version: 66.10
glider: 140
mission: 12
dive: 4
start: 3 13 112 4 18 27
data:
$ID,140
$MISSION,12
$DIVE,4
$N_DIVES,7
$D_SURF,4
$D_FLARE,3
$D_TGT,360
$D_ABORT,1010
$D_NO_BLEED,200
$D_BOOST,20
$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,120
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51289
$NAV_MODE,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-789604.25
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,56
$PITCH_MAX,4040
$C_PITCH,3350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,151
$ROLL_MAX,3889
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,426
$VBD_MAX,4031
$C_VBD,3045
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,143.10001
$AH0_10V,104.9
$MINV_24V,22
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-16.556963
$PRESSURE_SLOPE,0.0001158875
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$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,0.0043479046
$SEABIRD_T_H,0.00064171531
$SEABIRD_T_I,2.354428e-05
$SEABIRD_T_J,2.2558454e-06
$SEABIRD_C_G,-9.9258509
$SEABIRD_C_H,1.0916899
$SEABIRD_C_I,-0.00048383241
$SEABIRD_C_J,0.00015342429
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,130312,041408,2307.096,12127.870,10,1.3,10,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-68.1
$GPS2,130312,041801,2307.187,12127.888,9,1.1,14,-3.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,75.4,261527,-14.9,-10.000
$D_GRID,537
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.95,-194.6,0.0,0.0,0,102,0.00,0.00,-81.07,0.000,2,0.000,0.000,62,2593,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.95,-194.6,3.0,-5.3,8,138,13.75,2.05,-10.88,0.000,4,0.285,0.048,3038,1212,3842,0,0,0,0,0,0,26.00,26.42,26.77
$GC,214,-0.72,-194.6,31.5,-24.1,18,220,0.28,2.08,0.00,0.000,6,0.213,0.043,3108,2595,3846,0,0,0,0,0,0,26.15,26.48,28.83
$GC,529,-0.68,-194.6,81.1,-14.5,39,534,0.00,1.95,0.00,0.000,4,0.000,0.057,3108,3883,3847,0,0,0,0,0,0,28.83,26.55,28.83
$GC,764,-0.77,-194.6,104.0,-7.4,50,769,0.00,1.80,0.00,0.000,6,0.000,0.029,3108,2559,3847,0,0,0,0,0,0,28.83,26.76,28.83
$GC,1078,-0.88,-194.6,134.2,-10.8,66,1084,0.12,1.90,0.00,0.000,4,0.125,0.034,3057,1252,3849,0,0,0,0,0,0,26.67,26.67,28.83
$GC,1237,-0.88,-194.6,154.3,-14.7,73,1244,0.00,2.00,0.00,0.000,6,0.000,0.041,3057,2602,3849,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1544,-0.88,-194.6,183.5,-9.2,89,1549,0.00,1.92,0.00,0.000,4,0.000,0.057,3057,3886,3848,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1576,-0.88,-194.6,186.2,-10.1,90,1581,0.00,1.77,0.00,0.000,6,0.000,0.030,3057,2598,3848,0,0,0,0,0,0,28.83,26.82,28.83
$GC,1889,-0.88,-194.6,220.2,-10.6,106,1895,0.00,2.00,0.00,0.000,4,0.000,0.038,3057,1245,3847,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1954,-0.91,-194.6,227.3,-10.9,109,1960,0.00,2.00,0.00,0.000,6,0.000,0.044,3057,2601,3847,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2279,-0.96,-194.6,256.9,-8.1,125,2284,0.00,1.95,0.00,0.000,4,0.000,0.060,3057,3881,3845,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2339,-1.00,-194.6,261.1,-9.0,127,2345,0.00,1.77,0.00,0.000,6,0.000,0.032,3057,2609,3845,0,0,0,0,0,0,28.83,26.83,28.83
$GC,2643,-1.06,-194.6,296.7,-10.3,143,2649,0.12,2.03,0.00,0.000,4,0.124,0.037,3005,1234,3843,0,0,0,0,0,0,26.73,26.67,28.83
$GC,2828,-1.06,-194.6,318.4,-11.3,152,2833,0.00,2.03,0.00,0.000,6,0.000,0.046,3005,2598,3842,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3152,-1.02,-194.6,354.0,-11.2,168,3157,0.00,1.95,0.00,0.000,4,0.000,0.062,3005,3882,3840,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,3213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3213,begin apogee
$GC,3222,-0.24,0.0,361.5,-11.6,171,3381,0.90,0.00,152.27,1.066,6,0.182,0.000,3263,2435,3044,0,0,0,0,0,0,26.17,28.83,24.40
$STATE,3382,end apogee,CONTROL_FINISHED_OK
$STATE,3382,begin climb
$GC,3385,0.95,194.6,371.3,0.0,179,3556,1.20,2.35,157.07,1.044,4,0.111,0.056,3649,3836,2250,0,0,0,0,0,0,25.25,25.13,24.37
$GC,3662,0.52,194.6,338.4,20.4,193,3668,0.55,2.08,0.00,0.000,6,0.222,0.031,3525,2430,2244,0,0,0,0,0,0,25.67,25.98,28.83
$GC,3987,0.42,194.6,291.4,14.3,209,3993,0.12,2.08,0.00,0.000,4,0.215,0.044,3500,1061,2239,0,0,0,0,0,0,26.15,26.32,28.83
$GC,4032,0.36,194.6,285.6,13.5,211,4039,0.15,2.08,0.00,0.000,6,0.187,0.044,3464,2442,2239,0,0,0,0,0,0,26.15,26.37,28.83
$GC,4358,0.53,306.0,258.9,6.1,227,4458,0.15,2.28,90.38,0.983,4,0.112,0.060,3522,3829,1796,0,0,0,0,0,0,26.50,25.28,24.53
$GC,4493,0.49,306.0,246.9,10.3,233,4499,0.00,2.08,0.00,0.000,6,0.000,0.034,3532,2441,1791,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4807,0.49,306.0,212.2,10.9,249,4812,0.00,2.15,0.00,0.000,4,0.000,0.059,3532,3826,1784,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4885,0.45,306.0,203.0,14.1,252,4893,0.17,2.05,0.00,0.000,6,0.204,0.034,3500,2421,1783,0,0,0,0,0,0,26.13,26.42,28.83
$GC,5191,0.55,339.9,167.8,8.8,268,5223,0.00,2.12,26.90,0.942,4,0.000,0.046,3508,1044,1659,0,0,0,0,0,0,28.83,25.96,25.20
$GC,5246,0.68,391.4,164.5,8.2,270,5297,0.17,2.12,43.35,0.944,6,0.103,0.042,3570,2441,1449,0,0,0,0,0,0,26.05,26.07,24.70
$GC,5616,0.65,391.4,111.2,15.6,289,5622,0.00,2.15,0.00,0.000,4,0.000,0.051,3579,1042,1440,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5635,0.61,391.4,111.2,15.6,289,5642,0.12,2.10,0.00,0.000,6,0.197,0.041,3553,2434,1439,0,0,0,0,0,0,26.11,26.33,28.83
$GC,5941,0.73,417.3,77.5,9.1,305,5964,0.00,0.00,20.70,0.819,6,0.000,0.000,3553,2434,1343,0,0,0,0,0,0,28.83,28.83,25.39
$GC,6261,1.10,538.5,56.1,5.8,321,6368,0.40,2.25,97.70,0.806,4,0.084,0.051,3701,3832,848,0,0,0,0,0,0,26.39,25.34,24.70
$GC,6407,1.00,538.5,33.1,19.0,332,6413,0.15,2.10,0.00,0.000,6,0.203,0.031,3679,2441,845,0,0,0,0,0,0,25.56,25.76,28.83
$STATE,6589,end climb,SURFACE_DEPTH_REACHED
$STATE,6589,begin surface coast
$FINISH,1.0,1.011971
$STATE,6610,end surface coast,CONTROL_FINISHED_OK
$STATE,6610,begin surface
$SM_CCo,6692,0.00,0.000,0,0,839,540.89
$SM_GC,1.64,10.23,0.25,0.00,0.074,0.064,0.000,63,2627,839,-10.25,-1.02,540.89,0,0,0,0,0,0,26.06,26.22,28.83
$IRIDIUM_FIX,2255.72,12127.55,130312,040434
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.79
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.4,2.860
$10V_AH,9.5,2.159
$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,28.600,61.525,588.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.934,1154.156,3888.471,570.295,1006.287,149.667,0.000,1199.993,0.000,978.453,0.000,0.545,0.000
$DEVICE_MAMPS,285.345,64.260,1066.410,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6581.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,25.871,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,10120,352
$CAP_FILE_SIZE,101893,0
$CFSIZE,260165632,251482112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.178, 39.2,1
$GPS,130312,061106,2308.076,12129.343,12,1.0,29,-3.0