version: 66.14
glider: 40
mission: 18
dive: 9
start: 9 6 118 1 39 46
data:
$ID,40
$MISSION,18
$DIVE,9
$N_DIVES,0
$STOP_T,9131819
$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,720
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80783.898
$MASS_COMP,11448
$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,205
$PITCH_MAX,3845
$C_PITCH,2779
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,2122
$C_ROLL_CLIMB,2122
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,81
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2649
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$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,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.149458
$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,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6299
$GPS1,060918,013631,3219.4785,-6433.7134,5,0.8,15,-14.9,0.0,0.0,10,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-52.7
$GPS2,060918,013907,3219.4705,-6433.7114,5,0.8,16,-14.9,0.0,0.0,10,4.8
$SPEED_LIMITS,0.173,0.289
$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,167.6,82100,-16.1,-10.000,-19.07,3691
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.29,-244.4,191,2029,897,959,0.0,0.0,0,153,0.00,0.05,-142.32,0.164,16390,0.000,0.181,190,2113,3493,3456,3530,0,0,0,0,0,0,26.79,26.01,25.89,9.38,20.15
$GC,155,-1.29,-244.4,189,2153,3456,3530,4.5,-6.7,14,175,8.68,2.40,0.00,0.000,2564,0.276,0.074,2365,516,3493,3457,3530,0,0,0,0,0,0,25.75,26.00,25.89,9.63,19.32
$GC,331,-1.19,-244.4,2364,516,3456,3529,36.5,-9.9,31,340,0.12,2.28,0.00,0.000,3078,0.194,0.067,2393,2133,3492,3456,3529,0,0,0,0,0,0,26.00,26.36,26.14,9.63,19.79
$GC,639,-1.14,-244.4,2392,2132,3455,3528,64.5,-8.3,62,643,0.00,2.25,0.00,0.000,260,0.000,0.084,2384,3672,3492,3456,3529,0,0,0,0,0,0,26.85,26.37,26.86,9.60,19.52
$GC,784,-1.06,-244.4,2383,3674,3456,3529,77.5,-8.6,76,793,0.15,2.20,0.00,0.000,3078,0.184,0.067,2432,2033,3492,3456,3528,0,0,0,0,0,0,26.16,26.63,26.29,9.58,19.36
$GC,1249,-1.06,-244.4,2432,2033,3456,3527,117.3,-9.3,107,1268,0.00,2.40,0.00,0.000,260,0.000,0.084,2422,3678,3491,3456,3527,0,0,0,0,0,0,26.86,26.46,26.87,9.54,20.15
$GC,1417,-1.06,-244.4,2422,3678,3456,3526,135.2,-10.9,115,1435,0.00,2.22,0.00,0.000,1030,0.000,0.067,2422,2056,3491,3456,3526,0,0,0,0,0,0,26.66,26.65,26.67,9.52,20.11
$GC,1779,-1.06,-244.4,2422,2056,3456,3524,176.2,-12.0,135,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2056,3490,3456,3524,0,0,0,0,0,0,26.89,26.90,26.89,9.49,19.99
$GC,2067,-1.06,-244.4,2422,2056,3456,3522,214.0,-12.7,150,2074,0.00,2.40,0.00,0.000,260,0.000,0.084,2411,3684,3489,3456,3522,0,0,0,0,0,0,26.95,26.44,26.96,9.47,20.30
$GC,2135,-1.06,-244.4,2410,3684,3456,3521,222.1,-13.3,153,2139,0.00,2.20,0.00,0.000,1030,0.000,0.067,2410,2062,3488,3455,3522,0,0,0,0,0,0,26.72,26.68,26.73,9.47,21.05
$GC,2443,-1.06,-244.4,2410,2062,3456,3518,264.5,-13.3,168,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2062,3487,3456,3518,0,0,0,0,0,0,27.00,27.02,27.01,9.46,21.25
$GC,2752,-1.06,-244.4,2409,2062,3456,3516,306.2,-13.4,183,2757,0.00,2.38,0.00,0.000,260,0.000,0.084,2398,3675,3486,3456,3516,0,0,0,0,0,0,27.03,26.45,27.04,9.44,21.60
$GC,2802,-1.06,-244.4,2398,3675,3456,3516,310.7,-13.8,184,2807,0.12,2.20,0.00,0.000,3078,0.184,0.067,2440,2053,3486,3456,3516,0,0,0,0,0,0,26.31,26.73,26.41,9.44,22.04
$GC,3114,-1.06,-244.4,2439,2052,3455,3513,350.7,-11.9,195,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2052,3484,3455,3514,0,0,0,0,0,0,27.05,27.07,27.06,9.43,22.27
$GC,3414,-1.06,-244.4,2439,2053,3456,3511,387.2,-12.2,205,3419,0.00,2.38,0.00,0.000,260,0.000,0.084,2430,3673,3483,3456,3511,0,0,0,0,0,0,27.06,26.42,27.08,9.42,21.96
$GC,3489,-1.06,-244.4,2429,3674,3455,3511,394.8,-12.3,207,3493,0.00,2.20,0.00,0.000,1030,0.000,0.067,2430,2057,3483,3456,3510,0,0,0,0,0,0,26.78,26.74,26.79,9.42,21.96
$GC,3806,-1.06,-244.4,2429,2057,3456,3508,435.9,-12.6,218,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2058,3482,3456,3508,0,0,0,0,0,0,27.07,27.09,27.08,9.40,21.72
$GC,4106,-1.06,-244.4,2430,2057,3456,3506,473.9,-12.7,228,4112,0.00,2.40,0.00,0.000,260,0.000,0.084,2419,3674,3481,3456,3506,0,0,0,0,0,0,27.08,26.37,27.09,9.39,21.88
$GC,4166,-1.06,-244.4,2418,3674,3456,3505,481.8,-12.9,230,4170,0.00,2.20,0.00,0.000,1030,0.000,0.067,2419,2064,3480,3456,3505,0,0,0,0,0,0,26.77,26.74,26.79,9.39,22.27
$GC,4492,-1.06,-244.4,2418,2064,3456,3503,526.0,-13.0,241,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2064,3479,3456,3503,0,0,0,0,0,0,27.08,27.10,27.10,9.37,22.23
$STATE,4611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4611,begin apogee
$GC,4615,-0.31,0.0,2419,2064,3456,3502,542.6,-13.8,245,4800,0.77,0.00,180.57,0.914,10246,0.149,0.000,2680,2063,2649,2645,2653,0,0,0,0,0,0,25.76,24.83,24.15,9.37,22.82
$STATE,4801,end apogee,CONTROL_FINISHED_OK
$STATE,4801,begin climb
$GC,4802,1.29,244.4,2679,2063,2645,2653,550.0,0.0,251,4995,1.40,2.42,184.05,0.894,10756,0.112,0.084,3192,530,1807,1806,1809,0,0,0,0,0,0,25.08,24.83,24.17,9.28,21.33
$GC,5155,1.13,244.4,3191,530,1806,1808,517.4,15.3,263,5160,0.12,2.33,0.00,0.000,5126,0.191,0.067,3147,2111,1807,1806,1808,0,0,0,0,0,0,25.71,26.03,25.90,9.18,21.13
$GC,5484,1.03,244.4,3146,2111,1806,1806,475.2,12.5,274,5490,0.10,2.35,0.00,0.000,4612,0.216,0.077,3123,526,1806,1806,1806,0,0,0,0,0,0,26.17,26.30,26.25,9.17,21.92
$GC,5604,0.95,244.4,3123,525,1805,1805,462.1,11.0,278,5611,0.12,2.28,0.00,0.000,5126,0.184,0.067,3085,2130,1806,1807,1805,0,0,0,0,0,0,26.10,26.44,26.20,9.18,22.08
$GC,5934,1.00,289.8,3084,2130,1806,1804,432.0,8.7,289,5972,0.00,2.45,33.47,0.814,8708,0.000,0.079,3095,535,1651,1648,1654,0,0,0,0,0,0,26.85,25.46,25.01,9.17,22.39
$GC,6022,1.02,302.7,3094,535,1647,1654,423.3,9.6,292,6039,0.00,2.33,11.23,0.725,9222,0.000,0.067,3095,2126,1605,1601,1610,0,0,0,0,0,0,26.10,26.04,24.98,9.16,22.71
$GC,6346,1.02,302.7,3094,2125,1601,1610,385.0,12.3,303,6352,0.00,2.40,0.00,0.000,516,0.000,0.077,3107,527,1605,1601,1609,0,0,0,0,0,0,26.65,26.27,26.65,9.16,22.51
$GC,6419,1.02,302.7,3106,527,1601,1609,377.1,12.4,305,6424,0.00,2.30,0.00,0.000,1030,0.000,0.067,3107,2122,1605,1601,1610,0,0,0,0,0,0,26.45,26.39,26.47,9.16,22.67
$GC,6737,0.96,302.7,3106,2123,1601,1608,332.6,13.4,316,6743,0.00,2.38,0.00,0.000,516,0.000,0.079,3119,532,1605,1602,1608,0,0,0,0,0,0,26.83,26.41,26.84,9.16,22.82
$GC,6799,0.90,302.7,3118,532,1601,1607,324.9,13.2,318,6804,0.17,2.28,0.00,0.000,5126,0.191,0.067,3065,2124,1604,1601,1608,0,0,0,0,0,0,26.09,26.51,26.27,9.17,22.35
$GC,7116,0.90,302.7,3064,2124,1601,1607,288.2,11.1,330,7122,0.00,2.38,0.00,0.000,516,0.000,0.077,3075,527,1604,1601,1607,0,0,0,0,0,0,26.91,26.46,26.93,9.16,23.42
$GC,7171,0.90,302.7,3075,527,1601,1607,283.5,11.4,332,7178,0.00,2.30,0.00,0.000,1030,0.000,0.067,3075,2139,1604,1601,1607,0,0,0,0,0,0,26.63,26.58,26.65,9.17,22.82
$GC,7477,0.90,302.7,3075,2140,1601,1607,242.8,12.9,348,7483,0.00,2.40,0.00,0.000,516,0.000,0.079,3088,528,1604,1601,1607,0,0,0,0,0,0,26.96,26.46,26.98,9.17,22.79
$GC,7539,0.90,302.7,3087,528,1601,1607,235.0,13.1,351,7544,0.00,2.30,0.00,0.000,1030,0.000,0.067,3088,2117,1603,1601,1606,0,0,0,0,0,0,26.61,26.60,26.64,9.17,22.31
$GC,7858,0.90,302.7,3087,2117,1601,1607,193.9,12.8,367,7862,0.00,2.38,0.00,0.000,516,0.000,0.079,3099,524,1603,1601,1606,0,0,0,0,0,0,26.99,26.46,27.01,9.16,23.06
$GC,7907,0.90,302.7,3099,524,1601,1606,187.9,13.4,369,7912,0.10,2.28,0.00,0.000,5126,0.206,0.067,3069,2126,1603,1601,1606,0,0,0,0,0,0,26.26,26.60,26.38,9.16,22.43
$GC,8220,0.90,302.7,3069,2126,1601,1606,149.7,11.7,385,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2126,1603,1601,1606,0,0,0,0,0,0,27.02,27.03,27.03,9.17,22.27
$GC,8520,0.90,302.7,3069,2126,1601,1606,114.6,12.1,415,8529,0.00,2.38,0.00,0.000,516,0.000,0.079,3080,526,1603,1601,1606,0,0,0,0,0,0,27.03,26.46,27.04,9.17,21.84
$GC,8602,0.90,302.7,3080,527,1601,1605,104.4,13.3,423,8606,0.00,2.25,0.00,0.000,1030,0.000,0.067,3080,2122,1603,1601,1605,0,0,0,0,0,0,26.68,26.63,26.71,9.17,22.51
$GC,8914,0.90,302.7,3079,2127,1601,1606,66.3,11.9,454,8923,0.00,2.38,0.00,0.000,516,0.000,0.079,3092,529,1604,1602,1606,0,0,0,0,0,0,27.05,26.45,27.05,9.18,22.39
$GC,8986,0.90,302.7,3091,529,1602,1605,57.6,12.4,461,8990,0.00,2.28,0.00,0.000,1030,0.000,0.067,3092,2130,1603,1601,1605,0,0,0,0,0,0,26.68,26.62,26.70,9.18,22.16
$GC,9291,1.01,392.7,3092,2130,1602,1605,29.4,7.5,491,9362,0.00,0.00,62.85,0.586,8454,0.000,0.000,3092,2129,1297,1290,1304,0,0,0,0,0,0,27.05,25.49,25.18,9.21,22.31
$STATE,9569,end climb,SURFACE_DEPTH_REACHED
$STATE,9569,begin surface coast
$FINISH,1.6,0.996294
$STATE,9591,end surface coast,CONTROL_FINISHED_OK
$STATE,9591,begin surface
$SM_CCo,9605,77.12,0.559,0,0,927,500.22
$SM_GC,2.48,7.40,0.00,77.12,0.074,0.000,0.559,178,2131,927,-8.01,0.25,500.22,0,0,0,0,0,0,26.25,26.58,24.82
$IRIDIUM_FIX,3218.27,-6434.50,060918,013321
$TT8_MAMPS,0.021721,0.241927
$HUMID,22.04
$INTERNAL_PRESSURE,9.17414
$TCM_TEMP,29.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.0
$24V_AH,24.15,12.376
$10V_AH,10.56,6.878
$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,19.275,79.025,472.175,77.125,142.325,0.000,0.000,0.000,99.250,0.000,17.567,1603.852,5490.800,678.752,1931.642,66.703,0.000,1388.197,0.000,1172.951,0.000,1105.298,0.000
$DEVICE_MAMPS,275.613,181.259,913.744,558.675,163.878,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.468,688.746,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342508
$DATA_FILE_SIZE,34839,521
$CAP_FILE_SIZE,168474,0
$CFSIZE,2047311872,2036891648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.144,229.79,1
$GPS,060918,042229,3217.494,-6433.903,39,1.0,42,-14.9,0.3,280.0,8,4.7