version: 66.14
glider: 41
mission: 15
dive: 15
start: 9 6 118 13 25 22
data:
$ID,41
$MISSION,15
$DIVE,15
$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,37
$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
$GPS1,060918,131942,3214.3052,-6433.1816,13,1.0,22,-14.9,0.0,357.6,10,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-58.8
$GPS2,060918,132445,3214.3242,-6433.2031,3,1.2,21,-14.9,0.6,340.9,9,4.8
$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,142.5,73339,-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,-244.4,184,1961,863,733,0.0,0.0,0,153,0.00,0.00,-143.48,0.151,16386,0.000,0.000,183,1961,2894,2915,2873,0,0,0,0,0,0,26.55,28.83,26.56,9.45,16.13
$GC,156,-1.48,-244.4,183,1961,2915,2872,3.6,-6.6,14,188,10.62,2.53,-12.82,0.181,18948,0.276,0.084,2807,371,3365,3400,3331,0,0,0,0,0,0,25.75,26.01,25.92,9.68,15.58
$GC,225,-1.27,-244.4,2807,370,3401,3331,21.7,-19.4,20,237,0.25,2.42,0.00,0.000,3078,0.181,0.074,2876,1959,3366,3401,3331,0,0,0,0,0,0,25.92,26.19,26.03,9.74,15.22
$GC,536,-1.27,-244.4,2876,1959,3404,3331,57.0,-9.3,51,546,0.00,2.42,0.00,0.000,260,0.000,0.087,2867,3524,3367,3404,3331,0,0,0,0,0,0,26.76,26.38,26.77,9.73,15.22
$GC,926,-1.27,-244.4,2866,3524,3406,3335,97.2,-10.4,78,946,0.00,2.33,0.00,0.000,1030,0.000,0.072,2866,1942,3370,3406,3335,0,0,0,0,0,0,26.60,26.57,26.60,9.70,14.56
$GC,1424,-1.22,-244.4,2866,1942,3412,3335,154.1,-12.3,109,1431,0.10,2.45,0.00,0.000,2308,0.201,0.084,2890,3535,3373,3412,3335,0,0,0,0,0,0,26.44,26.53,26.51,9.66,14.08
$GC,1553,-1.22,-244.4,2890,3535,3412,3337,170.0,-12.3,113,1557,0.00,2.35,0.00,0.000,1030,0.000,0.072,2890,1947,3373,3411,3336,0,0,0,0,0,0,26.70,26.63,26.72,9.65,14.24
$GC,1871,-1.22,-244.4,2890,1946,3414,3337,213.2,-13.2,129,1876,0.00,2.45,0.00,0.000,260,0.000,0.089,2880,3542,3375,3414,3337,0,0,0,0,0,0,27.00,26.58,27.01,9.64,15.15
$GC,1953,-1.22,-244.4,2879,3542,3414,3338,224.8,-13.9,133,1959,0.00,2.35,0.00,0.000,1030,0.000,0.072,2879,1941,3375,3414,3337,0,0,0,0,0,0,26.71,26.67,26.72,9.64,14.63
$GC,2274,-1.16,-244.4,2879,1940,3414,3338,269.9,-14.2,149,2281,0.10,2.45,0.00,0.000,2308,0.206,0.084,2904,3539,3376,3414,3338,0,0,0,0,0,0,26.54,26.59,26.60,9.62,14.71
$GC,2383,-1.16,-244.4,2903,3539,3414,3338,284.3,-13.4,154,2388,0.00,2.35,0.00,0.000,1030,0.000,0.072,2904,1947,3375,3413,3338,0,0,0,0,0,0,26.77,26.70,26.79,9.63,14.71
$GC,2708,-1.16,-244.4,2902,1947,3414,3338,329.0,-13.5,167,2712,0.00,2.45,0.00,0.000,260,0.000,0.084,2893,3539,3376,3414,3338,0,0,0,0,0,0,27.09,26.62,27.10,9.62,14.79
$GC,2784,-1.16,-244.4,2892,3539,3414,3338,338.3,-13.7,169,2788,0.00,2.35,0.00,0.000,1030,0.000,0.072,2893,1947,3376,3414,3338,0,0,0,0,0,0,26.79,26.72,26.82,9.62,15.26
$GC,3103,-1.16,-244.4,2892,1945,3414,3338,384.7,-13.8,180,3107,0.00,2.45,0.00,0.000,260,0.000,0.084,2883,3534,3376,3414,3338,0,0,0,0,0,0,27.11,26.64,27.13,9.61,15.26
$GC,3189,-1.16,-244.4,2882,3533,3414,3338,393.6,-13.9,182,3198,0.10,2.35,0.00,0.000,3078,0.181,0.072,2915,1957,3376,3414,3338,0,0,0,0,0,0,26.42,26.74,26.51,9.61,15.07
$GC,3497,-1.16,-244.4,2914,1957,3414,3338,436.8,-13.2,193,3502,0.00,2.42,0.00,0.000,260,0.000,0.084,2906,3529,3376,3414,3338,0,0,0,0,0,0,27.13,26.62,27.14,9.60,15.54
$GC,3575,-1.16,-244.4,2905,3529,3414,3338,445.0,-13.1,195,3579,0.00,2.33,0.00,0.000,1030,0.000,0.070,2905,1950,3376,3414,3338,0,0,0,0,0,0,26.81,26.73,26.84,9.60,15.26
$GC,3889,-1.16,-244.4,2904,1949,3414,3338,486.7,-12.9,206,3896,0.00,2.42,0.00,0.000,260,0.000,0.087,2895,3530,3376,3414,3338,0,0,0,0,0,0,27.14,26.58,27.15,9.58,16.13
$GC,3983,-1.16,-244.4,2895,3531,3414,3338,499.6,-13.6,209,3989,0.00,2.30,0.00,0.000,1030,0.000,0.070,2895,1957,3375,3413,3338,0,0,0,0,0,0,26.78,26.78,26.81,9.58,15.58
$STATE,4281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4281,begin apogee
$GC,4285,-0.37,0.0,2894,1957,3414,3338,543.0,-14.9,219,4470,0.82,0.00,180.60,0.993,10246,0.156,0.000,3171,1954,2521,2599,2444,0,0,0,0,0,0,26.25,25.09,24.47,9.57,15.62
$STATE,4471,end apogee,CONTROL_FINISHED_OK
$STATE,4471,begin climb
$GC,4473,1.48,244.4,3170,1954,2599,2444,551.9,0.0,225,4661,1.65,2.47,179.25,0.966,10756,0.119,0.087,3763,386,1679,1765,1593,0,0,0,0,0,0,25.25,24.88,24.44,9.48,15.07
$GC,4853,1.34,244.4,3762,386,1765,1594,524.1,14.2,237,4862,0.10,2.45,0.00,0.000,5126,0.211,0.074,3734,1956,1679,1765,1593,0,0,0,0,0,0,25.88,26.10,25.99,9.38,15.30
$GC,5162,1.24,244.4,3734,1956,1764,1593,479.8,13.2,248,5164,0.12,0.00,0.00,0.000,4102,0.221,0.000,3697,1956,1678,1764,1593,0,0,0,0,0,0,26.19,26.41,26.36,9.37,16.01
$GC,5462,1.17,244.4,3697,1956,1762,1593,445.8,10.9,258,5468,0.00,2.42,0.00,0.000,260,0.000,0.084,3697,3528,1677,1762,1593,0,0,0,0,0,0,26.85,26.48,26.86,9.38,15.50
$GC,5641,1.07,244.4,3696,3527,1762,1593,427.2,12.0,263,5650,0.22,2.40,0.00,0.000,5126,0.196,0.074,3630,1948,1677,1762,1593,0,0,0,0,0,0,26.25,26.58,26.46,9.37,16.25
$GC,5950,1.08,257.8,3629,1948,1761,1593,394.9,9.6,274,5963,0.00,0.00,10.80,0.785,8198,0.000,0.000,3630,1948,1632,1717,1548,0,0,0,0,0,0,26.97,26.37,25.72,9.38,16.05
$GC,6249,1.08,257.8,3629,1948,1717,1548,364.4,10.4,284,6256,0.00,2.45,0.00,0.000,260,0.000,0.087,3629,3532,1632,1717,1548,0,0,0,0,0,0,26.92,26.55,26.94,9.37,15.70
$GC,6302,1.08,257.8,3629,3532,1718,1548,360.8,10.6,285,6311,0.00,2.40,0.00,0.000,1030,0.000,0.074,3640,1944,1632,1717,1548,0,0,0,0,0,0,26.65,26.63,26.67,9.37,16.05
$GC,6611,1.08,257.8,3639,1944,1717,1548,323.7,11.3,296,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,1943,1632,1717,1548,0,0,0,0,0,0,27.00,27.01,27.01,9.38,16.29
$GC,6921,1.08,257.8,3639,1944,1717,1548,288.1,11.4,308,6927,0.00,2.42,0.00,0.000,260,0.000,0.084,3640,3525,1632,1717,1548,0,0,0,0,0,0,27.04,26.61,27.05,9.39,16.25
$GC,6984,1.03,257.8,3639,3523,1717,1548,280.2,12.3,311,6990,0.00,2.35,0.00,0.000,1030,0.000,0.074,3651,1942,1632,1717,1547,0,0,0,0,0,0,26.77,26.69,26.79,9.38,16.13
$GC,7304,1.03,257.8,3651,1942,1716,1548,240.4,12.4,327,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3651,1942,1632,1717,1548,0,0,0,0,0,0,27.07,27.08,27.08,9.39,16.17
$GC,7604,1.03,257.8,3651,1942,1717,1548,203.2,12.2,342,7610,0.00,2.45,0.00,0.000,260,0.000,0.087,3651,3530,1632,1716,1548,0,0,0,0,0,0,27.09,26.64,27.10,9.39,16.56
$GC,7695,0.96,257.8,3651,3530,1716,1548,192.0,13.6,346,7700,0.20,2.35,0.00,0.000,5126,0.199,0.072,3604,1955,1632,1717,1548,0,0,0,0,0,0,26.30,26.72,26.52,9.39,16.05
$GC,8003,0.97,264.2,3603,1955,1717,1548,158.3,9.8,361,8011,0.00,0.00,5.97,0.588,8198,0.000,0.000,3604,1955,1611,1695,1527,0,0,0,0,0,0,27.11,26.59,25.95,9.40,15.78
$GC,8303,0.97,264.2,3602,1955,1695,1527,126.6,11.5,386,8313,0.00,2.42,0.00,0.000,260,0.000,0.087,3603,3523,1611,1695,1527,0,0,0,0,0,0,27.08,26.62,27.09,9.40,15.93
$GC,8381,0.97,264.2,3602,3523,1694,1527,117.4,11.7,393,8386,0.00,2.35,0.00,0.000,1030,0.000,0.074,3613,1943,1611,1695,1527,0,0,0,0,0,0,26.82,26.74,26.84,9.40,15.85
$GC,8694,0.97,264.2,3612,1942,1694,1527,82.5,11.0,424,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3613,1942,1611,1695,1527,0,0,0,0,0,0,27.11,27.13,27.12,9.41,15.82
$GC,8995,0.98,271.7,3612,1942,1695,1528,53.3,9.8,454,9005,0.00,0.00,7.10,0.571,8198,0.000,0.000,3613,1943,1585,1670,1500,0,0,0,0,0,0,27.13,26.59,26.00,9.42,15.89
$GC,9305,1.18,431.9,3612,1941,1670,1500,28.0,5.6,485,9430,0.10,2.55,110.93,0.673,10500,0.132,0.092,3676,3522,1035,1126,944,0,0,0,0,0,0,26.83,25.43,25.08,9.45,15.85
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9543,begin surface coast
$FINISH,-1.0,1.023292
$STATE,9566,end surface coast,CONTROL_FINISHED_OK
$STATE,9567,begin surface
$SM_CCo,9586,49.72,0.631,0,0,799,500.24
$SM_GC,-0.21,9.10,2.45,49.72,0.084,0.070,0.631,205,1927,799,-9.57,1.13,500.24,0,0,0,0,0,0,26.17,26.19,25.13
$IRIDIUM_FIX,3213.07,-6433.29,060918,103100
$TT8_MAMPS,0.020223,0.266644
$HUMID,15.93
$INTERNAL_PRESSURE,9.39093
$TCM_TEMP,20.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.6
$24V_AH,24.44,16.369
$10V_AH,10.49,11.545
$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,23.500,77.125,494.650,49.725,156.300,23.390,15.676,162.423,82.750,0.000,22.318,1577.830,5060.807,629.187,2573.493,117.432,0.000,1405.599,0.000,1779.211,0.000,887.190,0.000
$DEVICE_MAMPS,275.613,91.871,993.200,630.682,181.259,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.632,672.785,1240.514,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318868
$DATA_FILE_SIZE,41856,509
$CAP_FILE_SIZE,121608,0
$CFSIZE,2047311872,2039873536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,247.02,1
$GPS,060918,160708,3213.136,-6432.776,23,0.8,29,-14.9,0.3,330.8,10,4.1