version: 66.14
glider: 40
mission: 18
dive: 13
start: 9 6 118 12 59 41
data:
$ID,40
$MISSION,18
$DIVE,13
$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,91
$R_STBD_OVSHOOT,62
$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
$GPS1,060918,125101,3213.8564,-6432.3008,37,1.0,42,-14.9,0.0,280.5,10,5.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-51.1
$GPS2,060918,125903,3213.8865,-6432.3560,5,0.9,15,-14.9,0.0,314.6,11,5.0
$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,144.1,71975,-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,-244.4,174,2106,893,961,0.0,0.0,0,101,0.00,0.00,-92.18,0.164,16386,0.000,0.000,174,2106,2421,2376,2466,0,0,0,0,0,0,26.35,28.83,26.36,9.23,21.21
$GC,103,-1.29,-244.4,174,2106,2376,2466,3.1,-1.1,9,191,8.88,0.00,-69.00,0.164,18438,0.273,0.000,2360,2106,3491,3474,3508,0,0,0,0,0,0,25.48,25.72,25.56,9.38,20.38
$GC,490,-1.22,-244.4,2360,2106,3474,3508,48.8,-12.4,48,500,0.00,2.38,0.00,0.000,260,0.000,0.084,2351,3694,3491,3474,3508,0,0,0,0,0,0,26.57,26.15,26.58,9.51,20.07
$GC,737,-1.13,-244.4,2350,3694,3474,3508,74.9,-11.4,72,746,0.17,2.20,0.00,0.000,3078,0.171,0.065,2417,2063,3491,3474,3508,0,0,0,0,0,0,25.98,26.48,26.15,9.50,19.44
$GC,1187,-1.13,-244.4,2416,2063,3474,3509,113.7,-9.6,103,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2063,3491,3474,3509,0,0,0,0,0,0,26.73,26.75,26.74,9.45,19.52
$GC,1622,-1.13,-244.4,2416,2063,3474,3509,163.0,-12.0,130,1628,0.00,2.40,0.00,0.000,260,0.000,0.084,2407,3691,3491,3474,3509,0,0,0,0,0,0,26.74,26.34,26.76,9.41,19.12
$GC,1713,-1.13,-244.4,2406,3692,3474,3509,174.3,-12.8,133,1718,0.00,2.17,0.00,0.000,1030,0.000,0.067,2407,2091,3491,3474,3509,0,0,0,0,0,0,26.57,26.55,26.58,9.41,19.04
$GC,2031,-1.13,-244.4,2406,2091,3474,3509,216.5,-12.9,149,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2091,3491,3474,3509,0,0,0,0,0,0,26.84,26.86,26.85,9.39,19.20
$GC,2331,-1.13,-244.4,2406,2091,3473,3509,255.9,-13.3,164,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2091,3491,3474,3509,0,0,0,0,0,0,26.90,26.92,26.91,9.38,20.15
$GC,2632,-1.13,-244.4,2406,2091,3474,3508,294.9,-13.0,179,2638,0.00,2.35,0.00,0.000,260,0.000,0.084,2395,3689,3491,3474,3508,0,0,0,0,0,0,26.95,26.41,26.96,9.37,19.95
$GC,2693,-1.13,-244.4,2395,3689,3473,3508,303.0,-13.4,182,2699,0.00,2.15,0.00,0.000,1030,0.000,0.065,2395,2121,3491,3474,3508,0,0,0,0,0,0,26.70,26.68,26.72,9.37,19.99
$GC,3021,-1.13,-244.4,2394,2121,3474,3507,348.4,-13.9,193,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2121,3490,3474,3507,0,0,0,0,0,0,26.98,27.00,26.99,9.36,20.42
$GC,3321,-1.13,-244.4,2395,2121,3474,3506,388.0,-13.1,203,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2121,3489,3473,3506,0,0,0,0,0,0,27.00,27.02,27.01,9.35,21.09
$GC,3621,-1.13,-244.4,2395,2121,3473,3506,426.6,-12.8,213,3627,0.00,2.33,0.00,0.000,260,0.000,0.084,2384,3692,3489,3472,3506,0,0,0,0,0,0,27.02,26.41,27.03,9.34,21.09
$GC,3681,-1.13,-244.4,2383,3692,3472,3506,435.1,-13.4,215,3686,0.10,2.12,0.00,0.000,3078,0.189,0.067,2415,2114,3489,3472,3506,0,0,0,0,0,0,26.36,26.73,26.44,9.34,21.13
$GC,4008,-1.13,-244.4,2415,2114,3470,3506,476.1,-12.6,226,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2114,3488,3470,3506,0,0,0,0,0,0,27.03,27.05,27.04,9.33,20.97
$GC,4308,-1.13,-244.4,2414,2114,3470,3504,515.0,-13.0,236,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2114,3487,3470,3504,0,0,0,0,0,0,27.04,27.05,27.05,9.32,21.60
$STATE,4516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4516,begin apogee
$GC,4520,-0.31,0.0,2415,2114,3469,3504,544.3,-14.2,243,4708,0.77,0.00,184.15,0.916,10246,0.149,0.000,2680,2111,2649,2645,2653,0,0,0,0,0,0,25.90,24.70,24.06,9.31,21.13
$STATE,4710,end apogee,CONTROL_FINISHED_OK
$STATE,4710,begin climb
$GC,4711,1.29,244.4,2680,2113,2645,2653,553.0,0.0,249,4909,1.40,2.38,185.82,0.904,10756,0.112,0.079,3193,611,1807,1806,1809,0,0,0,0,0,0,24.94,24.66,24.01,9.23,20.66
$GC,5045,1.13,244.4,3192,610,1806,1808,530.9,13.5,260,5050,0.17,2.22,0.00,0.000,5126,0.196,0.065,3142,2127,1806,1805,1807,0,0,0,0,0,0,25.56,25.84,25.74,9.14,20.46
$GC,5358,1.03,244.4,3141,2127,1806,1807,490.6,11.9,271,5364,0.10,2.30,0.00,0.000,4612,0.214,0.074,3118,597,1806,1806,1807,0,0,0,0,0,0,26.06,26.19,26.13,9.14,21.17
$GC,5471,0.94,244.4,3117,597,1806,1806,479.9,12.0,274,5479,0.12,2.20,0.00,0.000,5126,0.194,0.065,3079,2137,1806,1807,1805,0,0,0,0,0,0,26.07,26.34,26.22,9.14,21.21
$GC,5777,0.98,275.4,3078,2137,1806,1805,448.4,9.1,285,5808,0.00,2.35,23.58,0.817,8708,0.000,0.077,3089,599,1701,1699,1704,0,0,0,0,0,0,26.74,25.56,25.10,9.13,21.13
$GC,5873,0.98,275.4,3088,598,1699,1703,438.8,10.0,288,5878,0.00,2.22,0.00,0.000,1030,0.000,0.065,3089,2117,1701,1699,1703,0,0,0,0,0,0,26.12,26.10,26.14,9.13,20.86
$GC,6200,0.98,275.4,3088,2117,1699,1703,402.4,11.1,299,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2117,1701,1699,1703,0,0,0,0,0,0,26.65,26.67,26.67,9.13,21.05
$GC,6501,0.98,275.4,3088,2117,1699,1703,369.0,11.2,309,6505,0.00,2.25,0.00,0.000,516,0.000,0.077,3100,604,1700,1699,1702,0,0,0,0,0,0,26.78,26.40,26.79,9.13,22.00
$GC,6580,0.93,275.4,3100,604,1700,1702,361.6,11.3,311,6585,0.00,2.17,0.00,0.000,1030,0.000,0.065,3100,2129,1700,1699,1702,0,0,0,0,0,0,26.55,26.49,26.57,9.13,21.49
$GC,6893,0.87,275.4,3099,2129,1699,1702,321.1,12.6,322,6898,0.12,2.28,0.00,0.000,4612,0.201,0.074,3068,600,1700,1699,1702,0,0,0,0,0,0,26.28,26.41,26.34,9.13,22.08
$GC,6968,0.87,275.4,3067,600,1699,1701,313.8,12.1,324,6972,0.00,2.17,0.00,0.000,1030,0.000,0.065,3068,2130,1699,1698,1701,0,0,0,0,0,0,26.62,26.56,26.64,9.13,21.53
$GC,7285,0.87,275.4,3067,2130,1699,1701,278.6,10.8,338,7291,0.00,2.28,0.00,0.000,516,0.000,0.077,3080,598,1700,1699,1701,0,0,0,0,0,0,26.92,26.48,26.93,9.14,21.80
$GC,7345,0.87,275.4,3079,599,1699,1701,272.1,10.7,341,7349,0.00,2.17,0.00,0.000,1030,0.000,0.065,3079,2131,1700,1699,1701,0,0,0,0,0,0,26.65,26.59,26.67,9.14,21.92
$GC,7661,0.87,275.4,3079,2132,1698,1700,236.3,11.6,357,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2131,1699,1699,1700,0,0,0,0,0,0,26.95,26.97,26.96,9.13,22.12
$GC,7962,0.87,275.4,3079,2131,1699,1701,200.8,11.7,372,7967,0.00,2.28,0.00,0.000,516,0.000,0.077,3091,596,1699,1699,1700,0,0,0,0,0,0,26.98,26.50,26.98,9.14,21.68
$GC,8072,0.87,275.4,3090,596,1699,1700,188.3,12.3,377,8077,0.08,2.20,0.00,0.000,5126,0.186,0.067,3066,2134,1699,1699,1700,0,0,0,0,0,0,26.30,26.61,26.36,9.14,21.76
$GC,8384,0.87,275.4,3065,2134,1699,1700,152.5,11.3,393,8391,0.00,2.28,0.00,0.000,516,0.000,0.077,3076,597,1699,1699,1700,0,0,0,0,0,0,27.00,26.50,27.01,9.14,21.45
$GC,8437,0.87,275.4,3075,597,1698,1700,146.5,11.8,397,8445,0.00,2.20,0.00,0.000,1030,0.000,0.065,3076,2126,1699,1699,1700,0,0,0,0,0,0,26.65,26.63,26.67,9.14,21.64
$GC,8745,0.87,275.4,3075,2126,1699,1700,111.8,11.4,428,8746,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2125,1699,1699,1700,0,0,0,0,0,0,27.01,27.03,27.03,9.14,21.80
$GC,9045,0.87,275.4,3075,2126,1699,1700,77.4,11.9,458,9049,0.00,2.22,0.00,0.000,516,0.000,0.077,3088,610,1699,1699,1700,0,0,0,0,0,0,27.03,26.49,27.04,9.15,21.80
$GC,9117,0.87,275.4,3087,609,1699,1700,69.2,10.4,465,9126,0.00,2.15,0.00,0.000,1030,0.000,0.067,3087,2124,1699,1699,1700,0,0,0,0,0,0,26.69,26.63,26.72,9.15,21.25
$GC,9427,0.89,290.4,3086,2124,1699,1700,36.7,9.6,496,9446,0.00,0.00,11.80,0.554,8198,0.000,0.000,3087,2124,1648,1646,1651,0,0,0,0,0,0,27.03,26.38,25.84,9.16,21.72
$GC,9747,0.95,340.8,3087,2124,1647,1651,14.1,8.6,528,9789,0.00,2.40,36.33,0.569,8452,0.000,0.087,3087,3687,1474,1469,1480,0,0,0,0,0,0,26.92,25.94,25.43,9.21,22.27
$STATE,9861,end climb,SURFACE_DEPTH_REACHED
$STATE,9861,begin surface coast
$FINISH,0.2,1.016369
$STATE,9882,end surface coast,CONTROL_FINISHED_OK
$STATE,9882,begin surface
$SM_CCo,9899,115.12,0.556,0,0,927,500.22
$SM_GC,2.46,7.47,2.22,115.12,0.079,0.062,0.556,184,2139,927,-8.01,3.02,500.22,0,0,0,0,0,0,26.20,26.29,24.64
$IRIDIUM_FIX,3213.62,-6429.90,060918,125213
$TT8_MAMPS,0.020972,0.219457
$HUMID,21.64
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.4,17.4
$24V_AH,24.01,13.015
$10V_AH,10.49,7.150
$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,19.400,63.050,441.675,115.125,161.175,46.525,55.021,220.801,97.750,0.000,16.129,1632.566,5859.281,707.864,2241.836,78.548,0.000,1392.342,0.000,1161.225,0.000,1093.581,0.000
$DEVICE_MAMPS,273.130,86.905,916.227,556.192,163.878,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,364.972,715.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342436
$DATA_FILE_SIZE,38372,541
$CAP_FILE_SIZE,130357,0
$CFSIZE,2047311872,2036432896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.111,256.79,1
$GPS,060918,154743,3212.573,-6431.893,18,0.8,28,-14.9,0.3,356.4,10,5.0