version: 66.14
glider: 41
mission: 15
dive: 14
start: 9 6 118 10 35 17
data:
$ID,41
$MISSION,15
$DIVE,14
$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,47
$R_STBD_OVSHOOT,34
$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
$GPS1,060918,102941,3215.3574,-6433.7778,23,0.8,33,-14.9,0.5,271.7,11,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-60.8
$GPS2,060918,103439,3215.3667,-6433.8457,3,0.9,17,-14.9,0.0,276.0,10,4.6
$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,138.7,75518,-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,-244.4,195,1936,856,740,0.0,0.0,0,153,0.00,0.00,-143.60,0.151,16386,0.000,0.000,193,1937,2933,2952,2915,0,0,0,0,0,0,26.53,28.83,26.54,9.46,16.64
$GC,156,-1.48,-244.4,193,1937,2952,2914,4.3,-7.9,14,182,10.65,0.00,-11.23,0.186,18438,0.276,0.000,2811,1934,3366,3401,3332,0,0,0,0,0,0,25.74,26.06,25.91,9.68,15.97
$GC,482,-1.41,-244.4,2810,1934,3401,3332,58.2,-10.5,47,484,0.10,0.00,0.00,0.000,2054,0.204,0.000,2843,1934,3366,3400,3332,0,0,0,0,0,0,26.29,26.44,26.39,9.74,15.66
$GC,837,-1.35,-244.4,2842,1935,3401,3332,94.5,-11.3,77,842,0.00,2.47,0.00,0.000,260,0.000,0.082,2833,3548,3366,3401,3332,0,0,0,0,0,0,26.84,26.46,26.84,9.71,14.79
$GC,1019,-1.27,-244.4,2832,3547,3401,3332,116.1,-11.6,86,1040,0.15,2.33,0.00,0.000,3078,0.179,0.072,2882,1953,3367,3402,3332,0,0,0,0,0,0,26.27,26.56,26.36,9.69,14.40
$GC,1464,-1.27,-244.4,2881,1953,3401,3332,164.4,-12.2,112,1470,0.00,2.42,0.00,0.000,260,0.000,0.087,2872,3534,3366,3401,3332,0,0,0,0,0,0,26.92,26.51,26.94,9.66,14.16
$GC,1589,-1.22,-244.4,2871,3534,3402,3331,180.2,-12.8,116,1595,0.08,2.33,0.00,0.000,3078,0.191,0.074,2896,1959,3367,3402,3332,0,0,0,0,0,0,26.37,26.63,26.46,9.65,14.16
$GC,1909,-1.22,-244.4,2895,1958,3401,3332,221.0,-12.5,132,1913,0.00,2.42,0.00,0.000,260,0.000,0.084,2888,3538,3367,3402,3332,0,0,0,0,0,0,27.01,26.57,27.02,9.64,14.56
$GC,1977,-1.22,-244.4,2887,3537,3402,3331,229.2,-12.7,135,1982,0.00,2.38,0.00,0.000,1030,0.000,0.074,2887,1941,3367,3402,3332,0,0,0,0,0,0,26.72,26.64,26.75,9.64,15.07
$GC,2290,-1.22,-244.4,2888,1941,3401,3331,270.6,-13.2,151,2296,0.00,2.45,0.00,0.000,260,0.000,0.084,2877,3539,3366,3401,3332,0,0,0,0,0,0,27.05,26.54,27.07,9.63,15.03
$GC,2375,-1.16,-244.4,2876,3539,3402,3331,282.0,-13.7,155,2380,0.12,2.35,0.00,0.000,3078,0.191,0.072,2916,1942,3366,3401,3331,0,0,0,0,0,0,26.39,26.69,26.54,9.63,15.22
$GC,2683,-1.16,-244.4,2916,1943,3401,3331,319.3,-11.9,168,2689,0.00,2.42,0.00,0.000,260,0.000,0.087,2907,3523,3365,3401,3330,0,0,0,0,0,0,27.09,26.59,27.10,9.62,15.58
$GC,2775,-1.16,-244.4,2907,3523,3401,3330,330.3,-12.2,171,2779,0.00,2.33,0.00,0.000,1030,0.000,0.072,2906,1951,3365,3401,3330,0,0,0,0,0,0,26.79,26.72,26.81,9.62,15.07
$GC,3108,-1.16,-244.4,2906,1951,3401,3329,372.0,-12.8,182,3112,0.00,2.45,0.00,0.000,260,0.000,0.084,2897,3541,3365,3401,3329,0,0,0,0,0,0,27.11,26.61,27.13,9.61,15.34
$GC,3173,-1.16,-244.4,2897,3541,3402,3329,380.4,-13.0,184,3178,0.00,2.38,0.00,0.000,1030,0.000,0.072,2897,1938,3365,3402,3329,0,0,0,0,0,0,26.79,26.72,26.82,9.61,15.89
$GC,3502,-1.16,-244.4,2896,1938,3401,3327,423.8,-13.3,195,3507,0.00,2.47,0.00,0.000,260,0.000,0.084,2888,3539,3364,3402,3327,0,0,0,0,0,0,27.13,26.59,27.14,9.60,15.97
$GC,3566,-1.16,-244.4,2888,3539,3401,3327,432.7,-13.8,197,3571,0.10,2.35,0.00,0.000,3078,0.201,0.070,2919,1947,3364,3401,3327,0,0,0,0,0,0,26.44,26.73,26.58,9.60,15.66
$GC,3900,-1.16,-244.4,2919,1947,3401,3326,476.2,-13.2,208,3904,0.00,2.47,0.00,0.000,260,0.000,0.087,2911,3545,3363,3401,3326,0,0,0,0,0,0,27.14,26.57,27.15,9.58,15.46
$GC,3986,-1.16,-244.4,2910,3545,3401,3326,485.1,-13.7,210,3994,0.00,2.40,0.00,0.000,1030,0.000,0.072,2910,1944,3364,3402,3326,0,0,0,0,0,0,26.74,26.72,26.79,9.58,15.46
$GC,4296,-1.16,-244.4,2909,1945,3401,3325,531.1,-14.0,221,4300,0.00,2.47,0.00,0.000,260,0.000,0.084,2901,3545,3363,3402,3325,0,0,0,0,0,0,27.15,26.58,27.16,9.57,15.66
$STATE,4360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4360,begin apogee
$GC,4367,-0.37,0.0,2900,1947,3402,3325,540.2,-14.3,223,4549,0.82,0.00,178.15,0.991,10246,0.156,0.000,3177,1947,2521,2599,2444,0,0,0,0,0,0,26.20,25.10,24.48,9.57,15.46
$STATE,4550,end apogee,CONTROL_FINISHED_OK
$STATE,4550,begin climb
$GC,4552,1.48,244.4,3177,1947,2599,2444,548.8,0.0,229,4738,1.62,0.00,179.52,0.966,10758,0.117,0.000,3752,1947,1679,1765,1593,0,0,0,0,0,0,25.26,25.08,24.43,9.47,15.78
$GC,5053,1.37,244.4,3752,1946,1764,1593,502.4,13.8,246,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,3752,1946,1679,1765,1593,0,0,0,0,0,0,26.56,26.58,26.58,9.38,15.85
$GC,5352,1.25,244.4,3751,1946,1764,1593,462.1,13.1,256,5359,0.17,2.47,0.00,0.000,4356,0.209,0.084,3697,3531,1678,1764,1593,0,0,0,0,0,0,26.20,26.39,26.31,9.38,15.46
$GC,5434,1.14,244.4,3696,3531,1764,1593,454.0,13.0,258,5446,0.15,2.38,0.00,0.000,5126,0.211,0.074,3664,1954,1679,1765,1593,0,0,0,0,0,0,26.22,26.50,26.41,9.38,15.58
$GC,5747,1.14,244.8,3663,1954,1761,1593,420.3,10.0,269,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,3662,1954,1677,1762,1593,0,0,0,0,0,0,26.91,26.93,26.93,9.38,16.45
$GC,6046,1.14,244.8,3663,1954,1761,1593,390.0,10.2,279,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,3664,1954,1677,1761,1593,0,0,0,0,0,0,26.97,26.99,26.98,9.38,15.89
$GC,6346,1.09,244.8,3663,1954,1760,1593,359.0,10.4,289,6352,0.00,2.45,0.00,0.000,260,0.000,0.087,3663,3539,1676,1760,1593,0,0,0,0,0,0,27.02,26.60,27.03,9.39,16.05
$GC,6430,1.03,244.8,3663,3539,1760,1593,352.1,10.8,291,6439,0.15,2.40,0.00,0.000,5126,0.194,0.072,3628,1958,1676,1760,1593,0,0,0,0,0,0,26.33,26.67,26.44,9.39,15.97
$GC,6738,1.04,251.8,3627,1958,1760,1592,319.5,9.8,302,6746,0.00,0.00,6.38,0.668,8198,0.000,0.000,3628,1958,1653,1738,1569,0,0,0,0,0,0,27.05,26.52,25.86,9.39,16.25
$GC,7048,1.04,251.8,3627,1958,1739,1569,287.7,10.4,314,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3628,1958,1653,1738,1569,0,0,0,0,0,0,27.03,27.05,27.04,9.39,16.13
$GC,7348,1.04,256.9,3627,1958,1739,1569,258.0,9.9,329,7360,0.00,2.47,5.32,0.603,8452,0.000,0.089,3627,3533,1636,1720,1552,0,0,0,0,0,0,27.07,26.59,25.87,9.39,16.33
$GC,7472,1.04,256.9,3626,3533,1720,1552,244.4,10.8,335,7478,0.00,2.35,0.00,0.000,1030,0.000,0.072,3637,1945,1636,1720,1552,0,0,0,0,0,0,26.74,26.71,26.76,9.39,16.09
$GC,7792,1.04,256.9,3636,1945,1720,1552,211.6,10.6,351,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,1945,1636,1720,1552,0,0,0,0,0,0,27.06,27.08,27.08,9.39,16.05
$GC,8092,1.04,256.9,3637,1945,1720,1552,178.7,11.5,366,8096,0.00,2.47,0.00,0.000,260,0.000,0.084,3637,3546,1636,1720,1552,0,0,0,0,0,0,27.09,26.63,27.10,9.40,16.13
$GC,8201,0.99,256.9,3636,3546,1720,1552,164.9,13.0,371,8206,0.12,2.38,0.00,0.000,5126,0.206,0.072,3612,1946,1636,1720,1552,0,0,0,0,0,0,26.42,26.73,26.60,9.40,16.21
$GC,8515,0.99,256.9,3611,1946,1719,1552,129.6,10.8,396,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,1947,1636,1720,1552,0,0,0,0,0,0,27.11,27.13,27.13,9.40,16.13
$GC,8818,0.99,256.9,3611,1946,1720,1552,98.0,11.1,426,8828,0.00,2.45,0.00,0.000,260,0.000,0.087,3612,3543,1636,1720,1552,0,0,0,0,0,0,27.13,26.63,27.14,9.40,16.05
$GC,8909,0.99,256.9,3611,3542,1720,1552,86.9,12.5,434,8919,0.00,2.33,0.00,0.000,1030,0.000,0.072,3621,1959,1635,1720,1551,0,0,0,0,0,0,26.82,26.76,26.84,9.41,15.82
$GC,9219,1.02,282.6,3621,1959,1720,1552,51.6,9.3,465,9240,0.00,0.00,19.00,0.668,8198,0.000,0.000,3622,1959,1548,1635,1461,0,0,0,0,0,0,27.14,26.47,25.92,9.43,15.89
$GC,9539,1.27,490.1,3621,1959,1635,1461,28.0,4.2,497,9694,0.15,2.58,145.43,0.668,10500,0.114,0.087,3704,3547,834,921,747,0,0,0,0,0,0,26.70,25.42,24.93,9.44,16.17
$STATE,9762,end climb,SURFACE_DEPTH_REACHED
$STATE,9762,begin surface coast
$FINISH,-1.2,0.998298
$STATE,9774,end surface coast,CONTROL_FINISHED_OK
$STATE,9774,begin surface
$SM_CCo,9794,7.78,0.529,0,0,798,500.24
$SM_GC,1.17,9.18,2.50,7.78,0.079,0.070,0.529,188,1964,798,-9.62,1.47,500.24,0,0,0,0,0,0,26.00,25.98,25.32
$IRIDIUM_FIX,3214.06,-6437.90,060918,074145
$TT8_MAMPS,0.020972,0.265146
$HUMID,16.25
$INTERNAL_PRESSURE,9.38116
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,20.1
$24V_AH,24.43,16.207
$10V_AH,10.51,11.434
$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,23.575,72.550,533.800,7.775,154.825,26.120,14.417,159.911,82.750,0.000,18.398,1572.916,5309.976,596.577,2525.825,115.858,0.000,1354.258,0.000,1738.164,0.000,885.763,0.000
$DEVICE_MAMPS,275.613,89.388,990.717,528.879,186.225,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.471,685.923,1264.717,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318888
$DATA_FILE_SIZE,41817,519
$CAP_FILE_SIZE,120299,0
$CFSIZE,2047311872,2040004608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,251.34,1
$GPS,060918,131942,3214.305,-6433.182,13,1.0,22,-14.9,0.0,357.6,10,4.8