version: 66.12
glider: 39
mission: 3
dive: 8
start: 11 14 114 4 17 56
data:
$ID,39
$MISSION,3
$DIVE,8
$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,90
$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,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2900
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,46
$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
$GPS1,141114,040551,4743.6196,-12224.4297,21,0.9,39,16.3,0.0,0.0,8,4.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.4
$GPS2,141114,041650,4743.5771,-12224.5059,5,0.9,9,16.3,0.0,0.0,9,8.9
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.012,-0.193
$KALMAN_X,-20.6,0.6,53.6,-296.2,68.1
$KALMAN_Y,888.4,423.6,27.5,-204.9,-91.1
$MHEAD_RNG_PITCHd_Wd,167.4,1069,-16.9,-7.059,-20.05,2422
$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,-0.67,-112.1,160,1998,1297,1526,0.0,0.0,0,155,0.00,0.00,-138.05,0.134,16386,0.000,0.000,160,1999,2843,2731,2955,0,0,0,0,0,0,26.58,28.83,26.60
$GC,158,-0.67,-146.0,160,1999,2731,2955,3.2,-2.3,25,193,10.25,2.22,-15.20,0.159,18948,0.268,0.070,2677,585,3120,3000,3241,0,0,0,0,0,0,25.92,26.11,26.03
$GC,418,-0.67,-146.0,2677,585,3000,3241,25.6,-8.6,69,425,0.00,2.08,0.00,0.000,1030,0.000,0.052,2668,1974,3120,3000,3241,0,0,0,0,0,0,26.51,26.48,26.53
$GC,545,-0.67,-146.0,2668,1974,3000,3241,35.4,-7.1,82,549,0.00,2.10,0.00,0.000,516,0.000,0.067,2668,582,3120,3000,3241,0,0,0,0,0,0,26.82,26.53,26.84
$GC,775,-0.67,-146.0,2668,582,3000,3241,51.3,-8.2,104,781,0.00,2.05,0.00,0.000,1030,0.000,0.052,2658,1989,3120,3000,3241,0,0,0,0,0,0,26.76,26.70,26.78
$GC,902,-0.67,-146.0,2658,1989,3000,3241,61.8,-7.8,117,910,0.00,2.15,0.00,0.000,516,0.000,0.070,2658,573,3120,3000,3241,0,0,0,0,0,0,27.01,26.70,27.02
$GC,1091,-0.67,-146.0,2657,573,3000,3241,76.8,-7.0,136,1096,0.10,2.05,0.00,0.000,3078,0.181,0.052,2680,2002,3120,3000,3241,0,0,0,0,0,0,26.67,26.81,26.80
$GC,1218,-0.67,-146.0,2681,2002,3000,3241,84.6,-6.2,148,1226,0.00,2.15,0.00,0.000,516,0.000,0.070,2681,579,3120,3000,3241,0,0,0,0,0,0,27.10,26.79,27.11
$GC,1302,-0.67,-146.0,2681,580,3000,3241,90.0,-6.6,156,1308,0.00,2.03,0.00,0.000,1030,0.000,0.052,2672,1992,3120,3000,3241,0,0,0,0,0,0,26.92,26.85,26.94
$GC,1429,-0.67,-146.0,2671,1992,3000,3241,98.5,-6.8,169,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1992,3120,3000,3241,0,0,0,0,0,0,27.14,27.16,27.15
$GC,1548,-0.67,-146.0,2671,1992,3000,3241,106.8,-7.1,181,1552,0.00,2.10,0.00,0.000,516,0.000,0.067,2672,581,3120,3000,3241,0,0,0,0,0,0,27.15,26.86,27.17
$GC,1715,-0.67,-146.0,2672,581,3000,3240,117.7,-5.7,197,1719,0.00,2.03,0.00,0.000,1030,0.000,0.052,2661,1999,3120,3000,3241,0,0,0,0,0,0,26.99,26.92,27.01
$GC,1844,-0.67,-146.0,2661,1999,3000,3241,125.6,-6.2,209,1853,0.00,2.05,0.00,0.000,260,0.000,0.067,2650,3390,3120,3000,3240,0,0,0,0,0,0,27.17,26.90,27.19
$GC,1904,-0.67,-146.0,2650,3390,3000,3241,129.7,-6.7,215,1909,0.10,2.05,0.00,0.000,3078,0.169,0.055,2686,1974,3120,3000,3241,0,0,0,0,0,0,26.82,26.93,26.95
$GC,2029,-0.67,-146.0,2685,1974,3001,3241,136.3,-5.2,227,2033,0.00,2.08,0.00,0.000,516,0.000,0.070,2685,582,3120,3000,3241,0,0,0,0,0,0,27.22,26.91,27.23
$GC,2155,-0.67,-146.0,2685,582,3000,3241,143.8,-6.0,239,2159,0.00,2.03,0.00,0.000,1030,0.000,0.052,2677,1989,3120,3000,3241,0,0,0,0,0,0,27.04,26.97,27.05
$GC,2281,-0.67,-146.0,2676,1989,3000,3241,151.1,-5.7,251,2289,0.00,2.12,0.00,0.000,516,0.000,0.067,2677,572,3120,3000,3241,0,0,0,0,0,0,27.24,26.94,27.27
$GC,2371,-0.67,-146.0,2676,572,3000,3240,156.9,-6.5,260,2375,0.00,2.03,0.00,0.000,1030,0.000,0.052,2666,1995,3120,3000,3241,0,0,0,0,0,0,27.06,26.99,27.08
$GC,2496,-0.67,-146.0,2666,1995,3000,3241,163.8,-5.2,272,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1995,3120,2999,3241,0,0,0,0,0,0,27.26,27.29,27.28
$GC,2616,-0.67,-146.0,2665,1995,3000,3241,170.9,-6.5,284,2620,0.00,2.12,0.00,0.000,516,0.000,0.067,2666,574,3120,3000,3241,0,0,0,0,0,0,27.27,26.98,27.29
$STATE,2710,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2710,begin apogee
$GC,2716,-0.20,0.0,2655,1993,3000,3241,176.8,-6.4,293,2823,0.47,0.00,103.03,0.802,10246,0.139,0.000,2829,1993,2617,2518,2716,0,0,0,0,0,0,26.89,25.51,24.98
$STATE,2824,end apogee,CONTROL_FINISHED_OK
$STATE,2824,begin climb
$GC,2825,0.67,146.0,2828,1994,2518,2716,178.7,0.0,304,2937,0.73,2.20,104.68,0.767,10500,0.102,0.067,3099,3386,2113,2029,2197,0,0,0,0,0,0,25.59,25.07,24.70
$GC,2979,0.67,146.0,3099,3386,2029,2197,167.2,9.6,319,2983,0.00,2.12,0.00,0.000,1030,0.000,0.055,3109,1991,2113,2029,2197,0,0,0,0,0,0,25.79,25.72,25.81
$GC,3104,0.67,146.0,3109,1991,2029,2197,154.4,10.5,331,3108,0.00,2.17,0.00,0.000,516,0.000,0.070,3120,573,2113,2029,2197,0,0,0,0,0,0,26.41,26.12,26.42
$GC,3169,0.67,146.0,3120,573,2029,2197,147.3,11.1,337,3173,0.00,2.08,0.00,0.000,1030,0.000,0.052,3120,1991,2113,2029,2197,0,0,0,0,0,0,26.34,26.28,26.36
$GC,3296,0.67,146.0,3120,1991,2029,2197,134.4,10.1,349,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1991,2113,2029,2197,0,0,0,0,0,0,26.69,26.72,26.71
$GC,3414,0.67,146.0,3120,1991,2029,2197,123.1,9.5,361,3418,0.00,2.15,0.00,0.000,516,0.000,0.067,3131,574,2113,2029,2197,0,0,0,0,0,0,26.79,26.51,26.82
$GC,3480,0.67,146.0,3130,574,2030,2197,116.7,10.1,367,3484,0.00,2.05,0.00,0.000,1030,0.000,0.052,3131,1995,2113,2029,2197,0,0,0,0,0,0,26.65,26.58,26.67
$GC,3605,0.67,146.0,3130,1995,2029,2198,103.8,9.9,379,3609,0.00,2.10,0.00,0.000,260,0.000,0.065,3131,3392,2113,2029,2197,0,0,0,0,0,0,26.91,26.63,26.93
$GC,3630,0.67,146.0,3130,3392,2029,2197,100.9,10.7,381,3634,0.00,2.08,0.00,0.000,1030,0.000,0.055,3142,1975,2113,2029,2197,0,0,0,0,0,0,26.73,26.65,26.74
$GC,3755,0.67,146.0,3141,1975,2030,2197,87.7,10.3,393,3759,0.00,2.08,0.00,0.000,516,0.000,0.070,3152,584,2113,2029,2197,0,0,0,0,0,0,26.98,26.68,27.00
$GC,3821,0.67,146.0,3152,584,2029,2197,80.7,10.9,399,3825,0.12,2.05,0.00,0.000,5126,0.181,0.052,3112,1997,2113,2029,2197,0,0,0,0,0,0,26.61,26.74,26.75
$GC,3946,0.67,146.0,3112,1997,2030,2197,69.1,9.2,411,3950,0.00,2.08,0.00,0.000,260,0.000,0.067,3112,3387,2113,2029,2197,0,0,0,0,0,0,27.04,26.75,27.06
$GC,4011,0.67,146.0,3112,3386,2029,2197,62.5,9.3,417,4015,0.00,2.05,0.00,0.000,1030,0.000,0.055,3121,1979,2113,2029,2197,0,0,0,0,0,0,26.87,26.79,26.89
$GC,4136,0.67,146.0,3121,1978,2029,2198,51.4,8.3,429,4140,0.00,2.08,0.00,0.000,516,0.000,0.070,3131,584,2113,2030,2197,0,0,0,0,0,0,27.10,26.79,27.12
$GC,4212,0.67,146.0,3131,584,2029,2197,44.7,9.2,436,4215,0.00,2.00,0.00,0.000,1030,0.000,0.052,3131,1989,2114,2030,2198,0,0,0,0,0,0,26.92,26.85,26.94
$GC,4337,0.67,146.0,3131,1990,2030,2197,33.0,8.9,448,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1990,2113,2029,2197,0,0,0,0,0,0,27.15,27.16,27.15
$GC,4457,0.67,146.0,3131,1990,2029,2197,22.2,8.8,460,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1990,2113,2029,2197,0,0,0,0,0,0,27.17,27.19,27.18
$GC,4577,0.67,146.0,3130,1990,2030,2198,12.3,8.3,481,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,1990,2113,2029,2197,0,0,0,0,0,0,27.19,27.21,27.20
$GC,4644,0.67,146.0,3130,1990,2029,2197,6.6,8.1,494,4650,0.00,2.10,0.00,0.000,516,0.000,0.067,3142,578,2113,2029,2197,0,0,0,0,0,0,27.20,26.90,27.21
$STATE,4731,end climb,SURFACE_DEPTH_REACHED
$STATE,4731,begin surface coast
$FINISH,0.3,0.999723
$STATE,4767,end surface coast,CONTROL_FINISHED_OK
$STATE,4767,begin surface
$SM_CCo,4782,161.62,0.514,1,0,1412,350.05
$SM_GC,1.98,7.55,2.08,161.62,0.062,0.052,0.514,156,1994,1412,-8.53,-1.22,350.05,0,0,0,0,1,0,26.90,26.96,25.09
$IRIDIUM_FIX,4726.11,-12226.80,141114,040712
$TT8_MAMPS,0.020972,0.020972
$HUMID,54.01
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,125.6,67.5
$24V_AH,24.70,1.911
$10V_AH,10.52,1.840
$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,19.325,70.950,207.700,161.625,153.250,30.300,37.165,487.785,2.000,0.000,17.210,1285.299,2132.223,528.290,1618.190,47.668,33.265,1119.266,0.000,1023.643,0.000,13.431,0.000
$DEVICE_MAMPS,268.164,69.524,802.009,513.981,158.912,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,347.097,682.983,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323064
$DATA_FILE_SIZE,30266,518
$CAP_FILE_SIZE,93725,1
$CFSIZE,1024409600,1020133376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,5697.01,0x2389de,7,5
$GPS,141114,054111,4743.021,-12224.541,4,1.1,11,16.3,0.0,0.0,8,9.5