version: 66.14
glider: 41
mission: 15
dive: 6
start: 9 5 118 18 52 54
data:
$ID,41
$MISSION,15
$DIVE,6
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,540
$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,0.30000001
$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,79399.703
$MASS_COMP,10108.4
$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,555
$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,1
$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,3855
$C_PITCH,3265
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,13.6
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,230
$ROLL_MAX,3810
$ROLL_DEG,45
$C_ROLL_DIVE,1953
$C_ROLL_CLIMB,1953
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,325
$VBD_MAX,3960
$C_VBD,2260
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,4
$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,14
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.572524
$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,0
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,131
$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,0.0044218274
$SEABIRD_T_H,0.00065427559
$SEABIRD_T_I,2.6669255e-05
$SEABIRD_T_J,3.3126662e-06
$SEABIRD_C_G,-9.8737192
$SEABIRD_C_H,1.1600837
$SEABIRD_C_I,-0.0018781425
$SEABIRD_C_J,0.0002279925
$SEABIRD_C_Z,2921.8601
$GPS1,050918,184842,3219.5925,-6434.8569,8,0.8,14,-14.9,0.3,322.0,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-52.2
$GPS2,050918,185216,3219.6155,-6434.8667,6,0.8,16,-14.9,0.0,310.6,10,4.9
$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,142.0,83182,-16.1,-10.000,-19.07,3691
$D_GRID,360
$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,7,-1.48,-244.4,197,1972,410,280,0.0,0.0,0,172,0.00,0.00,-162.15,0.154,16386,0.000,0.000,197,1972,2968,2987,2950,0,0,0,0,0,0,26.99,28.83,27.01,9.61,15.85
$GC,175,-1.48,-244.4,197,1971,2987,2951,3.5,-2.2,16,196,9.95,2.35,-4.70,0.243,18692,0.263,0.082,2777,3518,3104,3140,3069,0,0,0,0,0,0,26.07,26.38,26.23,9.88,15.66
$GC,787,-1.32,-244.4,2776,3518,3140,3068,70.7,-10.6,72,798,0.17,2.30,0.00,0.000,3078,0.181,0.072,2832,1918,3104,3140,3068,0,0,0,0,0,0,26.32,26.72,26.43,9.86,15.78
$GC,1215,-1.23,-244.4,2832,1917,3140,3066,105.8,-8.4,103,1237,0.10,2.42,0.00,0.000,2308,0.206,0.082,2858,3522,3103,3140,3066,0,0,0,0,0,0,26.58,26.62,26.63,9.80,15.78
$GC,1407,-1.14,-244.4,2858,3522,3140,3066,123.2,-9.2,112,1425,0.10,2.30,0.00,0.000,3078,0.181,0.074,2891,1959,3102,3140,3065,0,0,0,0,0,0,26.44,26.73,26.53,9.78,14.67
$GC,1836,-1.09,-244.4,2890,1959,3140,3062,163.9,-9.9,137,1841,0.00,2.35,0.00,0.000,260,0.000,0.084,2882,3517,3101,3140,3062,0,0,0,0,0,0,27.08,26.63,27.10,9.74,15.19
$GC,1964,-1.03,-244.4,2882,3517,3140,3061,176.7,-10.2,141,1969,0.15,2.30,0.00,0.000,3078,0.181,0.072,2931,1943,3100,3140,3061,0,0,0,0,0,0,26.39,26.72,26.55,9.73,15.74
$GC,2283,-1.03,-244.4,2931,1942,3140,3059,209.3,-10.2,157,2289,0.00,2.38,0.00,0.000,260,0.000,0.084,2921,3509,3099,3140,3058,0,0,0,0,0,0,27.13,26.62,27.14,9.71,15.62
$GC,2349,-1.03,-244.4,2921,3509,3140,3058,216.1,-10.5,160,2354,0.00,2.28,0.00,0.000,1030,0.000,0.070,2921,1946,3099,3140,3058,0,0,0,0,0,0,26.82,26.74,26.84,9.71,15.66
$GC,2662,-1.03,-244.4,2920,1946,3140,3057,250.3,-10.7,176,2669,0.00,2.40,0.00,0.000,260,0.000,0.087,2911,3521,3098,3140,3057,0,0,0,0,0,0,27.15,26.62,27.17,9.69,15.58
$GC,2767,-1.03,-244.4,2911,3521,3140,3055,261.8,-11.3,181,2772,0.00,2.33,0.00,0.000,1030,0.000,0.074,2911,1955,3098,3140,3056,0,0,0,0,0,0,26.79,26.76,26.82,9.69,16.60
$GC,3087,-1.03,-244.4,2910,1956,3140,3053,299.4,-12.3,197,3093,0.00,2.38,0.00,0.000,260,0.000,0.087,2902,3515,3096,3139,3053,0,0,0,0,0,0,27.17,26.58,27.18,9.68,16.25
$GC,3187,-1.03,-244.4,2902,3515,3140,3052,310.8,-12.2,201,3192,0.10,2.30,0.00,0.000,3078,0.199,0.072,2934,1944,3096,3140,3052,0,0,0,0,0,0,26.46,26.75,26.58,9.67,16.13
$GC,3505,-1.03,-244.4,2933,1944,3140,3049,345.7,-10.5,212,3512,0.00,2.40,0.00,0.000,260,0.000,0.087,2925,3517,3095,3140,3050,0,0,0,0,0,0,27.18,26.58,27.19,9.66,16.29
$GC,3606,-1.03,-244.4,2924,3516,3139,3050,355.5,-10.6,215,3610,0.00,2.30,0.00,0.000,1030,0.000,0.072,2924,1944,3094,3140,3049,0,0,0,0,0,0,26.83,26.75,26.86,9.66,16.41
$STATE,3657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3658,begin apogee
$GC,3662,-0.37,0.0,2924,1944,3140,3049,362.2,-10.8,217,3840,0.65,0.00,172.77,0.847,10246,0.151,0.000,3145,1941,2260,2344,2176,0,0,0,0,0,0,26.21,25.38,24.78,9.66,16.41
$STATE,3841,end apogee,CONTROL_FINISHED_OK
$STATE,3841,begin climb
$GC,3843,1.48,244.4,3144,1941,2344,2176,369.3,0.0,223,4024,1.67,0.00,176.43,0.817,10246,0.122,0.000,3731,1941,1418,1512,1324,0,0,0,0,0,0,25.55,25.33,24.77,9.58,15.97
$GC,4322,1.40,244.4,3730,1941,1510,1325,302.6,16.8,239,4327,0.00,2.42,0.00,0.000,260,0.000,0.087,3731,3513,1417,1510,1325,0,0,0,0,0,0,26.74,26.37,26.75,9.48,15.85
$GC,4385,1.30,244.4,3730,3513,1509,1325,290.9,17.6,242,4390,0.20,2.33,0.00,0.000,5126,0.206,0.074,3683,1958,1417,1510,1325,0,0,0,0,0,0,26.17,26.48,26.38,9.48,16.13
$GC,4704,1.30,244.4,3683,1957,1508,1324,243.4,14.4,258,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,3684,1957,1416,1508,1325,0,0,0,0,0,0,26.96,26.97,26.96,9.48,16.29
$GC,5003,1.30,244.4,3684,1957,1507,1325,200.1,14.6,273,5008,0.00,2.42,0.00,0.000,260,0.000,0.084,3683,3525,1416,1507,1325,0,0,0,0,0,0,27.03,26.60,27.05,9.47,16.64
$GC,5102,1.23,244.4,3683,3524,1506,1324,186.7,15.8,277,5110,0.10,2.35,0.00,0.000,5126,0.214,0.074,3665,1959,1415,1506,1324,0,0,0,0,0,0,26.35,26.69,26.46,9.46,16.45
$GC,5412,1.23,244.4,3664,1959,1507,1324,142.7,13.2,295,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,3665,1960,1415,1506,1324,0,0,0,0,0,0,27.10,27.10,27.10,9.46,16.84
$GC,5720,1.23,244.4,3664,1960,1505,1324,100.7,13.4,326,5725,0.00,2.40,0.00,0.000,260,0.000,0.087,3665,3513,1414,1505,1324,0,0,0,0,0,0,27.13,26.65,27.13,9.47,16.76
$GC,5811,1.18,244.4,3664,3513,1506,1324,87.0,15.4,334,5820,0.08,2.35,0.00,0.000,5126,0.209,0.077,3652,1950,1414,1505,1324,0,0,0,0,0,0,26.41,26.73,26.51,9.46,16.68
$GC,6119,1.18,244.4,3651,1950,1505,1322,45.5,13.6,365,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,3652,1950,1414,1505,1323,0,0,0,0,0,0,27.15,27.16,27.16,9.47,17.43
$GC,6420,1.34,377.0,3651,1950,1505,1323,18.9,6.3,395,6521,0.08,2.53,90.35,0.653,10500,0.156,0.092,3696,3513,961,1050,873,0,0,0,0,0,0,26.90,25.84,25.33,9.50,17.23
$STATE,6566,end climb,SURFACE_DEPTH_REACHED
$STATE,6566,begin surface coast
$FINISH,-1.0,1.023181
$STATE,6589,end surface coast,CONTROL_FINISHED_OK
$STATE,6589,begin surface
$SM_CCo,6609,135.43,0.618,0,0,349,555.15
$SM_GC,0.18,9.00,2.45,135.43,0.077,0.074,0.618,190,1933,349,-9.53,0.99,555.15,0,0,0,0,0,0,26.23,26.22,25.03
$IRIDIUM_FIX,3215.90,-6437.90,050918,184524
$TT8_MAMPS,0.020972,0.267393
$HUMID,16.49
$INTERNAL_PRESSURE,9.41046
$TCM_TEMP,26.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,20.1
$24V_AH,24.77,15.052
$10V_AH,10.49,10.713
$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,22.350,52.025,439.550,135.425,166.850,0.000,0.000,0.000,105.500,0.000,17.328,1245.852,2712.441,705.333,2087.564,84.413,0.000,1285.502,0.000,1368.455,0.000,1117.494,0.000
$DEVICE_MAMPS,263.198,91.871,846.703,618.267,243.334,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,277.245,543.134,1001.790,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318960
$DATA_FILE_SIZE,31487,411
$CAP_FILE_SIZE,126218,0
$CFSIZE,2047311872,2041020416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064,269.84,1
$GPS,050918,204646,3219.010,-6434.280,8,1.1,46,-14.9,0.4,303.3,8,3.8