version: 66.14
glider: 40
mission: 18
dive: 26
start: 9 11 118 3 5 15
data:
$ID,40
$MISSION,18
$DIVE,26
$N_DIVES,0
$STOP_T,9111806
$D_SURF,5
$D_FLARE,5
$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,1860
$T_ABORT,1920
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,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,2748
$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,2216
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,153
$R_STBD_OVSHOOT,75
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2510
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$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
$GPS1,110918,025942,3141.8401,-6406.6021,26,1.1,66,-14.9,1.2,337.0,7,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-50.6
$GPS2,110918,030439,3141.9009,-6406.6104,6,1.0,20,-14.9,0.7,20.4,9,5.0
$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,228.8,6398,-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,72,-1.47,-146.6,184,2226,754,823,2.3,-0.5,6,214,0.00,0.00,-138.45,0.161,16390,0.000,0.000,184,2226,3015,2974,3057,0,0,0,0,0,0,26.53,25.91,25.73,9.23,20.66
$GC,216,-1.47,-146.6,184,2226,2975,3057,4.0,-2.8,20,230,8.50,2.25,0.00,0.000,2564,0.278,0.074,2276,718,3017,2977,3057,0,0,0,0,0,0,25.54,25.93,25.82,9.46,20.50
$GC,642,-1.33,-146.6,2275,718,2978,3057,52.6,-4.1,62,653,0.17,2.12,0.00,0.000,3078,0.209,0.067,2318,2242,3017,2978,3057,0,0,0,0,0,0,25.98,26.46,26.19,9.47,19.99
$GC,952,-1.24,-146.6,2318,2242,2979,3057,67.1,-4.4,93,956,0.10,2.20,0.00,0.000,2564,0.219,0.074,2354,757,3018,2979,3057,0,0,0,0,0,0,26.34,26.44,26.37,9.45,19.20
$GC,1115,-1.17,-146.6,2353,726,2980,3057,73.9,-3.9,109,1125,0.00,2.08,0.00,0.000,1030,0.000,0.067,2345,2231,3018,2980,3057,0,0,0,0,0,0,26.65,26.60,26.67,9.44,19.87
$GC,1427,-1.11,-146.6,2344,2231,2981,3057,89.8,-6.2,140,1437,0.12,2.20,0.00,0.000,2308,0.201,0.084,2377,3746,3019,2981,3057,0,0,0,0,0,0,26.36,26.48,26.42,9.41,18.85
$GC,1563,-1.11,-146.6,2376,3746,2980,3057,97.4,-6.5,153,1571,0.00,2.03,0.00,0.000,1030,0.000,0.065,2377,2204,3019,2981,3057,0,0,0,0,0,0,26.77,26.76,26.78,9.41,19.08
$GC,1871,-1.11,-146.6,2376,2204,2981,3057,118.9,-8.7,184,1880,0.00,2.25,0.00,0.000,260,0.000,0.084,2365,3741,3019,2981,3057,0,0,0,0,0,0,27.00,26.55,27.01,9.38,19.16
$GC,1975,-1.06,-146.6,2364,3741,2981,3057,128.6,-9.4,194,1979,0.12,1.98,0.00,0.000,3078,0.204,0.067,2403,2201,3019,2981,3057,0,0,0,0,0,0,26.32,26.79,26.46,9.37,19.36
$GC,2297,-1.06,-146.6,2402,2198,2980,3057,160.4,-10.4,221,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2198,3018,2981,3056,0,0,0,0,0,0,27.03,27.04,27.03,9.36,20.07
$GC,2597,-1.06,-146.6,2402,2199,2981,3056,191.0,-10.3,236,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2198,3018,2981,3056,0,0,0,0,0,0,27.04,27.05,27.05,9.35,20.74
$GC,2898,-1.06,-146.6,2402,2199,2981,3055,220.2,-10.0,251,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2198,3018,2981,3055,0,0,0,0,0,0,27.05,27.07,27.06,9.34,20.50
$GC,3197,-1.06,-146.6,2402,2199,2981,3054,250.1,-10.0,266,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2198,3017,2981,3054,0,0,0,0,0,0,27.06,27.08,27.07,9.33,21.45
$GC,3497,-1.06,-146.6,2402,2199,2980,3053,281.3,-10.9,281,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2198,3017,2981,3053,0,0,0,0,0,0,27.06,27.08,27.08,9.33,21.13
$GC,3797,-1.06,-146.6,2402,2199,2981,3052,314.2,-11.2,294,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2199,3016,2981,3052,0,0,0,0,0,0,27.07,27.08,27.08,9.32,21.05
$GC,4097,-1.06,-146.6,2402,2198,2980,3050,347.8,-11.2,304,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2198,3016,2981,3051,0,0,0,0,0,0,27.07,27.08,27.08,9.32,21.25
$GC,4397,-1.06,-146.6,2402,2198,2980,3049,380.6,-10.6,314,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2198,3015,2981,3049,0,0,0,0,0,0,27.08,27.09,27.08,9.31,21.01
$GC,4697,-1.06,-146.6,2402,2199,2981,3048,412.1,-10.5,324,4701,0.00,2.08,0.00,0.000,516,0.000,0.074,2403,747,3014,2981,3048,0,0,0,0,0,0,27.08,26.63,27.09,9.30,22.23
$GC,4761,-1.06,-146.6,2402,748,2981,3048,419.3,-11.0,326,4765,0.00,2.05,0.00,0.000,1030,0.000,0.065,2395,2205,3013,2980,3047,0,0,0,0,0,0,26.75,26.74,26.77,9.30,21.25
$GC,5088,-1.06,-146.6,2394,2205,2981,3047,455.7,-11.3,337,5093,0.00,2.28,0.00,0.000,260,0.000,0.084,2383,3758,3014,2981,3047,0,0,0,0,0,0,27.08,26.54,27.09,9.29,21.64
$GC,5158,-1.06,-146.6,2382,3758,2980,3047,462.9,-11.6,339,5162,0.00,2.03,0.00,0.000,1030,0.000,0.065,2383,2241,3013,2980,3047,0,0,0,0,0,0,26.84,26.84,26.86,9.29,21.80
$GC,5480,-1.06,-146.6,2382,2240,2981,3045,503.9,-12.7,350,5481,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2240,3013,2980,3046,0,0,0,0,0,0,27.08,27.09,27.09,9.28,20.97
$STATE,5779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5779,begin apogee
$GC,5783,-0.31,0.0,2382,2032,2981,3044,542.8,-13.2,360,5901,0.80,0.00,110.43,0.914,10246,0.161,0.000,2646,2030,2510,2499,2521,0,0,0,0,0,0,26.02,24.80,24.31,9.27,21.25
$STATE,5902,end apogee,CONTROL_FINISHED_OK
$STATE,5902,begin climb
$GC,5904,1.47,146.6,2646,2030,2499,2521,548.9,0.0,364,6022,1.60,2.30,111.38,0.904,10756,0.114,0.079,3220,579,2005,2002,2008,0,0,0,0,0,0,25.25,24.89,24.23,9.22,20.93
$GC,6098,1.42,198.4,3220,558,2003,2007,537.7,7.6,370,6146,0.00,2.15,39.62,0.872,9222,0.000,0.065,3221,2044,1827,1824,1830,0,0,0,0,0,0,25.85,25.80,24.40,9.16,20.58
$GC,6446,1.33,198.4,3220,2044,1824,1829,490.6,13.4,382,6448,0.15,0.00,0.00,0.000,4102,0.211,0.000,3180,2046,1826,1824,1829,0,0,0,0,0,0,25.96,26.21,26.14,9.14,20.86
$GC,6745,1.28,198.4,3179,2045,1824,1828,453.4,12.7,392,6749,0.00,2.22,0.00,0.000,516,0.000,0.079,3189,549,1826,1824,1828,0,0,0,0,0,0,26.75,26.39,26.77,9.14,21.37
$GC,6869,1.21,198.4,3189,549,1824,1828,436.8,13.6,396,6875,0.17,2.12,0.00,0.000,5126,0.204,0.065,3137,2061,1826,1824,1828,0,0,0,0,0,0,26.07,26.52,26.27,9.14,21.92
$GC,7197,1.21,198.4,3136,2061,1823,1827,397.2,11.9,407,7201,0.00,2.22,0.00,0.000,516,0.000,0.077,3146,558,1825,1824,1827,0,0,0,0,0,0,26.89,26.49,26.90,9.14,21.68
$GC,7297,1.21,198.4,3145,557,1824,1827,386.3,12.6,410,7301,0.00,2.10,0.00,0.000,1030,0.000,0.065,3146,2052,1825,1824,1827,0,0,0,0,0,0,26.66,26.61,26.68,9.14,21.96
$GC,7614,1.21,198.4,3146,2052,1824,1826,344.9,12.5,421,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2052,1825,1824,1826,0,0,0,0,0,0,26.95,26.96,26.96,9.15,21.72
$GC,7914,1.21,198.4,3145,2052,1824,1826,307.4,12.8,431,7918,0.00,2.20,0.00,0.000,516,0.000,0.077,3158,559,1824,1823,1826,0,0,0,0,0,0,26.98,26.55,26.99,9.15,21.96
$GC,7993,1.21,198.4,3157,559,1823,1826,297.1,13.3,434,7998,0.00,2.10,0.00,0.000,1030,0.000,0.065,3157,2044,1825,1824,1826,0,0,0,0,0,0,26.70,26.68,26.72,9.15,21.72
$GC,8312,1.21,198.4,3157,2044,1824,1826,253.9,13.6,450,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2044,1825,1824,1826,0,0,0,0,0,0,27.01,27.02,27.02,9.16,22.27
$GC,8611,1.21,198.4,3157,2044,1823,1826,212.9,13.8,465,8614,0.00,2.17,0.00,0.000,516,0.000,0.077,3169,559,1825,1824,1826,0,0,0,0,0,0,27.03,26.58,27.03,9.15,22.55
$GC,8727,1.15,198.4,3168,559,1824,1826,195.5,14.9,471,8734,0.17,2.08,0.00,0.000,5126,0.199,0.065,3116,2048,1824,1824,1825,0,0,0,0,0,0,26.17,26.70,26.35,9.15,21.80
$GC,9048,1.15,198.4,3115,2048,1824,1826,152.9,13.8,487,9050,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2048,1823,1822,1825,0,0,0,0,0,0,27.04,27.05,27.05,9.16,21.84
$GC,9348,1.15,198.4,3115,2048,1824,1826,109.8,14.3,516,9350,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2048,1825,1824,1826,0,0,0,0,0,0,27.05,27.06,27.05,9.16,22.16
$GC,9647,1.15,198.4,3115,2048,1824,1826,73.3,11.0,546,9651,0.00,2.20,0.00,0.000,516,0.000,0.077,3125,553,1824,1823,1826,0,0,0,0,0,0,27.05,26.58,27.06,9.18,21.56
$GC,9828,1.15,198.4,3124,552,1824,1826,53.5,10.9,564,9833,0.00,2.08,0.00,0.000,1030,0.000,0.065,3125,2041,1824,1823,1826,0,0,0,0,0,0,26.77,26.72,26.79,9.19,21.37
$GC,10140,1.26,289.4,3124,2042,1824,1826,30.2,5.8,595,10212,0.00,2.30,64.00,0.581,8708,0.000,0.077,3134,559,1513,1508,1518,0,0,0,0,0,0,27.06,25.70,25.17,9.22,21.64
$GC,10328,1.26,289.4,3134,559,1507,1517,12.6,11.1,613,10335,0.00,2.12,0.00,0.000,1030,0.000,0.065,3134,2049,1512,1507,1517,0,0,0,0,0,0,26.21,26.16,26.22,9.22,22.35
$STATE,10383,end climb,SURFACE_DEPTH_REACHED
$STATE,10384,begin surface coast
$FINISH,0.9,0.997531
$STATE,10415,end surface coast,CONTROL_FINISHED_OK
$STATE,10415,begin surface
$SM_CCo,10430,150.77,0.551,0,0,787,500.22
$SM_GC,2.44,7.55,0.20,150.77,0.077,0.102,0.551,185,2257,787,-7.92,-1.89,500.22,0,0,0,0,0,0,26.24,26.29,24.75
$IRIDIUM_FIX,3142.51,-6405.74,100918,235641
$TT8_MAMPS,0.020972,0.247919
$HUMID,21.64
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,25.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.3
$24V_AH,24.23,16.926
$10V_AH,10.50,8.827
$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,19.475,56.225,325.425,150.775,138.450,26.344,17.090,154.858,0.250,0.000,20.722,1894.542,6753.594,634.818,1548.417,69.753,0.000,1330.500,0.000,1286.019,0.000,5.866,0.000
$DEVICE_MAMPS,278.096,109.252,913.744,551.226,161.395,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.964,822.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342376
$DATA_FILE_SIZE,41787,622
$CAP_FILE_SIZE,96077,0
$CFSIZE,2047311872,2034401280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136,16.92,1
$GPS,110918,060238,3141.688,-6407.274,17,0.7,22,-14.9,0.3,264.8,12,4.7