version: 66.14
glider: 41
mission: 15
dive: 17
start: 9 6 118 19 1 2
data:
$ID,41
$MISSION,15
$DIVE,17
$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,61
$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
$GPS1,060918,185532,3212.0291,-6432.5938,18,0.8,34,-14.9,0.5,276.2,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-59.9
$GPS2,060918,190024,3212.0369,-6432.6250,8,0.8,17,-14.9,0.4,323.9,9,4.8
$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,127.0,69226,-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,-244.4,185,1930,861,735,0.0,0.0,0,153,0.00,0.00,-143.52,0.151,16386,0.000,0.000,183,1931,2946,2970,2923,0,0,0,0,0,0,26.53,28.83,26.54,9.47,16.33
$GC,156,-1.48,-244.4,184,1931,2970,2924,4.1,-7.8,14,185,10.70,2.50,-11.07,0.189,18692,0.278,0.079,2799,3532,3366,3401,3332,0,0,0,0,0,0,25.75,26.06,25.92,9.69,15.34
$GC,392,-1.39,-244.4,2798,3531,3401,3332,48.3,-13.2,35,401,0.12,2.38,0.00,0.000,3078,0.181,0.070,2838,1958,3366,3401,3332,0,0,0,0,0,0,26.12,26.36,26.21,9.75,15.97
$GC,710,-1.33,-244.4,2837,1959,3401,3332,80.6,-10.3,66,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1958,3366,3401,3332,0,0,0,0,0,0,26.82,26.84,26.83,9.73,14.67
$GC,1201,-1.26,-244.4,2838,1958,3402,3332,139.2,-13.2,97,1206,0.12,2.42,0.00,0.000,2308,0.199,0.082,2874,3525,3367,3402,3332,0,0,0,0,0,0,26.38,26.49,26.46,9.67,14.12
$GC,1416,-1.20,-244.4,2873,3526,3403,3332,166.4,-12.9,105,1421,0.10,2.33,0.00,0.000,3078,0.201,0.072,2905,1950,3367,3402,3332,0,0,0,0,0,0,26.38,26.63,26.53,9.65,14.20
$GC,1730,-1.20,-244.4,2904,1950,3401,3332,206.3,-12.5,121,1735,0.00,2.40,0.00,0.000,260,0.000,0.084,2898,3526,3367,3403,3332,0,0,0,0,0,0,26.98,26.57,26.99,9.65,14.12
$GC,1812,-1.20,-244.4,2897,3526,3402,3332,216.9,-13.0,125,1818,0.00,2.30,0.00,0.000,1030,0.000,0.072,2897,1964,3367,3402,3332,0,0,0,0,0,0,26.67,26.63,26.70,9.64,14.56
$GC,2133,-1.20,-244.4,2896,1964,3402,3332,258.8,-13.1,141,2139,0.00,2.40,0.00,0.000,260,0.000,0.084,2888,3526,3367,3403,3331,0,0,0,0,0,0,27.05,26.61,27.05,9.64,14.67
$GC,2216,-1.20,-244.4,2887,3527,3402,3331,270.0,-13.4,145,2222,0.00,2.33,0.00,0.000,1030,0.000,0.072,2888,1935,3366,3402,3331,0,0,0,0,0,0,26.74,26.70,26.76,9.63,14.56
$GC,2546,-1.20,-244.4,2887,1935,3402,3331,312.5,-12.7,160,2553,0.00,2.42,0.00,0.000,260,0.000,0.084,2877,3524,3366,3402,3331,0,0,0,0,0,0,27.08,26.64,27.09,9.62,15.42
$GC,2651,-1.15,-244.4,2876,3524,3402,3331,324.2,-12.6,163,2657,0.15,2.33,0.00,0.000,3078,0.184,0.072,2926,1947,3366,3402,3331,0,0,0,0,0,0,26.41,26.74,26.57,9.62,15.19
$GC,2971,-1.15,-244.4,2925,1947,3402,3330,361.1,-11.3,174,2977,0.00,2.42,0.00,0.000,260,0.000,0.084,2917,3535,3366,3402,3330,0,0,0,0,0,0,27.11,26.58,27.13,9.61,15.46
$GC,3033,-1.15,-244.4,2916,3535,3402,3330,368.0,-11.6,176,3038,0.00,2.35,0.00,0.000,1030,0.000,0.072,2916,1956,3366,3402,3330,0,0,0,0,0,0,26.78,26.74,26.80,9.61,14.95
$GC,3363,-1.15,-244.4,2915,1956,3402,3327,410.1,-13.2,187,3368,0.00,2.40,0.00,0.000,260,0.000,0.084,2908,3526,3365,3402,3328,0,0,0,0,0,0,27.13,26.64,27.13,9.60,15.50
$GC,3443,-1.15,-244.4,2907,3526,3402,3328,418.5,-13.6,189,3453,0.00,2.33,0.00,0.000,1030,0.000,0.072,2906,1955,3365,3402,3328,0,0,0,0,0,0,26.83,26.75,26.85,9.59,15.19
$GC,3756,-1.15,-244.4,2906,1955,3402,3325,464.6,-14.1,200,3762,0.00,2.40,0.00,0.000,260,0.000,0.084,2898,3518,3364,3402,3326,0,0,0,0,0,0,27.13,26.63,27.15,9.59,15.19
$GC,3851,-1.15,-244.4,2898,3517,3402,3326,477.7,-13.9,203,3855,0.00,2.33,0.00,0.000,1030,0.000,0.072,2898,1942,3363,3401,3326,0,0,0,0,0,0,26.82,26.73,26.84,9.59,15.38
$GC,4179,-1.15,-244.4,2897,1941,3402,3325,523.6,-13.6,214,4186,0.00,2.42,0.00,0.000,260,0.000,0.082,2889,3535,3363,3402,3325,0,0,0,0,0,0,27.15,26.64,27.15,9.57,15.46
$GC,4253,-1.10,-244.4,2889,3534,3402,3326,532.3,-13.7,216,4258,0.15,2.35,0.00,0.000,3078,0.186,0.070,2937,1943,3363,3402,3325,0,0,0,0,0,0,26.39,26.75,26.55,9.56,15.42
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4325,begin apogee
$GC,4330,-0.37,0.0,2937,1944,3402,3325,542.8,-12.8,219,4512,0.70,0.00,178.07,0.988,10246,0.151,0.000,3177,1942,2521,2599,2444,0,0,0,0,0,0,26.31,25.10,24.49,9.56,15.54
$STATE,4513,end apogee,CONTROL_FINISHED_OK
$STATE,4513,begin climb
$GC,4515,1.48,244.4,3177,1943,2599,2443,549.3,0.0,225,4700,1.62,0.00,180.02,0.963,10758,0.117,0.000,3751,1942,1678,1764,1593,0,0,0,0,0,0,25.27,25.03,24.45,9.47,14.99
$GC,4989,1.37,244.4,3751,1942,1765,1593,503.5,13.7,241,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,3752,1943,1678,1765,1592,0,0,0,0,0,0,26.53,26.55,26.55,9.37,15.46
$GC,5288,1.26,244.4,3751,1942,1764,1593,462.1,13.5,251,5290,0.17,0.00,0.00,0.000,4102,0.206,0.000,3701,1942,1678,1763,1593,0,0,0,0,0,0,26.20,26.45,26.39,9.37,15.42
$GC,5588,1.19,244.4,3701,1942,1762,1593,426.6,11.6,261,5594,0.00,2.45,0.00,0.000,260,0.000,0.084,3700,3531,1678,1762,1594,0,0,0,0,0,0,26.88,26.52,26.89,9.37,15.50
$GC,5667,1.11,244.4,3700,3531,1761,1593,419.2,11.8,263,5672,0.20,2.38,0.00,0.000,5126,0.204,0.072,3652,1942,1677,1761,1593,0,0,0,0,0,0,26.28,26.58,26.48,9.38,15.70
$GC,5976,1.11,244.4,3651,1942,1761,1593,385.2,10.2,273,5982,0.00,2.42,0.00,0.000,260,0.000,0.084,3651,3527,1677,1761,1593,0,0,0,0,0,0,26.97,26.58,26.98,9.37,16.09
$GC,6059,1.11,244.4,3651,3527,1760,1593,378.1,10.9,275,6067,0.00,2.38,0.00,0.000,1030,0.000,0.072,3662,1955,1677,1761,1593,0,0,0,0,0,0,26.69,26.65,26.71,9.38,15.74
$GC,6369,1.11,244.4,3662,1955,1760,1593,342.9,10.6,286,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3662,1955,1676,1760,1593,0,0,0,0,0,0,27.02,27.03,27.03,9.38,16.21
$GC,6668,1.05,244.4,3662,1955,1760,1593,310.8,10.7,296,6670,0.10,0.00,0.00,0.000,4102,0.223,0.000,3634,1955,1676,1760,1593,0,0,0,0,0,0,26.53,26.71,26.65,9.38,15.82
$GC,6968,1.05,244.4,3633,1955,1760,1594,280.9,10.3,309,6974,0.00,2.42,0.00,0.000,260,0.000,0.084,3635,3532,1676,1760,1593,0,0,0,0,0,0,27.08,26.64,27.09,9.39,16.17
$GC,7059,1.05,244.4,3633,3531,1759,1593,271.9,10.8,313,7063,0.00,2.35,0.00,0.000,1030,0.000,0.074,3643,1948,1676,1759,1593,0,0,0,0,0,0,26.79,26.71,26.82,9.39,16.05
$GC,7373,1.05,244.4,3643,1948,1759,1593,235.5,11.7,329,7377,0.00,2.45,0.00,0.000,260,0.000,0.084,3644,3537,1676,1760,1593,0,0,0,0,0,0,27.10,26.65,27.11,9.39,16.01
$GC,7459,0.99,244.4,3642,3537,1759,1593,224.6,12.7,333,7464,0.15,2.35,0.00,0.000,5126,0.206,0.074,3611,1957,1676,1759,1593,0,0,0,0,0,0,26.37,26.73,26.56,9.39,16.25
$GC,7783,0.99,244.4,3610,1958,1759,1593,188.7,10.8,349,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,3611,1958,1676,1759,1593,0,0,0,0,0,0,27.12,27.13,27.13,9.39,16.01
$GC,8083,0.99,244.4,3610,1958,1759,1593,155.3,11.2,364,8089,0.00,2.40,0.00,0.000,260,0.000,0.084,3611,3525,1676,1759,1593,0,0,0,0,0,0,27.13,26.65,27.14,9.40,15.97
$GC,8144,0.99,244.4,3609,3524,1759,1593,147.8,11.8,367,8149,0.00,2.33,0.00,0.000,1030,0.000,0.072,3620,1948,1676,1759,1593,0,0,0,0,0,0,26.83,26.75,26.85,9.39,15.93
$GC,8457,0.99,244.4,3620,1948,1759,1593,111.7,10.9,398,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,3620,1948,1676,1759,1593,0,0,0,0,0,0,27.14,27.15,27.15,9.40,16.45
$GC,8758,0.99,244.4,3620,1948,1759,1593,78.5,10.3,428,8762,0.00,2.45,0.00,0.000,260,0.000,0.087,3620,3529,1676,1759,1593,0,0,0,0,0,0,27.14,26.60,27.15,9.41,16.13
$GC,8903,0.99,244.4,3620,3529,1759,1593,62.5,10.9,441,8911,0.00,2.35,0.00,0.000,1030,0.000,0.072,3632,1962,1676,1759,1593,0,0,0,0,0,0,26.78,26.74,26.81,9.41,16.17
$GC,9211,1.09,327.4,3632,1962,1758,1593,34.5,7.7,472,9275,0.00,2.53,57.35,0.685,8708,0.000,0.089,3644,384,1393,1484,1302,0,0,0,0,0,0,27.15,26.05,25.53,9.43,15.97
$GC,9359,1.26,464.0,3643,384,1484,1302,25.0,6.2,486,9464,0.08,2.38,96.53,0.658,11270,0.112,0.072,3696,1951,922,1011,833,0,0,0,0,0,0,26.23,26.28,24.98,9.43,16.29
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,-0.3,1.023264
$STATE,9574,end surface coast,CONTROL_FINISHED_OK
$STATE,9574,begin surface
$SM_CCo,9591,27.08,0.616,0,0,800,500.24
$SM_GC,-0.49,9.18,0.00,27.08,0.082,0.000,0.616,196,1953,800,-9.60,0.00,500.24,0,0,0,0,0,0,26.06,26.34,25.23
$IRIDIUM_FIX,3210.75,-6431.00,060918,160829
$TT8_MAMPS,0.020972,0.26215
$HUMID,16.17
$INTERNAL_PRESSURE,9.38116
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,20.1
$24V_AH,24.45,16.691
$10V_AH,10.54,11.761
$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,23.550,76.425,511.975,27.075,154.600,22.165,17.208,155.863,79.750,0.000,18.576,1564.260,5130.126,632.268,2488.975,116.226,0.000,1368.617,0.000,1723.439,0.000,861.108,0.000
$DEVICE_MAMPS,278.096,89.388,988.234,615.784,188.708,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,Chl_red_blue_6,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.405,670.104,1235.588,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,318904
$DATA_FILE_SIZE,41760,507
$CAP_FILE_SIZE,120065,0
$CFSIZE,2047311872,2039611392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.180,267.49,1
$GPS,060918,214255,3211.289,-6432.273,14,1.0,54,-14.9,0.6,158.2,7,3.0