version: 66.12
glider: 39
mission: 3
dive: 3
start: 11 13 114 21 53 34
data:
$ID,39
$MISSION,3
$DIVE,3
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,5500
$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,50
$T_MISSION,60
$T_ABORT,120
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,400
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_GPS_ALMANAC,0
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,25.296419
$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,1988
$C_ROLL_CLIMB,1988
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,34
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,131114,214606,4743.7109,-12224.3691,2,1.0,14,16.3,0.0,0.0,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-56.1
$GPS2,131114,215209,4743.7192,-12224.4062,4,1.0,17,16.3,0.0,0.0,9,9.7
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.010,0.244
$KALMAN_X,-41.7,-38.3,-36.3,-25.6,-36.6
$KALMAN_Y,130.1,118.6,112.2,1033.2,113.5
$MHEAD_RNG_PITCHd_Wd,341.2,1451,-19.8,-10.000,-22.25,2234
$D_GRID,173
$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,-0.78,-146.0,139,1983,397,706,0.0,0.0,0,232,0.00,0.00,-213.65,0.132,16386,0.000,0.000,139,1983,2819,2706,2932,0,0,0,0,0,0,26.62,28.83,26.64
$GC,234,-0.78,-146.0,139,1983,2706,2932,3.3,-3.3,39,269,10.15,2.22,-14.93,0.159,18692,0.266,0.067,2639,3397,3121,3001,3242,0,0,0,0,0,0,25.92,26.11,26.03
$GC,441,-0.78,-146.0,2638,3396,3000,3242,17.9,-4.5,79,448,0.00,2.10,0.00,0.000,1030,0.000,0.055,2641,1986,3121,3000,3242,0,0,0,0,0,0,26.50,26.41,26.52
$GC,515,-0.78,-146.0,2641,1987,3000,3242,23.8,-9.1,89,519,0.00,2.17,0.00,0.000,516,0.000,0.072,2641,568,3121,3001,3242,0,0,0,0,0,0,26.76,26.46,26.78
$GC,744,-0.78,-146.0,2640,569,3000,3242,50.0,-10.5,111,752,0.00,2.12,0.00,0.000,1030,0.000,0.052,2631,1995,3121,3000,3242,0,0,0,0,0,0,26.69,26.65,26.71
$GC,872,-0.78,-146.0,2631,1995,3000,3242,61.3,-8.1,124,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1996,3121,3001,3242,0,0,0,0,0,0,26.96,26.98,26.98
$GC,992,-0.78,-146.0,2631,1995,3001,3242,70.9,-7.6,136,996,0.00,2.15,0.00,0.000,516,0.000,0.070,2631,570,3121,3001,3241,0,0,0,0,0,0,27.01,26.71,27.03
$STATE,1110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1110,begin apogee
$GC,1115,-0.20,0.0,2620,2003,3000,3242,80.5,-8.3,147,1222,0.62,0.00,102.85,0.740,10246,0.146,0.000,2839,2003,2617,2528,2706,0,0,0,0,0,0,26.65,25.48,24.98
$STATE,1223,end apogee,CONTROL_FINISHED_OK
$STATE,1223,begin climb
$GC,1224,0.78,146.0,2838,2003,2527,2706,83.0,0.0,158,1332,0.85,0.00,103.68,0.710,10502,0.104,0.000,3145,2003,2114,2039,2189,0,0,0,0,0,0,25.53,25.24,24.77
$GC,1449,0.78,146.0,3145,2003,2039,2189,63.9,9.8,181,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2003,2114,2039,2189,0,0,0,0,0,0,26.29,26.32,26.31
$GC,1569,0.78,146.0,3145,2003,2038,2189,51.5,9.7,193,1573,0.00,2.20,0.00,0.000,516,0.000,0.070,3157,573,2113,2038,2189,0,0,0,0,0,0,26.55,26.26,26.57
$GC,1614,0.78,146.0,3156,572,2038,2189,46.8,10.3,197,1618,0.00,2.08,0.00,0.000,1030,0.000,0.052,3157,1992,2114,2039,2189,0,0,0,0,0,0,26.43,26.36,26.45
$GC,1739,0.78,146.0,3156,1992,2039,2189,34.0,9.9,209,1743,0.00,2.15,0.00,0.000,260,0.000,0.067,3156,3396,2113,2038,2189,0,0,0,0,0,0,26.75,26.46,26.77
$GC,1797,0.78,146.0,3156,3396,2039,2189,28.0,10.7,214,1805,0.00,2.15,0.00,0.000,1030,0.000,0.055,3167,1982,2113,2038,2189,0,0,0,0,0,0,26.56,26.52,26.59
$GC,1925,0.78,146.0,3167,1982,2039,2189,16.8,8.9,230,1931,0.00,2.15,0.00,0.000,516,0.000,0.072,3178,574,2114,2039,2189,0,0,0,0,0,0,26.89,26.58,26.90
$GC,2043,0.78,146.0,3178,574,2039,2189,4.8,9.5,253,2049,0.00,2.08,0.00,0.000,1030,0.000,0.052,3178,1996,2114,2039,2189,0,0,0,0,0,0,26.75,26.68,26.77
$STATE,2084,end climb,SURFACE_DEPTH_REACHED
$STATE,2084,begin surface coast
$FINISH,0.6,1.021255
$STATE,2111,end surface coast,CONTROL_FINISHED_OK
$STATE,2111,begin surface
$SM_CCo,2124,164.85,0.673,0,0,1240,400.02
$SM_GC,1.07,7.80,0.00,164.85,0.072,0.000,0.673,159,1996,1240,-8.55,0.23,400.02,0,0,0,0,0,0,26.66,27.00,24.88
$IRIDIUM_FIX,4726.11,-12226.80,131114,214701
$TT8_MAMPS,0.020972,0.020972
$HUMID,54.56
$INTERNAL_PRESSURE,9.03233
$TCM_TEMP,18.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.8
$ALTIM_BOTTOM_PING,80.5,5.7
$24V_AH,24.77,1.374
$10V_AH,10.49,1.673
$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,19.425,25.700,206.525,164.850,228.575,30.435,37.019,213.333,2.750,0.000,24.267,589.444,717.992,554.899,796.701,36.803,31.361,865.928,0.000,477.208,0.000,19.431,0.000
$DEVICE_MAMPS,265.681,72.007,739.934,672.893,158.912,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.782,349.027,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323136
$DATA_FILE_SIZE,13559,266
$CAP_FILE_SIZE,45402,1
$CFSIZE,1024409600,1020592128
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3273.43,0x2389de,7,5
$INTR,1,2113.97,0x2389de,7,5
$GPS,131114,223230,4744.035,-12224.427,2,1.0,12,16.3,0.0,0.0,9,9.4