version: 66.12
glider: 39
mission: 3
dive: 9
start: 11 14 114 5 49 27
data:
$ID,39
$MISSION,3
$DIVE,9
$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,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3910
$C_PITCH,2890
$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,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,44
$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
$GPS1,141114,054111,4743.0210,-12224.5410,4,1.1,11,16.3,0.0,0.0,8,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-65.2
$GPS2,141114,054820,4743.0215,-12224.5986,5,1.1,14,16.3,0.0,0.0,8,9.4
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,0.020,0.216
$KALMAN_X,-130.5,49.1,69.6,-367.6,-63.1
$KALMAN_Y,979.3,359.2,-53.4,-1186.8,-270.8
$MHEAD_RNG_PITCHd_Wd,348.9,2741,-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,-146.0,156,1882,1296,1527,0.0,0.0,0,143,0.00,0.00,-125.70,0.134,16386,0.000,0.000,156,1882,2743,2632,2854,0,0,0,0,0,0,26.60,28.83,26.61
$GC,145,-0.70,-146.0,156,1882,2632,2854,3.4,-2.1,23,186,10.30,2.20,-20.90,0.151,18692,0.273,0.065,2648,3293,3122,3001,3243,0,0,0,0,0,0,25.94,26.14,26.05
$GC,413,-0.70,-146.0,2648,3293,3000,3243,24.8,-7.5,69,417,0.00,2.05,0.00,0.000,1030,0.000,0.055,2650,1909,3122,3001,3243,0,0,0,0,0,0,26.55,26.48,26.57
$GC,538,-0.70,-146.0,2650,1909,3000,3243,34.1,-7.5,81,542,0.00,2.12,0.00,0.000,516,0.000,0.070,2650,494,3121,3000,3243,0,0,0,0,0,0,26.84,26.54,26.86
$GC,767,-0.70,-146.0,2650,494,3001,3243,53.8,-9.0,103,773,0.00,2.03,0.00,0.000,1030,0.000,0.052,2640,1904,3122,3001,3243,0,0,0,0,0,0,26.77,26.70,26.79
$GC,894,-0.70,-146.0,2640,1905,3000,3243,64.1,-7.6,116,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1905,3121,3000,3243,0,0,0,0,0,0,27.01,27.03,27.03
$GC,1013,-0.70,-146.0,2640,1905,3001,3243,74.2,-8.0,128,1017,0.00,2.15,0.00,0.000,516,0.000,0.070,2644,489,3121,3001,3242,0,0,0,0,0,0,27.05,26.74,27.07
$GC,1178,-0.70,-146.0,2644,489,3001,3243,87.4,-7.4,144,1183,0.10,2.03,0.00,0.000,3078,0.184,0.052,2667,1906,3122,3001,3243,0,0,0,0,0,0,26.71,26.84,26.84
$GC,1304,-0.70,-146.0,2667,1907,3000,3243,95.5,-6.5,156,1308,0.00,2.12,0.00,0.000,516,0.000,0.070,2668,487,3121,3000,3243,0,0,0,0,0,0,27.12,26.82,27.14
$GC,1372,-0.70,-146.0,2667,488,3001,3243,99.9,-6.9,162,1382,0.00,2.08,0.00,0.000,1030,0.000,0.052,2658,1901,3122,3001,3243,0,0,0,0,0,0,26.91,26.87,26.94
$GC,1501,-0.70,-146.0,2657,1901,3000,3243,108.7,-6.9,175,1509,0.00,2.10,0.00,0.000,516,0.000,0.070,2657,493,3122,3001,3244,0,0,0,0,0,0,27.15,26.86,27.17
$GC,1581,-0.70,-146.0,2657,493,3000,3243,114.9,-7.8,183,1585,0.00,2.00,0.00,0.000,1030,0.000,0.052,2648,1903,3122,3001,3243,0,0,0,0,0,0,26.98,26.91,26.99
$GC,1706,-0.70,-146.0,2647,1903,3001,3243,124.1,-7.0,195,1710,0.00,2.10,0.00,0.000,516,0.000,0.070,2648,493,3121,3000,3243,0,0,0,0,0,0,27.18,26.88,27.20
$GC,1773,-0.70,-146.0,2647,493,3001,3243,128.8,-7.1,201,1777,0.00,2.00,0.00,0.000,1030,0.000,0.052,2638,1902,3121,3000,3243,0,0,0,0,0,0,27.00,26.94,27.01
$GC,1898,-0.70,-146.0,2637,1902,3000,3243,137.0,-7.0,213,1902,0.00,2.10,0.00,0.000,516,0.000,0.070,2638,492,3121,3000,3243,0,0,0,0,0,0,27.20,26.90,27.22
$GC,1933,-0.70,-146.0,2637,492,3000,3243,139.9,-7.6,216,1938,0.10,2.00,0.00,0.000,3078,0.184,0.052,2661,1900,3121,3000,3243,0,0,0,0,0,0,26.82,26.95,26.95
$GC,2059,-0.70,-146.0,2661,1900,3001,3243,148.0,-5.8,228,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1900,3122,3001,3243,0,0,0,0,0,0,27.22,27.24,27.24
$GC,2178,-0.70,-146.0,2660,1900,3000,3243,155.4,-6.1,240,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1900,3122,3001,3243,0,0,0,0,0,0,27.24,27.26,27.25
$GC,2298,-0.70,-146.0,2661,1900,3001,3243,162.3,-5.2,252,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1900,3122,3001,3243,0,0,0,0,0,0,27.25,27.27,27.27
$GC,2418,-0.70,-146.0,2661,1900,3001,3243,168.6,-5.3,264,2422,0.00,2.12,0.00,0.000,516,0.000,0.070,2661,486,3122,3001,3243,0,0,0,0,0,0,27.27,26.96,27.28
$GC,2504,-0.70,-146.0,2661,486,3001,3243,173.1,-5.3,272,2508,0.00,2.03,0.00,0.000,1030,0.000,0.052,2651,1908,3121,3000,3243,0,0,0,0,0,0,27.08,27.02,27.10
$GC,2629,-0.70,-146.0,2651,1908,3000,3243,179.3,-4.9,284,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,1908,3122,3001,3243,0,0,0,0,0,0,27.28,27.30,27.29
$STATE,2638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2638,begin apogee
$GC,2641,-0.24,0.0,2651,1908,3001,3243,180.1,-5.3,285,2750,0.45,0.00,102.88,0.800,10246,0.139,0.000,2808,1908,2617,2518,2716,0,0,0,0,0,0,26.90,25.52,24.99
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin climb
$GC,2752,0.70,146.0,2808,1908,2518,2716,180.9,0.0,296,2865,0.77,2.20,104.90,0.770,10500,0.107,0.067,3093,3296,2112,2029,2196,0,0,0,0,0,0,25.60,25.07,24.70
$GC,2906,0.70,146.0,3093,3296,2029,2197,169.1,9.4,311,2910,0.00,2.15,0.00,0.000,1030,0.000,0.055,3102,1901,2113,2029,2197,0,0,0,0,0,0,25.79,25.72,25.81
$GC,3031,0.70,146.0,3101,1901,2029,2197,156.7,10.0,323,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1902,2113,2029,2197,0,0,0,0,0,0,26.41,26.43,26.42
$GC,3151,0.70,146.0,3102,1901,2029,2197,145.5,8.8,335,3153,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1901,2112,2029,2196,0,0,0,0,0,0,26.60,26.63,26.63
$GC,3272,0.70,146.0,3102,1901,2030,2197,134.3,9.8,347,3273,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1901,2113,2029,2197,0,0,0,0,0,0,26.74,26.76,26.75
$GC,3391,0.70,146.0,3102,1901,2029,2197,123.3,9.7,359,3395,0.00,2.12,0.00,0.000,516,0.000,0.072,3113,497,2113,2029,2197,0,0,0,0,0,0,26.83,26.53,26.85
$GC,3450,0.70,146.0,3113,497,2029,2197,117.7,10.5,364,3457,0.00,2.08,0.00,0.000,1030,0.000,0.050,3114,1901,2113,2029,2197,0,0,0,0,0,0,26.65,26.62,26.67
$GC,3577,0.70,146.0,3113,1901,2029,2197,106.0,9.1,377,3581,0.00,2.12,0.00,0.000,516,0.000,0.070,3123,494,2113,2029,2197,0,0,0,0,0,0,26.94,26.63,26.95
$GC,3605,0.70,146.0,3123,495,2029,2197,103.5,9.5,379,3613,0.00,2.08,0.00,0.000,1030,0.000,0.052,3122,1901,2113,2029,2197,0,0,0,0,0,0,26.73,26.69,26.74
$GC,3733,0.70,146.0,3122,1901,2029,2197,91.3,9.8,392,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1901,2113,2029,2197,0,0,0,0,0,0,27.00,27.02,27.01
$GC,3852,0.70,146.0,3122,1901,2029,2197,80.0,9.5,404,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1901,2113,2030,2197,0,0,0,0,0,0,27.04,27.07,27.06
$GC,3973,0.70,146.0,3122,1901,2029,2197,69.2,8.1,416,3977,0.00,2.12,0.00,0.000,516,0.000,0.070,3132,487,2113,2029,2197,0,0,0,0,0,0,27.08,26.77,27.10
$GC,4021,0.70,146.0,3133,486,2029,2197,65.0,9.2,420,4028,0.00,2.08,0.00,0.000,1030,0.000,0.050,3133,1900,2113,2029,2197,0,0,0,0,0,0,26.87,26.82,26.89
$GC,4148,0.70,146.0,3133,1900,2029,2197,52.1,10.1,433,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1900,2113,2029,2197,0,0,0,0,0,0,27.12,27.14,27.14
$GC,4268,0.70,146.0,3133,1900,2029,2197,40.4,9.7,445,4272,0.00,2.10,0.00,0.000,516,0.000,0.070,3143,494,2113,2029,2197,0,0,0,0,0,0,27.15,26.84,27.16
$GC,4346,0.70,146.0,3143,494,2029,2197,33.3,9.3,452,4354,0.00,2.05,0.00,0.000,1030,0.000,0.050,3143,1898,2113,2029,2197,0,0,0,0,0,0,26.94,26.91,26.96
$GC,4473,0.70,146.0,3143,1898,2029,2197,20.8,10.2,465,4477,0.00,2.10,0.00,0.000,516,0.000,0.070,3153,493,2113,2029,2197,0,0,0,0,0,0,27.18,26.87,27.20
$GC,4513,0.70,146.0,3153,493,2029,2197,16.7,10.0,471,4521,0.12,2.00,0.00,0.000,5126,0.176,0.052,3112,1898,2113,2029,2197,0,0,0,0,0,0,26.79,26.94,26.93
$GC,4582,0.70,146.0,3112,1899,2029,2197,10.7,8.8,484,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,1898,2113,2029,2197,0,0,0,0,0,0,27.20,27.22,27.21
$GC,4650,0.70,224.1,3112,1898,2029,2197,7.1,4.5,497,4711,0.00,2.17,53.90,0.685,8452,0.000,0.070,3112,3301,1844,1752,1937,0,0,0,0,0,0,27.21,26.13,25.63
$STATE,4732,end climb,SURFACE_DEPTH_REACHED
$STATE,4732,begin surface coast
$FINISH,0.4,0.999710
$STATE,4757,end surface coast,CONTROL_FINISHED_OK
$STATE,4757,begin surface
$SM_CCo,4773,139.38,0.079,0,0,1412,350.05
$SM_GC,1.66,7.57,2.15,139.38,0.057,0.052,0.079,151,1896,1412,-8.50,1.07,350.05,0,0,0,0,0,0,26.31,26.32,26.31
$IRIDIUM_FIX,4726.11,-12226.80,141114,054211
$TT8_MAMPS,0.020972,0.020972
$HUMID,53.46
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.2,67.3
$24V_AH,24.70,1.996
$10V_AH,10.53,1.873
$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,19.425,62.875,261.675,139.375,146.600,26.165,39.389,272.576,2.500,0.000,20.879,1248.836,2183.393,555.475,1328.892,43.283,33.277,1110.637,0.000,943.805,0.000,17.895,0.000
$DEVICE_MAMPS,273.130,101.803,799.526,79.456,151.463,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.184,681.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322896
$DATA_FILE_SIZE,30145,517
$CAP_FILE_SIZE,86696,1
$CFSIZE,1024409600,1020067840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2639.49,0x2389de,2,5
$GPS,141114,071227,4743.616,-12224.618,9,0.9,33,16.3,0.0,0.0,8,5.9