version: 66.14
glider: 40
mission: 18
dive: 11
start: 9 6 118 7 15 44
data:
$ID,40
$MISSION,18
$DIVE,11
$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,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,30
$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,2122
$C_ROLL_CLIMB,2122
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,90
$R_STBD_OVSHOOT,65
$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
$GPS1,060918,071031,3215.9854,-6433.5391,13,0.8,29,-14.9,0.6,298.1,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-54.6
$GPS2,060918,071505,3215.9883,-6433.5859,6,0.9,6,-14.9,0.0,0.0,9,0.0
$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,130.8,76318,-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,5,begin dive
$GC,7,-1.29,-244.4,178,2127,894,960,0.0,0.0,0,91,0.00,0.00,-81.78,0.164,16386,0.000,0.000,178,2127,2247,2205,2290,0,0,0,0,0,0,26.32,28.83,26.34,9.22,21.72
$GC,93,-1.29,-244.4,178,2127,2205,2290,3.0,-0.9,8,204,8.85,2.33,-93.50,0.161,18948,0.273,0.074,2359,582,3492,3476,3509,0,0,0,0,0,0,25.49,25.75,25.55,9.36,21.25
$GC,243,-1.13,-244.4,2358,582,3475,3509,12.0,-17.2,23,254,0.20,2.22,0.00,0.000,3078,0.176,0.067,2411,2127,3492,3475,3509,0,0,0,0,0,0,25.59,25.96,25.70,9.50,20.34
$GC,552,-1.13,-244.4,2410,2127,3475,3508,47.7,-7.9,54,562,0.00,2.33,0.00,0.000,260,0.000,0.084,2402,3689,3492,3475,3509,0,0,0,0,0,0,26.61,26.19,26.63,9.52,20.07
$GC,748,-1.13,-244.4,2401,3690,3475,3510,65.0,-8.5,73,756,0.00,2.20,0.00,0.000,1030,0.000,0.067,2402,2093,3492,3475,3509,0,0,0,0,0,0,26.50,26.48,26.51,9.50,20.19
$GC,1128,-1.13,-244.4,2401,2092,3475,3511,99.1,-10.4,104,1147,0.00,2.35,0.00,0.000,260,0.000,0.084,2389,3684,3493,3475,3511,0,0,0,0,0,0,26.76,26.32,26.77,9.46,19.99
$GC,1236,-1.06,-244.4,2389,3685,3476,3511,110.5,-11.3,109,1257,0.12,2.15,0.00,0.000,3078,0.179,0.067,2431,2094,3493,3476,3511,0,0,0,0,0,0,26.11,26.56,26.19,9.45,19.12
$GC,1689,-1.06,-244.4,2431,2094,3475,3511,161.3,-11.9,137,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2093,3493,3475,3511,0,0,0,0,0,0,26.77,26.79,26.79,9.41,19.52
$GC,1989,-1.06,-244.4,2431,2094,3475,3511,197.0,-11.5,152,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2094,3493,3475,3511,0,0,0,0,0,0,26.79,26.81,26.81,9.40,19.83
$GC,2279,-1.06,-244.4,2431,2094,3475,3511,231.5,-11.5,167,2285,0.00,2.33,0.00,0.000,260,0.000,0.084,2422,3678,3493,3475,3511,0,0,0,0,0,0,26.89,26.39,26.91,9.38,19.60
$GC,2347,-1.06,-244.4,2422,3678,3475,3511,238.6,-11.9,170,2351,0.00,2.08,0.00,0.000,1030,0.000,0.067,2422,2143,3493,3475,3511,0,0,0,0,0,0,26.68,26.65,26.70,9.38,19.91
$GC,2659,-1.06,-244.4,2421,2143,3474,3511,277.2,-12.2,186,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2143,3493,3475,3511,0,0,0,0,0,0,26.95,26.96,26.96,9.38,20.70
$GC,2978,-1.06,-244.4,2422,2143,3475,3510,317.8,-12.8,200,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2143,3492,3475,3510,0,0,0,0,0,0,26.98,26.99,26.99,9.36,21.09
$GC,3279,-1.06,-244.4,2421,2143,3475,3509,356.5,-12.7,210,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2143,3492,3475,3509,0,0,0,0,0,0,27.01,27.02,27.01,9.36,20.74
$GC,3578,-1.06,-244.4,2421,2143,3475,3507,395.3,-12.7,220,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2143,3491,3475,3508,0,0,0,0,0,0,27.02,27.03,27.03,9.35,20.86
$GC,3879,-1.06,-244.4,2421,2143,3474,3507,431.4,-11.7,230,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2143,3490,3474,3507,0,0,0,0,0,0,27.03,27.05,27.05,9.35,20.93
$GC,4178,-1.06,-244.4,2421,2143,3473,3507,466.9,-11.7,240,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2143,3490,3473,3507,0,0,0,0,0,0,27.04,27.06,27.05,9.35,21.68
$GC,4479,-1.06,-244.4,2421,2143,3472,3507,503.2,-12.6,250,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2143,3489,3472,3507,0,0,0,0,0,0,27.05,27.07,27.06,9.33,21.29
$STATE,4777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4777,begin apogee
$GC,4781,-0.31,0.0,2421,2143,3471,3506,543.0,-13.6,260,4970,0.75,0.00,184.80,0.919,10246,0.146,0.000,2676,2141,2649,2645,2653,0,0,0,0,0,0,25.82,24.71,24.05,9.31,22.04
$STATE,4971,end apogee,CONTROL_FINISHED_OK
$STATE,4971,begin climb
$GC,4972,1.29,244.4,2676,2141,2645,2653,551.8,0.0,266,5170,1.42,2.45,186.93,0.904,10756,0.114,0.077,3193,599,1807,1806,1808,0,0,0,0,0,0,24.95,24.48,24.02,9.23,20.11
$GC,5223,1.21,308.3,3192,598,1806,1808,542.6,8.2,274,5281,0.00,2.28,49.58,0.872,9222,0.000,0.065,3193,2120,1587,1583,1592,0,0,0,0,0,0,25.58,25.52,24.15,9.14,20.74
$GC,5595,1.07,308.3,3193,2120,1583,1592,481.9,15.9,287,5601,0.20,2.25,0.00,0.000,4612,0.196,0.077,3139,604,1587,1582,1592,0,0,0,0,0,0,25.86,26.05,25.97,9.11,20.86
$GC,5702,0.97,308.3,3138,604,1583,1591,468.8,14.8,290,5707,0.15,2.20,0.00,0.000,5126,0.186,0.067,3092,2127,1587,1583,1591,0,0,0,0,0,0,25.98,26.26,26.14,9.11,21.25
$GC,6009,0.97,308.3,3092,2128,1583,1590,429.6,11.9,300,6013,0.00,2.28,0.00,0.000,516,0.000,0.077,3102,610,1586,1583,1590,0,0,0,0,0,0,26.71,26.35,26.72,9.12,21.56
$GC,6070,0.97,308.3,3101,606,1583,1590,422.5,11.5,302,6074,0.00,2.17,0.00,0.000,1030,0.000,0.065,3102,2129,1586,1583,1590,0,0,0,0,0,0,26.49,26.44,26.51,9.12,21.17
$GC,6396,0.97,308.3,3101,2130,1583,1589,383.6,11.9,313,6402,0.00,2.28,0.00,0.000,516,0.000,0.077,3113,601,1586,1583,1589,0,0,0,0,0,0,26.82,26.43,26.84,9.12,21.92
$GC,6475,0.92,308.3,3113,601,1583,1589,376.6,11.9,315,6480,0.12,2.17,0.00,0.000,5126,0.194,0.065,3075,2122,1586,1583,1589,0,0,0,0,0,0,26.18,26.51,26.33,9.12,21.29
$GC,6781,0.92,308.3,3074,2122,1582,1589,340.8,11.1,325,6786,0.00,2.25,0.00,0.000,516,0.000,0.077,3085,606,1585,1583,1588,0,0,0,0,0,0,26.89,26.46,26.91,9.13,22.00
$GC,6836,0.92,308.3,3083,606,1583,1588,337.0,11.2,326,6844,0.00,2.17,0.00,0.000,1030,0.000,0.067,3085,2117,1585,1583,1588,0,0,0,0,0,0,26.58,26.55,26.60,9.13,21.84
$GC,7143,0.92,308.3,3084,2116,1583,1588,297.2,12.2,337,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2117,1585,1583,1588,0,0,0,0,0,0,26.93,26.95,26.94,9.13,22.23
$GC,7443,0.92,308.3,3084,2117,1583,1588,259.0,12.6,352,7450,0.00,2.25,0.00,0.000,516,0.000,0.077,3095,601,1585,1583,1588,0,0,0,0,0,0,26.96,26.48,26.97,9.13,21.96
$GC,7524,0.92,308.3,3094,601,1583,1588,249.4,12.1,356,7527,0.00,2.17,0.00,0.000,1030,0.000,0.067,3095,2122,1585,1583,1588,0,0,0,0,0,0,26.65,26.58,26.67,9.13,21.92
$GC,7844,0.92,308.3,3094,2123,1583,1588,207.6,13.0,372,7849,0.00,2.25,0.00,0.000,516,0.000,0.077,3105,605,1585,1583,1587,0,0,0,0,0,0,26.98,26.48,27.00,9.14,21.84
$GC,7899,0.92,308.3,3104,605,1583,1588,202.0,13.1,374,7907,0.10,2.17,0.00,0.000,5126,0.206,0.067,3073,2131,1585,1583,1587,0,0,0,0,0,0,26.27,26.60,26.39,9.13,21.53
$GC,8206,0.92,308.3,3074,2131,1583,1587,161.2,13.1,390,8213,0.00,2.28,0.00,0.000,516,0.000,0.077,3085,597,1585,1583,1587,0,0,0,0,0,0,27.01,26.48,27.01,9.14,21.92
$GC,8279,0.92,308.3,3084,597,1583,1587,153.4,13.2,393,8286,0.00,2.17,0.00,0.000,1030,0.000,0.065,3085,2125,1585,1583,1587,0,0,0,0,0,0,26.67,26.60,26.69,9.14,21.60
$GC,8586,0.92,308.3,3083,2125,1583,1587,111.0,12.2,423,8591,0.00,2.25,0.00,0.000,516,0.000,0.077,3095,606,1585,1583,1587,0,0,0,0,0,0,27.02,26.48,27.03,9.14,21.76
$GC,8648,0.92,308.3,3094,606,1583,1587,103.2,12.6,429,8652,0.00,2.17,0.00,0.000,1030,0.000,0.067,3096,2133,1585,1583,1587,0,0,0,0,0,0,26.67,26.60,26.69,9.14,21.25
$GC,8959,0.92,308.3,3094,2132,1583,1587,62.0,11.9,460,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2132,1585,1583,1587,0,0,0,0,0,0,27.03,27.05,27.04,9.14,21.64
$GC,9260,0.92,308.3,3094,2133,1583,1587,31.7,10.3,490,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2132,1585,1583,1588,0,0,0,0,0,0,27.04,27.05,27.05,9.16,21.37
$GC,9559,0.99,369.9,3094,2133,1583,1588,6.5,8.3,520,9610,0.00,2.33,43.67,0.569,8708,0.000,0.077,3095,589,1374,1367,1382,0,0,0,0,0,0,27.05,25.76,25.41,9.22,22.08
$STATE,9614,end climb,SURFACE_DEPTH_REACHED
$STATE,9614,begin surface coast
$FINISH,1.9,1.023173
$STATE,9635,end surface coast,CONTROL_FINISHED_OK
$STATE,9635,begin surface
$SM_CCo,9652,94.10,0.556,0,0,926,500.22
$SM_GC,2.97,7.47,2.28,94.10,0.074,0.062,0.556,178,2122,926,-8.03,-1.92,500.22,0,0,0,0,0,0,26.16,26.15,24.68
$IRIDIUM_FIX,3216.44,-6434.50,060918,042342
$TT8_MAMPS,0.020972,0.248668
$HUMID,21.64
$INTERNAL_PRESSURE,9.15461
$TCM_TEMP,24.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,16.7
$24V_AH,24.02,12.693
$10V_AH,10.49,7.012
$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,19.400,62.800,464.975,94.100,175.275,26.052,18.809,150.225,93.250,0.000,7.743,1564.431,5710.787,697.127,1996.941,75.383,0.000,1375.634,0.000,1089.632,0.000,1042.831,0.000
$DEVICE_MAMPS,273.130,84.422,918.710,556.192,163.878,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.972,696.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342468
$DATA_FILE_SIZE,34942,527
$CAP_FILE_SIZE,122989,0
$CFSIZE,2047311872,2036695040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.147,259.60,1
$GPS,060918,095925,3214.932,-6432.960,12,0.8,34,-14.9,0.0,296.5,9,4.9