version: 66.14
glider: 40
mission: 18
dive: 12
start: 9 6 118 10 5 1
data:
$ID,40
$MISSION,18
$DIVE,12
$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,114
$R_STBD_OVSHOOT,63
$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
$GPS1,060918,095925,3214.9321,-6432.9604,12,0.8,34,-14.9,0.0,296.5,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-55.2
$GPS2,060918,100424,3214.9414,-6433.0127,9,0.8,17,-14.9,0.3,273.6,9,5.0
$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,136.8,74185,-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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.29,-244.4,176,2131,890,962,0.0,0.0,0,112,0.00,0.00,-102.95,0.161,16386,0.000,0.000,176,2131,2558,2513,2603,0,0,0,0,0,0,26.32,28.83,26.34,9.22,21.17
$GC,115,-1.29,-244.4,176,2131,2512,2603,3.2,-1.4,10,184,8.80,2.33,-54.08,0.166,18948,0.273,0.077,2354,593,3492,3475,3510,0,0,0,0,0,0,25.46,25.75,25.55,9.39,20.74
$GC,234,-1.13,-244.4,2354,593,3475,3510,14.2,-17.3,22,243,0.22,2.22,0.00,0.000,3078,0.184,0.067,2412,2130,3492,3475,3510,0,0,0,0,0,0,25.60,25.97,25.79,9.50,20.30
$GC,542,-1.13,-244.4,2412,2130,3475,3509,49.5,-8.2,53,547,0.00,2.30,0.00,0.000,260,0.000,0.084,2404,3678,3492,3475,3510,0,0,0,0,0,0,26.60,26.17,26.61,9.50,19.83
$GC,646,-1.13,-244.4,2403,3678,3475,3509,58.8,-10.8,63,654,0.00,2.15,0.00,0.000,1030,0.000,0.067,2403,2117,3492,3475,3510,0,0,0,0,0,0,26.44,26.44,26.46,9.50,20.54
$GC,1000,-1.13,-244.4,2403,2117,3475,3511,90.4,-8.9,94,1004,0.00,2.33,0.00,0.000,260,0.000,0.084,2392,3681,3493,3475,3511,0,0,0,0,0,0,26.74,26.29,26.74,9.46,19.48
$GC,1068,-1.07,-244.4,2391,3681,3475,3512,96.9,-9.9,97,1087,0.12,2.12,0.00,0.000,3078,0.191,0.067,2431,2097,3492,3474,3511,0,0,0,0,0,0,26.10,26.52,26.23,9.45,19.44
$GC,1544,-1.07,-244.4,2431,2096,3474,3512,146.6,-11.1,128,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2097,3493,3475,3512,0,0,0,0,0,0,26.75,26.77,26.77,9.42,19.01
$GC,1879,-1.07,-244.4,2431,2097,3475,3512,186.0,-12.3,145,1886,0.00,2.33,0.00,0.000,260,0.000,0.084,2423,3675,3493,3475,3512,0,0,0,0,0,0,26.78,26.34,26.79,9.39,19.20
$GC,1949,-1.07,-244.4,2422,3675,3475,3512,193.8,-12.5,147,1953,0.00,2.10,0.00,0.000,1030,0.000,0.067,2422,2149,3493,3475,3512,0,0,0,0,0,0,26.60,26.57,26.61,9.39,19.28
$GC,2261,-1.07,-244.4,2422,2129,3475,3512,235.6,-12.4,163,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2129,3493,3475,3512,0,0,0,0,0,0,26.89,26.90,26.90,9.38,19.71
$GC,2561,-1.07,-244.4,2422,2129,3475,3511,273.9,-12.6,178,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2129,3493,3475,3512,0,0,0,0,0,0,26.94,26.95,26.95,9.38,19.95
$GC,2871,-1.07,-244.4,2422,2130,3475,3511,313.0,-12.8,192,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2129,3492,3474,3510,0,0,0,0,0,0,26.97,26.98,26.98,9.36,20.50
$GC,3171,-1.07,-244.4,2421,2129,3474,3510,350.4,-11.9,202,3177,0.00,2.30,0.00,0.000,260,0.000,0.084,2412,3681,3491,3474,3509,0,0,0,0,0,0,26.99,26.39,27.01,9.36,20.42
$GC,3219,-1.07,-244.4,2411,3680,3475,3509,354.0,-11.8,203,3223,0.00,2.15,0.00,0.000,1030,0.000,0.067,2411,2097,3492,3475,3510,0,0,0,0,0,0,26.74,26.70,26.75,9.36,20.38
$GC,3531,-1.07,-244.4,2410,2097,3474,3508,395.4,-12.7,214,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2097,3491,3474,3508,0,0,0,0,0,0,27.01,27.03,27.02,9.35,21.05
$GC,3831,-1.07,-244.4,2411,2097,3474,3508,434.4,-13.0,224,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2096,3490,3474,3507,0,0,0,0,0,0,27.03,27.04,27.04,9.34,21.05
$GC,4131,-1.07,-244.4,2411,2096,3473,3507,472.5,-12.4,234,4138,0.00,2.35,0.00,0.000,260,0.000,0.084,2400,3679,3490,3473,3508,0,0,0,0,0,0,27.04,26.36,27.05,9.33,21.49
$GC,4169,-1.07,-244.4,2400,3679,3473,3508,476.2,-12.5,235,4174,0.10,2.12,0.00,0.000,3078,0.189,0.065,2433,2101,3490,3473,3508,0,0,0,0,0,0,26.35,26.73,26.43,9.33,21.17
$GC,4491,-1.07,-244.4,2432,2101,3472,3507,516.5,-12.9,246,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2101,3489,3472,3507,0,0,0,0,0,0,27.04,27.06,27.05,9.32,21.05
$STATE,4670,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4670,begin apogee
$GC,4673,-0.31,0.0,2433,2101,3472,3506,540.2,-13.2,252,4863,0.73,0.00,185.32,0.914,10246,0.144,0.000,2682,2099,2649,2645,2654,0,0,0,0,0,0,25.86,24.70,24.06,9.31,20.82
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4865,1.29,244.4,2682,2099,2645,2653,548.5,0.0,258,5062,1.42,0.00,189.05,0.901,10246,0.107,0.000,3190,2099,1807,1806,1809,0,0,0,0,0,0,24.94,24.63,24.01,9.22,20.23
$GC,5362,1.14,244.4,3189,2099,1806,1808,506.1,13.6,275,5368,0.12,2.25,0.00,0.000,4612,0.209,0.077,3160,602,1807,1806,1808,0,0,0,0,0,0,25.89,26.03,25.96,9.14,20.34
$GC,5439,1.00,244.4,3159,602,1806,1808,497.9,13.8,277,5444,0.20,2.20,0.00,0.000,5126,0.189,0.065,3100,2131,1807,1806,1808,0,0,0,0,0,0,25.88,26.21,26.06,9.13,20.50
$GC,5747,0.95,244.4,3100,2131,1806,1806,462.0,10.6,287,5753,0.00,2.30,0.00,0.000,516,0.000,0.077,3110,591,1806,1806,1806,0,0,0,0,0,0,26.68,26.32,26.69,9.13,21.80
$GC,5825,0.89,244.4,3109,591,1806,1806,456.3,10.1,289,5830,0.15,2.20,0.00,0.000,5126,0.189,0.065,3062,2134,1806,1806,1806,0,0,0,0,0,0,26.08,26.41,26.24,9.13,20.90
$GC,6131,0.94,280.4,3062,2135,1806,1805,426.7,9.0,299,6163,0.00,0.00,27.45,0.809,8198,0.000,0.000,3062,2135,1683,1681,1685,0,0,0,0,0,0,26.80,25.70,25.08,9.14,21.45
$GC,6461,0.98,312.9,3061,2135,1681,1685,396.1,9.1,310,6493,0.00,2.35,25.05,0.787,8708,0.000,0.077,3072,601,1570,1566,1575,0,0,0,0,0,0,26.59,25.61,24.95,9.13,21.09
$GC,6579,0.98,312.9,3072,600,1566,1575,385.7,10.5,313,6586,0.00,2.22,0.00,0.000,1030,0.000,0.065,3072,2128,1570,1566,1575,0,0,0,0,0,0,26.09,26.03,26.11,9.13,21.45
$GC,6886,0.98,312.9,3072,2128,1566,1575,349.9,11.1,324,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2128,1570,1566,1575,0,0,0,0,0,0,26.62,26.63,26.63,9.12,21.33
$GC,7186,0.98,312.9,3072,2128,1567,1575,314.1,12.2,334,7190,0.00,2.28,0.00,0.000,516,0.000,0.077,3084,605,1570,1566,1575,0,0,0,0,0,0,26.76,26.39,26.77,9.12,22.27
$GC,7264,0.98,312.9,3083,602,1566,1574,306.1,12.6,336,7269,0.00,2.20,0.00,0.000,1030,0.000,0.065,3084,2125,1570,1566,1574,0,0,0,0,0,0,26.51,26.48,26.53,9.13,22.12
$GC,7587,0.98,312.9,3083,2125,1566,1574,260.8,13.7,352,7591,0.00,2.28,0.00,0.000,516,0.000,0.077,3094,594,1570,1566,1574,0,0,0,0,0,0,26.86,26.45,26.86,9.13,21.45
$GC,7631,0.98,312.9,3094,594,1566,1574,255.4,13.6,354,7636,0.00,2.20,0.00,0.000,1030,0.000,0.067,3094,2118,1570,1566,1574,0,0,0,0,0,0,26.55,26.53,26.58,9.13,22.12
$GC,7948,0.98,312.9,3094,2118,1566,1574,213.0,13.1,370,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2118,1569,1565,1574,0,0,0,0,0,0,26.91,26.93,26.92,9.13,21.64
$GC,8248,0.98,312.9,3094,2118,1566,1574,174.2,13.3,385,8252,0.00,2.25,0.00,0.000,516,0.000,0.077,3105,601,1570,1566,1574,0,0,0,0,0,0,26.94,26.49,26.95,9.13,21.92
$GC,8333,0.98,312.9,3105,602,1566,1574,164.0,13.3,389,8337,0.00,2.17,0.00,0.000,1030,0.000,0.067,3105,2125,1570,1566,1574,0,0,0,0,0,0,26.65,26.59,26.67,9.13,21.96
$GC,8645,0.92,312.9,3105,2125,1566,1574,120.5,14.2,415,8654,0.00,2.25,0.00,0.000,516,0.000,0.077,3116,606,1570,1567,1574,0,0,0,0,0,0,26.97,26.51,26.98,9.13,21.92
$GC,8709,0.86,312.9,3116,606,1566,1574,112.2,13.3,421,8718,0.15,2.17,0.00,0.000,5126,0.176,0.065,3059,2124,1570,1566,1574,0,0,0,0,0,0,26.11,26.60,26.29,9.13,21.13
$GC,9017,0.86,312.9,3058,2124,1566,1574,77.3,11.2,452,9020,0.00,2.25,0.00,0.000,516,0.000,0.077,3067,601,1570,1566,1574,0,0,0,0,0,0,26.99,26.51,27.01,9.14,21.21
$GC,9060,0.86,312.9,3067,599,1566,1574,72.7,11.2,456,9068,0.00,2.17,0.00,0.000,1030,0.000,0.065,3067,2114,1570,1566,1574,0,0,0,0,0,0,26.65,26.62,26.65,9.14,21.29
$GC,9368,0.86,312.9,3066,2114,1566,1574,38.7,10.1,487,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2114,1570,1566,1574,0,0,0,0,0,0,27.01,27.03,27.02,9.16,21.49
$GC,9668,1.01,432.8,3067,2114,1566,1573,17.4,6.7,517,9760,0.05,2.42,84.65,0.574,10500,0.186,0.087,3123,3682,1159,1148,1170,0,0,0,0,0,0,26.82,25.44,24.94,9.20,22.75
$STATE,9791,end climb,SURFACE_DEPTH_REACHED
$STATE,9791,begin surface coast
$FINISH,1.4,1.020716
$STATE,9812,end surface coast,CONTROL_FINISHED_OK
$STATE,9812,begin surface
$SM_CCo,9829,49.65,0.551,0,0,927,500.22
$SM_GC,2.72,7.62,2.25,49.65,0.074,0.062,0.551,178,2134,927,-8.01,3.02,500.22,0,0,0,0,0,0,25.87,25.90,24.77
$IRIDIUM_FIX,3216.44,-6434.50,060918,071144
$TT8_MAMPS,0.023219,0.246421
$HUMID,21.56
$INTERNAL_PRESSURE,9.14484
$TCM_TEMP,24.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,16.7
$24V_AH,24.01,12.852
$10V_AH,10.49,7.079
$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,19.700,67.225,511.525,49.650,157.025,26.148,25.756,156.221,93.250,0.000,17.972,1572.404,5861.232,733.473,1957.569,76.030,0.000,1358.808,0.000,1033.906,0.000,1042.164,0.000
$DEVICE_MAMPS,273.130,86.905,913.744,551.226,166.361,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.470,701.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342444
$DATA_FILE_SIZE,38324,531
$CAP_FILE_SIZE,123003,0
$CFSIZE,2047311872,2036563968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.117,265.64,1
$GPS,060918,125101,3213.856,-6432.301,37,1.0,42,-14.9,0.0,280.5,10,5.0