.10,0.00,0.00,0.000,2054,0.236,0.000,2543,157,2738,2758,2719,0,0,0,0,0,0,26.48,26.63,26.58,8.90,16.88
$GC,1549,-2.19,-146.6,2542,157,2758,2719,1.5,0.6,280,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,157,2738,2758,2719,0,0,0,0,0,0,26.89,26.91,26.91,8.89,17.12
$GC,1619,-2.08,-146.6,2542,157,2758,2719,1.9,-1.1,293,1625,0.12,0.00,0.00,0.000,2054,0.248,0.000,2580,158,2738,2758,2719,0,0,0,0,0,0,26.45,26.63,26.57,8.89,17.19
$GC,1687,-2.08,-146.6,2579,157,2758,2718,1.4,0.2,306,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,158,2738,2758,2718,0,0,0,0,0,0,26.91,26.92,26.91,8.89,16.80
$GC,1758,-2.08,-146.6,2579,158,2758,2718,1.5,0.2,319,1765,0.00,0.00,-0.65,0.857,16390,0.000,0.000,2579,158,2743,2761,2725,0,0,0,0,0,0,26.91,26.58,26.48,8.89,16.96
$GC,1827,-2.08,-146.6,2579,157,2760,2725,1.7,-0.6,332,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,158,2743,2761,2725,0,0,0,0,0,0,26.91,26.91,26.91,8.90,17.15
$GC,1896,-2.08,-146.6,2578,157,2761,2724,1.6,0.9,345,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2743,2761,2725,0,0,0,0,0,0,26.91,26.92,26.91,8.90,17.04
$GC,1965,-2.08,-146.6,2579,157,2760,2724,1.4,0.2,358,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2742,2760,2725,0,0,0,0,0,0,26.92,26.93,26.92,8.90,17.15
$GC,2034,-2.08,-146.6,2579,157,2760,2724,1.6,0.2,371,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2742,2761,2724,0,0,0,0,0,0,26.92,26.93,26.93,8.90,16.92
$GC,2105,-2.08,-146.6,2578,157,2761,2725,1.7,-0.1,384,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,158,2742,2759,2725,0,0,0,0,0,0,26.92,26.94,26.93,8.91,17.15
$GC,2174,-2.08,-146.6,2579,157,2760,2725,1.7,-0.1,397,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2742,2760,2725,0,0,0,0,0,0,26.93,26.94,26.94,8.90,17.00
$GC,2243,-2.13,-146.6,2579,158,2761,2725,1.5,0.0,410,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,158,2743,2761,2725,0,0,0,0,0,0,26.93,26.94,26.94,8.90,17.00
$GC,2313,-2.13,-146.6,2579,157,2761,2725,1.6,0.4,423,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2742,2760,2724,0,0,0,0,0,0,26.94,26.94,26.94,8.90,17.04
$GC,2383,-2.13,-146.6,2579,158,2760,2725,1.6,0.1,436,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2743,2761,2725,0,0,0,0,0,0,26.94,26.95,26.94,8.91,16.96
$GC,2451,-2.13,-146.6,2579,157,2760,2725,1.6,0.9,449,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2743,2761,2725,0,0,0,0,0,0,26.94,26.95,26.95,8.91,17.04
$GC,2522,-2.13,-146.6,2579,158,2760,2725,1.7,0.3,462,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,158,2742,2760,2725,0,0,0,0,0,0,26.94,26.96,26.95,8.90,17.00
$GC,2590,-2.13,-146.6,2579,157,2761,2724,1.7,-0.7,475,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2742,2760,2725,0,0,0,0,0,0,26.94,26.95,26.95,8.91,17.27
$GC,2661,-2.13,-146.6,2579,157,2761,2725,1.6,-0.8,488,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,157,2742,2760,2725,0,0,0,0,0,0,26.94,26.96,26.95,8.91,17.04
$STATE,2708,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2708,begin apogee
$GC,2711,-0.29,0.0,2579,157,2760,2725,1.7,-0.1,497,2721,1.75,0.00,5.43,0.499,10242,0.201,0.000,3153,157,2715,2733,2697,0,0,0,0,0,0,26.50,28.83,26.67,8.91,17.08
$STATE,2722,end apogee,SURFACE_DEPTH_REACHED
$STATE,2722,begin surface coast
$FINISH,0.6,1.023272
$STATE,2974,end surface coast,CONTROL_FINISHED_OK
$STATE,2975,begin surface
$SM_CCo,2989,473.12,0.668,0,0,517,500.22
$SM_GC,1.41,7.22,0.00,473.12,0.067,0.000,0.668,142,157,517,-9.57,0.20,500.22,0,0,0,0,0,0,26.67,26.93,24.75
$IRIDIUM_FIX,3213.07,-6433.29,060918,173556
$TT8_MAMPS,0.02247,0.256158
$HUMID,16.96
$INTERNAL_PRESSURE,8.66122
$TCM_TEMP,27.10
$XPDR_PINGS,3
$ALTIM_TOP_PING,1.8,999.0
$24V_AH,24.75,5.530
$10V_AH,10.72,1.650
$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,18.650,0.000,5.425,473.125,201.925,0.000,0.000,0.000,1.000,0.000,35.425,1458.173,395.003,797.816,863.891,45.634,0.000,1272.589,0.000,811.648,0.000,2.982,0.000
$DEVICE_MAMPS,273.130,0.000,499.083,667.927,856.635,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.945,727.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319336
$DATA_FILE_SIZE,34854,548
$CAP_FILE_SIZE,94518,0
$CFSIZE,2047311872,2037088256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.179,315.97,1
$GPS,060918,184047,3213.496,-6433.421,4,0.7,35,-14.9,0.0,0.0,11,5.0