version: 66.12
glider: 39
mission: 3
dive: 13
start: 11 14 114 11 55 52
data:
$ID,39
$MISSION,3
$DIVE,13
$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,33
$R_STBD_OVSHOOT,49
$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
$GPS1,141114,114657,4743.9355,-12224.2754,4,0.8,11,16.3,0.0,0.0,9,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-64.4
$GPS2,141114,115445,4743.9214,-12224.2412,5,0.8,13,16.3,0.0,0.0,9,7.7
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.053,-0.210
$KALMAN_X,-34.1,-16.0,-58.8,170.0,144.3
$KALMAN_Y,2700.6,-35.6,296.7,-1194.8,388.4
$MHEAD_RNG_PITCHd_Wd,177.9,1736,-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,-146.0,145,1686,1298,1525,0.0,0.0,0,123,0.00,0.00,-105.85,0.134,16386,0.000,0.000,145,1686,2551,2439,2663,0,0,0,0,0,0,26.59,28.83,26.61
$GC,125,-0.70,-146.0,145,1686,2439,2663,3.0,-0.8,19,182,10.20,2.22,-37.40,0.142,19204,0.271,0.062,2638,3097,3121,3002,3240,0,0,0,0,0,0,25.96,26.15,26.05
$GC,407,-0.70,-146.0,2638,3097,3002,3239,26.4,-6.6,64,414,0.00,2.15,0.00,0.000,1030,0.000,0.055,2638,1692,3120,3001,3239,0,0,0,0,0,0,26.51,26.48,26.53
$GC,534,-0.70,-146.0,2637,1692,3002,3239,37.2,-8.1,77,538,0.00,2.15,0.00,0.000,260,0.000,0.062,2628,3093,3120,3002,3239,0,0,0,0,0,0,26.84,26.55,26.85
$GC,602,-0.70,-146.0,2628,3093,3002,3239,42.6,-7.9,83,610,0.00,2.12,0.00,0.000,1030,0.000,0.055,2628,1692,3120,3002,3239,0,0,0,0,0,0,26.65,26.60,26.67
$GC,730,-0.70,-146.0,2627,1693,3002,3239,54.3,-8.8,96,734,0.00,2.12,0.00,0.000,516,0.000,0.072,2628,283,3120,3002,3239,0,0,0,0,0,0,26.94,26.64,26.96
$GC,875,-0.70,-146.0,2628,283,3002,3239,68.9,-10.3,110,880,0.12,2.05,0.00,0.000,3078,0.179,0.052,2658,1717,3120,3002,3239,0,0,0,0,0,0,26.60,26.74,26.74
$GC,1000,-0.70,-146.0,2658,1717,3002,3239,78.5,-7.1,122,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1717,3120,3002,3239,0,0,0,0,0,0,27.04,27.06,27.05
$GC,1120,-0.70,-146.0,2658,1717,3002,3239,86.9,-7.1,134,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1717,3120,3002,3239,0,0,0,0,0,0,27.07,27.10,27.09
$GC,1241,-0.70,-146.0,2658,1717,3002,3240,94.5,-6.3,146,1245,0.00,2.15,0.00,0.000,516,0.000,0.070,2659,291,3120,3002,3239,0,0,0,0,0,0,27.10,26.80,27.13
$GC,1326,-0.70,-146.0,2658,291,3002,3239,100.8,-7.1,154,1330,0.00,2.00,0.00,0.000,1030,0.000,0.050,2648,1700,3120,3002,3239,0,0,0,0,0,0,26.94,26.87,26.96
$GC,1451,-0.70,-146.0,2648,1700,3002,3239,109.4,-6.9,166,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1700,3120,3002,3239,0,0,0,0,0,0,27.15,27.17,27.16
$GC,1571,-0.70,-146.0,2648,1700,3002,3238,117.3,-6.5,178,1575,0.00,2.15,0.00,0.000,516,0.000,0.070,2648,286,3120,3002,3239,0,0,0,0,0,0,27.16,26.86,27.18
$GC,1713,-0.70,-146.0,2648,286,3002,3239,127.4,-7.4,191,1721,0.00,2.05,0.00,0.000,1030,0.000,0.050,2638,1699,3120,3002,3239,0,0,0,0,0,0,26.96,26.94,26.98
$GC,1840,-0.70,-146.0,2638,1698,3001,3239,136.0,-5.7,204,1844,0.00,2.12,0.00,0.000,516,0.000,0.070,2638,284,3120,3002,3239,0,0,0,0,0,0,27.19,26.89,27.21
$GC,1909,-0.70,-146.0,2638,284,3002,3239,141.1,-7.4,210,1913,0.00,2.00,0.00,0.000,1030,0.000,0.050,2628,1700,3120,3002,3239,0,0,0,0,0,0,27.01,26.95,27.03
$GC,2035,-0.70,-146.0,2628,1700,3002,3239,150.4,-7.4,222,2038,0.00,2.08,0.00,0.000,260,0.000,0.062,2618,3090,3120,3002,3239,0,0,0,0,0,0,27.22,26.93,27.23
$GC,2163,-0.70,-146.0,2617,3090,3001,3239,160.8,-8.5,234,2171,0.10,2.08,0.00,0.000,3078,0.156,0.055,2653,1697,3120,3002,3239,0,0,0,0,0,0,26.84,26.96,26.93
$GC,2290,-0.70,-146.0,2652,1697,3002,3239,170.1,-6.5,247,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,1697,3120,3002,3239,0,0,0,0,0,0,27.24,27.27,27.26
$STATE,2399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2399,begin apogee
$GC,2403,-0.24,0.0,2652,1805,3002,3239,176.6,-5.7,258,2511,0.43,0.00,102.97,0.809,10246,0.134,0.000,2803,1805,2617,2519,2715,0,0,0,0,0,0,26.88,25.49,24.96
$STATE,2512,end apogee,CONTROL_FINISHED_OK
$STATE,2512,begin climb
$GC,2513,0.70,146.0,2802,1805,2519,2714,178.3,0.0,269,2630,0.77,2.20,104.47,0.777,10500,0.104,0.065,3086,3194,2114,2029,2199,0,0,0,0,0,0,25.56,25.06,24.68
$GC,2655,0.70,146.0,3086,3194,2029,2199,169.2,8.7,283,2663,0.00,2.20,0.00,0.000,1030,0.000,0.055,3097,1800,2114,2029,2199,0,0,0,0,0,0,25.67,25.63,25.70
$GC,2782,0.70,146.0,3097,1801,2029,2199,156.8,9.4,296,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,1801,2114,2029,2199,0,0,0,0,0,0,26.37,26.40,26.39
$GC,2902,0.70,146.0,3096,1801,2029,2199,145.8,9.1,308,2906,0.00,2.12,0.00,0.000,260,0.000,0.062,3097,3191,2113,2029,2198,0,0,0,0,0,0,26.59,26.32,26.60
$GC,2941,0.70,146.0,3097,3191,2029,2199,142.3,10.1,311,2948,0.00,2.12,0.00,0.000,1030,0.000,0.055,3107,1801,2113,2029,2198,0,0,0,0,0,0,26.42,26.37,26.44
$GC,3068,0.70,146.0,3107,1801,2029,2199,129.5,9.6,324,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1801,2114,2030,2199,0,0,0,0,0,0,26.77,26.79,26.78
$GC,3188,0.70,146.0,3107,1801,2028,2199,116.9,10.6,336,3192,0.00,2.15,0.00,0.000,516,0.000,0.072,3118,384,2114,2029,2199,0,0,0,0,0,0,26.85,26.55,26.86
$GC,3253,0.70,146.0,3118,384,2029,2199,110.2,9.7,342,3257,0.00,2.03,0.00,0.000,1030,0.000,0.052,3118,1795,2114,2029,2199,0,0,0,0,0,0,26.70,26.64,26.72
$GC,3378,0.70,146.0,3118,1796,2029,2199,97.8,9.4,354,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1796,2113,2029,2198,0,0,0,0,0,0,26.94,26.97,26.96
$GC,3498,0.70,146.0,3118,1796,2029,2199,86.5,9.0,366,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1796,2114,2029,2199,0,0,0,0,0,0,27.00,27.02,27.02
$GC,3618,0.70,146.0,3118,1796,2029,2199,75.3,9.5,378,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1796,2114,2029,2199,0,0,0,0,0,0,27.04,27.06,27.05
$GC,3738,0.70,146.0,3118,1796,2029,2199,63.9,9.1,390,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1796,2114,2029,2199,0,0,0,0,0,0,27.08,27.10,27.10
$GC,3858,0.70,146.0,3118,1796,2029,2199,52.3,9.2,402,3862,0.00,2.12,0.00,0.000,260,0.000,0.065,3118,3208,2114,2029,2199,0,0,0,0,0,0,27.10,26.82,27.13
$GC,3944,0.70,146.0,3118,3208,2029,2199,43.1,11.5,410,3948,0.00,2.08,0.00,0.000,1030,0.000,0.055,3128,1794,2114,2029,2199,0,0,0,0,0,0,26.94,26.86,26.95
$GC,4069,0.70,146.0,3128,1794,2029,2199,31.3,9.5,422,4073,0.00,2.12,0.00,0.000,516,0.000,0.070,3138,386,2114,2029,2199,0,0,0,0,0,0,27.15,26.85,27.17
$GC,4199,0.70,146.0,3138,386,2029,2199,17.7,10.1,437,4207,0.10,2.03,0.00,0.000,5126,0.179,0.050,3105,1813,2113,2029,2198,0,0,0,0,0,0,26.79,26.92,26.92
$GC,4268,0.70,146.0,3105,1812,2029,2199,12.6,7.1,450,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1813,2114,2029,2199,0,0,0,0,0,0,27.18,27.20,27.20
$GC,4335,0.70,146.0,3105,1812,2029,2199,8.1,6.7,463,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1812,2114,2029,2199,0,0,0,0,0,0,27.20,27.22,27.21
$GC,4403,0.70,146.0,3105,1812,2029,2199,4.2,6.1,476,4409,0.00,2.05,0.00,0.000,260,0.000,0.062,3104,3198,2114,2029,2199,0,0,0,0,0,0,27.20,26.92,27.22
$STATE,4449,end climb,SURFACE_DEPTH_REACHED
$STATE,4450,begin surface coast
$FINISH,0.7,0.999770
$STATE,4490,end surface coast,CONTROL_FINISHED_OK
$STATE,4490,begin surface
$SM_CCo,4505,161.77,0.521,1,0,1412,350.05
$SM_GC,1.99,7.38,2.28,161.77,0.060,0.055,0.521,156,1691,1412,-8.45,0.79,350.05,0,0,0,0,1,0,26.93,26.94,25.07
$IRIDIUM_FIX,4722.92,-12348.50,141114,114811
$TT8_MAMPS,0.020972,0.020972
$HUMID,53.89
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.0,51.3
$24V_AH,24.68,2.355
$10V_AH,10.53,2.002
$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,19.100,55.075,207.450,161.775,143.250,33.217,56.531,288.637,3.000,0.000,21.101,1201.273,2050.096,527.829,1338.469,40.714,33.278,1057.136,0.000,912.214,0.000,21.272,0.000
$DEVICE_MAMPS,270.647,96.837,809.458,521.430,141.531,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.034,649.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322944
$DATA_FILE_SIZE,26840,493
$CAP_FILE_SIZE,81628,1
$CFSIZE,1024409600,1019822080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,5426.99,0x2389de,7,5
$GPS,141114,131432,4743.364,-12224.455,4,0.8,14,16.3,0.0,0.0,9,9.7