version: 66.14
glider: 41
mission: 15
dive: 13
start: 9 6 118 7 46 5
data:
$ID,41
$MISSION,15
$DIVE,13
$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,48
$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
$GPS1,060918,074028,3216.1633,-6434.4712,16,0.9,23,-14.9,0.5,345.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-60.7
$GPS2,060918,074527,3216.1653,-6434.5073,10,1.0,16,-14.9,0.0,0.0,9,4.6
$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,125.4,77320,-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,7,-1.48,-244.4,196,1944,857,739,0.0,0.0,0,153,0.00,0.00,-143.48,0.151,16386,0.000,0.000,193,1944,2937,2957,2918,0,0,0,0,0,0,26.55,28.83,26.57,9.46,16.52
$GC,156,-1.48,-244.4,193,1944,2956,2918,4.4,-7.4,14,182,10.57,0.00,-11.07,0.189,18438,0.276,0.000,2808,1943,3366,3401,3332,0,0,0,0,0,0,25.75,26.08,25.93,9.70,15.97
$GC,482,-1.41,-244.4,2808,1943,3401,3332,58.1,-9.9,47,493,0.10,2.45,0.00,0.000,2308,0.206,0.084,2835,3531,3366,3401,3332,0,0,0,0,0,0,26.27,26.32,26.33,9.75,15.58
$GC,585,-1.36,-244.4,2834,3531,3401,3332,68.6,-11.3,56,593,0.00,2.38,0.00,0.000,1030,0.000,0.074,2834,1953,3366,3401,3332,0,0,0,0,0,0,26.55,26.48,26.54,9.74,15.15
$GC,1021,-1.29,-244.4,2834,1952,3402,3332,119.7,-12.6,87,1026,0.12,2.45,0.00,0.000,2308,0.194,0.082,2867,3535,3367,3402,3332,0,0,0,0,0,0,26.36,26.48,26.43,9.70,14.32
$GC,1171,-1.23,-244.4,2867,3535,3402,3332,138.9,-12.7,94,1190,0.00,2.38,0.00,0.000,1030,0.000,0.072,2867,1949,3367,3402,3332,0,0,0,0,0,0,26.63,26.58,26.64,9.68,14.20
$GC,1516,-1.18,-244.4,2866,1949,3402,3332,186.5,-13.9,112,1522,0.12,2.42,0.00,0.000,2308,0.191,0.084,2901,3529,3367,3402,3332,0,0,0,0,0,0,26.42,26.49,26.48,9.65,14.48
$GC,1631,-1.18,-244.4,2900,3529,3402,3332,202.8,-12.9,116,1637,0.00,2.33,0.00,0.000,1030,0.000,0.074,2900,1944,3367,3402,3332,0,0,0,0,0,0,26.67,26.63,26.70,9.65,14.36
$GC,1951,-1.18,-244.4,2900,1944,3402,3332,243.2,-12.8,132,1955,0.00,2.45,0.00,0.000,260,0.000,0.084,2890,3530,3367,3402,3332,0,0,0,0,0,0,27.03,26.57,27.05,9.64,14.67
$GC,2038,-1.18,-244.4,2890,3531,3402,3332,255.1,-13.9,136,2043,0.00,2.35,0.00,0.000,1030,0.000,0.072,2890,1946,3367,3402,3332,0,0,0,0,0,0,26.74,26.66,26.77,9.64,15.46
$GC,2357,-1.18,-244.4,2889,1945,3402,3331,298.0,-13.1,152,2364,0.00,2.45,0.00,0.000,260,0.000,0.087,2880,3539,3367,3402,3332,0,0,0,0,0,0,27.08,26.57,27.09,9.63,15.07
$GC,2442,-1.18,-244.4,2880,3539,3402,3332,306.8,-13.8,155,2452,0.10,2.38,0.00,0.000,3078,0.176,0.072,2914,1945,3367,3402,3332,0,0,0,0,0,0,26.39,26.70,26.48,9.63,14.99
$GC,2750,-1.18,-244.4,2913,1945,3402,3330,348.0,-12.2,166,2757,0.00,2.42,0.00,0.000,260,0.000,0.084,2903,3526,3367,3402,3332,0,0,0,0,0,0,27.11,26.53,27.12,9.62,15.62
$GC,2814,-1.18,-244.4,2903,3526,3402,3331,356.0,-12.5,168,2819,0.00,2.33,0.00,0.000,1030,0.000,0.072,2903,1960,3366,3402,3331,0,0,0,0,0,0,26.73,26.70,26.76,9.61,16.01
$GC,3143,-1.18,-244.4,2903,1960,3402,3329,397.3,-12.0,179,3149,0.00,2.40,0.00,0.000,260,0.000,0.084,2894,3530,3365,3402,3329,0,0,0,0,0,0,27.13,26.58,27.14,9.61,15.38
$GC,3187,-1.18,-244.4,2893,3530,3402,3330,401.0,-12.0,180,3192,0.00,2.35,0.00,0.000,1030,0.000,0.072,2893,1944,3365,3402,3329,0,0,0,0,0,0,26.79,26.71,26.82,9.61,15.38
$GC,3507,-1.18,-244.4,2893,1944,3402,3328,441.4,-12.2,191,3513,0.00,2.42,0.00,0.000,260,0.000,0.084,2884,3527,3365,3402,3328,0,0,0,0,0,0,27.13,26.61,27.15,9.60,15.70
$GC,3586,-1.18,-244.4,2883,3528,3402,3328,449.7,-12.8,193,3591,0.10,2.35,0.00,0.000,3078,0.194,0.072,2916,1941,3364,3402,3327,0,0,0,0,0,0,26.44,26.70,26.57,9.60,15.66
$GC,3893,-1.18,-244.4,2915,1940,3402,3326,490.0,-12.8,203,3898,0.00,2.47,0.00,0.000,260,0.000,0.087,2906,3537,3364,3402,3326,0,0,0,0,0,0,27.15,26.55,27.16,9.59,16.17
$GC,3988,-1.18,-244.4,2905,3537,3402,3326,502.5,-13.4,206,3994,0.00,2.33,0.00,0.000,1030,0.000,0.072,2905,1950,3364,3402,3326,0,0,0,0,0,0,26.76,26.73,26.78,9.58,16.29
$STATE,4256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4256,begin apogee
$GC,4261,-0.37,0.0,2905,1950,3402,3325,540.2,-14.1,215,4443,0.80,0.00,178.35,0.988,10246,0.151,0.000,3175,1947,2521,2599,2444,0,0,0,0,0,0,26.20,25.11,24.48,9.57,15.78
$STATE,4444,end apogee,CONTROL_FINISHED_OK
$STATE,4444,begin climb
$GC,4446,1.48,244.4,3175,1947,2599,2444,549.6,0.0,221,4637,1.65,2.58,179.60,0.963,10756,0.117,0.092,3769,387,1679,1765,1593,0,0,0,0,0,0,25.27,25.07,24.44,9.48,15.54
$GC,4808,1.34,244.4,3769,387,1765,1593,521.7,14.7,233,4813,0.15,2.42,0.00,0.000,5126,0.211,0.074,3727,1951,1679,1765,1593,0,0,0,0,0,0,25.85,26.09,26.03,9.39,14.95
$GC,5137,1.24,244.4,3726,1952,1764,1592,478.8,12.6,244,5139,0.12,0.00,0.00,0.000,4102,0.219,0.000,3691,1952,1677,1763,1592,0,0,0,0,0,0,26.20,26.42,26.36,9.38,15.30
$GC,5437,1.18,244.4,3691,1952,1762,1593,445.0,10.8,254,5443,0.00,2.45,0.00,0.000,260,0.000,0.087,3691,3539,1677,1762,1593,0,0,0,0,0,0,26.86,26.47,26.88,9.38,15.74
$GC,5569,1.09,244.4,3691,3538,1762,1593,429.9,12.2,258,5576,0.20,2.40,0.00,0.000,5126,0.204,0.077,3642,1945,1677,1761,1593,0,0,0,0,0,0,26.25,26.57,26.46,9.38,16.05
$GC,5891,1.09,244.4,3641,1945,1761,1593,395.0,10.6,269,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,1945,1676,1761,1592,0,0,0,0,0,0,26.97,26.98,26.98,9.38,16.01
$GC,6191,1.09,244.4,3641,1945,1760,1593,362.4,11.0,279,6192,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,1945,1676,1760,1593,0,0,0,0,0,0,27.02,27.03,27.03,9.38,16.01
$GC,6491,1.09,244.4,3642,1945,1760,1592,329.2,11.0,289,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,3642,1945,1676,1760,1593,0,0,0,0,0,0,27.05,27.06,27.06,9.39,16.52
$GC,6791,1.09,244.4,3642,1945,1760,1592,297.3,10.7,299,6796,0.00,2.47,0.00,0.000,260,0.000,0.087,3642,3540,1675,1759,1592,0,0,0,0,0,0,27.08,26.62,27.09,9.39,16.37
$GC,6923,1.03,244.4,3640,3540,1760,1593,282.4,11.7,305,6929,0.08,2.35,0.00,0.000,5126,0.209,0.072,3629,1955,1675,1759,1592,0,0,0,0,0,0,26.41,26.71,26.50,9.39,16.84
$GC,7243,1.03,244.4,3629,1955,1760,1592,249.8,10.3,321,7247,0.00,2.47,0.00,0.000,260,0.000,0.087,3629,3540,1675,1759,1592,0,0,0,0,0,0,27.10,26.60,27.11,9.39,15.97
$GC,7299,1.03,244.4,3628,3540,1760,1592,244.8,10.6,323,7308,0.00,2.40,0.00,0.000,1030,0.000,0.072,3639,1944,1675,1759,1592,0,0,0,0,0,0,26.76,26.72,26.79,9.40,15.93
$GC,7607,1.03,244.4,3638,1945,1759,1593,209.5,11.1,339,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,1945,1676,1760,1592,0,0,0,0,0,0,27.11,27.13,27.13,9.40,16.76
$GC,7907,1.03,244.4,3638,1945,1760,1592,174.2,11.6,354,7913,0.00,2.47,0.00,0.000,260,0.000,0.087,3639,3545,1676,1759,1593,0,0,0,0,0,0,27.13,26.62,27.14,9.40,16.72
$GC,7997,0.97,244.4,3638,3544,1760,1592,164.3,12.0,358,8003,0.15,2.38,0.00,0.000,5126,0.209,0.072,3607,1948,1676,1760,1592,0,0,0,0,0,0,26.30,26.70,26.49,9.40,16.52
$GC,8312,0.98,252.1,3606,1948,1760,1592,132.3,9.8,383,8324,0.00,2.45,6.40,0.598,8452,0.000,0.087,3607,3535,1652,1736,1568,0,0,0,0,0,0,27.14,26.65,25.98,9.40,16.09
$GC,8380,0.98,252.1,3606,3535,1737,1569,124.7,11.0,389,8391,0.00,2.33,0.00,0.000,1030,0.000,0.074,3616,1967,1652,1736,1569,0,0,0,0,0,0,26.77,26.74,26.79,9.40,15.82
$GC,8690,0.98,252.1,3616,1967,1737,1569,90.1,11.3,420,8692,0.00,0.00,0.00,0.000,6,0.000,0.000,3616,1967,1652,1736,1569,0,0,0,0,0,0,27.10,27.12,27.11,9.40,15.93
$GC,8991,0.98,252.1,3616,1967,1736,1569,58.0,10.4,450,8996,0.00,2.45,0.00,0.000,260,0.000,0.087,3617,3545,1652,1735,1569,0,0,0,0,0,0,27.12,26.65,27.13,9.42,16.33
$GC,9123,0.98,252.1,3616,3545,1737,1569,43.4,10.7,462,9128,0.00,2.38,0.00,0.000,1030,0.000,0.074,3628,1949,1652,1736,1569,0,0,0,0,0,0,26.80,26.71,26.83,9.42,16.29
$GC,9437,1.15,389.6,3628,1948,1736,1569,19.4,6.2,493,9539,0.00,2.55,95.38,0.675,8452,0.000,0.087,3629,3535,1178,1270,1086,0,0,0,0,0,0,27.14,25.71,25.21,9.46,16.68
$GC,9589,1.15,394.7,3628,3534,1271,1086,7.6,9.9,507,9601,0.00,2.45,5.20,0.469,9222,0.000,0.072,3640,1939,1161,1253,1070,0,0,0,0,0,0,26.07,26.03,25.37,9.44,16.01
$STATE,9628,end climb,SURFACE_DEPTH_REACHED
$STATE,9628,begin surface coast
$FINISH,0.5,1.023299
$STATE,9650,end surface coast,CONTROL_FINISHED_OK
$STATE,9650,begin surface
$SM_CCo,9667,75.15,0.638,0,0,799,500.24
$SM_GC,0.36,9.40,0.00,75.15,0.107,0.000,0.638,205,1939,799,-9.59,-0.40,500.24,0,0,0,0,0,0,26.12,26.41,25.01
$IRIDIUM_FIX,3216.94,-6436.80,060918,045756
$TT8_MAMPS,0.020972,0.265895
$HUMID,16.01
$INTERNAL_PRESSURE,9.40069
$TCM_TEMP,20.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,21.1
$24V_AH,24.44,16.046
$10V_AH,10.51,11.324
$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,23.675,82.100,464.925,75.150,154.550,22.460,16.217,163.037,75.250,0.000,17.448,1590.586,5217.329,639.720,2496.810,117.973,0.000,1393.522,0.000,1755.113,0.000,807.964,0.000
$DEVICE_MAMPS,275.613,91.871,988.234,638.131,188.708,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.911,678.199,1250.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318872
$DATA_FILE_SIZE,41778,513
$CAP_FILE_SIZE,121139,0
$CFSIZE,2047311872,2040135680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134,255.75,1
$GPS,060918,102941,3215.357,-6433.778,23,0.8,33,-14.9,0.5,271.7,11,4.9