version: 66.14
glider: 41
mission: 15
dive: 11
start: 9 6 118 2 12 49
data:
$ID,41
$MISSION,15
$DIVE,11
$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,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,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,3855
$C_PITCH,3293
$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,49
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,325
$VBD_MAX,3960
$C_VBD,2521
$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
$GPS1,060918,020750,3219.0830,-6435.0269,5,1.1,13,-14.9,0.5,184.2,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-57.6
$GPS2,060918,021210,3219.0649,-6435.0225,10,1.0,14,-14.9,0.0,185.5,9,4.9
$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,156.1,82401,-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,-1.48,-244.4,199,1927,861,735,0.0,0.0,0,154,0.00,0.00,-144.02,0.151,16386,0.000,0.000,198,1927,3113,3129,3097,0,0,0,0,0,0,26.91,28.83,26.91,9.59,15.50
$GC,156,-1.48,-244.4,198,1927,3128,3097,4.4,-6.4,14,182,10.38,0.00,-6.50,0.216,18438,0.273,0.000,2809,1926,3363,3395,3331,0,0,0,0,0,0,25.98,26.25,26.15,9.83,15.03
$GC,482,-1.40,-244.4,2808,1926,3394,3332,58.5,-11.8,47,493,0.10,2.42,0.00,0.000,2308,0.204,0.084,2835,3528,3363,3395,3332,0,0,0,0,0,0,26.44,26.48,26.50,9.85,15.11
$GC,744,-1.33,-244.4,2834,3528,3394,3332,81.8,-9.2,69,762,0.00,2.35,0.00,0.000,1030,0.000,0.072,2835,1934,3363,3394,3332,0,0,0,0,0,0,26.69,26.66,26.71,9.81,14.91
$GC,1235,-1.26,-244.4,2834,1934,3394,3331,131.9,-12.8,100,1255,0.15,2.40,0.00,0.000,2308,0.189,0.082,2877,3525,3363,3395,3331,0,0,0,0,0,0,26.44,26.59,26.53,9.76,14.71
$GC,1443,-1.26,-244.4,2876,3525,3395,3331,156.8,-12.3,109,1447,0.00,2.33,0.00,0.000,1030,0.000,0.072,2876,1959,3362,3394,3331,0,0,0,0,0,0,26.73,26.71,26.76,9.74,14.71
$GC,1775,-1.21,-244.4,2876,1958,3395,3328,198.7,-12.7,125,1781,0.00,2.38,0.00,0.000,260,0.000,0.084,2865,3522,3362,3395,3329,0,0,0,0,0,0,27.04,26.66,27.05,9.71,14.87
$GC,1859,-1.14,-244.4,2865,3522,3395,3328,211.8,-13.6,129,1866,0.17,2.28,0.00,0.000,3078,0.171,0.072,2923,1949,3361,3395,3328,0,0,0,0,0,0,26.39,26.72,26.48,9.71,15.22
$GC,2180,-1.14,-244.4,2923,1950,3394,3326,249.8,-12.1,145,2184,0.00,2.40,0.00,0.000,260,0.000,0.084,2915,3527,3360,3394,3326,0,0,0,0,0,0,27.10,26.64,27.12,9.69,15.15
$GC,2257,-1.14,-244.4,2915,3527,3394,3326,257.9,-12.4,148,2265,0.00,2.35,0.00,0.000,1030,0.000,0.072,2915,1947,3359,3394,3325,0,0,0,0,0,0,26.77,26.75,26.81,9.68,14.87
$GC,2565,-1.14,-244.4,2915,1947,3394,3324,298.7,-13.1,164,2572,0.00,2.40,0.00,0.000,260,0.000,0.084,2905,3522,3359,3395,3324,0,0,0,0,0,0,27.13,26.63,27.15,9.67,15.50
$GC,2659,-1.14,-244.4,2904,3522,3394,3323,311.7,-13.8,168,2664,0.00,2.28,0.00,0.000,1030,0.000,0.070,2905,1950,3359,3395,3323,0,0,0,0,0,0,26.79,26.77,26.83,9.67,15.74
$GC,2989,-1.14,-244.4,2904,1950,3394,3321,355.3,-12.8,179,2995,0.00,2.40,0.00,0.000,260,0.000,0.087,2895,3519,3357,3394,3321,0,0,0,0,0,0,27.15,26.63,27.16,9.66,15.82
$GC,3082,-1.14,-244.4,2894,3519,3394,3320,367.5,-13.1,182,3088,0.08,2.33,0.00,0.000,3078,0.184,0.072,2920,1958,3357,3395,3320,0,0,0,0,0,0,26.51,26.77,26.66,9.66,15.58
$GC,3412,-1.14,-244.4,2919,1958,3394,3318,410.0,-12.6,193,3418,0.00,2.38,0.00,0.000,260,0.000,0.084,2911,3521,3356,3395,3318,0,0,0,0,0,0,27.16,26.65,27.17,9.64,15.93
$GC,3473,-1.14,-244.4,2910,3520,3394,3318,418.0,-12.6,195,3480,0.00,2.30,0.00,0.000,1030,0.000,0.074,2910,1948,3356,3395,3317,0,0,0,0,0,0,26.80,26.76,26.82,9.64,16.01
$GC,3803,-1.14,-244.4,2909,1948,3395,3315,458.8,-12.7,206,3810,0.00,2.40,0.00,0.000,260,0.000,0.084,2901,3518,3355,3395,3315,0,0,0,0,0,0,27.16,26.58,27.18,9.64,16.56
$GC,3897,-1.14,-244.4,2901,3517,3395,3314,471.1,-13.2,209,3902,0.00,2.33,0.00,0.000,1030,0.000,0.070,2901,1960,3354,3394,3314,0,0,0,0,0,0,26.79,26.76,26.82,9.64,15.89
$GC,4227,-1.14,-244.4,2900,1959,3395,3313,514.0,-12.7,220,4233,0.00,2.38,0.00,0.000,260,0.000,0.084,2890,3518,3353,3395,3312,0,0,0,0,0,0,27.17,26.61,27.18,9.62,16.29
$GC,4318,-1.14,-244.4,2890,3518,3395,3312,526.2,-13.2,223,4326,0.10,2.30,0.00,0.000,3078,0.174,0.072,2924,1937,3353,3395,3312,0,0,0,0,0,0,26.43,26.75,26.51,9.62,16.29
$STATE,4438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4438,begin apogee
$GC,4442,-0.37,0.0,2924,1937,3395,3312,540.9,-12.2,227,4621,0.73,0.00,175.30,0.986,10246,0.146,0.000,3175,1937,2521,2599,2443,0,0,0,0,0,0,26.29,25.20,24.56,9.61,16.01
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4624,1.48,244.4,3174,1937,2600,2442,547.4,0.0,233,4813,1.62,2.53,178.40,0.958,10756,0.114,0.089,3767,394,1678,1766,1591,0,0,0,0,0,0,25.37,25.18,24.55,9.53,15.62
$GC,4876,1.36,256.9,3767,394,1766,1591,535.2,9.7,241,4892,0.12,2.42,10.55,0.809,13318,0.211,0.077,3732,1949,1636,1723,1549,0,0,0,0,0,0,25.70,25.89,25.01,9.44,15.85
$GC,5222,1.26,256.9,3732,1949,1722,1549,489.4,11.8,253,5224,0.10,0.00,0.00,0.000,4102,0.228,0.000,3705,1950,1635,1722,1548,0,0,0,0,0,0,26.25,26.44,26.39,9.42,16.09
$GC,5521,1.19,256.9,3705,1949,1720,1549,455.9,11.3,263,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3705,1950,1634,1720,1548,0,0,0,0,0,0,26.89,26.90,26.90,9.41,16.68
$GC,5821,1.12,256.9,3704,1950,1719,1549,420.0,12.3,273,5828,0.15,2.42,0.00,0.000,4356,0.206,0.084,3655,3530,1634,1719,1549,0,0,0,0,0,0,26.36,26.54,26.45,9.41,16.21
$GC,5901,1.05,256.9,3654,3530,1719,1548,412.8,12.0,275,5913,0.12,2.35,0.00,0.000,5126,0.211,0.074,3629,1960,1633,1719,1548,0,0,0,0,0,0,26.35,26.65,26.54,9.41,16.88
$GC,6215,1.05,259.3,3628,1960,1718,1548,379.4,9.9,286,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,3628,1960,1633,1719,1548,0,0,0,0,0,0,27.03,27.05,27.05,9.42,16.56
$GC,6513,1.05,259.9,3628,1959,1718,1547,348.7,10.0,296,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1960,1633,1719,1547,0,0,0,0,0,0,27.08,27.09,27.09,9.42,16.76
$GC,6813,1.05,259.9,3628,1960,1718,1547,317.5,10.5,306,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1960,1631,1717,1546,0,0,0,0,0,0,27.10,27.12,27.11,9.41,16.64
$GC,7113,1.05,259.9,3627,1960,1718,1547,285.8,10.8,318,7119,0.00,2.40,0.00,0.000,260,0.000,0.084,3628,3525,1632,1717,1547,0,0,0,0,0,0,27.12,26.65,27.13,9.42,17.12
$GC,7195,1.05,259.9,3628,3525,1717,1547,276.0,11.8,322,7201,0.00,2.33,0.00,0.000,1030,0.000,0.074,3638,1949,1632,1717,1547,0,0,0,0,0,0,26.77,26.72,26.79,9.42,16.76
$GC,7516,1.05,259.9,3638,1949,1717,1546,238.4,12.2,338,7517,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1949,1631,1717,1546,0,0,0,0,0,0,27.13,27.15,27.15,9.42,16.60
$GC,7815,1.05,259.9,3637,1949,1717,1547,202.9,12.1,353,7820,0.00,2.45,0.00,0.000,260,0.000,0.087,3638,3533,1631,1717,1546,0,0,0,0,0,0,27.15,26.63,27.15,9.42,16.45
$GC,7908,1.00,259.9,3637,3533,1717,1546,191.9,12.9,357,7913,0.12,2.35,0.00,0.000,5126,0.214,0.072,3614,1947,1631,1716,1546,0,0,0,0,0,0,26.36,26.73,26.53,9.42,16.45
$GC,8216,1.00,259.9,3613,1947,1717,1546,155.8,11.3,372,8222,0.00,2.42,0.00,0.000,260,0.000,0.084,3613,3528,1631,1717,1546,0,0,0,0,0,0,27.15,26.61,27.17,9.43,16.52
$GC,8270,1.00,259.9,3613,3527,1717,1546,150.8,11.8,374,8278,0.00,2.38,0.00,0.000,1030,0.000,0.077,3623,1948,1631,1717,1546,0,0,0,0,0,0,26.76,26.71,26.79,9.41,17.00
$GC,8578,1.00,259.9,3622,1948,1717,1546,110.4,12.7,405,8583,0.00,2.45,0.00,0.000,260,0.000,0.089,3623,3530,1632,1717,1547,0,0,0,0,0,0,27.16,26.55,27.17,9.43,16.05
$GC,8666,1.00,259.9,3623,3530,1717,1546,98.8,13.3,413,8671,0.00,2.35,0.00,0.000,1030,0.000,0.074,3635,1944,1631,1717,1546,0,0,0,0,0,0,26.82,26.73,26.84,9.43,16.21
$GC,8979,1.00,259.9,3634,1945,1717,1546,62.2,10.6,444,8984,0.00,2.42,0.00,0.000,516,0.000,0.087,3647,384,1631,1717,1545,0,0,0,0,0,0,27.16,26.58,27.17,9.43,15.97
$GC,9046,1.01,263.1,3646,384,1717,1546,55.6,9.9,450,9058,0.00,2.38,5.05,0.509,9222,0.000,0.077,3647,1957,1614,1699,1530,0,0,0,0,0,0,26.79,26.71,25.96,9.44,15.89
$GC,9357,1.14,376.2,3646,1957,1699,1530,28.2,6.9,481,9438,0.00,0.00,78.40,0.680,8454,0.000,0.000,3647,1957,1225,1318,1132,0,0,0,0,0,0,27.14,25.82,25.33,9.46,16.37
$STATE,9625,end climb,SURFACE_DEPTH_REACHED
$STATE,9625,begin surface coast
$FINISH,-0.4,1.023257
$STATE,9647,end surface coast,CONTROL_FINISHED_OK
$STATE,9647,begin surface
$SM_CCo,9663,87.85,0.643,0,0,798,500.24
$SM_GC,0.01,8.93,0.00,87.85,0.082,0.000,0.643,201,1957,798,-9.60,0.11,500.24,0,0,0,0,0,0,26.33,26.67,25.07
$IRIDIUM_FIX,3218.82,-6431.10,060918,020416
$TT8_MAMPS,0.020972,0.266644
$HUMID,16.41
$INTERNAL_PRESSURE,9.41046
$TCM_TEMP,24.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,20.0
$24V_AH,24.55,15.725
$10V_AH,10.48,11.106
$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,22.875,76.075,447.700,87.850,150.525,0.000,0.000,0.000,87.250,0.000,15.350,1579.318,5167.204,626.651,2368.297,99.251,0.000,1385.148,0.000,1746.714,0.000,937.702,0.000
$DEVICE_MAMPS,273.130,178.776,985.751,643.097,216.021,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.151,674.335,1242.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318988
$DATA_FILE_SIZE,41771,510
$CAP_FILE_SIZE,141192,0
$CFSIZE,2047311872,2040365056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.171,230.32,1
$GPS,060918,045635,3217.258,-6434.933,31,1.0,34,-14.9,0.6,247.7,9,5.0