version: 66.14
glider: 40
mission: 18
dive: 6
start: 9 5 118 21 49 4
data:
$ID,40
$MISSION,18
$DIVE,6
$N_DIVES,0
$STOP_T,9131819
$D_SURF,3
$D_FLARE,3
$D_TGT,180
$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,80
$T_MISSION,90
$T_ABORT,1440
$T_TURN,720
$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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,80783.898
$MASS_COMP,11448
$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,3845
$C_PITCH,2779
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,16.200001
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2.5
$ROLL_MIN,225
$ROLL_MAX,3795
$ROLL_DEG,45
$C_ROLL_DIVE,3795
$C_ROLL_CLIMB,3795
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,92
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2649
$VBD_DBAND,2
$VBD_CNV,-0.29049
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,900
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,6
$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,17
$MINV_10V,8
$MAXI_24V,4
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.149458
$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,1
$ALTIM_PING_DEPTH,1000
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043949927
$SEABIRD_T_H,0.00063390372
$SEABIRD_T_I,2.58046e-05
$SEABIRD_T_J,3.1945401e-06
$SEABIRD_C_G,-9.7571077
$SEABIRD_C_H,1.1413336
$SEABIRD_C_I,-0.0015994913
$SEABIRD_C_J,0.00020119222
$SEABIRD_C_Z,2927.6299
$GPS1,050918,214433,3219.6062,-6433.6050,4,1.0,13,-14.9,0.0,314.7,8,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-33.8
$GPS2,050918,214829,3219.6257,-6433.5986,5,0.9,16,-14.9,0.4,86.1,8,5.0
$SPEED_LIMITS,0.089,0.259
$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,162.4,82276,-12.2,-7.500,-16.12,4872
$D_GRID,180
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-1.05,-244.4,201,3784,337,399,0.0,0.0,0,191,0.00,0.00,-175.90,0.164,16390,0.000,0.000,201,3785,3491,3452,3530,0,0,0,0,0,0,26.79,25.93,25.83,9.32,20.30
$GC,193,-1.05,-244.4,200,3785,3452,3530,5.4,-9.4,18,210,9.40,0.00,0.00,0.000,2054,0.288,0.000,2433,3785,3491,3453,3530,0,0,0,0,0,0,25.63,26.01,25.91,9.63,19.04
$GC,512,-0.97,-244.4,2433,3785,3453,3529,42.5,-7.7,50,519,0.10,0.00,0.00,0.000,2054,0.204,0.000,2466,3785,3491,3453,3529,0,0,0,0,0,0,26.28,26.38,26.34,9.62,19.56
$GC,821,-0.91,-244.4,2465,3785,3453,3529,61.2,-5.5,81,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,3784,3490,3453,3528,0,0,0,0,0,0,26.89,26.90,26.89,9.59,19.56
$GC,1144,-0.85,-244.4,2465,3785,3453,3527,86.8,-10.8,111,1161,0.10,0.00,0.00,0.000,2054,0.209,0.000,2501,3785,3490,3453,3527,0,0,0,0,0,0,26.39,26.46,26.43,9.56,20.30
$GC,1576,-0.85,-244.4,2501,3785,3453,3525,120.6,-7.0,142,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,3785,3489,3453,3525,0,0,0,0,0,0,26.85,26.87,26.86,9.52,20.27
$GC,2005,-0.85,-244.4,2501,3785,3453,3522,154.6,-9.1,172,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,3785,3488,3454,3523,0,0,0,0,0,0,26.85,26.86,26.86,9.48,20.27
$STATE,2284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2284,begin apogee
$GC,2288,-0.31,0.0,2501,3785,3453,3519,180.9,-9.5,186,2469,0.52,0.00,177.02,0.638,10246,0.154,0.000,2681,3785,2648,2641,2656,0,0,0,0,0,0,26.04,25.07,24.53,9.47,20.46
$STATE,2470,end apogee,CONTROL_FINISHED_OK
$STATE,2470,begin climb
$GC,2471,1.05,244.4,2681,3785,2641,2657,188.3,0.0,195,2656,1.20,0.00,178.55,0.628,10246,0.129,0.000,3099,3784,1807,1806,1808,0,0,0,0,0,0,25.24,25.03,24.53,9.38,19.91
$GC,2955,0.91,244.4,3099,3784,1806,1805,133.4,13.4,225,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,3785,1806,1806,1806,0,0,0,0,0,0,26.58,26.59,26.58,9.28,20.66
$GC,3257,0.76,244.4,3099,3784,1806,1804,93.2,12.5,255,3264,0.25,0.00,0.00,0.000,4102,0.194,0.000,3023,3785,1805,1806,1804,0,0,0,0,0,0,26.03,26.30,26.22,9.27,20.97
$GC,3566,0.71,244.4,3022,3785,1806,1801,61.9,10.5,286,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,3785,1804,1806,1802,0,0,0,0,0,0,26.88,26.90,26.89,9.27,21.41
$GC,3866,0.74,262.3,3022,3784,1806,1800,35.9,7.1,316,3886,0.00,0.00,13.18,0.514,8198,0.000,0.000,3023,3785,1745,1746,1745,0,0,0,0,0,0,26.94,26.10,25.77,9.28,22.12
$GC,4185,0.92,414.6,3023,3785,1746,1744,18.0,4.3,348,4297,0.10,0.00,107.65,0.539,10246,0.127,0.000,3107,3785,1220,1216,1225,0,0,0,0,0,0,26.67,25.32,24.87,9.31,22.51
$STATE,4334,end climb,SURFACE_DEPTH_REACHED
$STATE,4334,begin surface coast
$FINISH,1.3,1.023184
$STATE,4356,end surface coast,CONTROL_FINISHED_OK
$STATE,4356,begin surface
$SM_CCo,4370,61.45,0.519,0,0,927,500.22
$SM_GC,2.33,7.62,0.00,61.45,0.082,0.000,0.519,189,3784,927,-7.97,-0.31,500.22,0,0,0,0,0,0,25.89,26.17,24.84
$IRIDIUM_FIX,3221.70,-6430.00,050918,214054
$TT8_MAMPS,0.021721,0.220955
$HUMID,22.23
$INTERNAL_PRESSURE,9.23274
$TCM_TEMP,29.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,24.53,11.990
$10V_AH,10.56,6.732
$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,19.300,0.000,476.400,61.450,175.900,0.000,0.000,0.000,120.250,0.000,17.164,932.593,1513.658,698.594,1320.341,43.670,0.000,1030.819,0.000,545.319,0.000,1232.915,0.000
$DEVICE_MAMPS,288.028,0.000,638.131,518.947,163.878,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.585,481.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342476
$DATA_FILE_SIZE,24464,365
$CAP_FILE_SIZE,130363,0
$CFSIZE,2047311872,2037350400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,273.06,1
$GPS,050918,230349,3219.518,-6433.802,4,1.1,23,-14.9,0.3,123.3,8,4.6