version: 66.14
glider: 40
mission: 18
dive: 14
start: 9 6 118 15 53 39
data:
$ID,40
$MISSION,18
$DIVE,14
$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,86
$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
$GPS1,060918,154743,3212.5730,-6431.8926,18,0.8,28,-14.9,0.3,356.4,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-52.1
$GPS2,060918,155302,3212.6074,-6431.9170,9,0.9,31,-14.9,0.0,28.7,9,4.8
$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,143.7,69573,-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,-244.4,176,2127,895,959,0.0,0.0,0,102,0.00,0.00,-92.53,0.164,16386,0.000,0.000,176,2128,2419,2372,2467,0,0,0,0,0,0,26.34,28.83,26.35,9.22,21.05
$GC,104,-1.29,-244.4,176,2128,2372,2467,3.2,-2.1,9,192,8.68,2.38,-67.72,0.164,18948,0.268,0.077,2359,575,3492,3475,3509,0,0,0,0,0,0,25.48,25.75,25.56,9.38,20.62
$GC,217,-1.13,-244.4,2360,575,3475,3508,9.7,-12.2,20,226,0.20,2.28,0.00,0.000,3078,0.184,0.065,2410,2139,3491,3475,3508,0,0,0,0,0,0,25.61,25.94,25.79,9.50,20.54
$GC,525,-1.13,-244.4,2410,2139,3476,3509,48.7,-9.6,51,529,0.00,2.30,0.00,0.000,260,0.000,0.087,2402,3678,3491,3475,3508,0,0,0,0,0,0,26.59,26.18,26.60,9.51,19.64
$GC,816,-1.13,-244.4,2401,3685,3475,3510,74.8,-9.4,80,821,0.00,2.17,0.00,0.000,1030,0.000,0.067,2402,2086,3492,3475,3510,0,0,0,0,0,0,26.53,26.50,26.55,9.49,19.16
$GC,1270,-1.13,-244.4,2401,2086,3475,3511,119.8,-11.3,111,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2086,3493,3475,3511,0,0,0,0,0,0,26.74,26.76,26.76,9.44,18.77
$GC,1683,-1.13,-244.4,2401,2086,3475,3511,168.7,-12.3,136,1688,0.00,2.35,0.00,0.000,260,0.000,0.084,2390,3683,3492,3474,3511,0,0,0,0,0,0,26.76,26.36,26.77,9.41,19.24
$GC,1785,-1.08,-244.4,2389,3684,3475,3511,180.2,-13.0,139,1805,0.12,2.12,0.00,0.000,3078,0.186,0.067,2430,2102,3493,3475,3511,0,0,0,0,0,0,26.18,26.57,26.32,9.41,18.77
$GC,2094,-1.08,-244.4,2429,2102,3475,3511,221.3,-12.2,155,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2101,3493,3475,3511,0,0,0,0,0,0,26.86,26.87,26.86,9.39,19.60
$GC,2392,-1.08,-244.4,2430,2102,3475,3511,258.1,-12.0,170,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2101,3493,3475,3511,0,0,0,0,0,0,26.91,26.93,26.92,9.38,19.60
$GC,2692,-1.08,-244.4,2429,2102,3475,3509,293.8,-11.9,185,2698,0.00,2.35,0.00,0.000,260,0.000,0.084,2420,3688,3492,3475,3510,0,0,0,0,0,0,26.96,26.43,26.96,9.37,20.27
$GC,2755,-1.08,-244.4,2420,3688,3475,3510,301.2,-12.2,188,2760,0.00,2.12,0.00,0.000,1030,0.000,0.065,2421,2134,3492,3475,3510,0,0,0,0,0,0,26.72,26.70,26.73,9.37,20.38
$GC,3083,-1.08,-244.4,2420,2134,3474,3509,342.7,-12.6,199,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2134,3492,3476,3509,0,0,0,0,0,0,26.98,27.00,27.00,9.37,20.58
$GC,3383,-1.08,-244.4,2420,2134,3475,3507,380.7,-12.5,209,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2134,3491,3475,3508,0,0,0,0,0,0,27.01,27.02,27.01,9.36,21.53
$GC,3683,-1.08,-244.4,2420,2134,3474,3507,419.2,-13.2,219,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2134,3490,3473,3508,0,0,0,0,0,0,27.02,27.04,27.03,9.35,20.78
$GC,3983,-1.08,-244.4,2420,2134,3473,3507,459.4,-13.4,229,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2134,3490,3473,3507,0,0,0,0,0,0,27.03,27.05,27.05,9.33,20.93
$GC,4283,-1.08,-244.4,2420,2134,3471,3507,498.0,-12.9,239,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2134,3489,3472,3506,0,0,0,0,0,0,27.04,27.06,27.05,9.32,21.37
$GC,4583,-1.08,-244.4,2420,2134,3472,3506,537.6,-13.3,249,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2134,3488,3471,3506,0,0,0,0,0,0,27.05,27.07,27.06,9.32,21.25
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4615,-0.31,0.0,2420,2134,3471,3506,541.7,-13.3,250,4804,0.75,0.00,184.43,0.914,10246,0.146,0.000,2675,2132,2649,2645,2653,0,0,0,0,0,0,25.93,24.71,24.08,9.31,21.17
$STATE,4805,end apogee,CONTROL_FINISHED_OK
$STATE,4805,begin climb
$GC,4807,1.29,244.4,2675,2132,2645,2653,549.2,0.0,256,5003,1.42,0.00,186.38,0.901,10758,0.112,0.000,3183,2132,1807,1806,1809,0,0,0,0,0,0,24.95,24.56,24.02,9.22,20.34
$GC,5303,1.15,244.4,3182,2132,1806,1808,501.0,14.2,273,5310,0.10,2.30,0.00,0.000,4612,0.221,0.074,3162,594,1807,1806,1808,0,0,0,0,0,0,25.91,26.06,25.98,9.14,20.42
$GC,5513,1.03,244.4,3162,594,1806,1806,474.0,12.5,280,5518,0.17,2.20,0.00,0.000,5126,0.191,0.065,3109,2131,1806,1806,1806,0,0,0,0,0,0,25.98,26.32,26.16,9.13,21.45
$GC,5847,0.97,247.5,3109,2131,1806,1805,440.0,9.9,291,5857,0.00,2.30,3.97,0.529,8708,0.000,0.074,3119,593,1796,1796,1796,0,0,0,0,0,0,26.74,25.96,25.42,9.14,21.05
$GC,5944,0.89,247.5,3118,593,1796,1796,430.4,10.7,294,5949,0.17,2.20,0.00,0.000,5126,0.184,0.065,3063,2138,1796,1796,1796,0,0,0,0,0,0,26.13,26.45,26.30,9.13,21.17
$GC,6267,0.89,247.5,3062,2138,1797,1795,398.1,10.1,305,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2138,1795,1796,1795,0,0,0,0,0,0,26.82,26.84,26.84,9.13,22.12
$GC,6567,0.90,252.6,3062,2138,1796,1795,368.1,9.9,315,6576,0.00,2.30,4.47,0.546,8708,0.000,0.074,3074,593,1781,1781,1781,0,0,0,0,0,0,26.88,26.07,25.56,9.14,21.96
$GC,6686,0.90,252.6,3073,593,1782,1781,355.7,10.6,319,6691,0.00,2.20,0.00,0.000,1030,0.000,0.065,3074,2122,1781,1782,1781,0,0,0,0,0,0,26.58,26.55,26.58,9.14,21.68
$GC,7014,0.90,252.6,3073,2123,1782,1781,320.7,10.7,330,7018,0.00,2.28,0.00,0.000,516,0.000,0.077,3085,590,1781,1782,1781,0,0,0,0,0,0,26.90,26.49,26.91,9.14,21.53
$GC,7083,0.90,252.6,3085,590,1782,1781,314.5,11.1,332,7087,0.00,2.17,0.00,0.000,1030,0.000,0.065,3085,2124,1781,1782,1781,0,0,0,0,0,0,26.65,26.59,26.67,9.13,21.49
$GC,7395,0.84,252.6,3085,2125,1781,1781,275.1,12.3,346,7400,0.10,2.28,0.00,0.000,4612,0.211,0.074,3062,591,1781,1782,1780,0,0,0,0,0,0,26.39,26.50,26.44,9.14,21.96
$GC,7457,0.84,252.6,3061,591,1782,1780,268.0,11.2,349,7462,0.00,2.17,0.00,0.000,1030,0.000,0.065,3061,2128,1781,1782,1780,0,0,0,0,0,0,26.67,26.62,26.70,9.14,21.49
$GC,7781,0.84,252.6,3061,2128,1782,1781,232.6,10.7,365,7787,0.00,2.25,0.00,0.000,516,0.000,0.077,3073,599,1781,1782,1781,0,0,0,0,0,0,26.98,26.51,26.98,9.14,21.37
$GC,7842,0.84,252.6,3073,599,1782,1780,225.6,11.3,368,7847,0.00,2.17,0.00,0.000,1030,0.000,0.065,3073,2120,1780,1781,1780,0,0,0,0,0,0,26.66,26.63,26.67,9.14,21.72
$GC,8159,0.84,252.6,3073,2120,1782,1781,189.3,11.7,384,8164,0.00,2.25,0.00,0.000,516,0.000,0.077,3085,599,1780,1781,1780,0,0,0,0,0,0,27.00,26.51,27.01,9.14,22.16
$GC,8217,0.84,252.6,3084,599,1782,1781,182.7,11.8,387,8223,0.10,2.15,0.00,0.000,5126,0.201,0.065,3054,2121,1781,1782,1781,0,0,0,0,0,0,26.29,26.63,26.41,9.14,22.00
$GC,8538,0.84,252.6,3053,2121,1782,1780,148.1,10.8,403,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2121,1781,1782,1780,0,0,0,0,0,0,27.01,27.03,27.03,9.15,21.60
$GC,8836,0.84,252.6,3053,2121,1782,1780,115.1,10.3,433,8840,0.00,2.25,0.00,0.000,516,0.000,0.077,3063,599,1781,1782,1780,0,0,0,0,0,0,27.03,26.50,27.04,9.15,21.96
$GC,8906,0.84,252.6,3062,599,1782,1780,108.2,10.4,439,8914,0.00,2.15,0.00,0.000,1030,0.000,0.065,3064,2121,1781,1782,1780,0,0,0,0,0,0,26.70,26.64,26.72,9.15,21.17
$GC,9213,0.87,276.5,3063,2121,1781,1780,78.7,9.3,470,9237,0.00,2.28,18.60,0.601,8708,0.000,0.079,3074,600,1697,1695,1699,0,0,0,0,0,0,27.04,26.29,25.72,9.16,21.05
$GC,9347,0.89,286.6,3073,591,1695,1699,65.5,9.7,483,9366,0.00,2.20,8.57,0.534,9222,0.000,0.065,3074,2118,1663,1660,1666,0,0,0,0,0,0,26.49,26.47,25.58,9.15,21.33
$GC,9665,1.00,380.7,3073,2118,1660,1666,34.7,7.4,515,9739,0.00,2.35,67.57,0.584,8708,0.000,0.079,3084,608,1338,1331,1345,0,0,0,0,0,0,26.79,25.44,24.94,9.18,21.29
$GC,9790,1.07,432.9,3083,608,1331,1345,26.0,8.6,527,9840,0.05,2.22,38.58,0.559,11270,0.174,0.065,3133,2128,1157,1147,1168,0,0,0,0,0,0,25.78,25.85,24.82,9.16,21.53
$STATE,9985,end climb,SURFACE_DEPTH_REACHED
$STATE,9986,begin surface coast
$FINISH,1.8,1.023507
$STATE,10007,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10021,49.38,0.546,0,0,927,500.22
$SM_GC,2.35,7.60,0.00,49.38,0.074,0.000,0.546,179,2131,927,-8.03,0.25,500.22,0,0,0,0,0,0,26.03,26.34,24.84
$IRIDIUM_FIX,3211.24,-6433.29,060918,125518
$TT8_MAMPS,0.021721,0.217959
$HUMID,21.53
$INTERNAL_PRESSURE,9.14484
$TCM_TEMP,24.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,16.7
$24V_AH,24.02,13.170
$10V_AH,10.54,7.220
$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,19.475,62.750,512.575,49.375,160.250,24.328,20.534,164.672,91.750,0.000,31.834,1646.773,5869.509,696.064,2122.191,77.382,0.000,1409.805,0.000,1181.457,0.000,1027.207,0.000
$DEVICE_MAMPS,268.164,86.905,913.744,546.260,163.878,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.602,725.411,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342480
$DATA_FILE_SIZE,38356,549
$CAP_FILE_SIZE,127043,0
$CFSIZE,2047311872,2036301824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.167,256.36,1
$GPS,060918,184311,3211.239,-6431.853,40,1.0,61,-14.9,0.0,229.9,8,4.7