version: 66.12
glider: 39
mission: 3
dive: 14
start: 11 14 114 13 22 11
data:
$ID,39
$MISSION,3
$DIVE,14
$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,51
$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
$GPS1,141114,131432,4743.3643,-12224.4551,4,0.8,14,16.3,0.0,0.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-66.1
$GPS2,141114,132105,4743.3120,-12224.4521,6,0.8,23,16.3,0.0,0.0,9,9.2
$SPEED_LIMITS,0.071,0.217
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$KALMAN_CONTROL,-0.028,0.215
$KALMAN_X,-99.6,-20.7,29.8,-106.1,114.0
$KALMAN_Y,2548.0,-39.3,415.4,-2281.4,-68.0
$MHEAD_RNG_PITCHd_Wd,336.3,2201,-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,15,-0.70,-146.0,155,1690,1296,1528,0.0,0.0,0,112,0.00,0.00,-94.75,0.137,16386,0.000,0.000,155,1690,2447,2334,2561,0,0,0,0,0,0,26.60,28.83,26.62
$GC,114,-0.70,-146.0,155,1690,2334,2561,3.1,-0.8,17,182,10.02,2.15,-49.55,0.139,18692,0.263,0.060,2642,3097,3120,3001,3240,0,0,0,0,0,0,25.99,26.16,26.06
$GC,199,-0.70,-146.0,2642,3097,3001,3240,6.8,-5.8,32,205,0.00,2.12,0.00,0.000,1030,0.000,0.057,2644,1699,3120,3001,3240,0,0,0,0,0,0,26.29,26.22,26.31
$GC,266,-0.70,-146.0,2644,1698,3001,3240,12.6,-9.0,45,273,0.00,2.17,0.00,0.000,516,0.000,0.072,2644,293,3120,3001,3240,0,0,0,0,0,0,26.58,26.29,26.60
$GC,319,-0.70,-146.0,2644,294,3001,3240,17.4,-9.1,55,326,0.00,2.05,0.00,0.000,1030,0.000,0.052,2634,1703,3120,3001,3240,0,0,0,0,0,0,26.47,26.41,26.48
$GC,393,-0.70,-146.0,2634,1703,3001,3240,24.0,-8.4,65,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1702,3120,3001,3240,0,0,0,0,0,0,26.73,26.75,26.74
$GC,513,-0.70,-146.0,2634,1703,3001,3240,34.9,-9.6,77,516,0.00,2.17,0.00,0.000,516,0.000,0.072,2634,293,3120,3001,3240,0,0,0,0,0,0,26.82,26.53,26.84
$GC,588,-0.70,-146.0,2634,294,3002,3240,42.0,-9.2,84,593,0.10,2.05,0.00,0.000,3078,0.189,0.052,2656,1703,3120,3001,3240,0,0,0,0,0,0,26.48,26.63,26.62
$GC,713,-0.70,-146.0,2656,1703,3001,3240,51.3,-6.8,96,717,0.00,2.17,0.00,0.000,516,0.000,0.072,2656,288,3120,3001,3239,0,0,0,0,0,0,26.94,26.63,26.95
$GC,831,-0.70,-146.0,2656,288,3001,3240,60.3,-8.1,107,839,0.00,2.08,0.00,0.000,1030,0.000,0.050,2646,1700,3120,3001,3239,0,0,0,0,0,0,26.77,26.74,26.79
$GC,958,-0.70,-146.0,2646,1700,3001,3239,69.4,-6.8,120,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1700,3120,3001,3240,0,0,0,0,0,0,27.03,27.05,27.05
$GC,1078,-0.70,-146.0,2646,1700,3001,3240,78.1,-7.2,132,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,1700,3120,3001,3239,0,0,0,0,0,0,27.06,27.08,27.08
$GC,1199,-0.70,-146.0,2646,1700,3001,3240,87.2,-7.9,144,1203,0.00,2.15,0.00,0.000,516,0.000,0.070,2646,289,3120,3001,3240,0,0,0,0,0,0,27.10,26.79,27.12
$GC,1274,-0.70,-146.0,2646,290,3001,3239,92.9,-7.6,151,1278,0.00,2.03,0.00,0.000,1030,0.000,0.052,2636,1701,3120,3001,3239,0,0,0,0,0,0,26.93,26.86,26.94
$GC,1399,-0.70,-146.0,2636,1701,3001,3239,102.0,-7.2,163,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,1701,3120,3001,3239,0,0,0,0,0,0,27.14,27.16,27.15
$GC,1520,-0.70,-146.0,2636,1701,3001,3239,110.4,-7.3,175,1529,0.00,2.15,0.00,0.000,516,0.000,0.070,2636,288,3120,3001,3239,0,0,0,0,0,0,27.12,26.86,27.14
$GC,1553,-0.70,-146.0,2636,288,3001,3239,112.9,-8.3,178,1561,0.00,2.05,0.00,0.000,1030,0.000,0.050,2626,1694,3120,3001,3239,0,0,0,0,0,0,26.94,26.91,26.96
$GC,1680,-0.70,-146.0,2626,1695,3001,3239,123.2,-7.8,191,1684,0.00,2.12,0.00,0.000,516,0.000,0.070,2626,281,3120,3001,3239,0,0,0,0,0,0,27.17,26.87,27.20
$GC,1757,-0.70,-146.0,2626,281,3001,3239,128.9,-7.7,198,1762,0.12,2.03,0.00,0.000,3078,0.176,0.052,2657,1709,3120,3001,3239,0,0,0,0,0,0,26.79,26.94,26.93
$GC,1882,-0.70,-146.0,2657,1710,3001,3239,136.8,-5.3,210,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1709,3120,3001,3239,0,0,0,0,0,0,27.20,27.22,27.22
$GC,2002,-0.70,-146.0,2657,1710,3001,3239,143.5,-5.7,222,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1709,3120,3001,3239,0,0,0,0,0,0,27.22,27.24,27.23
$GC,2122,-0.70,-146.0,2657,1710,3001,3239,150.4,-5.9,234,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1709,3120,3001,3239,0,0,0,0,0,0,27.23,27.25,27.25
$GC,2242,-0.70,-146.0,2657,1709,3001,3239,157.0,-5.5,246,2246,0.00,2.05,0.00,0.000,260,0.000,0.062,2647,3094,3120,3001,3239,0,0,0,0,0,0,27.24,26.96,27.26
$GC,2311,-0.70,-146.0,2646,3095,3001,3239,159.9,-5.0,252,2318,0.00,2.08,0.00,0.000,1030,0.000,0.055,2647,1690,3120,3001,3239,0,0,0,0,0,0,27.06,26.98,27.08
$GC,2439,-0.70,-146.0,2647,1690,3001,3239,166.1,-5.6,265,2447,0.00,2.10,0.00,0.000,516,0.000,0.072,2647,291,3120,3001,3239,0,0,0,0,0,0,27.27,26.96,27.28
$GC,2529,-0.70,-146.0,2647,291,3001,3239,171.9,-6.0,274,2533,0.00,2.00,0.00,0.000,1030,0.000,0.050,2637,1708,3120,3001,3239,0,0,0,0,0,0,27.09,27.02,27.10
$GC,2655,-0.70,-146.0,2636,1708,3001,3239,179.3,-6.1,286,2664,0.00,2.15,0.00,0.000,516,0.000,0.070,2637,287,3120,3001,3239,0,0,0,0,0,0,27.28,26.98,27.30
$STATE,2674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2674,begin apogee
$GC,2680,-0.24,0.0,2626,1811,3001,3239,180.5,-5.8,288,2787,0.47,0.00,103.00,0.812,10246,0.139,0.000,2797,1811,2617,2518,2716,0,0,0,0,0,0,26.90,25.51,24.97
$STATE,2788,end apogee,CONTROL_FINISHED_OK
$STATE,2788,begin climb
$GC,2789,0.70,146.0,2797,1811,2518,2716,182.5,0.0,299,2898,0.77,0.00,104.62,0.777,10502,0.107,0.000,3084,1811,2114,2029,2199,0,0,0,0,0,0,25.57,25.18,24.68
$GC,3015,0.70,146.0,3084,1811,2029,2199,164.3,9.2,322,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1811,2114,2029,2199,0,0,0,0,0,0,26.27,26.29,26.28
$GC,3135,0.70,146.0,3084,1811,2030,2199,153.2,9.4,334,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1811,2114,2029,2199,0,0,0,0,0,0,26.53,26.55,26.54
$GC,3255,0.70,146.0,3084,1811,2029,2199,142.8,8.0,346,3259,0.00,2.12,0.00,0.000,260,0.000,0.062,3084,3201,2114,2030,2199,0,0,0,0,0,0,26.68,26.40,26.70
$GC,3313,0.70,146.0,3083,3201,2029,2199,138.0,8.6,351,3321,0.00,2.12,0.00,0.000,1030,0.000,0.055,3094,1802,2114,2030,2199,0,0,0,0,0,0,26.51,26.47,26.53
$GC,3441,0.70,146.0,3094,1802,2030,2199,126.3,9.2,364,3445,0.00,2.12,0.00,0.000,516,0.000,0.070,3104,397,2114,2030,2199,0,0,0,0,0,0,26.83,26.54,26.85
$GC,3486,0.70,146.0,3104,397,2029,2199,122.0,9.6,368,3490,0.00,2.05,0.00,0.000,1030,0.000,0.052,3105,1807,2114,2030,2199,0,0,0,0,0,0,26.67,26.61,26.70
$GC,3611,0.70,146.0,3104,1807,2029,2199,110.4,9.2,380,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1807,2114,2029,2199,0,0,0,0,0,0,26.93,26.95,26.94
$GC,3731,0.70,146.0,3104,1807,2029,2199,99.2,8.8,392,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1807,2114,2030,2199,0,0,0,0,0,0,26.98,27.01,27.00
$GC,3851,0.70,146.0,3104,1807,2030,2199,87.9,9.7,404,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1807,2114,2029,2199,0,0,0,0,0,0,27.03,27.05,27.04
$GC,3971,0.70,146.0,3104,1807,2029,2199,77.5,8.9,416,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,1807,2114,2030,2199,0,0,0,0,0,0,27.07,27.09,27.08
$GC,4091,0.70,146.0,3104,1807,2031,2199,67.2,9.1,428,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1807,2114,2030,2199,0,0,0,0,0,0,27.10,27.12,27.12
$GC,4212,0.70,146.0,3104,1807,2029,2199,57.5,7.6,440,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1807,2114,2030,2199,0,0,0,0,0,0,27.13,27.15,27.14
$GC,4331,0.70,146.0,3104,1807,2030,2199,47.9,7.7,452,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1807,2114,2030,2199,0,0,0,0,0,0,27.15,27.17,27.17
$GC,4451,0.70,146.0,3104,1807,2030,2199,38.5,7.8,464,4455,0.00,2.12,0.00,0.000,516,0.000,0.070,3113,393,2114,2030,2199,0,0,0,0,0,0,27.17,26.87,27.19
$GC,4490,0.70,146.0,3113,393,2030,2199,35.9,7.6,467,4497,0.00,2.05,0.00,0.000,1030,0.000,0.050,3114,1803,2114,2030,2199,0,0,0,0,0,0,26.96,26.93,26.98
$GC,4617,0.70,146.0,3113,1803,2030,2199,27.7,5.9,480,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,1803,2114,2030,2199,0,0,0,0,0,0,27.20,27.22,27.22
$GC,4736,0.70,146.0,3114,1803,2030,2199,19.0,7.7,493,4743,0.00,2.12,0.00,0.000,516,0.000,0.072,3121,387,2114,2030,2199,0,0,0,0,0,0,27.22,26.91,27.23
$GC,4824,0.70,146.0,3121,386,2030,2199,11.9,7.9,510,4831,0.00,2.03,0.00,0.000,1030,0.000,0.052,3121,1802,2114,2029,2199,0,0,0,0,0,0,27.04,26.97,27.05
$GC,4892,0.70,146.0,3121,1802,2030,2199,6.8,7.6,523,4899,0.00,2.10,0.00,0.000,260,0.000,0.065,3121,3207,2114,2030,2199,0,0,0,0,0,0,27.23,26.94,27.25
$GC,4920,0.70,146.0,3121,3206,2030,2199,5.0,6.2,528,4927,0.00,2.05,0.00,0.000,1030,0.000,0.055,3130,1798,2115,2031,2199,0,0,0,0,0,0,27.04,26.96,27.05
$STATE,4977,end climb,SURFACE_DEPTH_REACHED
$STATE,4977,begin surface coast
$FINISH,0.5,0.999820
$STATE,5013,end surface coast,CONTROL_FINISHED_OK
$STATE,5014,begin surface
$SM_CCo,5027,205.02,0.079,0,0,1412,350.05
$SM_GC,2.14,7.50,0.12,205.02,0.065,0.109,0.079,157,1688,1412,-8.45,1.24,350.05,0,0,0,0,0,0,26.96,26.98,26.70
$IRIDIUM_FIX,4722.92,-12225.08,141114,131531
$TT8_MAMPS,0.021721,0.021721
$HUMID,53.03
$INTERNAL_PRESSURE,9.0421
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.3,65.6
$24V_AH,24.68,2.430
$10V_AH,10.54,2.035
$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,19.000,63.125,207.625,205.025,144.300,26.480,19.873,249.890,2.500,0.000,29.955,1328.540,2404.254,577.090,1291.254,42.645,33.294,1134.842,0.000,940.036,0.000,17.899,0.000
$DEVICE_MAMPS,263.198,109.252,811.941,79.456,139.048,12.410,160.000,223.000,420.000,0.000,29.210,11.720,2.190,11.720,35.690,44.680,58.160,10.000,0.000,8.240,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,365.770,719.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,13.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322912
$DATA_FILE_SIZE,30129,546
$CAP_FILE_SIZE,90529,1
$CFSIZE,1024409600,1019740160
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,5178.30,0x2389de,7,5
$GPS,141114,145034,4743.507,-12224.768,36,1.0,37,16.3,0.0,0.0,9,9.8