version: 66.14
glider: 41
mission: 15
dive: 12
start: 9 6 118 5 2 16
data:
$ID,41
$MISSION,15
$DIVE,12
$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,50
$R_STBD_OVSHOOT,40
$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
$GPS1,060918,045635,3217.2578,-6434.9326,31,1.0,34,-14.9,0.6,247.7,9,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-61.5
$GPS2,060918,050137,3217.2263,-6434.9761,11,1.0,16,-14.9,0.0,222.4,9,5.0
$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,129.5,79392,-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,5,begin dive
$GC,7,-1.48,-244.4,194,1961,859,733,0.0,0.0,0,154,0.00,0.00,-143.68,0.151,16386,0.000,0.000,192,1960,2922,2940,2904,0,0,0,0,0,0,26.58,28.83,26.60,9.48,16.52
$GC,156,-1.48,-244.4,192,1960,2940,2904,4.1,-7.5,14,182,10.60,0.00,-11.75,0.186,18438,0.276,0.000,2810,1960,3366,3401,3332,0,0,0,0,0,0,25.77,26.11,25.96,9.70,16.09
$GC,482,-1.42,-244.4,2809,1960,3401,3332,59.6,-13.0,47,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1960,3366,3400,3332,0,0,0,0,0,0,26.77,26.79,26.78,9.77,15.46
$GC,861,-1.33,-244.4,2810,1960,3401,3332,103.7,-12.1,77,866,0.15,2.42,0.00,0.000,2308,0.189,0.084,2853,3533,3366,3401,3332,0,0,0,0,0,0,26.33,26.48,26.41,9.72,14.75
$GC,945,-1.26,-244.4,2852,3533,3401,3332,113.2,-11.3,81,950,0.10,2.35,0.00,0.000,3078,0.201,0.072,2884,1943,3366,3401,3332,0,0,0,0,0,0,26.32,26.58,26.48,9.71,14.59
$GC,1388,-1.26,-244.4,2884,1943,3401,3332,165.7,-13.2,107,1395,0.00,2.42,0.00,0.000,260,0.000,0.082,2874,3532,3366,3401,3332,0,0,0,0,0,0,26.95,26.54,26.96,9.68,15.11
$GC,1573,-1.21,-244.4,2874,3532,3401,3332,191.5,-14.0,113,1580,0.00,2.33,0.00,0.000,1030,0.000,0.074,2874,1948,3366,3401,3332,0,0,0,0,0,0,26.68,26.65,26.71,9.67,14.75
$GC,1895,-1.15,-244.4,2873,1947,3401,3332,240.1,-14.8,129,1902,0.12,2.42,0.00,0.000,2308,0.199,0.084,2908,3525,3366,3401,3332,0,0,0,0,0,0,26.48,26.58,26.53,9.65,15.15
$GC,1990,-1.15,-244.4,2907,3525,3401,3332,251.8,-13.6,133,1999,0.00,2.35,0.00,0.000,1030,0.000,0.072,2908,1948,3366,3401,3332,0,0,0,0,0,0,26.72,26.70,26.75,9.65,15.34
$GC,2299,-1.15,-244.4,2907,1948,3401,3332,293.2,-13.0,149,2305,0.00,2.45,0.00,0.000,260,0.000,0.087,2898,3533,3366,3401,3332,0,0,0,0,0,0,27.09,26.57,27.10,9.64,15.11
$GC,2374,-1.15,-244.4,2898,3533,3401,3331,301.5,-13.1,152,2379,0.00,2.33,0.00,0.000,1030,0.000,0.072,2898,1947,3366,3401,3332,0,0,0,0,0,0,26.78,26.70,26.81,9.64,14.87
$GC,2693,-1.15,-244.4,2897,1947,3401,3331,346.4,-14.1,163,2699,0.00,2.42,0.00,0.000,260,0.000,0.087,2889,3528,3366,3401,3331,0,0,0,0,0,0,27.12,26.60,27.13,9.63,15.46
$GC,2784,-1.15,-244.4,2888,3528,3401,3331,359.8,-14.6,166,2791,0.08,2.30,0.00,0.000,3078,0.194,0.072,2914,1960,3366,3401,3331,0,0,0,0,0,0,26.44,26.70,26.49,9.63,15.42
$GC,3115,-1.15,-244.4,2913,1960,3401,3330,405.0,-13.8,177,3121,0.00,2.40,0.00,0.000,260,0.000,0.084,2904,3530,3365,3401,3330,0,0,0,0,0,0,27.13,26.60,27.15,9.62,16.13
$GC,3168,-1.15,-244.4,2903,3529,3401,3330,409.4,-13.9,178,3176,0.00,2.38,0.00,0.000,1030,0.000,0.072,2904,1940,3365,3401,3330,0,0,0,0,0,0,26.75,26.72,26.78,9.63,16.13
$GC,3478,-1.15,-244.4,2903,1940,3401,3328,455.6,-13.9,189,3484,0.00,2.45,0.00,0.000,260,0.000,0.087,2894,3525,3364,3401,3328,0,0,0,0,0,0,27.15,26.58,27.16,9.62,15.82
$GC,3530,-1.15,-244.4,2893,3525,3401,3328,459.8,-13.7,190,3540,0.00,2.35,0.00,0.000,1030,0.000,0.074,2893,1955,3364,3401,3328,0,0,0,0,0,0,26.75,26.72,26.78,9.61,15.54
$GC,3839,-1.15,-244.4,2892,1956,3401,3326,505.9,-13.9,201,3845,0.00,2.42,0.00,0.000,260,0.000,0.084,2884,3534,3363,3401,3326,0,0,0,0,0,0,27.15,26.60,27.16,9.60,16.41
$GC,3939,-1.10,-244.4,2883,3535,3401,3326,519.5,-14.6,204,3944,0.17,2.35,0.00,0.000,3078,0.181,0.072,2940,1945,3363,3401,3326,0,0,0,0,0,0,26.29,26.70,26.47,9.59,15.50
$STATE,4108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4108,begin apogee
$GC,4112,-0.37,0.0,2940,1945,3401,3325,541.8,-12.4,210,4294,0.68,0.00,177.95,0.993,10246,0.149,0.000,3171,1944,2521,2599,2444,0,0,0,0,0,0,26.23,25.13,24.51,9.58,15.66
$STATE,4295,end apogee,CONTROL_FINISHED_OK
$STATE,4295,begin climb
$GC,4297,1.48,244.4,3171,1944,2599,2444,549.8,0.0,216,4487,1.65,2.55,179.23,0.963,10756,0.117,0.092,3767,366,1679,1765,1593,0,0,0,0,0,0,25.31,25.10,24.46,9.50,15.38
$GC,4594,1.34,244.4,3767,366,1765,1593,526.8,14.3,226,4601,0.12,2.45,0.00,0.000,5126,0.204,0.077,3731,1957,1679,1765,1593,0,0,0,0,0,0,25.75,25.96,25.86,9.41,15.46
$GC,4925,1.24,244.4,3731,1957,1765,1593,481.2,13.3,237,4932,0.12,2.45,0.00,0.000,4356,0.221,0.084,3692,3532,1678,1764,1593,0,0,0,0,0,0,26.18,26.35,26.27,9.40,15.34
$GC,5006,1.14,244.4,3691,3532,1764,1593,472.7,13.7,239,5017,0.15,2.40,0.00,0.000,5126,0.211,0.074,3659,1945,1678,1764,1593,0,0,0,0,0,0,26.17,26.44,26.36,9.40,15.82
$GC,5319,1.14,244.4,3658,1945,1763,1592,433.3,11.8,250,5325,0.00,2.42,0.00,0.000,516,0.000,0.087,3669,380,1677,1763,1592,0,0,0,0,0,0,26.89,26.50,26.91,9.40,15.66
$GC,5381,1.14,244.4,3669,380,1762,1592,425.7,12.0,252,5387,0.00,2.38,0.00,0.000,1030,0.000,0.077,3669,1950,1677,1762,1593,0,0,0,0,0,0,26.62,26.59,26.65,9.39,15.66
$GC,5712,1.09,244.4,3669,1950,1760,1593,385.5,11.7,263,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3669,1949,1676,1761,1592,0,0,0,0,0,0,26.98,27.00,27.00,9.39,15.89
$GC,6011,1.03,244.4,3669,1950,1760,1593,351.7,11.3,273,6013,0.15,0.00,0.00,0.000,4102,0.201,0.000,3625,1952,1676,1761,1592,0,0,0,0,0,0,26.41,26.64,26.57,9.40,16.09
$GC,6311,1.03,244.4,3624,1952,1760,1593,320.1,10.5,283,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,3625,1952,1676,1760,1593,0,0,0,0,0,0,27.06,27.08,27.08,9.40,16.05
$GC,6622,1.03,244.4,3624,1952,1760,1592,288.0,10.2,295,6627,0.00,2.42,0.00,0.000,260,0.000,0.089,3625,3531,1676,1760,1593,0,0,0,0,0,0,27.09,26.60,27.10,9.41,15.97
$GC,6696,1.03,244.4,3624,3530,1760,1592,281.2,10.5,298,6706,0.00,2.38,0.00,0.000,1030,0.000,0.074,3635,1952,1676,1760,1592,0,0,0,0,0,0,26.74,26.71,26.78,9.40,16.29
$GC,7005,1.04,250.3,3634,1952,1760,1593,249.7,9.8,314,7013,0.00,0.00,5.38,0.601,8198,0.000,0.000,3635,1952,1658,1742,1575,0,0,0,0,0,0,27.11,26.59,25.91,9.40,16.13
$GC,7305,1.04,250.3,3634,1952,1742,1575,218.2,10.8,329,7311,0.00,2.45,0.00,0.000,260,0.000,0.087,3635,3535,1658,1742,1575,0,0,0,0,0,0,27.08,26.64,27.10,9.41,16.09
$GC,7400,0.98,250.3,3634,3534,1742,1575,208.2,11.9,333,7409,0.10,2.38,0.00,0.000,5126,0.209,0.074,3616,1958,1658,1742,1575,0,0,0,0,0,0,26.40,26.70,26.50,9.41,16.17
$GC,7708,0.98,250.3,3615,1958,1742,1575,174.0,10.5,349,7714,0.00,2.42,0.00,0.000,260,0.000,0.087,3615,3530,1659,1743,1575,0,0,0,0,0,0,27.11,26.65,27.13,9.41,16.37
$GC,7770,0.98,250.3,3615,3530,1742,1575,167.1,11.0,352,7776,0.00,2.33,0.00,0.000,1030,0.000,0.074,3625,1952,1658,1742,1575,0,0,0,0,0,0,26.77,26.72,26.80,9.41,16.21
$GC,8081,0.98,250.3,3625,1952,1743,1575,132.6,11.4,375,8082,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1952,1658,1742,1575,0,0,0,0,0,0,27.13,27.15,27.14,9.41,15.89
$GC,8381,0.98,250.3,3625,1952,1743,1575,98.8,11.4,405,8391,0.00,2.42,0.00,0.000,260,0.000,0.087,3626,3529,1658,1742,1575,0,0,0,0,0,0,27.15,26.61,27.15,9.42,15.78
$GC,8481,0.93,250.3,3625,3529,1743,1575,86.6,12.0,414,8486,0.15,2.35,0.00,0.000,5126,0.204,0.072,3593,1950,1658,1741,1575,0,0,0,0,0,0,26.32,26.72,26.50,9.41,15.78
$GC,8795,0.93,250.3,3592,1949,1743,1575,54.2,10.2,445,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,1949,1658,1742,1575,0,0,0,0,0,0,27.15,27.16,27.16,9.44,16.09
$GC,9096,1.18,449.3,3591,1949,1743,1575,32.2,4.5,475,9242,0.15,2.55,138.02,0.673,10500,0.119,0.089,3669,3532,973,1064,883,0,0,0,0,0,0,26.82,25.50,25.01,9.46,15.82
$STATE,9358,end climb,SURFACE_DEPTH_REACHED
$STATE,9358,begin surface coast
$FINISH,0.1,1.023274
$STATE,9371,end surface coast,CONTROL_FINISHED_OK
$STATE,9372,begin surface
$SM_CCo,9391,36.90,0.628,0,0,798,500.24
$SM_GC,0.84,9.05,2.47,36.90,0.082,0.072,0.628,199,1947,798,-9.60,1.27,500.24,0,0,0,0,0,0,26.13,26.11,25.20
$IRIDIUM_FIX,3218.77,-6436.80,060918,020832
$TT8_MAMPS,0.020972,0.265895
$HUMID,16.17
$INTERNAL_PRESSURE,9.39093
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.1,18.3
$24V_AH,24.46,15.886
$10V_AH,10.51,11.214
$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,23.550,76.975,500.575,36.900,155.425,23.290,18.196,161.278,76.750,0.000,17.044,1536.653,5018.750,609.543,2471.046,114.819,0.000,1356.565,0.000,1711.952,0.000,831.984,0.000
$DEVICE_MAMPS,275.613,91.871,993.200,628.199,186.225,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.257,662.161,1221.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318896
$DATA_FILE_SIZE,38403,501
$CAP_FILE_SIZE,118778,0
$CFSIZE,2047311872,2040266752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.185,246.64,1
$GPS,060918,074028,3216.163,-6434.471,16,0.9,23,-14.9,0.5,345.3,9,4.9