version: 66.14
glider: 41
mission: 15
dive: 16
start: 9 6 118 16 13 14
data:
$ID,41
$MISSION,15
$DIVE,16
$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,62
$R_STBD_OVSHOOT,42
$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
$GPS1,060918,160708,3213.1360,-6432.7764,23,0.8,29,-14.9,0.3,330.8,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-58.1
$GPS2,060918,161236,3213.1631,-6432.8062,3,0.9,17,-14.9,0.2,20.8,9,4.6
$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,135.9,71165,-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,-244.4,191,1926,862,733,0.0,0.0,0,153,0.00,0.00,-143.48,0.151,16386,0.000,0.000,190,1924,2901,2922,2881,0,0,0,0,0,0,26.54,28.83,26.55,9.47,16.13
$GC,156,-1.48,-244.4,190,1924,2922,2882,3.5,-5.9,14,182,10.68,0.00,-13.02,0.181,18438,0.276,0.000,2810,1924,3366,3401,3331,0,0,0,0,0,0,25.75,26.07,25.91,9.69,16.13
$GC,482,-1.40,-244.4,2810,1924,3401,3331,58.5,-13.2,47,493,0.10,2.45,0.00,0.000,2308,0.209,0.082,2836,3525,3366,3401,3331,0,0,0,0,0,0,26.26,26.36,26.33,9.76,15.19
$GC,977,-1.32,-244.4,2835,3525,3404,3331,113.7,-12.0,79,995,0.10,2.35,0.00,0.000,3078,0.186,0.072,2868,1957,3368,3405,3331,0,0,0,0,0,0,26.32,26.57,26.41,9.70,14.36
$GC,1407,-1.27,-244.4,2867,1958,3406,3331,166.6,-13.2,104,1411,0.00,2.42,0.00,0.000,260,0.000,0.082,2858,3536,3368,3406,3331,0,0,0,0,0,0,26.93,26.55,26.94,9.66,14.12
$GC,1513,-1.21,-244.4,2858,3536,3406,3331,180.9,-13.8,107,1518,0.15,2.35,0.00,0.000,3078,0.186,0.072,2906,1953,3368,3406,3331,0,0,0,0,0,0,26.33,26.63,26.51,9.66,14.24
$GC,1821,-1.21,-244.4,2905,1953,3407,3331,221.5,-12.5,122,1827,0.00,2.40,0.00,0.000,260,0.000,0.084,2897,3525,3368,3406,3331,0,0,0,0,0,0,27.01,26.58,27.01,9.64,14.48
$GC,1911,-1.21,-244.4,2897,3524,3407,3330,232.1,-13.1,126,1915,0.00,2.33,0.00,0.000,1030,0.000,0.072,2896,1950,3368,3406,3331,0,0,0,0,0,0,26.74,26.67,26.76,9.64,14.63
$GC,2224,-1.21,-244.4,2896,1949,3406,3330,274.0,-13.3,142,2231,0.00,2.42,0.00,0.000,260,0.000,0.087,2888,3525,3368,3406,3331,0,0,0,0,0,0,27.05,26.59,27.07,9.63,14.52
$GC,2308,-1.21,-244.4,2887,3525,3406,3331,285.1,-13.3,146,2314,0.00,2.30,0.00,0.000,1030,0.000,0.072,2888,1961,3368,3406,3331,0,0,0,0,0,0,26.73,26.71,26.77,9.64,14.44
$GC,2638,-1.21,-244.4,2887,1960,3406,3331,330.2,-13.9,159,2644,0.00,2.40,0.00,0.000,260,0.000,0.084,2877,3532,3368,3406,3331,0,0,0,0,0,0,27.09,26.63,27.10,9.62,14.87
$GC,2712,-1.15,-244.4,2876,3532,3406,3331,338.9,-13.9,161,2717,0.15,2.35,0.00,0.000,3078,0.186,0.070,2925,1937,3368,3406,3331,0,0,0,0,0,0,26.39,26.72,26.56,9.63,14.91
$GC,3031,-1.15,-244.4,2924,1937,3406,3331,378.2,-11.4,172,3037,0.00,2.42,0.00,0.000,260,0.000,0.084,2917,3528,3368,3406,3331,0,0,0,0,0,0,27.11,26.64,27.13,9.61,15.62
$GC,3111,-1.15,-244.4,2917,3528,3406,3331,385.5,-11.4,174,3122,0.00,2.33,0.00,0.000,1030,0.000,0.072,2916,1950,3368,3406,3331,0,0,0,0,0,0,26.82,26.74,26.84,9.61,15.03
$GC,3425,-1.15,-244.4,2916,1950,3406,3331,423.6,-11.5,185,3430,0.00,2.40,0.00,0.000,260,0.000,0.084,2907,3526,3368,3405,3331,0,0,0,0,0,0,27.13,26.65,27.14,9.60,15.97
$GC,3498,-1.15,-244.4,2906,3526,3406,3331,431.3,-12.1,187,3503,0.00,2.33,0.00,0.000,1030,0.000,0.072,2907,1941,3368,3406,3331,0,0,0,0,0,0,26.82,26.74,26.84,9.60,15.30
$GC,3817,-1.15,-244.4,2906,1941,3406,3329,474.8,-13.3,198,3823,0.00,2.45,0.00,0.000,260,0.000,0.087,2896,3534,3367,3406,3329,0,0,0,0,0,0,27.14,26.61,27.15,9.59,15.54
$GC,3900,-1.15,-244.4,2897,3534,3406,3329,483.1,-13.6,200,3908,0.00,2.35,0.00,0.000,1030,0.000,0.072,2896,1950,3367,3406,3329,0,0,0,0,0,0,26.79,26.77,26.82,9.58,15.66
$GC,4209,-1.10,-244.4,2896,1950,3406,3327,530.0,-14.3,211,4216,0.10,2.42,0.00,0.000,2308,0.204,0.082,2923,3531,3366,3406,3327,0,0,0,0,0,0,26.60,26.63,26.65,9.57,15.78
$GC,4254,-1.04,-244.4,2922,3529,3406,3327,534.5,-14.4,212,4261,0.10,2.33,0.00,0.000,3078,0.194,0.072,2955,1948,3366,3406,3327,0,0,0,0,0,0,26.48,26.74,26.61,9.57,15.58
$STATE,4298,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4298,begin apogee
$GC,4303,-0.37,0.0,2955,1948,3406,3327,541.7,-13.4,214,4486,0.62,0.00,179.27,0.988,10246,0.151,0.000,3170,1947,2521,2599,2443,0,0,0,0,0,0,26.32,25.10,24.49,9.57,15.50
$STATE,4487,end apogee,CONTROL_FINISHED_OK
$STATE,4487,begin climb
$GC,4489,1.48,244.4,3170,1947,2599,2444,549.5,0.0,220,4676,1.65,0.00,180.23,0.961,10758,0.119,0.000,3751,1947,1679,1765,1593,0,0,0,0,0,0,25.27,25.03,24.44,9.47,15.58
$GC,4962,1.37,244.4,3750,1947,1765,1593,506.8,13.5,236,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,3751,1947,1679,1765,1593,0,0,0,0,0,0,26.53,26.54,26.54,9.38,15.34
$GC,5261,1.26,244.4,3751,1947,1764,1593,467.4,13.0,246,5263,0.17,0.00,0.00,0.000,4102,0.209,0.000,3701,1947,1678,1764,1593,0,0,0,0,0,0,26.20,26.45,26.39,9.38,15.15
$GC,5561,1.18,244.4,3700,1947,1763,1593,430.8,12.2,256,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3701,1947,1678,1764,1593,0,0,0,0,0,0,26.89,26.90,26.89,9.37,15.58
$GC,5861,1.11,244.4,3700,1947,1763,1593,395.3,11.7,266,5866,0.12,2.47,0.00,0.000,4356,0.211,0.084,3657,3533,1678,1763,1593,0,0,0,0,0,0,26.40,26.56,26.48,9.37,15.78
$GC,5943,1.04,244.4,3657,3533,1762,1593,387.8,11.5,268,5948,0.12,2.35,0.00,0.000,5126,0.211,0.072,3630,1956,1678,1763,1593,0,0,0,0,0,0,26.36,26.64,26.53,9.38,16.09
$GC,6257,1.05,257.3,3629,1957,1762,1593,355.1,9.6,279,6269,0.00,0.00,10.35,0.762,8198,0.000,0.000,3630,1957,1635,1720,1550,0,0,0,0,0,0,27.01,26.43,25.79,9.38,16.05
$GC,6558,1.05,257.3,3629,1957,1720,1550,323.7,10.5,289,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1957,1635,1720,1550,0,0,0,0,0,0,26.96,26.97,26.96,9.38,15.78
$GC,6857,1.05,257.3,3629,1957,1719,1550,291.5,11.0,300,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,3629,1957,1635,1720,1550,0,0,0,0,0,0,27.01,27.03,27.02,9.38,16.45
$GC,7157,1.05,257.3,3629,1957,1720,1550,258.1,11.2,315,7161,0.00,2.45,0.00,0.000,260,0.000,0.084,3629,3536,1635,1720,1550,0,0,0,0,0,0,27.05,26.65,27.06,9.39,16.33
$GC,7250,1.05,257.3,3629,3536,1720,1550,247.8,11.9,319,7254,0.00,2.38,0.00,0.000,1030,0.000,0.074,3639,1946,1635,1720,1550,0,0,0,0,0,0,26.79,26.70,26.81,9.39,16.25
$GC,7558,1.05,257.3,3639,1945,1720,1550,211.2,11.4,334,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,1945,1635,1720,1550,0,0,0,0,0,0,27.08,27.10,27.10,9.39,16.17
$GC,7859,1.05,257.3,3639,1945,1720,1550,176.5,12.0,349,7865,0.00,2.45,0.00,0.000,260,0.000,0.087,3639,3532,1635,1720,1550,0,0,0,0,0,0,27.10,26.62,27.11,9.39,15.93
$GC,7950,1.00,257.3,3639,3532,1720,1550,166.1,12.4,353,7955,0.12,2.35,0.00,0.000,5126,0.209,0.074,3614,1954,1635,1720,1550,0,0,0,0,0,0,26.41,26.72,26.58,9.40,16.45
$GC,8258,1.00,257.3,3613,1953,1720,1550,132.1,10.9,376,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1953,1635,1720,1550,0,0,0,0,0,0,27.12,27.13,27.13,9.40,15.93
$GC,8561,1.00,257.3,3613,1953,1720,1550,98.9,10.7,406,8568,0.00,0.00,0.00,0.000,6,0.000,0.000,3614,1953,1635,1720,1550,0,0,0,0,0,0,27.13,27.15,27.14,9.40,15.89
$GC,8869,1.03,283.7,3613,1953,1720,1550,68.7,9.3,437,8901,0.00,2.47,19.90,0.678,8452,0.000,0.087,3613,3539,1542,1630,1455,0,0,0,0,0,0,27.14,26.31,25.93,9.41,15.97
$GC,9047,1.03,283.7,3613,3539,1630,1455,48.4,11.1,453,9056,0.00,2.40,0.00,0.000,1030,0.000,0.072,3624,1946,1543,1631,1455,0,0,0,0,0,0,26.65,26.63,26.68,9.41,15.58
$GC,9356,1.15,385.6,3623,1946,1630,1455,20.8,7.2,484,9439,0.08,2.53,70.97,0.668,10500,0.149,0.087,3672,3527,1192,1284,1101,0,0,0,0,0,0,26.77,25.67,25.32,9.44,16.09
$STATE,9538,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,-1.3,1.023232
$STATE,9562,end surface coast,CONTROL_FINISHED_OK
$STATE,9562,begin surface
$SM_CCo,9582,81.32,0.636,0,0,799,500.24
$SM_GC,-0.21,9.00,2.45,81.32,0.079,0.070,0.636,198,1932,799,-9.60,1.24,500.24,0,0,0,0,0,0,26.24,26.25,25.03
$IRIDIUM_FIX,3213.57,-6435.59,060918,132059
$TT8_MAMPS,0.020972,0.264397
$HUMID,16.09
$INTERNAL_PRESSURE,9.39093
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,19.8
$24V_AH,24.44,16.530
$10V_AH,10.53,11.652
$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,23.275,67.100,460.725,81.325,156.500,24.210,37.907,163.479,73.750,0.000,18.676,1548.824,5266.979,643.167,2438.863,113.957,0.000,1354.630,0.000,1684.512,0.000,792.743,0.000
$DEVICE_MAMPS,275.613,86.905,988.234,635.648,181.259,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.191,665.027,1225.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,41840,503
$CAP_FILE_SIZE,115964,0
$CFSIZE,2047311872,2039742464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.180,253.21,1
$GPS,060918,185532,3212.029,-6432.594,18,0.8,34,-14.9,0.5,276.2,10,5.0