version: 66.12
glider: 39
mission: 3
dive: 15
start: 11 14 114 14 59 4
data:
$ID,39
$MISSION,3
$DIVE,15
$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,48
$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
$GPS1,141114,145034,4743.5073,-12224.7676,36,1.0,37,16.3,0.0,0.0,9,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-64.3
$GPS2,141114,145758,4743.4673,-12224.7695,5,1.1,9,16.3,0.0,0.0,8,9.4
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.042,0.213
$KALMAN_X,-469.6,13.3,121.2,-254.1,-136.6
$KALMAN_Y,1882.8,-30.8,275.7,-1194.1,-632.5
$MHEAD_RNG_PITCHd_Wd,354.9,1942,-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,-146.0,157,1688,1299,1526,0.0,0.0,0,139,0.00,0.00,-122.07,0.134,16386,0.000,0.000,157,1688,2699,2586,2813,0,0,0,0,0,0,26.75,28.83,26.77
$GC,142,-0.70,-146.0,157,1688,2586,2813,3.3,-1.2,22,188,10.07,2.15,-26.62,0.146,18948,0.268,0.070,2651,313,3120,3002,3238,0,0,0,0,0,0,26.07,26.23,26.15
$GC,330,-0.70,-146.0,2651,313,3002,3238,20.1,-9.1,58,333,0.00,2.05,0.00,0.000,1030,0.000,0.052,2641,1708,3120,3002,3238,0,0,0,0,0,0,26.55,26.48,26.57
$GC,455,-0.70,-146.0,2641,1708,3002,3238,30.8,-8.6,70,459,0.00,2.17,0.00,0.000,516,0.000,0.070,2641,299,3120,3002,3238,0,0,0,0,0,0,26.84,26.54,26.86
$GC,610,-0.70,-146.0,2641,299,3001,3238,45.0,-9.0,85,614,0.00,2.03,0.00,0.000,1030,0.000,0.050,2631,1709,3120,3002,3238,0,0,0,0,0,0,26.75,26.68,26.77
$GC,735,-0.70,-146.0,2631,1710,3002,3238,55.0,-7.5,97,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1710,3120,3002,3238,0,0,0,0,0,0,26.99,27.01,27.01
$GC,855,-0.70,-146.0,2630,1710,3002,3238,63.4,-6.9,109,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1709,3120,3002,3239,0,0,0,0,0,0,27.03,27.05,27.05
$GC,975,-0.70,-146.0,2631,1710,3002,3238,72.0,-7.0,121,979,0.00,2.12,0.00,0.000,516,0.000,0.070,2631,302,3120,3002,3238,0,0,0,0,0,0,27.08,26.77,27.09
$GC,1061,-0.70,-146.0,2631,302,3002,3238,78.5,-8.1,129,1065,0.10,2.00,0.00,0.000,3078,0.186,0.052,2653,1708,3120,3002,3238,0,0,0,0,0,0,26.71,26.85,26.84
$GC,1186,-0.70,-146.0,2653,1709,3002,3238,86.4,-5.9,141,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1708,3120,3002,3238,0,0,0,0,0,0,27.13,27.15,27.15
$GC,1306,-0.70,-146.0,2653,1709,3002,3239,94.8,-7.4,153,1310,0.00,2.12,0.00,0.000,516,0.000,0.072,2654,296,3120,3002,3238,0,0,0,0,0,0,27.15,26.84,27.17
$GC,1364,-0.70,-146.0,2653,297,3002,3238,99.2,-7.9,158,1374,0.00,2.05,0.00,0.000,1030,0.000,0.050,2644,1703,3120,3002,3238,0,0,0,0,0,0,26.95,26.91,26.96
$GC,1491,-0.70,-146.0,2643,1703,3002,3238,109.9,-8.3,171,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1703,3120,3002,3238,0,0,0,0,0,0,27.18,27.20,27.20
$GC,1611,-0.70,-146.0,2643,1702,3002,3238,119.2,-8.0,183,1615,0.00,2.12,0.00,0.000,516,0.000,0.070,2644,303,3119,3001,3238,0,0,0,0,0,0,27.20,26.89,27.22
$GC,1694,-0.70,-146.0,2643,299,3002,3238,125.7,-8.3,191,1702,0.00,1.98,0.00,0.000,1030,0.000,0.052,2634,1704,3120,3002,3238,0,0,0,0,0,0,26.97,26.95,27.01
$GC,1822,-0.70,-146.0,2633,1704,3002,3238,135.0,-6.6,204,1826,0.00,2.12,0.00,0.000,516,0.000,0.070,2633,302,3120,3002,3238,0,0,0,0,0,0,27.22,26.91,27.24
$GC,1900,-0.70,-146.0,2633,302,3002,3238,140.8,-7.6,211,1908,0.08,2.03,0.00,0.000,3078,0.169,0.050,2650,1698,3120,3002,3238,0,0,0,0,0,0,26.84,26.98,26.92
$GC,2027,-0.70,-146.0,2650,1698,3002,3238,148.9,-6.1,224,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1699,3120,3002,3238,0,0,0,0,0,0,27.24,27.27,27.26
$GC,2147,-0.70,-146.0,2650,1698,3002,3238,156.8,-6.4,236,2151,0.00,2.08,0.00,0.000,260,0.000,0.062,2640,3090,3120,3002,3238,0,0,0,0,0,0,27.26,26.98,27.27
$GC,2277,-0.70,-146.0,2640,3101,3002,3238,165.9,-6.9,249,2281,0.00,2.03,0.00,0.000,1030,0.000,0.055,2640,1705,3120,3002,3238,0,0,0,0,0,0,27.08,27.00,27.09
$GC,2402,-0.70,-146.0,2640,1705,3002,3238,174.9,-7.6,261,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1706,3120,3002,3238,0,0,0,0,0,0,27.28,27.30,27.29
$STATE,2481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2481,begin apogee
$GC,2485,-0.24,0.0,2640,1798,3002,3238,180.6,-7.9,269,2593,0.45,0.00,102.97,0.812,10246,0.134,0.000,2799,1798,2616,2518,2715,0,0,0,0,0,0,26.91,25.52,24.98
$STATE,2594,end apogee,CONTROL_FINISHED_OK
$STATE,2594,begin climb
$GC,2596,0.70,146.0,2798,1798,2518,2715,182.3,0.0,280,2705,0.77,0.00,104.38,0.772,10502,0.104,0.000,3086,1798,2114,2029,2199,0,0,0,0,0,0,25.60,25.19,24.69
$GC,2822,0.70,146.0,3086,1798,2029,2199,164.4,9.5,303,2826,0.00,2.15,0.00,0.000,260,0.000,0.062,3086,3192,2114,2030,2199,0,0,0,0,0,0,26.27,26.00,26.29
$GC,2878,0.70,146.0,3085,3192,2029,2199,158.9,10.0,308,2882,0.00,2.10,0.00,0.000,1030,0.000,0.055,3096,1797,2114,2029,2199,0,0,0,0,0,0,26.22,26.15,26.25
$GC,3003,0.70,146.0,3095,1798,2030,2199,147.8,9.0,320,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,1798,2114,2029,2199,0,0,0,0,0,0,26.61,26.63,26.63
$GC,3123,0.70,146.0,3095,1798,2029,2199,136.5,9.2,332,3127,0.00,2.12,0.00,0.000,260,0.000,0.062,3096,3197,2114,2029,2199,0,0,0,0,0,0,26.74,26.46,26.76
$GC,3158,0.70,146.0,3095,3198,2029,2199,133.1,9.4,335,3162,0.00,2.08,0.00,0.000,1030,0.000,0.055,3106,1799,2114,2030,2199,0,0,0,0,0,0,26.58,26.51,26.60
$GC,3283,0.70,146.0,3106,1799,2029,2199,121.9,9.2,347,3287,0.00,2.15,0.00,0.000,516,0.000,0.070,3116,392,2114,2029,2199,0,0,0,0,0,0,26.86,26.56,26.88
$GC,3389,0.70,146.0,3116,392,2030,2199,112.0,9.2,357,3393,0.00,2.03,0.00,0.000,1030,0.000,0.052,3116,1803,2114,2030,2199,0,0,0,0,0,0,26.73,26.67,26.74
$GC,3514,0.70,146.0,3116,1803,2029,2199,100.2,10.8,369,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1803,2114,2030,2198,0,0,0,0,0,0,26.97,26.99,26.98
$GC,3634,0.70,146.0,3115,1803,2030,2199,87.0,10.5,381,3638,0.00,2.08,0.00,0.000,260,0.000,0.062,3116,3196,2114,2030,2199,0,0,0,0,0,0,27.01,26.73,27.03
$GC,3672,0.70,146.0,3115,3197,2029,2199,83.7,9.5,384,3679,0.00,2.10,0.00,0.000,1030,0.000,0.055,3126,1796,2114,2030,2199,0,0,0,0,0,0,26.80,26.76,26.83
$GC,3799,0.70,146.0,3125,1796,2029,2199,70.7,10.3,397,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1796,2114,2030,2199,0,0,0,0,0,0,27.06,27.09,27.08
$GC,3919,0.70,146.0,3125,1796,2030,2199,58.8,10.3,409,3920,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1795,2114,2030,2199,0,0,0,0,0,0,27.10,27.12,27.12
$GC,4039,0.70,146.0,3125,1796,2030,2199,47.7,9.1,421,4043,0.00,2.10,0.00,0.000,260,0.000,0.065,3126,3200,2114,2030,2199,0,0,0,0,0,0,27.13,26.84,27.15
$GC,4075,0.70,146.0,3126,3200,2029,2199,44.1,9.9,424,4080,0.10,2.05,0.00,0.000,5126,0.186,0.055,3103,1798,2114,2030,2199,0,0,0,0,0,0,26.74,26.86,26.88
$GC,4200,0.70,146.0,3103,1798,2030,2199,32.4,9.5,436,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,1798,2114,2029,2199,0,0,0,0,0,0,27.16,27.17,27.17
$GC,4320,0.70,146.0,3103,1798,2030,2199,22.5,7.5,448,4324,0.00,2.10,0.00,0.000,516,0.000,0.070,3113,390,2114,2030,2199,0,0,0,0,0,0,27.18,26.88,27.20
$GC,4385,0.70,146.0,3113,390,2030,2199,18.1,6.7,456,4392,0.00,2.00,0.00,0.000,1030,0.000,0.052,3113,1801,2115,2031,2199,0,0,0,0,0,0,27.01,26.94,27.02
$GC,4453,0.70,146.0,3113,1801,2029,2199,12.7,8.3,469,4460,0.00,2.10,0.00,0.000,260,0.000,0.065,3113,3202,2114,2030,2199,0,0,0,0,0,0,27.20,26.91,27.22
$GC,4546,0.70,146.0,3113,3202,2030,2199,4.5,8.5,487,4553,0.00,2.05,0.00,0.000,1030,0.000,0.055,3120,1795,2114,2030,2199,0,0,0,0,0,0,27.02,26.94,27.03
$STATE,4587,end climb,SURFACE_DEPTH_REACHED
$STATE,4588,begin surface coast
$FINISH,0.7,1.017653
$STATE,4619,end surface coast,CONTROL_FINISHED_OK
$STATE,4620,begin surface
$SM_CCo,4633,161.20,0.514,1,0,1411,350.05
$SM_GC,2.05,7.43,0.12,161.20,0.060,0.109,0.514,149,1692,1411,-8.46,1.16,350.05,0,0,0,0,1,0,26.94,26.96,25.09
$IRIDIUM_FIX,4726.11,-12224.09,141114,145134
$TT8_MAMPS,0.020972,0.020972
$HUMID,53.66
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.4,69.1
$24V_AH,24.69,2.526
$10V_AH,10.54,2.067
$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,19.000,58.475,207.350,161.200,148.700,25.580,37.446,299.317,2.250,0.000,16.338,1229.106,2167.862,518.037,1304.248,41.464,33.289,1051.405,0.000,906.255,0.000,15.000,0.000
$DEVICE_MAMPS,268.164,109.252,811.941,513.981,146.497,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.814,660.491,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322920
$DATA_FILE_SIZE,26835,501
$CAP_FILE_SIZE,84158,1
$CFSIZE,1024409600,1019674624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,5811.71,0x2389de,7,5
$GPS,141114,161950,4743.545,-12224.949,4,1.1,12,16.3,0.0,0.0,8,10.0