version: 66.12
glider: 39
mission: 3
dive: 12
start: 11 14 114 10 25 24
data:
$ID,39
$MISSION,3
$DIVE,12
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,141114,101651,4744.2773,-12224.4092,5,0.9,35,16.3,0.0,0.0,10,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-64.5
$GPS2,141114,102418,4744.2993,-12224.4170,5,0.9,8,16.3,0.0,0.0,10,10.0
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.002,-0.217
$KALMAN_X,-224.5,-6.0,-94.2,168.9,-15.8
$KALMAN_Y,2485.1,18.2,40.5,-82.7,534.8
$MHEAD_RNG_PITCHd_Wd,164.1,2409,-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,14,-0.70,-146.0,159,1705,1300,1526,0.0,0.0,0,140,0.00,0.00,-122.40,0.134,16386,0.000,0.000,159,1706,2689,2574,2805,0,0,0,0,0,0,26.74,28.83,26.76
$GC,142,-0.70,-146.0,159,1705,2574,2804,3.2,-1.5,22,190,10.10,2.22,-27.88,0.146,18948,0.271,0.072,2651,296,3120,3001,3239,0,0,0,0,0,0,26.06,26.22,26.15
$GC,415,-0.70,-146.0,2650,296,3002,3239,33.9,-10.1,63,422,0.00,2.08,0.00,0.000,1030,0.000,0.052,2641,1696,3119,3001,3238,0,0,0,0,0,0,26.59,26.55,26.61
$GC,542,-0.70,-146.0,2641,1696,3001,3239,46.2,-9.2,76,546,0.00,2.12,0.00,0.000,516,0.000,0.072,2641,296,3120,3001,3239,0,0,0,0,0,0,26.89,26.59,26.91
$GC,771,-0.70,-146.0,2640,296,3002,3239,67.4,-9.2,98,778,0.00,2.08,0.00,0.000,1030,0.000,0.050,2631,1705,3120,3001,3239,0,0,0,0,0,0,26.78,26.75,26.80
$GC,898,-0.70,-146.0,2631,1705,3001,3239,77.4,-6.8,111,902,0.00,2.15,0.00,0.000,516,0.000,0.072,2631,296,3120,3001,3239,0,0,0,0,0,0,27.05,26.74,27.06
$GC,985,-0.70,-146.0,2631,296,3001,3239,84.2,-7.6,119,994,0.10,2.05,0.00,0.000,3078,0.164,0.050,2654,1700,3120,3001,3239,0,0,0,0,0,0,26.67,26.83,26.77
$GC,1113,-0.70,-146.0,2654,1700,3001,3239,92.6,-6.4,132,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1700,3120,3001,3239,0,0,0,0,0,0,27.10,27.13,27.13
$GC,1234,-0.70,-146.0,2654,1700,3001,3239,100.6,-7.0,144,1242,0.00,2.15,0.00,0.000,516,0.000,0.072,2655,288,3120,3002,3239,0,0,0,0,0,0,27.10,26.83,27.12
$GC,1304,-0.70,-146.0,2655,288,3001,3239,105.6,-7.4,151,1308,0.00,2.03,0.00,0.000,1030,0.000,0.052,2645,1712,3120,3002,3239,0,0,0,0,0,0,26.96,26.90,26.98
$GC,1429,-0.70,-146.0,2645,1712,3001,3239,113.3,-5.9,163,1433,0.00,2.15,0.00,0.000,516,0.000,0.070,2645,295,3120,3001,3239,0,0,0,0,0,0,27.17,26.86,27.18
$GC,1487,-0.70,-146.0,2644,295,3002,3239,117.0,-6.6,168,1494,0.00,2.05,0.00,0.000,1030,0.000,0.050,2635,1700,3120,3002,3239,0,0,0,0,0,0,26.96,26.93,26.97
$GC,1614,-0.70,-146.0,2635,1700,3001,3239,124.4,-5.2,181,1618,0.00,2.08,0.00,0.000,260,0.000,0.062,2625,3098,3120,3001,3239,0,0,0,0,0,0,27.19,26.91,27.21
$GC,1676,-0.70,-146.0,2624,3098,3001,3239,128.0,-5.8,186,1684,0.08,2.10,0.00,0.000,3078,0.161,0.055,2651,1700,3120,3001,3239,0,0,0,0,0,0,26.81,26.93,26.89
$GC,1803,-0.70,-146.0,2650,1700,3001,3239,135.1,-5.4,199,1807,0.00,2.12,0.00,0.000,516,0.000,0.072,2652,290,3120,3001,3239,0,0,0,0,0,0,27.21,26.91,27.23
$GC,1982,-0.70,-146.0,2651,290,3001,3239,146.6,-6.2,216,1989,0.00,2.05,0.00,0.000,1030,0.000,0.050,2641,1698,3120,3001,3239,0,0,0,0,0,0,27.02,26.99,27.04
$GC,2109,-0.70,-146.0,2641,1699,3001,3239,155.5,-7.2,229,2113,0.00,2.08,0.00,0.000,260,0.000,0.062,2630,3100,3120,3001,3239,0,0,0,0,0,0,27.25,26.96,27.27
$GC,2228,-0.70,-146.0,2631,3100,3001,3239,162.7,-6.0,240,2235,0.00,2.05,0.00,0.000,1030,0.000,0.057,2631,1692,3120,3002,3239,0,0,0,0,0,0,27.07,26.99,27.08
$GC,2354,-0.70,-146.0,2630,1693,3001,3239,171.4,-6.9,253,2358,0.00,2.10,0.00,0.000,516,0.000,0.072,2631,294,3120,3002,3239,0,0,0,0,0,0,27.27,26.96,27.29
$STATE,2449,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2449,begin apogee
$GC,2454,-0.24,0.0,2619,1803,3001,3239,178.3,-7.3,262,2561,0.50,0.00,103.05,0.809,10246,0.142,0.000,2798,1802,2617,2518,2716,0,0,0,0,0,0,26.89,25.51,24.97
$STATE,2562,end apogee,CONTROL_FINISHED_OK
$STATE,2562,begin climb
$GC,2563,0.70,146.0,2798,1802,2518,2715,180.4,0.0,273,2673,0.80,0.00,105.00,0.775,10758,0.107,0.000,3090,1802,2114,2030,2199,0,0,0,0,0,0,25.58,25.18,24.68
$GC,2790,0.70,146.0,3090,1802,2030,2199,163.6,8.2,296,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1802,2114,2030,2199,0,0,0,0,0,0,26.27,26.29,26.29
$GC,2910,0.70,146.0,3090,1802,2030,2198,153.5,8.5,308,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1802,2114,2030,2198,0,0,0,0,0,0,26.53,26.55,26.55
$GC,3030,0.70,146.0,3089,1802,2030,2198,142.6,9.0,320,3034,0.00,2.12,0.00,0.000,260,0.000,0.065,3090,3190,2114,2030,2198,0,0,0,0,0,0,26.68,26.41,26.70
$GC,3055,0.70,146.0,3090,3191,2030,2199,140.1,9.7,322,3059,0.00,2.08,0.00,0.000,1030,0.000,0.055,3100,1798,2114,2030,2199,0,0,0,0,0,0,26.52,26.44,26.54
$GC,3180,0.70,146.0,3099,1798,2030,2199,128.5,9.3,334,3184,0.00,2.12,0.00,0.000,516,0.000,0.070,3110,394,2114,2030,2199,0,0,0,0,0,0,26.82,26.52,26.83
$GC,3249,0.70,146.0,3110,394,2030,2198,122.1,9.4,340,3256,0.00,2.08,0.00,0.000,1030,0.000,0.050,3110,1797,2114,2030,2198,0,0,0,0,0,0,26.65,26.60,26.66
$GC,3376,0.70,146.0,3110,1797,2030,2199,108.7,10.0,353,3380,0.00,2.12,0.00,0.000,260,0.000,0.062,3110,3200,2114,2030,2198,0,0,0,0,0,0,26.93,26.64,26.94
$GC,3451,0.70,146.0,3110,3200,2030,2199,100.7,10.4,360,3455,0.00,2.08,0.00,0.000,1030,0.000,0.055,3121,1793,2114,2030,2199,0,0,0,0,0,0,26.77,26.70,26.78
$GC,3576,0.70,146.0,3121,1793,2030,2199,87.9,10.1,372,3580,0.00,2.12,0.00,0.000,516,0.000,0.070,3132,394,2114,2030,2199,0,0,0,0,0,0,27.01,26.71,27.03
$GC,3625,0.70,146.0,3132,394,2030,2198,83.4,9.9,376,3633,0.08,2.08,0.00,0.000,5126,0.171,0.050,3106,1808,2114,2030,2198,0,0,0,0,0,0,26.64,26.78,26.72
$GC,3752,0.70,146.0,3106,1808,2030,2199,72.4,8.5,389,3756,0.00,2.08,0.00,0.000,260,0.000,0.065,3106,3199,2114,2030,2199,0,0,0,0,0,0,27.07,26.77,27.08
$GC,3780,0.70,146.0,3106,3199,2030,2199,70.1,9.0,391,3788,0.00,2.10,0.00,0.000,1030,0.000,0.055,3115,1801,2114,2030,2199,0,0,0,0,0,0,26.84,26.80,26.86
$GC,3907,0.70,146.0,3114,1801,2030,2199,59.4,8.1,404,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1801,2114,2030,2199,0,0,0,0,0,0,27.10,27.13,27.12
$GC,4027,0.70,146.0,3114,1800,2030,2198,50.0,7.6,416,4031,0.00,2.10,0.00,0.000,516,0.000,0.070,3125,394,2114,2030,2198,0,0,0,0,0,0,27.13,26.83,27.15
$GC,4083,0.70,146.0,3125,394,2030,2198,45.1,8.8,421,4087,0.00,2.00,0.00,0.000,1030,0.000,0.052,3125,1801,2114,2030,2198,0,0,0,0,0,0,26.96,26.89,26.97
$GC,4208,0.70,146.0,3125,1801,2030,2199,34.5,9.2,433,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1801,2114,2030,2198,0,0,0,0,0,0,27.16,27.19,27.18
$GC,4328,0.70,146.0,3125,1801,2030,2199,24.1,8.2,445,4332,0.00,2.12,0.00,0.000,516,0.000,0.070,3134,385,2114,2030,2199,0,0,0,0,0,0,27.18,26.89,27.20
$GC,4376,0.70,146.0,3133,385,2031,2198,20.4,8.0,449,4383,0.00,2.05,0.00,0.000,1030,0.000,0.050,3134,1795,2114,2030,2199,0,0,0,0,0,0,26.97,26.94,26.99
$GC,4506,0.70,146.0,3133,1795,2030,2199,10.4,7.3,474,4513,0.00,2.10,0.00,0.000,260,0.000,0.065,3134,3196,2114,2030,2199,0,0,0,0,0,0,27.21,26.92,27.22
$STATE,4628,end climb,SURFACE_DEPTH_REACHED
$STATE,4629,begin surface coast
$FINISH,0.6,1.009458
$STATE,4661,end surface coast,CONTROL_FINISHED_OK
$STATE,4661,begin surface
$SM_CCo,4677,166.12,0.524,1,0,1411,350.05
$SM_GC,2.29,7.53,2.28,166.12,0.062,0.055,0.524,145,1687,1411,-8.48,0.74,350.05,0,0,0,0,1,0,26.94,26.96,25.06
$IRIDIUM_FIX,4722.92,-12225.08,141114,101750
$TT8_MAMPS,0.020972,0.020972
$HUMID,53.38
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,125.4,67.2
$24V_AH,24.68,2.258
$10V_AH,10.53,1.970
$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,19.175,71.475,208.050,166.125,150.275,26.456,36.546,301.733,2.250,0.000,15.274,1240.352,2096.376,561.301,1375.010,41.440,33.278,1116.192,0.000,968.211,0.000,16.337,0.000
$DEVICE_MAMPS,270.647,72.007,809.458,523.913,146.497,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.200,664.272,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322932
$DATA_FILE_SIZE,30231,504
$CAP_FILE_SIZE,85761,1
$CFSIZE,1024409600,1019871232
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,5736.68,0x2389de,7,5
$INTR,1,160.87,0x235636,0,24
$GPS,141114,114657,4743.936,-12224.275,4,0.8,11,16.3,0.0,0.0,9,8.3