version: 66.14
glider: 38
mission: 14
dive: 9
start: 9 6 118 1 29 1
data:
$ID,38
$MISSION,14
$DIVE,9
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$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,120
$T_MISSION,150
$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
$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,80388.797
$MASS_COMP,11240.1
$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,150
$PITCH_MAX,3880
$C_PITCH,3249
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.026000001
$P_OVSHOOT_WITHG,0.1286
$PITCH_GAIN,17
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,150
$ROLL_MAX,3925
$ROLL_DEG,45
$C_ROLL_DIVE,1971
$C_ROLL_CLIMB,2428
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,76
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3900
$C_VBD,2475
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00059000001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,2
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,150
$AH0_10V,100
$MINV_24V,17
$MINV_10V,8
$MAXI_24V,0.80000001
$MAXI_10V,0.60000002
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.499046
$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,5
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,1
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,-1
$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,0.0043154242
$SEABIRD_T_H,0.00062410574
$SEABIRD_T_I,2.302181e-05
$SEABIRD_T_J,2.4339581e-06
$SEABIRD_C_G,-9.7676115
$SEABIRD_C_H,1.1309991
$SEABIRD_C_I,-0.0018490348
$SEABIRD_C_J,0.00021460596
$SEABIRD_C_Z,2943.3999
$GPS1,060918,012440,3219.8545,-6434.3794,1,0.8,15,-14.9,0.0,0.0,10,5.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-60.5
$GPS2,060918,012823,3219.8535,-6434.3823,10,0.8,20,-14.9,0.0,0.0,10,5.0
$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,174.2,83215,-16.1,-10.000,-19.07,3691
$D_GRID,360
$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,6,-1.09,-244.4,143,2028,743,742,0.0,0.0,0,242,0.00,0.00,-229.93,0.151,16390,0.000,0.000,143,2029,3318,3344,3293,0,0,0,0,0,0,26.87,26.30,26.17,8.76,19.24
$GC,244,-1.09,-244.4,142,2029,3343,3293,2.7,-1.2,37,266,10.48,2.42,0.00,0.000,2564,0.271,0.070,2910,371,3315,3339,3292,0,0,0,0,0,0,26.02,26.28,26.23,9.01,18.22
$GC,329,-0.89,-244.4,2909,371,3332,3292,15.7,-18.3,52,337,0.20,2.25,0.00,0.000,3078,0.206,0.065,2962,1954,3312,3332,3292,0,0,0,0,0,0,26.23,26.41,26.39,9.01,18.22
$GC,400,-0.81,-244.4,2962,1954,3331,3288,26.5,-15.3,61,409,0.00,2.30,0.00,0.000,260,0.000,0.082,2951,3550,3310,3332,3288,0,0,0,0,0,0,26.73,26.44,26.74,9.01,18.22
$GC,461,-0.81,-244.4,2951,3550,3332,3287,33.6,-10.5,67,472,0.12,2.20,-0.25,0.891,19462,0.194,0.065,2993,1932,3322,3345,3299,0,0,0,0,0,0,26.38,26.55,25.58,9.02,18.26
$GC,593,-0.89,-244.4,2992,1932,3345,3299,41.0,-5.3,80,597,0.00,2.35,0.00,0.000,260,0.000,0.082,2984,3548,3322,3346,3299,0,0,0,0,0,0,26.84,26.55,26.85,9.01,18.53
$GC,688,-0.97,-244.4,2983,3549,3345,3297,46.1,-5.3,89,695,0.05,2.17,0.00,0.000,5126,0.196,0.065,2933,1954,3321,3345,3298,0,0,0,0,0,0,26.55,26.64,26.64,9.00,18.81
$GC,814,-0.97,-244.4,2933,1953,3344,3297,56.0,-8.8,102,819,0.00,2.33,0.00,0.000,260,0.000,0.082,2923,3557,3321,3345,3298,0,0,0,0,0,0,26.90,26.61,26.91,9.00,18.73
$GC,1137,-0.97,-244.4,2922,3557,3344,3295,79.3,-7.3,134,1141,0.00,2.17,0.00,0.000,1030,0.000,0.065,2922,1966,3319,3344,3294,0,0,0,0,0,0,26.76,26.71,26.77,8.96,18.61
$GC,1269,-0.97,-244.4,2922,1965,3343,3295,89.2,-7.6,147,1278,0.00,2.30,0.00,0.000,260,0.000,0.082,2912,3554,3318,3343,3294,0,0,0,0,0,0,26.96,26.66,26.96,8.95,18.93
$GC,1390,-0.97,-244.4,2911,3554,3343,3294,99.9,-8.9,159,1394,0.00,2.17,0.00,0.000,1030,0.000,0.065,2912,1961,3318,3343,3294,0,0,0,0,0,0,26.77,26.73,26.79,8.94,19.56
$GC,1515,-0.97,-244.4,2911,1961,3342,3294,111.3,-9.2,171,1525,0.00,2.30,0.00,0.000,260,0.000,0.082,2901,3549,3318,3342,3294,0,0,0,0,0,0,26.97,26.67,26.98,8.92,19.08
$GC,1628,-0.97,-244.4,2901,3549,3343,3293,123.0,-11.1,182,1638,0.12,2.17,0.00,0.000,3078,0.186,0.065,2944,1946,3317,3342,3292,0,0,0,0,0,0,26.58,26.73,26.70,8.92,19.32
$GC,1878,-0.97,-244.4,2944,1946,3340,3292,147.1,-10.0,207,1888,0.00,2.33,0.00,0.000,260,0.000,0.082,2934,3550,3316,3340,3292,0,0,0,0,0,0,26.98,26.68,26.99,8.90,19.40
$GC,2064,-0.97,-244.4,2933,3550,3340,3289,167.2,-11.0,225,2072,0.00,2.15,0.00,0.000,1030,0.000,0.065,2934,1989,3314,3340,3288,0,0,0,0,0,0,26.79,26.74,26.81,8.89,19.28
$GC,2312,-0.97,-244.4,2933,1988,3339,3288,195.1,-11.2,250,2321,0.00,2.25,0.00,0.000,260,0.000,0.082,2924,3549,3313,3339,3288,0,0,0,0,0,0,26.98,26.69,26.99,8.87,19.36
$GC,2475,-0.97,-244.4,2923,3549,3339,3288,215.3,-12.7,266,2484,0.00,2.20,0.00,0.000,1030,0.000,0.065,2924,1952,3313,3339,3288,0,0,0,0,0,0,26.79,26.75,26.81,8.86,19.83
$GC,2725,-0.97,-244.4,2923,1951,3336,3288,246.2,-12.8,291,2735,0.00,2.33,0.00,0.000,260,0.000,0.082,2914,3544,3311,3336,3287,0,0,0,0,0,0,26.98,26.68,27.00,8.85,19.79
$GC,2891,-0.97,-244.4,2913,3544,3336,3286,267.8,-13.0,307,2899,0.00,2.17,0.00,0.000,1030,0.000,0.065,2914,1973,3311,3336,3287,0,0,0,0,0,0,26.80,26.74,26.82,8.84,20.54
$GC,3139,-0.97,-244.4,2913,1974,3333,3286,303.2,-14.0,332,3148,0.00,2.30,0.00,0.000,260,0.000,0.082,2903,3553,3309,3333,3286,0,0,0,0,0,0,26.99,26.68,27.00,8.83,20.38
$GC,3311,-0.97,-244.4,2902,3553,3333,3283,329.3,-14.7,349,3322,0.10,2.20,0.00,0.000,3078,0.201,0.065,2937,1964,3308,3333,3283,0,0,0,0,0,0,26.58,26.75,26.72,8.82,20.19
$STATE,3550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3550,begin apogee
$GC,3555,-0.29,0.0,2935,2421,3332,3283,361.0,-13.0,373,3733,0.60,0.00,170.00,0.946,10246,0.159,0.000,3154,2421,2474,2504,2444,0,0,0,0,0,0,26.59,25.24,24.66,8.81,20.46
$STATE,3734,end apogee,CONTROL_FINISHED_OK
$STATE,3734,begin climb
$GC,3736,1.09,244.4,3154,2422,2505,2444,368.9,0.0,391,3915,1.10,2.38,168.55,0.934,10756,0.104,0.074,3583,889,1631,1650,1613,0,0,0,0,0,0,25.45,25.20,24.63,8.73,20.11
$GC,4081,0.99,244.4,3582,889,1647,1613,343.1,13.6,425,4089,0.00,2.30,0.00,0.000,1030,0.000,0.072,3583,2448,1629,1647,1612,0,0,0,0,0,0,26.29,26.23,26.31,8.65,19.71
$GC,4329,0.87,244.4,3582,2448,1648,1613,309.5,13.2,450,4331,0.17,0.00,0.00,0.000,4102,0.184,0.000,3526,2448,1629,1647,1612,0,0,0,0,0,0,26.35,26.51,26.48,8.64,20.66
$GC,4570,0.82,244.4,3525,2448,1647,1612,284.1,10.3,474,4580,0.00,2.30,0.00,0.000,516,0.000,0.072,3536,889,1629,1647,1612,0,0,0,0,0,0,26.83,26.55,26.84,8.64,20.19
$GC,4635,0.82,244.4,3535,889,1647,1612,277.8,10.1,480,4643,0.00,2.25,0.00,0.000,1030,0.000,0.070,3535,2434,1629,1647,1612,0,0,0,0,0,0,26.65,26.59,26.67,8.64,20.54
$GC,4883,0.76,244.4,3535,2434,1647,1612,249.9,11.3,505,4885,0.15,0.00,0.00,0.000,4102,0.196,0.000,3487,2435,1629,1647,1611,0,0,0,0,0,0,26.50,26.67,26.63,8.63,20.58
$GC,5124,0.76,244.4,3487,2435,1647,1611,227.0,9.4,529,5133,0.00,2.33,0.00,0.000,516,0.000,0.072,3497,881,1629,1647,1612,0,0,0,0,0,0,26.92,26.63,26.94,8.62,21.01
$GC,5175,0.76,244.4,3497,881,1646,1611,222.1,9.3,534,5179,0.00,2.25,0.00,0.000,1030,0.000,0.072,3497,2425,1628,1646,1611,0,0,0,0,0,0,26.73,26.67,26.74,8.62,21.09
$GC,5421,0.76,244.4,3497,2425,1646,1611,198.9,9.2,558,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2425,1628,1646,1611,0,0,0,0,0,0,26.94,26.96,26.96,8.62,20.66
$GC,5660,0.76,244.4,3497,2424,1646,1611,175.9,9.4,582,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2425,1628,1646,1611,0,0,0,0,0,0,26.96,26.97,26.97,8.62,20.82
$GC,5900,0.76,244.4,3497,2425,1646,1610,153.3,9.4,606,5905,0.00,2.33,0.00,0.000,516,0.000,0.072,3507,877,1628,1646,1611,0,0,0,0,0,0,26.96,26.68,26.98,8.61,20.66
$GC,5962,0.76,244.4,3507,876,1645,1610,147.8,9.0,612,5967,0.00,2.28,0.00,0.000,1030,0.000,0.072,3507,2437,1627,1645,1610,0,0,0,0,0,0,26.77,26.70,26.79,8.61,20.74
$GC,6214,0.76,244.4,3506,2437,1644,1610,123.2,10.3,637,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2437,1627,1645,1610,0,0,0,0,0,0,26.97,26.98,26.98,8.61,20.90
$GC,6454,0.76,244.4,3507,2437,1645,1610,98.1,10.4,661,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2437,1627,1644,1610,0,0,0,0,0,0,26.98,26.99,26.98,8.61,20.74
$GC,6574,0.76,244.4,3507,2437,1645,1610,84.9,10.7,673,6583,0.00,2.22,0.00,0.000,260,0.000,0.089,3507,3912,1627,1645,1610,0,0,0,0,0,0,26.98,26.68,26.98,8.61,20.54
$GC,6605,0.76,244.4,3506,3913,1644,1608,81.6,10.6,676,6610,0.00,2.10,0.00,0.000,1030,0.000,0.065,3517,2448,1627,1645,1609,0,0,0,0,0,0,26.80,26.77,26.82,8.61,20.78
$GC,6737,0.76,244.4,3517,2446,1645,1609,68.2,9.6,689,6746,0.00,2.33,0.00,0.000,516,0.000,0.074,3521,868,1626,1644,1609,0,0,0,0,0,0,26.98,26.68,26.99,8.62,20.54
$GC,6818,0.76,244.4,3521,868,1644,1609,60.8,8.9,697,6822,0.00,2.28,0.00,0.000,1030,0.000,0.070,3521,2431,1626,1644,1609,0,0,0,0,0,0,26.78,26.72,26.80,8.62,20.74
$GC,6943,0.76,244.4,3521,2430,1644,1609,50.5,8.4,709,6947,0.00,2.22,0.00,0.000,260,0.000,0.092,3521,3912,1626,1644,1609,0,0,0,0,0,0,26.98,26.67,26.99,8.62,20.54
$GC,6978,0.76,244.4,3520,3913,1644,1608,47.6,8.6,712,6986,0.12,2.15,0.00,0.000,5126,0.206,0.065,3494,2425,1626,1644,1608,0,0,0,0,0,0,26.55,26.77,26.72,8.63,20.50
$GC,7105,0.93,449.8,3493,2424,1643,1608,40.1,4.3,725,7297,0.08,2.42,178.73,0.735,10500,0.151,0.094,3551,3909,920,922,919,0,0,0,0,0,0,26.75,25.35,24.85,8.63,20.66
$GC,7340,1.05,449.8,3551,3909,920,910,20.7,8.3,748,7344,0.00,2.20,0.00,0.000,3078,0.000,0.065,3553,2418,914,920,909,0,0,0,0,0,0,25.97,25.93,25.98,8.58,20.03
$GC,7468,1.26,551.4,3553,2417,917,909,11.1,7.2,772,7547,0.15,0.00,75.00,0.698,10754,0.122,0.000,3649,2416,637,640,634,0,0,0,0,0,0,26.24,28.83,26.28,8.59,20.03
$STATE,7548,end climb,SURFACE_DEPTH_REACHED
$STATE,7548,begin surface coast
$FINISH,0.1,1.023284
$STATE,7574,end surface coast,CONTROL_FINISHED_OK
$STATE,7575,begin surface
$SM_CCo,7651,0.00,0.000,0,0,624,537.70
$SM_GC,1.14,8.82,0.60,0.00,0.067,0.082,0.000,116,1955,624,-9.65,1.95,537.70,0,0,0,0,0,0,25.89,25.82,25.93
$IRIDIUM_FIX,3221.65,-6435.71,060918,012102
$TT8_MAMPS,0.02247,0.255409
$HUMID,19.91
$INTERNAL_PRESSURE,8.5538
$TCM_TEMP,29.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.4,18.8
$24V_AH,24.63,4.573
$10V_AH,10.77,1.292
$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,22.275,82.650,592.275,0.000,230.175,0.000,0.000,0.000,0.750,0.000,20.935,2083.822,3227.101,784.818,1576.495,69.755,0.000,1678.989,0.000,1504.603,0.000,2.645,0.000
$DEVICE_MAMPS,270.647,94.354,946.023,0.000,891.397,0.000,0.000,0.000,420.000,0.000,26.960,15.470,2.190,15.470,41.680,64.150,0.000,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.497,1043.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319352
$DATA_FILE_SIZE,52147,789
$CAP_FILE_SIZE,136982,0
$CFSIZE,2047311872,2037678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.118,208.28,1
$GPS,060918,033735,3218.432,-6434.743,23,0.9,26,-14.9,0.5,284.3,9,4.7