version: 66.10
glider: 140
mission: 12
dive: 6
start: 3 13 112 8 26 24
data:
$ID,140
$MISSION,12
$DIVE,6
$N_DIVES,10
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,-789606.88
$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,67
$R_STBD_OVSHOOT,59
$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
$GPS1,130312,081915,2309.675,12130.808,7,1.4,14,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-67.8
$GPS2,130312,082556,2309.928,12130.872,13,1.6,13,-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,76.1,255192,-14.9,-10.000
$D_GRID,1213
$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,-194.6,0.0,0.0,0,72,0.00,0.00,-51.28,0.000,2,0.000,0.000,59,2621,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.95,-194.6,3.2,-5.0,5,114,13.75,2.17,-17.90,0.000,4,0.284,0.054,3035,1224,3843,0,0,0,0,0,0,25.82,26.21,26.54
$GC,165,-0.69,-194.6,18.3,-19.7,13,173,0.35,2.05,0.00,0.000,6,0.216,0.041,3124,2582,3845,0,0,0,0,0,0,25.98,26.29,28.83
$GC,482,-0.66,-194.6,67.3,-14.5,39,487,0.00,2.05,0.00,0.000,4,0.000,0.040,3124,1220,3847,0,0,0,0,0,0,28.83,26.44,28.83
$GC,631,-0.73,-194.6,83.9,-9.5,46,636,0.00,2.08,0.00,0.000,6,0.000,0.041,3124,2608,3848,0,0,0,0,0,0,28.83,26.52,28.83
$GC,951,-0.85,-194.6,110.3,-8.3,62,957,0.12,1.92,0.00,0.000,4,0.125,0.053,3073,3890,3850,0,0,0,0,0,0,26.59,26.55,28.83
$GC,985,-0.95,-194.6,112.8,-8.7,63,990,0.00,1.80,0.00,0.000,6,0.000,0.028,3073,2576,3850,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1299,-0.98,-194.6,143.5,-9.5,79,1306,0.12,1.95,0.00,0.000,4,0.123,0.035,3022,1247,3850,0,0,0,0,0,0,26.64,26.63,28.83
$GC,1388,-0.95,-194.6,154.5,-12.8,83,1394,0.00,2.03,0.00,0.000,6,0.000,0.041,3022,2609,3851,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1712,-0.90,-194.6,194.7,-11.2,99,1718,0.12,1.95,0.00,0.000,4,0.248,0.056,3051,3889,3850,0,0,0,0,0,0,26.40,26.63,28.83
$GC,1790,-0.90,-194.6,201.3,-10.7,102,1797,0.00,1.77,0.00,0.000,6,0.000,0.030,3051,2593,3851,0,0,0,0,0,0,28.83,26.78,28.83
$GC,2097,-0.94,-194.6,233.4,-9.6,118,2102,0.00,1.98,0.00,0.000,4,0.000,0.037,3052,1239,3850,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2277,-1.00,-194.6,250.9,-11.0,126,2283,0.00,2.05,0.00,0.000,6,0.000,0.043,3051,2609,3850,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2583,-1.05,-194.6,283.0,-9.5,142,2589,0.12,2.00,0.00,0.000,4,0.138,0.036,3003,1246,3848,0,0,0,0,0,0,26.70,26.69,28.83
$GC,2729,-1.02,-194.6,299.4,-11.3,149,2734,0.00,2.03,0.00,0.000,6,0.000,0.044,3003,2609,3848,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3053,-0.98,-194.6,332.5,-10.3,165,3059,0.00,1.95,0.00,0.000,4,0.000,0.061,3003,3883,3847,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3132,-0.94,-194.6,339.8,-10.8,168,3139,0.17,1.77,0.00,0.000,6,0.213,0.032,3043,2609,3846,0,0,0,0,0,0,26.34,26.82,28.83
$GC,3438,-0.98,-194.6,371.1,-9.4,184,3443,0.00,2.03,0.00,0.000,4,0.000,0.040,3043,1234,3844,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3605,-1.05,-194.6,387.2,-10.1,192,3611,0.00,2.08,0.00,0.000,6,0.000,0.046,3044,2605,3842,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3925,-1.11,-194.6,417.0,-9.4,208,3931,0.12,2.05,0.00,0.000,4,0.136,0.039,2995,1226,3840,0,0,0,0,0,0,26.70,26.66,28.83
$GC,4040,-1.07,-194.6,428.7,-11.5,213,4047,0.00,2.08,0.00,0.000,6,0.000,0.048,2996,2608,3839,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4356,-1.03,-194.6,463.4,-10.0,229,4361,0.00,2.05,0.00,0.000,4,0.000,0.042,2996,1229,3837,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4401,-1.00,-194.6,467.7,-9.7,231,4407,0.12,2.08,0.00,0.000,6,0.252,0.047,3021,2603,3836,0,0,0,0,0,0,26.29,26.67,28.83
$GC,4725,-1.00,-194.6,494.7,-8.3,247,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2603,3834,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5027,-1.00,-194.6,522.5,-10.7,262,5032,0.00,2.08,0.00,0.000,4,0.000,0.044,3020,1228,3832,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5050,-1.00,-194.6,524.9,-10.6,263,5055,0.00,2.08,0.00,0.000,6,0.000,0.050,3021,2599,3832,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5373,-1.00,-194.6,562.0,-11.0,279,5379,0.00,2.08,0.00,0.000,4,0.000,0.044,3021,1228,3830,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5441,-1.00,-194.6,568.2,-9.9,282,5446,0.00,2.10,0.00,0.000,6,0.000,0.048,3021,2603,3830,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5760,-1.00,-194.6,596.1,-9.6,298,5765,0.00,2.08,0.00,0.000,4,0.000,0.043,3021,1229,3827,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5832,-1.00,-194.6,602.5,-10.0,301,5837,0.00,2.10,0.00,0.000,6,0.000,0.050,3021,2601,3827,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6159,-1.03,-194.6,630.9,-8.1,312,6164,0.00,2.08,0.00,0.000,4,0.000,0.043,3021,1226,3824,0,0,0,0,0,0,28.83,26.60,28.83
$GC,6253,-1.07,-194.6,638.7,-8.1,315,6258,0.00,2.10,0.00,0.000,6,0.000,0.050,3020,2610,3824,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,6554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6554,begin apogee
$GC,6561,-0.24,0.0,660.8,-7.3,325,6725,0.85,0.00,157.93,1.330,6,0.183,0.000,3266,2440,3045,0,0,0,0,0,0,26.08,28.83,23.99
$STATE,6726,end apogee,CONTROL_FINISHED_OK
$STATE,6727,begin climb
$GC,6730,0.95,194.6,662.5,0.0,330,6906,1.23,2.38,166.65,1.289,4,0.116,0.061,3649,3838,2249,0,0,0,0,0,0,24.95,24.73,23.89
$GC,7125,0.47,194.6,585.0,23.5,345,7132,0.62,2.10,0.00,0.000,6,0.233,0.036,3509,2437,2240,0,0,0,0,0,0,25.60,25.93,28.83
$GC,7446,0.36,194.6,544.5,11.2,361,7451,0.15,2.22,0.00,0.000,4,0.210,0.060,3463,3836,2238,0,0,0,0,0,0,25.98,26.17,28.83
$GC,7505,0.27,195.3,540.2,10.0,363,7512,0.12,2.10,0.00,0.000,6,0.210,0.036,3445,2423,2237,0,0,0,0,0,0,26.01,26.31,28.83
$GC,7810,0.32,230.7,514.9,8.8,379,7842,0.00,0.00,30.23,1.190,6,0.000,0.000,3444,2423,2104,0,0,0,0,0,0,28.83,28.83,24.76
$GC,8132,0.39,252.0,485.3,9.3,395,8153,0.00,0.00,19.45,1.151,6,0.000,0.000,3445,2423,2017,0,0,0,0,0,0,28.83,28.83,24.81
$GC,8452,0.45,252.0,453.2,10.2,411,8454,0.17,0.00,0.00,0.000,6,0.107,0.000,3502,2422,2010,0,0,0,0,0,0,26.17,28.83,28.83
$GC,8753,0.40,252.0,416.1,12.1,426,8759,0.00,2.22,0.00,0.000,4,0.000,0.063,3502,3839,2009,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8802,0.33,252.0,410.4,12.1,428,8808,0.22,2.10,0.00,0.000,6,0.193,0.036,3458,2422,2008,0,0,0,0,0,0,26.13,26.41,28.83
$GC,9122,0.46,320.3,382.8,7.6,444,9191,0.12,2.28,59.60,1.144,4,0.125,0.053,3513,1036,1738,0,0,0,0,0,0,26.44,25.22,24.42
$GC,9249,0.46,320.3,370.1,10.6,450,9255,0.00,2.20,0.00,0.000,6,0.000,0.044,3513,2434,1732,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9569,0.42,320.3,333.3,11.2,466,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,2435,1728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9871,0.42,320.3,298.3,11.1,481,9876,0.00,2.17,0.00,0.000,4,0.000,0.053,3523,1035,1726,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9939,0.42,320.3,291.1,11.0,484,9945,0.15,2.15,0.00,0.000,6,0.190,0.045,3488,2447,1725,0,0,0,0,0,0,26.13,26.35,28.83
$GC,10259,0.47,329.9,259.0,9.7,500,10273,0.00,2.22,7.10,0.900,4,0.000,0.051,3496,1039,1699,0,0,0,0,0,0,28.83,26.29,25.38
$GC,10353,0.58,371.1,251.8,8.6,504,10397,0.12,2.12,37.05,1.040,6,0.121,0.044,3539,2440,1532,0,0,0,0,0,0,26.31,26.34,24.77
$GC,10705,0.55,371.1,208.3,12.3,522,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2440,1523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11007,0.55,371.1,169.4,12.5,537,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,3539,2441,1521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11309,0.55,371.1,133.9,12.1,552,11314,0.00,2.15,0.00,0.000,4,0.000,0.051,3546,1042,1521,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11383,0.55,371.1,126.0,11.9,555,11388,0.00,2.10,0.00,0.000,6,0.000,0.042,3545,2432,1520,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11697,0.63,433.3,93.4,7.8,571,11756,0.00,0.00,51.25,0.896,6,0.000,0.000,3546,2432,1277,0,0,0,0,0,0,28.83,28.83,24.87
$GC,12057,0.93,467.0,69.1,8.8,589,12092,0.28,2.20,28.33,0.838,4,0.115,0.045,3641,1036,1140,0,0,0,0,0,0,26.07,25.67,24.96
$GC,12162,1.02,467.0,57.5,11.4,594,12169,0.12,2.15,0.00,0.000,6,0.122,0.040,3683,2438,1137,0,0,0,0,0,0,25.85,25.91,28.83
$STATE,12474,end climb,SURFACE_DEPTH_REACHED
$STATE,12475,begin surface coast
$FINISH,1.6,1.022138
$STATE,12499,end surface coast,CONTROL_FINISHED_OK
$STATE,12499,begin surface
$SM_CCo,12581,0.00,0.000,0,0,1130,469.75
$SM_GC,2.39,10.62,0.25,0.00,0.093,0.065,0.000,59,2607,1130,-10.26,-0.96,469.75,0,0,0,0,0,0,26.09,26.28,28.83
$IRIDIUM_FIX,2300.41,12130.77,130312,060659
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.81
$INTERNAL_PRESSURE,8.04718
$TCM_TEMP,22.20
$XPDR_PINGS,0
$24V_AH,23.9,3.214
$10V_AH,10.0,2.378
$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,29.825,95.900,557.575,0.000,0.000,30.686,41.278,141.002,0.000,0.000,16.094,2097.630,8083.310,595.724,1875.877,336.363,0.000,1508.462,0.000,1603.328,0.000,0.543,0.000
$DEVICE_MAMPS,283.815,66.555,1329.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12515.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,20.217,0.000,0.000,0.000
$MEM,324476
$DATA_FILE_SIZE,16738,624
$CAP_FILE_SIZE,149991,0
$CFSIZE,260165632,251314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 24.2,1
$GPS,130312,115722,2311.538,12133.051,23,1.8,38,-3.0