version: 66.14
glider: 40
mission: 18
dive: 21
start: 9 10 118 11 27 16
data:
$ID,40
$MISSION,18
$DIVE,21
$N_DIVES,0
$STOP_T,9111806
$D_SURF,5
$D_FLARE,5
$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,1860
$T_ABORT,1920
$T_TURN,720
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_SLOITER,60
$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,150
$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,2748
$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,2216
$C_ROLL_CLIMB,2044
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3960
$C_VBD,2510
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,2000
$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
$GPS1,100918,111759,3141.3418,-6403.0083,39,1.0,41,-14.9,0.4,78.3,9,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.26
$_SM_ANGLEo,-53.9
$GPS2,100918,112640,3141.4324,-6402.9668,5,0.9,16,-14.9,0.0,341.6,10,4.7
$SPEED_LIMITS,0.173,0.230
$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,267.0,11399,-20.9,-10.000,-23.48,2226
$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,71,-1.47,-146.6,177,2234,757,823,4.1,-0.2,6,211,0.00,0.00,-136.93,0.159,16386,0.000,0.000,177,2233,2907,2864,2950,0,0,0,0,0,0,26.12,28.83,26.13,9.09,18.73
$GC,213,-1.47,-146.6,177,2234,2865,2950,5.5,-2.1,20,234,8.68,2.45,-4.12,0.258,18948,0.278,0.074,2268,642,3014,2986,3042,0,0,0,0,0,0,25.15,25.44,25.34,9.30,18.18
$GC,442,-1.31,-146.6,2267,642,2987,3042,45.7,-14.4,42,451,0.22,2.33,0.00,0.000,3078,0.204,0.067,2324,2233,3014,2987,3042,0,0,0,0,0,0,25.54,25.96,25.77,9.34,18.14
$GC,750,-1.24,-146.6,2323,2232,2987,3042,65.5,-4.9,73,760,0.00,2.40,0.00,0.000,516,0.000,0.077,2324,630,3014,2987,3042,0,0,0,0,0,0,26.46,26.13,26.48,9.33,17.63
$GC,1014,-1.13,-146.6,2323,630,2989,3042,78.5,-3.4,99,1026,0.22,2.30,0.00,0.000,3078,0.186,0.067,2383,2240,3016,2991,3042,0,0,0,0,0,0,25.91,26.30,26.10,9.32,17.63
$GC,1324,-1.13,-146.6,2382,2241,2991,3042,96.3,-6.8,130,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2241,3016,2990,3042,0,0,0,0,0,0,26.67,26.69,26.69,9.30,17.12
$GC,1626,-1.13,-146.6,2382,2240,2991,3042,119.0,-7.5,160,1635,0.00,2.35,0.00,0.000,516,0.000,0.077,2383,640,3016,2991,3042,0,0,0,0,0,0,26.74,26.37,26.75,9.28,17.75
$GC,1761,-1.13,-146.6,2382,640,2991,3042,131.1,-9.0,173,1770,0.00,2.25,0.00,0.000,1030,0.000,0.067,2373,2221,3016,2991,3042,0,0,0,0,0,0,26.53,26.48,26.55,9.28,17.78
$GC,2069,-1.13,-146.6,2373,2221,2991,3042,160.2,-9.4,199,2075,0.00,2.35,0.00,0.000,516,0.000,0.077,2373,629,3016,2991,3042,0,0,0,0,0,0,26.81,26.45,26.82,9.26,17.19
$GC,2171,-1.08,-146.6,2373,630,2991,3042,170.0,-10.1,204,2176,0.12,2.25,0.00,0.000,3078,0.204,0.067,2399,2215,3017,2991,3043,0,0,0,0,0,0,26.19,26.54,26.36,9.26,17.98
$GC,2489,-1.08,-146.6,2399,2215,2991,3042,201.6,-10.1,220,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2215,3016,2991,3042,0,0,0,0,0,0,26.86,26.87,26.87,9.26,17.78
$GC,2788,-1.08,-146.6,2399,2215,2991,3042,234.1,-11.3,235,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2215,3016,2991,3042,0,0,0,0,0,0,26.89,26.90,26.90,9.25,18.34
$GC,3088,-1.08,-146.6,2398,2215,2991,3042,269.5,-11.9,250,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2215,3016,2991,3042,0,0,0,0,0,0,26.91,26.93,26.92,9.24,18.81
$GC,3408,-1.08,-146.6,2398,2215,2991,3041,306.9,-11.8,265,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2215,3016,2991,3042,0,0,0,0,0,0,26.94,26.95,26.95,9.24,19.20
$GC,3708,-1.08,-146.6,2398,2214,2991,3042,340.8,-11.1,275,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2215,3016,2991,3042,0,0,0,0,0,0,26.96,26.97,26.96,9.23,18.89
$GC,4008,-1.08,-146.6,2398,2215,2990,3041,374.1,-11.2,285,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2215,3016,2991,3042,0,0,0,0,0,0,26.96,26.98,26.98,9.23,19.71
$GC,4308,-1.08,-146.6,2398,2215,2991,3041,408.0,-11.2,295,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2216,3016,2992,3041,0,0,0,0,0,0,26.98,27.00,26.99,9.23,19.20
$GC,4608,-1.08,-146.6,2398,2215,2992,3040,441.6,-11.4,305,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2215,3016,2992,3040,0,0,0,0,0,0,26.99,27.01,27.00,9.22,19.67
$GC,4908,-1.08,-146.6,2398,2215,2991,3040,475.8,-11.5,315,4913,0.00,2.33,0.00,0.000,516,0.000,0.077,2399,637,3015,2991,3040,0,0,0,0,0,0,27.00,26.62,27.01,9.21,19.60
$GC,4974,-1.08,-146.6,2398,637,2991,3039,483.6,-12.2,317,4978,0.00,2.25,0.00,0.000,1030,0.000,0.067,2390,2228,3015,2991,3040,0,0,0,0,0,0,26.75,26.70,26.77,9.21,19.83
$GC,5295,-1.08,-146.6,2389,2227,2992,3038,526.5,-13.3,328,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2228,3015,2991,3039,0,0,0,0,0,0,27.01,27.03,27.02,9.21,20.46
$STATE,5414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5414,begin apogee
$GC,5418,-0.31,0.0,2390,1955,2992,3038,543.1,-13.7,332,5537,0.77,0.05,110.18,0.924,10246,0.161,0.102,2646,2040,2509,2498,2521,0,0,0,0,0,0,26.25,24.56,24.08,9.19,19.99
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5539,1.47,146.6,2646,2039,2498,2521,549.3,0.0,336,5661,1.60,2.55,111.57,0.916,10756,0.119,0.082,3216,480,2005,2002,2008,0,0,0,0,0,0,25.00,24.50,23.84,9.15,20.11
$GC,5762,1.38,162.3,3215,481,2002,2008,535.4,9.3,343,5781,0.00,2.33,13.18,0.814,9222,0.000,0.065,3216,2046,1950,1948,1953,0,0,0,0,0,0,25.58,25.53,24.43,9.10,19.52
$GC,6079,1.27,162.3,3215,2047,1948,1952,494.6,12.4,354,6081,0.20,0.00,0.00,0.000,4102,0.209,0.000,3160,2048,1949,1947,1952,0,0,0,0,0,0,25.75,26.02,25.95,9.10,20.30
$GC,6379,1.27,162.3,3159,2048,1947,1952,460.5,11.2,364,6383,0.00,2.38,0.00,0.000,516,0.000,0.079,3171,496,1950,1947,1953,0,0,0,0,0,0,26.58,26.24,26.58,9.10,20.38
$GC,6562,1.21,162.3,3170,471,1947,1952,439.7,11.4,370,6568,0.08,2.28,0.00,0.000,5126,0.204,0.065,3138,2060,1950,1948,1952,0,0,0,0,0,0,26.06,26.39,26.25,9.10,20.42
$GC,6890,1.21,162.3,3137,2060,1948,1951,404.6,10.6,381,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2060,1949,1948,1951,0,0,0,0,0,0,26.75,26.77,26.76,9.10,20.97
$GC,7190,1.21,162.3,3136,2060,1947,1951,371.8,10.9,391,7197,0.00,2.38,0.00,0.000,516,0.000,0.077,3148,468,1948,1947,1950,0,0,0,0,0,0,26.81,26.45,26.82,9.10,21.56
$GC,7281,1.21,162.3,3147,468,1948,1950,361.5,11.3,394,7287,0.00,2.22,0.00,0.000,1030,0.000,0.065,3148,2040,1949,1948,1950,0,0,0,0,0,0,26.61,26.55,26.62,9.11,20.90
$GC,7611,1.21,162.3,3147,2041,1946,1950,324.8,11.1,405,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2041,1948,1947,1950,0,0,0,0,0,0,26.87,26.89,26.88,9.11,20.82
$GC,7910,1.21,162.3,3146,2041,1947,1950,289.9,11.4,416,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2041,1949,1948,1950,0,0,0,0,0,0,26.91,26.91,26.91,9.12,21.13
$GC,8210,1.21,162.3,3147,2041,1948,1950,253.3,12.2,431,8217,0.00,2.35,0.00,0.000,516,0.000,0.079,3159,459,1949,1948,1950,0,0,0,0,0,0,26.93,26.55,26.94,9.12,21.25
$GC,8293,1.15,162.3,3159,459,1947,1949,243.0,12.9,435,8299,0.12,2.25,0.00,0.000,5126,0.209,0.065,3122,2054,1948,1947,1950,0,0,0,0,0,0,26.29,26.65,26.46,9.12,20.86
$GC,8611,1.15,162.3,3122,2054,1948,1949,206.2,11.9,451,8617,0.00,2.35,0.00,0.000,516,0.000,0.079,3132,471,1949,1948,1950,0,0,0,0,0,0,26.96,26.58,26.96,9.13,20.86
$GC,8684,1.15,162.3,3131,470,1948,1950,199.0,11.9,454,8692,0.00,2.22,0.00,0.000,1030,0.000,0.065,3132,2047,1948,1947,1950,0,0,0,0,0,0,26.72,26.67,26.74,9.13,20.82
$GC,8993,1.15,162.3,3132,2047,1947,1949,160.1,12.5,470,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2047,1949,1948,1950,0,0,0,0,0,0,26.97,26.99,26.98,9.13,20.74
$GC,9291,1.15,162.3,3132,2048,1947,1949,121.3,12.7,495,9301,0.00,2.35,0.00,0.000,516,0.000,0.079,3145,463,1948,1948,1949,0,0,0,0,0,0,26.99,26.60,27.00,9.14,20.97
$GC,9376,1.15,162.3,3144,463,1948,1950,109.7,13.9,503,9383,0.00,2.22,0.00,0.000,1030,0.000,0.065,3144,2046,1948,1948,1949,0,0,0,0,0,0,26.75,26.70,26.77,9.14,20.74
$GC,9683,1.15,162.3,3143,2046,1948,1949,71.9,11.6,534,9692,0.00,2.35,0.00,0.000,516,0.000,0.079,3156,461,1949,1948,1950,0,0,0,0,0,0,27.01,26.60,27.01,9.14,21.17
$GC,9784,1.15,162.3,3156,461,1947,1950,60.5,10.6,544,9794,0.12,2.25,0.00,0.000,5126,0.206,0.065,3120,2064,1949,1948,1950,0,0,0,0,0,0,26.34,26.71,26.51,9.14,20.46
$GC,10094,1.26,252.7,3118,2064,1948,1950,34.8,5.8,575,10166,0.00,2.50,63.75,0.596,8708,0.000,0.079,3128,465,1638,1633,1644,0,0,0,0,0,0,27.01,25.60,25.06,9.17,21.01
$GC,10308,1.26,252.7,3127,465,1632,1643,18.9,10.2,596,10313,0.00,2.28,0.00,0.000,1030,0.000,0.065,3128,2040,1637,1632,1643,0,0,0,0,0,0,26.15,26.10,26.16,9.18,21.13
$STATE,10449,end climb,SURFACE_DEPTH_REACHED
$STATE,10449,begin surface coast
$FINISH,0.9,0.996905
$STATE,10491,end surface coast,CONTROL_FINISHED_OK
$STATE,10491,begin surface
$SM_CCo,10505,175.90,0.561,0,0,787,500.22
$SM_GC,2.08,7.50,0.20,175.90,0.074,0.099,0.561,191,2240,787,-7.89,-2.12,500.22,0,0,0,0,0,0,26.29,26.30,24.53
$IRIDIUM_FIX,3137.77,-6412.50,090918,184252
$TT8_MAMPS,0.021721,0.246421
$HUMID,20.70
$INTERNAL_PRESSURE,9.11555
$TCM_TEMP,23.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,16.8
$24V_AH,23.84,16.337
$10V_AH,10.47,8.536
$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,19.650,61.000,298.675,175.900,141.050,23.859,16.036,332.067,0.250,0.000,17.658,1855.273,6899.314,639.068,1704.351,74.952,0.000,1350.016,0.000,1277.577,0.000,6.121,0.000
$DEVICE_MAMPS,278.096,101.803,923.676,561.158,258.232,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.277,811.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342420
$DATA_FILE_SIZE,41842,614
$CAP_FILE_SIZE,98818,0
$CFSIZE,2047311872,2034860032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.168,14.54,1
$GPS,100918,142637,3142.092,-6404.101,36,0.9,40,-14.9,0.6,75.2,10,4.7