version: 66.14
glider: 38
mission: 14
dive: 15
start: 9 6 118 19 6 43
data:
$ID,38
$MISSION,14
$DIVE,15
$N_DIVES,0
$STOP_T,9201819
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,210
$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,30
$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,2564
$C_ROLL_CLIMB,2260
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,62
$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,2000
$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
$GPS1,060918,185641,3213.5249,-6433.4644,5,0.8,45,-14.9,0.0,234.3,10,5.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-54.2
$GPS2,060918,190607,3213.5376,-6433.4932,7,0.9,48,-14.9,0.0,272.8,9,5.5
$SPEED_LIMITS,0.173,0.230
$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,153.8,72313,-20.9,-10.000,-23.48,2226
$D_GRID,540
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.32,-146.6,148,2606,514,497,0.0,0.0,0,209,0.00,0.00,-195.68,0.151,16390,0.000,0.000,148,2606,2745,2769,2721,0,0,0,0,0,0,26.73,26.22,26.09,8.70,17.27
$GC,212,-1.32,-146.6,148,2606,2769,2721,2.3,-1.0,31,226,9.95,0.00,0.00,0.000,2566,0.263,0.000,2822,2606,2743,2768,2719,0,0,0,0,0,0,25.96,26.20,26.15,8.92,17.00
$GC,289,-1.66,-146.6,2821,2606,2765,2712,0.6,0.6,45,296,0.17,0.00,0.00,0.000,4102,0.107,0.000,2718,2606,2738,2764,2712,0,0,0,0,0,0,26.31,26.36,26.34,8.92,17.04
$GC,359,-1.97,-146.6,2716,2606,2764,2709,0.8,0.0,58,368,0.15,2.42,-0.70,0.785,20996,0.114,0.070,2631,961,2740,2766,2714,0,0,0,0,0,0,26.39,26.32,26.24,8.92,17.75
$GC,913,-2.29,-146.6,2630,958,2760,2714,0.6,0.5,167,922,0.20,2.30,-1.00,0.623,21510,0.097,0.070,2520,2557,2744,2766,2723,0,0,0,0,0,0,26.61,26.60,26.47,8.92,18.14
$GC,987,-1.85,-146.6,2519,2558,2766,2722,2.0,-0.6,180,994,0.43,0.00,0.00,0.000,2054,0.209,0.000,2655,2559,2744,2766,2723,0,0,0,0,0,0,26.44,26.59,26.54,8.93,18.14
$GC,1057,-1.79,-146.6,2654,2559,2766,2722,0.9,0.8,193,1064,0.00,2.33,0.00,0.000,516,0.000,0.067,2654,961,2744,2765,2723,0,0,0,0,0,0,26.87,26.61,26.88,8.93,17.98
$GC,1453,-2.09,-146.6,2654,958,2766,2722,0.7,0.0,271,1461,0.12,2.30,0.00,0.000,5126,0.117,0.067,2582,2569,2744,2766,2722,0,0,0,0,0,0,26.65,26.67,26.70,8.93,18.26
$GC,1524,-2.38,-146.6,2580,2569,2766,2721,0.7,0.3,284,1532,0.15,2.35,0.00,0.000,4612,0.114,0.070,2486,949,2744,2766,2722,0,0,0,0,0,0,26.67,26.67,26.70,8.93,18.30
$GC,1874,-2.62,-146.6,2485,945,2766,2721,0.8,-0.4,353,1882,0.12,2.33,0.00,0.000,5126,0.127,0.070,2410,2581,2743,2766,2721,0,0,0,0,0,0,26.65,26.69,26.72,8.93,18.30
$GC,1944,-2.62,-146.6,2409,2585,2766,2720,0.8,-0.5,366,1951,0.00,2.35,0.00,0.000,516,0.000,0.070,2410,953,2743,2766,2721,0,0,0,0,0,0,26.94,26.69,26.95,8.93,18.41
$GC,2178,-2.62,-146.6,2410,952,2766,2721,0.7,-0.1,412,2185,0.00,2.30,0.00,0.000,1030,0.000,0.067,2410,2574,2742,2766,2719,0,0,0,0,0,0,26.75,26.70,26.77,8.93,19.04
$GC,2248,-2.86,-146.6,2409,2575,2766,2719,0.7,0.2,425,2256,0.10,2.33,0.00,0.000,4612,0.137,0.067,2344,969,2743,2766,2720,0,0,0,0,0,0,26.70,26.68,26.73,8.93,18.41
$GC,2803,-2.50,-146.6,2344,969,2766,2718,1.7,-0.0,534,2813,0.40,2.28,0.00,0.000,3078,0.241,0.065,2447,2585,2742,2766,2718,0,0,0,0,0,0,26.51,26.72,26.68,8.93,18.77
$GC,2877,-2.31,-146.6,2447,2585,2766,2718,1.5,-0.3,547,2885,0.17,2.35,0.00,0.000,2564,0.214,0.065,2505,953,2742,2766,2718,0,0,0,0,0,0,26.55,26.70,26.65,8.93,18.18
$GC,3025,-2.06,-146.6,2504,953,2766,2718,1.4,-0.1,575,3033,0.30,2.28,0.00,0.000,3078,0.216,0.065,2587,2566,2741,2766,2717,0,0,0,0,0,0,26.53,26.72,26.69,8.93,18.89
$GC,3096,-1.82,-146.6,2587,2566,2766,2717,1.8,-1.3,588,3104,0.22,2.33,0.00,0.000,2564,0.206,0.065,2663,952,2741,2766,2717,0,0,0,0,0,0,26.55,26.70,26.65,8.93,18.06
$GC,3190,-2.05,-146.6,2662,952,2765,2717,0.6,2.1,605,3197,0.12,2.30,0.00,0.000,5126,0.117,0.070,2590,2555,2741,2766,2717,0,0,0,0,0,0,26.70,26.70,26.75,8.94,18.26
$GC,3260,-2.38,-146.6,2589,2557,2766,2717,0.7,0.4,618,3268,0.17,2.33,0.00,0.000,4612,0.109,0.070,2488,952,2741,2766,2717,0,0,0,0,0,0,26.72,26.71,26.74,8.93,18.38
$GC,3281,-2.67,-146.6,2487,951,2766,2717,0.9,-0.4,621,3289,0.17,2.33,0.00,0.000,5126,0.107,0.070,2390,2573,2741,2766,2717,0,0,0,0,0,0,26.70,26.70,26.75,8.93,18.57
$GC,3352,-2.26,-146.6,2389,2573,2766,2717,2.2,-2.6,634,3361,0.43,2.33,0.00,0.000,2564,0.223,0.062,2529,945,2741,2766,2716,0,0,0,0,0,0,26.53,26.69,26.67,8.93,18.65
$GC,3619,-2.26,-146.6,2528,945,2766,2717,1.0,0.5,686,3627,0.00,2.33,0.00,0.000,1030,0.000,0.065,2519,2580,2741,2766,2717,0,0,0,0,0,0,26.77,26.72,26.79,8.93,18.57
$GC,3692,-2.03,-146.6,2518,2581,2766,2716,1.5,-0.1,699,3700,0.22,2.33,0.00,0.000,2564,0.204,0.067,2595,962,2741,2766,2716,0,0,0,0,0,0,26.57,26.70,26.66,8.93,18.30
$GC,4243,-1.68,-146.6,2594,960,2766,2716,1.7,0.6,808,4251,0.40,2.28,0.00,0.000,3078,0.201,0.065,2713,2571,2740,2765,2716,0,0,0,0,0,0,26.56,26.73,26.70,8.94,18.45
$GC,4313,-1.68,-146.6,2712,2572,2766,2716,1.2,-0.4,821,4320,0.00,2.33,0.00,0.000,516,0.000,0.067,2712,962,2740,2765,2716,0,0,0,0,0,0,26.97,26.72,26.98,8.93,18.69
$GC,4864,-1.96,-146.6,2712,960,2765,2716,0.7,-0.4,930,4872,0.15,2.30,0.00,0.000,5126,0.109,0.074,2594,2556,2741,2766,2716,0,0,0,0,0,0,26.72,26.71,26.77,8.94,18.65
$GC,4934,-2.24,-146.6,2594,2559,2766,2715,0.6,0.9,943,4941,0.10,0.00,0.00,0.000,4102,0.134,0.000,2515,2559,2741,2766,2716,0,0,0,0,0,0,26.72,26.77,26.75,8.94,18.73
$GC,5003,-2.24,-146.6,2514,2560,2766,2715,0.8,0.0,956,5010,0.00,2.30,0.00,0.000,516,0.000,0.070,2515,960,2740,2766,2715,0,0,0,0,0,0,26.98,26.73,26.98,8.94,18.53
$GC,5428,-2.54,-146.6,2515,958,2765,2715,0.6,0.7,1040,5436,0.12,2.30,0.00,0.000,5126,0.114,0.067,2433,2585,2740,2765,2715,0,0,0,0,0,0,26.72,26.73,26.77,8.94,18.61
$GC,5499,-2.86,-146.6,2433,2587,2765,2714,0.6,-0.1,1053,5507,0.15,2.35,0.00,0.000,4612,0.107,0.065,2330,959,2740,2765,2715,0,0,0,0,0,0,26.77,26.72,26.78,8.94,18.53
$GC,5745,-2.27,-146.6,2329,957,2765,2715,2.2,-1.7,1101,5753,0.65,2.28,0.00,0.000,3078,0.206,0.065,2523,2584,2741,2766,2716,0,0,0,0,0,0,26.55,26.75,26.71,8.93,19.01
$GC,5816,-2.00,-146.6,2522,2584,2766,2715,1.5,0.2,1114,5823,0.25,0.00,0.00,0.000,2054,0.199,0.000,2606,2584,2740,2765,2715,0,0,0,0,0,0,26.58,26.72,26.67,8.94,18.57
$GC,5886,-2.25,-146.6,2605,2588,2765,2714,0.6,0.8,1127,5894,0.10,2.35,0.00,0.000,4612,0.129,0.070,2529,960,2740,2766,2714,0,0,0,0,0,0,26.76,26.72,26.77,8.94,18.65
$GC,5982,-1.87,-146.6,2528,960,2765,2715,1.5,1.3,1145,5990,0.40,2.25,0.00,0.000,3078,0.201,0.065,2645,2560,2740,2766,2714,0,0,0,0,0,0,26.56,26.73,26.71,8.94,18.57
$GC,6053,-1.87,-146.6,2645,2561,2765,2714,0.7,1.6,1158,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2562,2740,2766,2714,0,0,0,0,0,0,26.98,26.98,26.98,8.94,18.61
$GC,6123,-1.73,-146.6,2645,2563,2765,2714,1.2,1.5,1171,6130,0.12,0.00,0.00,0.000,2054,0.194,0.000,2693,2563,2740,2766,2714,0,0,0,0,0,0,26.61,26.72,26.68,8.94,18.14
$GC,6193,-2.04,-146.6,2693,2563,2765,2714,0.7,-0.5,1184,6201,0.15,2.30,0.00,0.000,4612,0.107,0.070,2582,968,2740,2766,2714,0,0,0,0,0,0,26.75,26.71,26.77,8.94,18.57
$STATE,6308,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,6308,begin apogee
$GC,6314,-0.29,0.0,2581,2283,2765,2714,0.7,-0.4,1206,6324,1.48,0.00,5.78,0.509,10242,0.119,0.000,3155,2283,2704,2730,2679,0,0,0,0,0,0,26.66,28.83,26.76,8.95,19.08
$STATE,6325,end apogee,SURFACE_DEPTH_REACHED
$STATE,6325,begin surface coast
$FINISH,0.6,1.008656
$STATE,6391,end surface coast,NO_VERTICAL_VELOCITY
$STATE,6391,begin surface
$SM_CCo,6406,468.60,0.663,0,0,518,500.22
$SM_GC,1.44,7.25,0.43,468.60,0.070,0.082,0.663,131,2608,518,-9.57,-0.74,500.22,0,0,0,0,0,0,26.70,26.70,24.90
$IRIDIUM_FIX,3216.44,-6434.50,060918,185939
$TT8_MAMPS,0.02247,0.256158
$HUMID,17.31
$INTERNAL_PRESSURE,8.69052
$TCM_TEMP,28.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,0.7,0.0
$24V_AH,24.90,5.674
$10V_AH,10.79,1.726
$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,24.950,69.475,5.775,468.600,197.375,0.000,0.000,0.000,0.500,0.000,48.869,3257.681,981.356,795.315,1884.511,75.554,0.000,1683.026,0.000,1790.886,0.000,3.033,0.000
$DEVICE_MAMPS,263.198,81.939,509.015,662.961,784.628,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.172,1623.016,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319344
$DATA_FILE_SIZE,90102,1220
$CAP_FILE_SIZE,133322,0
$CFSIZE,2047311872,2036891648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,282.17,1
$GPS,060918,210248,3213.615,-6433.882,9,0.9,50,-14.9,0.4,334.2,8,6.1