version: 66.12
glider: 39
mission: 3
dive: 11
start: 11 14 114 8 49 46
data:
$ID,39
$MISSION,3
$DIVE,11
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,5500
$D_NO_BLEED,50
$D_BOOST,3
$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,85
$T_MISSION,100
$T_ABORT,120
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.0099999998
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,78291
$MASS_COMP,9185.7002
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0047458
$HD_B,0.011518
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4743
$TGT_DEFAULT_LON,-12224.5
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,1000000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,21
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3845
$ROLL_DEG,40
$C_ROLL_DIVE,1700
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,200
$VBD_MAX,3960
$C_VBD,2617
$VBD_DBAND,2
$VBD_CNV,-0.29049999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$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
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1076.7625
$PRESSURE_SLOPE,0.00094170001
$AD7714Ch0Gain,32
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$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,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044030095
$SEABIRD_T_H,0.00064263446
$SEABIRD_T_I,2.7272366e-05
$SEABIRD_T_J,3.452938e-06
$SEABIRD_C_G,-9.7790155
$SEABIRD_C_H,1.1333548
$SEABIRD_C_I,-0.00086257502
$SEABIRD_C_J,0.00014502628
$GPS1,141114,084120,4744.4365,-12224.4492,4,0.9,9,16.3,0.0,0.0,10,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-63.9
$GPS2,141114,084839,4744.4980,-12224.4824,5,0.9,13,16.3,1.0,33.2,10,8.0
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.019,-0.216
$KALMAN_X,-264.2,12.7,-57.0,71.4,-100.0
$KALMAN_Y,1944.5,61.2,-187.3,1009.5,400.7
$MHEAD_RNG_PITCHd_Wd,158.8,2774,-14.6,-7.059,-18.01,3147
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-146.0,152,1697,1299,1526,0.0,0.0,0,139,0.00,0.00,-121.65,0.134,16386,0.000,0.000,152,1697,2674,2559,2790,0,0,0,0,0,0,26.67,28.83,26.70
$GC,142,-0.70,-146.0,152,1697,2558,2790,3.2,-1.5,22,188,10.18,2.15,-28.58,0.146,18948,0.271,0.070,2657,295,3119,3001,3238,0,0,0,0,0,0,26.01,26.17,26.10
$GC,382,-0.70,-146.0,2657,295,3000,3238,23.7,-8.0,64,390,0.00,2.08,0.00,0.000,1030,0.000,0.050,2647,1694,3119,3000,3238,0,0,0,0,0,0,26.53,26.50,26.55
$GC,510,-0.70,-146.0,2647,1694,3000,3238,32.2,-6.3,77,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1694,3119,3000,3238,0,0,0,0,0,0,26.84,26.86,26.86
$GC,630,-0.70,-146.0,2647,1694,3000,3238,40.3,-6.7,89,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1694,3119,3000,3239,0,0,0,0,0,0,26.91,26.94,26.94
$GC,750,-0.70,-146.0,2647,1694,3000,3238,49.4,-7.4,101,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1694,3119,3000,3238,0,0,0,0,0,0,26.97,27.00,26.99
$GC,870,-0.70,-146.0,2647,1694,3000,3238,59.0,-8.6,113,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,1694,3119,3000,3238,0,0,0,0,0,0,27.02,27.04,27.04
$GC,990,-0.70,-146.0,2647,1694,3000,3238,68.3,-7.2,125,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1694,3119,3000,3238,0,0,0,0,0,0,27.06,27.08,27.08
$GC,1110,-0.70,-146.0,2647,1693,3000,3238,76.8,-6.6,137,1114,0.00,2.15,0.00,0.000,516,0.000,0.072,2647,285,3119,3000,3238,0,0,0,0,0,0,27.10,26.79,27.11
$GC,1178,-0.70,-146.0,2647,285,3001,3238,82.2,-8.0,143,1186,0.00,2.08,0.00,0.000,1030,0.000,0.050,2637,1702,3119,3000,3238,0,0,0,0,0,0,26.89,26.86,26.91
$GC,1305,-0.70,-146.0,2637,1702,3000,3238,91.1,-7.0,156,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1702,3119,3001,3238,0,0,0,0,0,0,27.14,27.16,27.15
$GC,1426,-0.70,-146.0,2637,1702,3000,3238,100.3,-7.6,168,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1702,3119,3000,3238,0,0,0,0,0,0,27.13,27.15,27.14
$GC,1545,-0.70,-146.0,2637,1702,3000,3238,109.3,-7.9,180,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1702,3119,3000,3238,0,0,0,0,0,0,27.18,27.20,27.20
$GC,1665,-0.70,-146.0,2637,1702,3000,3238,118.0,-6.6,192,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1702,3119,3001,3238,0,0,0,0,0,0,27.20,27.22,27.21
$GC,1786,-0.70,-146.0,2637,1702,3000,3238,126.9,-7.1,204,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,1702,3119,3000,3238,0,0,0,0,0,0,27.21,27.23,27.22
$GC,1905,-0.70,-146.0,2637,1702,3000,3238,135.4,-7.2,216,1909,0.00,2.15,0.00,0.000,516,0.000,0.070,2637,285,3119,3000,3238,0,0,0,0,0,0,27.22,26.91,27.24
$GC,2091,-0.70,-146.0,2637,286,3000,3238,149.0,-6.9,234,2095,0.00,2.03,0.00,0.000,1030,0.000,0.052,2627,1716,3119,3000,3238,0,0,0,0,0,0,27.05,26.99,27.07
$GC,2216,-0.70,-146.0,2627,1716,3000,3238,157.0,-6.3,246,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1716,3119,3000,3238,0,0,0,0,0,0,27.25,27.27,27.27
$GC,2336,-0.70,-146.0,2627,1716,3000,3238,164.5,-6.0,258,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1716,3119,3000,3238,0,0,0,0,0,0,27.27,27.29,27.29
$GC,2456,-0.70,-146.0,2627,1716,3000,3238,171.8,-6.0,270,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,1716,3119,3000,3238,0,0,0,0,0,0,27.28,27.30,27.30
$GC,2576,-0.70,-146.0,2627,1717,3000,3239,178.6,-6.0,282,2580,0.00,2.15,0.00,0.000,516,0.000,0.070,2627,295,3119,3000,3238,0,0,0,0,0,0,27.29,26.98,27.31
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2601,begin apogee
$GC,2606,-0.24,0.0,2616,1801,3000,3238,180.1,-5.8,284,2713,0.50,0.00,102.72,0.809,10246,0.142,0.000,2796,1801,2617,2520,2715,0,0,0,0,0,0,26.91,25.51,24.98
$STATE,2714,end apogee,CONTROL_FINISHED_OK
$STATE,2714,begin climb
$GC,2715,0.70,146.0,2796,1801,2519,2715,181.7,0.0,295,2824,0.80,0.00,104.80,0.772,10502,0.107,0.000,3089,1801,2114,2031,2197,0,0,0,0,0,0,25.58,25.18,24.69
$GC,2941,0.70,146.0,3089,1801,2031,2197,163.4,9.2,318,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1801,2114,2031,2197,0,0,0,0,0,0,26.27,26.29,26.29
$GC,3061,0.70,146.0,3089,1801,2031,2198,152.8,8.4,330,3065,0.00,2.15,0.00,0.000,260,0.000,0.065,3089,3195,2114,2031,2198,0,0,0,0,0,0,26.53,26.25,26.55
$GC,3110,0.70,146.0,3089,3195,2030,2198,148.7,8.9,334,3117,0.00,2.15,0.00,0.000,1030,0.000,0.055,3100,1796,2114,2031,2198,0,0,0,0,0,0,26.38,26.34,26.40
$GC,3237,0.70,146.0,3099,1797,2031,2198,137.8,7.8,347,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,1797,2114,2031,2198,0,0,0,0,0,0,26.74,26.76,26.75
$GC,3357,0.70,146.0,3099,1797,2031,2198,128.3,8.3,359,3361,0.00,2.12,0.00,0.000,516,0.000,0.072,3110,394,2114,2031,2198,0,0,0,0,0,0,26.84,26.53,26.85
$GC,3412,0.70,146.0,3110,394,2031,2198,123.3,8.6,364,3416,0.00,2.05,0.00,0.000,1030,0.000,0.052,3110,1805,2114,2031,2198,0,0,0,0,0,0,26.68,26.62,26.70
$GC,3537,0.70,146.0,3110,1805,2031,2198,112.5,8.4,376,3538,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1805,2114,2031,2198,0,0,0,0,0,0,26.94,26.96,26.95
$GC,3657,0.70,146.0,3110,1805,2031,2198,102.2,8.6,388,3661,0.00,2.10,0.00,0.000,260,0.000,0.065,3110,3196,2114,2031,2198,0,0,0,0,0,0,26.98,26.70,27.00
$GC,3693,0.70,146.0,3110,3195,2031,2198,98.8,9.2,391,3697,0.00,2.08,0.00,0.000,1030,0.000,0.055,3121,1792,2114,2031,2198,0,0,0,0,0,0,26.81,26.73,26.82
$GC,3818,0.70,146.0,3121,1791,2031,2198,87.9,8.6,403,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1791,2114,2030,2198,0,0,0,0,0,0,27.04,27.06,27.05
$GC,3938,0.70,146.0,3121,1791,2031,2198,77.4,9.0,415,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,1791,2114,2031,2197,0,0,0,0,0,0,27.08,27.10,27.10
$GC,4058,0.70,146.0,3121,1791,2031,2198,66.5,8.8,427,4062,0.00,2.10,0.00,0.000,260,0.000,0.062,3121,3196,2114,2031,2198,0,0,0,0,0,0,27.10,26.82,27.13
$GC,4106,0.70,146.0,3121,3196,2031,2198,62.5,9.1,431,4114,0.00,2.10,0.00,0.000,1030,0.000,0.055,3132,1802,2114,2031,2198,0,0,0,0,0,0,26.89,26.85,26.91
$GC,4233,0.70,146.0,3131,1802,2031,2198,50.9,8.7,444,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1802,2114,2031,2198,0,0,0,0,0,0,27.15,27.17,27.16
$GC,4354,0.70,146.0,3131,1801,2031,2198,41.0,8.0,456,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1802,2114,2031,2198,0,0,0,0,0,0,27.17,27.19,27.19
$GC,4473,0.70,146.0,3131,1802,2031,2198,31.1,8.0,468,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,1802,2114,2031,2198,0,0,0,0,0,0,27.19,27.21,27.21
$GC,4593,0.70,146.0,3131,1801,2031,2198,21.0,8.4,480,4597,0.00,2.10,0.00,0.000,516,0.000,0.070,3142,394,2114,2031,2198,0,0,0,0,0,0,27.20,26.90,27.22
$GC,4649,0.70,146.0,3141,394,2031,2198,16.9,7.7,488,4656,0.10,2.03,0.00,0.000,5126,0.176,0.052,3107,1807,2114,2031,2198,0,0,0,0,0,0,26.84,26.96,26.96
$GC,4718,0.70,146.0,3107,1807,2031,2198,12.3,6.1,501,4724,0.00,2.08,0.00,0.000,260,0.000,0.065,3107,3192,2114,2031,2198,0,0,0,0,0,0,27.22,26.93,27.24
$GC,4776,0.70,146.0,3107,3193,2031,2198,8.4,7.1,512,4783,0.00,2.05,0.00,0.000,1030,0.000,0.055,3114,1788,2114,2031,2198,0,0,0,0,0,0,27.03,26.96,27.05
$GC,4844,0.70,146.0,3114,1788,2031,2198,3.5,7.5,525,4851,0.00,2.10,0.00,0.000,516,0.000,0.072,3124,395,2114,2031,2198,0,0,0,0,0,0,27.23,26.93,27.25
$STATE,4872,end climb,SURFACE_DEPTH_REACHED
$STATE,4872,begin surface coast
$FINISH,0.6,1.009240
$STATE,4898,end surface coast,CONTROL_FINISHED_OK
$STATE,4899,begin surface
$SM_CCo,4914,241.52,0.079,0,0,1412,350.05
$SM_GC,1.91,7.47,1.90,241.52,0.062,0.050,0.079,159,1704,1412,-8.45,-1.50,350.05,0,0,0,0,0,0,26.94,26.99,26.66
$IRIDIUM_FIX,4726.11,-12203.72,141114,084230
$TT8_MAMPS,0.020972,0.020972
$HUMID,53.18
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.5,66.4
$24V_AH,24.69,2.159
$10V_AH,10.53,1.937
$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,19.050,46.075,207.525,241.525,150.225,33.354,42.072,277.610,2.250,0.000,20.041,1294.287,2396.671,592.895,1287.263,42.870,33.280,1113.175,0.000,895.947,0.000,14.993,0.000
$DEVICE_MAMPS,270.647,72.007,809.458,79.456,146.497,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.864,705.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322952
$DATA_FILE_SIZE,30254,535
$CAP_FILE_SIZE,83986,1
$CFSIZE,1024409600,1019936768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5359.59,0x2389de,7,5
$GPS,141114,101651,4744.277,-12224.409,5,0.9,35,16.3,0.0,0.0,10,8.3