version: 66.12
glider: 39
mission: 3
dive: 4
start: 11 13 114 22 42 53
data:
$ID,39
$MISSION,3
$DIVE,4
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,60
$T_MISSION,75
$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,31
$R_STBD_OVSHOOT,41
$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,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
$GPS1,131114,223230,4744.0347,-12224.4268,2,1.0,12,16.3,0.0,0.0,9,9.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.8
$GPS2,131114,224128,4744.0752,-12224.4688,5,0.9,15,16.3,0.0,0.0,10,9.4
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.004,0.222
$KALMAN_X,-61.6,-55.2,-44.2,-57.8,-26.2
$KALMAN_Y,53.0,129.8,121.8,1749.0,9.0
$MHEAD_RNG_PITCHd_Wd,342.8,788,-21.9,-10.000,-24.21,1828
$D_GRID,174
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.86,-119.4,158,1997,1124,1357,0.0,0.0,0,163,0.00,0.00,-145.05,0.134,16386,0.000,0.000,159,1997,2729,2616,2842,0,0,0,0,0,0,26.67,28.83,26.68
$GC,166,-0.86,-146.0,159,1997,2616,2842,3.1,-2.3,24,204,10.12,2.15,-20.20,0.151,18692,0.273,0.065,2614,3392,3120,2997,3244,0,0,0,0,0,0,25.96,26.16,26.08
$GC,367,-0.86,-146.0,2614,3392,2997,3244,26.1,-9.6,56,370,0.00,2.10,0.00,0.000,1030,0.000,0.057,2613,1982,3120,2997,3244,0,0,0,0,0,0,26.51,26.43,26.53
$GC,498,-0.86,-146.0,2614,1982,2997,3244,37.9,-8.3,69,501,0.00,2.12,0.00,0.000,516,0.000,0.072,2615,580,3120,2997,3244,0,0,0,0,0,0,26.82,26.51,26.83
$GC,568,-0.86,-146.0,2615,580,2997,3244,45.1,-10.4,76,572,0.00,2.05,0.00,0.000,1030,0.000,0.055,2606,1987,3120,2997,3243,0,0,0,0,0,0,26.67,26.60,26.69
$GC,699,-0.86,-146.0,2606,1987,2997,3244,56.9,-8.0,89,701,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1987,3120,2997,3243,0,0,0,0,0,0,26.93,26.95,26.94
$GC,819,-0.86,-146.0,2606,1987,2997,3243,67.2,-9.0,101,823,0.00,2.12,0.00,0.000,516,0.000,0.070,2606,581,3120,2997,3243,0,0,0,0,0,0,26.98,26.67,26.99
$GC,904,-0.86,-146.0,2606,581,2997,3243,75.1,-9.4,109,912,0.10,2.08,0.00,0.000,3078,0.176,0.052,2628,1983,3120,2997,3243,0,0,0,0,0,0,26.59,26.74,26.68
$GC,1032,-0.86,-146.0,2627,1983,2997,3243,86.7,-9.4,122,1036,0.00,2.12,0.00,0.000,516,0.000,0.070,2628,570,3120,2997,3243,0,0,0,0,0,0,27.04,26.74,27.06
$GC,1167,-0.86,-146.0,2628,570,2998,3243,98.6,-9.0,135,1175,0.00,2.10,0.00,0.000,1030,0.000,0.052,2619,1992,3120,2997,3243,0,0,0,0,0,0,26.86,26.82,26.87
$GC,1296,-0.86,-146.0,2619,1992,2997,3243,110.1,-9.3,148,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1992,3120,2997,3244,0,0,0,0,0,0,27.07,27.09,27.09
$GC,1416,-0.86,-146.0,2619,1992,2997,3243,120.8,-9.2,160,1420,0.00,2.12,0.00,0.000,516,0.000,0.070,2620,573,3120,2997,3243,0,0,0,0,0,0,27.09,26.82,27.11
$GC,1593,-0.86,-146.0,2620,573,2997,3243,134.8,-8.8,177,1601,0.00,2.05,0.00,0.000,1030,0.000,0.055,2611,1996,3120,2997,3243,0,0,0,0,0,0,26.97,26.90,26.98
$GC,1719,-0.86,-146.0,2611,1996,2997,3243,146.4,-8.7,190,1723,0.00,2.12,0.00,0.000,516,0.000,0.070,2611,571,3120,2997,3243,0,0,0,0,0,0,27.17,26.87,27.19
$GC,1937,-0.86,-146.0,2611,571,2997,3243,164.8,-8.7,211,1947,0.00,2.08,0.00,0.000,1030,0.000,0.052,2601,1988,3120,2998,3243,0,0,0,0,0,0,26.98,26.95,27.00
$STATE,2053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2053,begin apogee
$GC,2056,-0.20,0.0,2601,1988,2997,3243,174.4,-7.6,223,2166,0.70,0.00,102.95,0.814,10246,0.144,0.000,2840,1988,2617,2524,2710,0,0,0,0,0,0,26.81,25.46,24.94
$STATE,2167,end apogee,CONTROL_FINISHED_OK
$STATE,2167,begin climb
$GC,2168,0.86,146.0,2840,1988,2524,2710,177.2,0.0,234,2277,0.90,0.00,105.18,0.785,10246,0.097,0.000,3174,1988,2114,2038,2191,0,0,0,0,0,0,25.56,25.18,24.68
$GC,2394,0.86,146.0,3173,1988,2038,2191,155.2,12.8,257,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,1988,2114,2038,2191,0,0,0,0,0,0,26.29,26.31,26.30
$GC,2514,0.86,146.0,3173,1988,2038,2191,140.1,12.0,269,2518,0.00,2.15,0.00,0.000,516,0.000,0.070,3184,582,2114,2038,2191,0,0,0,0,0,0,26.55,26.26,26.57
$GC,2555,0.86,146.0,3184,582,2038,2191,135.3,12.0,273,2559,0.00,2.05,0.00,0.000,1030,0.000,0.052,3184,1987,2114,2038,2191,0,0,0,0,0,0,26.42,26.35,26.44
$GC,2686,0.86,146.0,3184,1987,2038,2191,119.3,11.2,286,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,1987,2114,2038,2191,0,0,0,0,0,0,26.75,26.77,26.77
$GC,2806,0.86,146.0,3184,1987,2038,2191,107.4,8.9,298,2810,0.00,2.12,0.00,0.000,516,0.000,0.070,3195,581,2114,2038,2191,0,0,0,0,0,0,26.84,26.55,26.86
$GC,2847,0.86,146.0,3194,581,2038,2191,103.3,10.3,302,2851,0.00,2.05,0.00,0.000,1030,0.000,0.052,3195,1999,2114,2038,2191,0,0,0,0,0,0,26.67,26.61,26.70
$GC,2978,0.86,146.0,3194,1999,2038,2191,87.8,11.5,315,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1999,2114,2038,2191,0,0,0,0,0,0,26.94,26.96,26.96
$GC,3097,0.86,146.0,3194,1998,2038,2191,73.8,12.0,327,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1999,2114,2038,2191,0,0,0,0,0,0,26.99,27.02,27.01
$GC,3217,0.86,146.0,3194,1999,2038,2190,58.8,13.4,339,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,1999,2114,2038,2191,0,0,0,0,0,0,27.04,27.06,27.06
$GC,3337,0.86,146.0,3195,1999,2038,2191,46.2,9.9,351,3341,0.00,2.15,0.00,0.000,516,0.000,0.070,3205,570,2114,2038,2191,0,0,0,0,0,0,27.08,26.78,27.10
$GC,3398,0.86,146.0,3205,570,2038,2191,39.1,11.6,357,3402,0.00,2.05,0.00,0.000,1030,0.000,0.055,3205,2001,2114,2038,2191,0,0,0,0,0,0,26.90,26.82,26.91
$GC,3529,0.86,146.0,3205,2002,2038,2191,24.8,11.3,370,3533,0.00,2.08,0.00,0.000,260,0.000,0.067,3205,3391,2114,2038,2191,0,0,0,0,0,0,27.13,26.83,27.14
$GC,3596,0.86,146.0,3205,3391,2038,2191,14.6,15.9,379,3603,0.00,2.05,0.00,0.000,1030,0.000,0.055,3216,1987,2114,2038,2191,0,0,0,0,0,0,26.94,26.85,26.96
$GC,3666,0.86,146.0,3215,1987,2038,2191,6.8,9.9,392,3672,0.00,2.12,0.00,0.000,516,0.000,0.072,3226,573,2114,2038,2191,0,0,0,0,0,0,27.15,26.84,27.17
$GC,3689,0.86,146.0,3226,573,2038,2191,4.3,9.5,396,3697,0.12,2.05,0.00,0.000,5126,0.179,0.055,3185,2001,2114,2038,2191,0,0,0,0,0,0,26.74,26.89,26.89
$STATE,3727,end climb,SURFACE_DEPTH_REACHED
$STATE,3727,begin surface coast
$FINISH,-0.0,0.999711
$STATE,3753,end surface coast,CONTROL_FINISHED_OK
$STATE,3753,begin surface
$SM_CCo,3766,166.95,0.683,0,0,1240,400.02
$SM_GC,1.30,7.55,0.00,166.95,0.055,0.000,0.683,147,2000,1240,-8.56,0.37,400.02,0,0,0,0,0,0,26.88,27.18,24.91
$IRIDIUM_FIX,4726.11,-12226.80,131114,223620
$TT8_MAMPS,0.020972,0.020972
$HUMID,54.17
$INTERNAL_PRESSURE,9.02257
$TCM_TEMP,18.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,18.7,17.9
$ALTIM_BOTTOM_PING,165.5,28.9
$24V_AH,24.68,1.480
$10V_AH,10.35,1.704
$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,19.500,46.100,208.125,166.950,165.250,67.558,97.159,240.875,7.000,0.000,22.850,1011.818,1473.488,506.957,1453.399,71.048,32.269,992.319,0.000,973.000,0.000,42.400,0.000
$DEVICE_MAMPS,273.130,72.007,814.424,682.825,151.463,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.262,537.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323156
$DATA_FILE_SIZE,23583,408
$CAP_FILE_SIZE,258697,1
$CFSIZE,1024409600,1020297216
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2958.80,0x2389de,7,5
$INTR,1,2054.08,0x2389de,2,5
$INTR,2,3755.43,0x2389de,7,5
$GPS,131114,234933,4744.611,-12224.499,6,0.9,32,16.3,0.9,303.0,10,8.6