version: 66.10
glider: 140
mission: 12
dive: 7
start: 3 13 112 12 5 18
data:
$ID,140
$MISSION,12
$DIVE,7
$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,-789608.12
$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,3365
$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,2525
$C_ROLL_CLIMB,2430
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,37
$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
$GPS1,130312,115722,2311.538,12133.051,23,1.8,38,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-65.4
$GPS2,130312,120450,2311.859,12133.207,11,1.4,11,-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,76.6,250377,-14.9,-10.000
$D_GRID,1231
$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,-51.47,0.000,2,0.000,0.000,59,2612,2821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.95,-194.6,3.6,-5.0,5,119,14.05,2.28,-19.48,0.000,4,0.286,0.054,3050,1140,3843,0,0,0,0,0,0,25.70,26.07,26.41
$GC,248,-0.73,-194.6,35.4,-21.3,21,256,0.28,2.10,0.00,0.000,6,0.221,0.042,3119,2526,3844,0,0,0,0,0,0,25.94,26.23,28.83
$GC,554,-0.73,-194.6,79.6,-12.2,41,560,0.00,2.08,0.00,0.000,4,0.000,0.058,3119,3886,3846,0,0,0,0,0,0,28.83,26.35,28.83
$GC,779,-0.84,-194.6,99.5,-8.9,52,786,0.00,1.98,0.00,0.000,6,0.000,0.028,3119,2475,3847,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1104,-0.96,-194.6,130.3,-9.5,68,1110,0.17,1.92,0.00,0.000,4,0.111,0.036,3051,1175,3850,0,0,0,0,0,0,26.51,26.52,28.83
$GC,1163,-1.02,-194.6,135.8,-11.0,70,1170,0.00,2.03,0.00,0.000,6,0.000,0.041,3051,2533,3850,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1468,-1.02,-194.6,177.2,-12.3,86,1474,0.00,2.03,0.00,0.000,4,0.000,0.039,3051,1175,3850,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1612,-1.02,-194.6,192.0,-9.7,93,1617,0.00,2.03,0.00,0.000,6,0.000,0.042,3051,2533,3850,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1936,-1.02,-194.6,223.9,-10.7,109,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2533,3850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2238,-1.02,-194.6,254.4,-9.4,124,2244,0.00,2.05,0.00,0.000,4,0.000,0.058,3051,3879,3849,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2384,-1.02,-194.6,268.1,-9.1,131,2390,0.00,1.90,0.00,0.000,6,0.000,0.031,3051,2513,3848,0,0,0,0,0,0,28.83,26.76,28.83
$GC,2709,-1.08,-194.6,294.7,-7.3,147,2715,0.00,2.00,0.00,0.000,4,0.000,0.039,3051,1167,3847,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2783,-1.13,-194.6,299.7,-7.5,150,2789,0.15,2.05,0.00,0.000,6,0.127,0.044,2999,2536,3847,0,0,0,0,0,0,26.59,26.67,28.83
$GC,3098,-1.08,-194.6,334.5,-10.7,166,3103,0.00,2.05,0.00,0.000,4,0.000,0.060,2999,3882,3846,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3131,-1.04,-194.6,337.2,-10.9,167,3138,0.12,1.90,0.00,0.000,6,0.213,0.031,3025,2536,3846,0,0,0,0,0,0,26.40,26.78,28.83
$GC,3447,-1.04,-194.6,368.9,-9.4,183,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2536,3844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3749,-1.04,-194.6,396.8,-8.6,198,3755,0.00,2.05,0.00,0.000,4,0.000,0.042,3025,1151,3841,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3833,-1.04,-194.6,404.8,-9.1,202,3839,0.00,2.08,0.00,0.000,6,0.000,0.047,3025,2524,3841,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4158,-1.04,-194.6,433.2,-9.1,218,4163,0.00,2.05,0.00,0.000,4,0.000,0.043,3025,1152,3839,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4235,-1.04,-194.6,439.6,-9.8,221,4242,0.00,2.08,0.00,0.000,6,0.000,0.047,3025,2533,3839,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4541,-1.04,-194.6,467.7,-7.4,237,4547,0.00,2.05,0.00,0.000,4,0.000,0.043,3025,1158,3837,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4651,-1.04,-194.6,476.0,-8.1,242,4656,0.00,2.08,0.00,0.000,6,0.000,0.047,3025,2528,3836,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4971,-1.07,-194.6,502.9,-8.9,258,4976,0.00,2.10,0.00,0.000,4,0.000,0.067,3025,3879,3833,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5044,-1.10,-194.6,508.7,-8.9,261,5049,0.00,1.92,0.00,0.000,6,0.000,0.034,3025,2521,3833,0,0,0,0,0,0,28.83,26.79,28.83
$GC,5358,-1.14,-194.6,537.4,-8.7,277,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2520,3831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5662,-1.17,-194.6,562.4,-8.8,292,5667,0.12,2.08,0.00,0.000,4,0.138,0.042,2980,1144,3829,0,0,0,0,0,0,26.67,26.62,28.83
$GC,5772,-1.11,-194.6,573.9,-10.8,297,5779,0.00,2.10,0.00,0.000,6,0.000,0.050,2980,2530,3828,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6103,-1.05,-194.6,610.5,-11.2,312,6109,0.15,2.08,0.00,0.000,4,0.252,0.044,3019,1152,3826,0,0,0,0,0,0,26.27,26.59,28.83
$GC,6156,-1.01,-194.6,614.0,-10.9,313,6162,0.00,2.10,0.00,0.000,6,0.000,0.049,3020,2526,3826,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6473,-1.04,-194.6,645.2,-9.3,324,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2526,3824,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6617,begin apogee
$GC,6624,-0.24,0.0,661.0,-10.5,329,6788,0.88,0.00,158.73,1.308,6,0.180,0.000,3276,2444,3045,0,0,0,0,0,0,26.22,28.83,23.96
$STATE,6790,end apogee,CONTROL_FINISHED_OK
$STATE,6790,begin climb
$GC,6793,0.95,194.6,669.1,0.0,334,6971,1.20,2.35,167.18,1.274,4,0.101,0.060,3662,3833,2250,0,0,0,0,0,0,24.89,24.64,23.80
$GC,7075,0.44,194.6,629.5,21.3,344,7081,0.68,2.15,0.00,0.000,6,0.236,0.034,3516,2420,2243,0,0,0,0,0,0,25.31,25.57,28.83
$GC,7390,0.31,194.6,594.8,10.4,355,7397,0.17,2.28,0.00,0.000,4,0.208,0.060,3463,3835,2239,0,0,0,0,0,0,25.84,26.03,28.83
$GC,7421,0.18,194.6,592.3,10.2,356,7427,0.17,2.12,0.00,0.000,6,0.196,0.036,3431,2415,2238,0,0,0,0,0,0,25.86,26.15,28.83
$GC,7740,0.38,310.7,571.8,6.0,372,7849,0.17,2.25,101.12,1.263,4,0.108,0.052,3500,1042,1777,0,0,0,0,0,0,26.26,24.84,23.96
$GC,7889,0.34,310.7,558.0,10.6,379,7895,0.00,2.22,0.00,0.000,6,0.000,0.044,3500,2432,1770,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8208,0.30,310.7,518.7,12.3,395,8214,0.12,2.17,0.00,0.000,4,0.207,0.050,3477,1046,1764,0,0,0,0,0,0,25.89,26.05,28.83
$GC,8272,0.30,310.7,511.7,11.2,398,8278,0.00,2.15,0.00,0.000,6,0.000,0.045,3477,2445,1764,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8596,0.30,310.7,476.7,11.2,414,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,2445,1762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8899,0.30,310.7,441.2,11.5,429,8904,0.00,2.15,0.00,0.000,4,0.000,0.053,3487,1041,1760,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9015,0.33,310.7,430.2,10.3,434,9020,0.00,2.12,0.00,0.000,6,0.000,0.046,3487,2432,1759,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9328,0.33,310.7,397.4,10.1,450,9335,0.00,2.15,0.00,0.000,4,0.000,0.048,3495,1039,1759,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9363,0.39,327.8,395.3,9.4,451,9382,0.00,2.12,12.93,1.086,6,0.000,0.049,3495,2431,1707,0,0,0,0,0,0,28.83,26.51,25.24
$GC,9696,0.70,385.5,366.6,8.0,468,9756,0.25,2.25,51.70,1.149,4,0.102,0.051,3597,1048,1472,0,0,0,0,0,0,26.31,25.24,24.41
$GC,9911,0.49,385.5,334.2,19.0,478,9916,0.28,2.15,0.00,0.000,6,0.203,0.043,3531,2430,1465,0,0,0,0,0,0,25.67,25.90,28.83
$GC,10225,0.45,385.5,286.0,14.2,494,10230,0.00,2.17,0.00,0.000,4,0.000,0.054,3539,1046,1462,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10289,0.41,385.5,277.2,14.1,497,10295,0.15,2.12,0.00,0.000,6,0.188,0.044,3504,2436,1461,0,0,0,0,0,0,26.03,26.25,28.83
$GC,10614,0.48,385.5,239.4,12.0,513,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2436,1459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10916,0.53,389.8,207.7,9.9,528,10922,0.00,2.12,0.00,0.000,4,0.000,0.051,3512,1041,1458,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10950,0.60,392.6,205.0,9.9,529,10962,0.15,2.10,4.97,0.746,6,0.116,0.044,3564,2431,1444,0,0,0,0,0,0,26.39,26.46,25.41
$GC,11261,0.54,392.6,159.2,15.0,545,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,2431,1443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11563,0.54,392.6,116.5,11.8,560,11568,0.00,2.12,0.00,0.000,4,0.000,0.049,3571,1043,1442,0,0,0,0,0,0,28.83,26.47,28.83
$GC,11626,0.54,392.6,108.6,11.9,563,11633,0.12,2.10,0.00,0.000,6,0.188,0.042,3543,2446,1441,0,0,0,0,0,0,26.31,26.51,28.83
$GC,11952,0.86,530.0,83.8,5.2,579,12071,0.28,0.00,114.18,0.874,6,0.090,0.000,3646,2446,884,0,0,0,0,0,0,26.52,28.83,24.39
$GC,12372,0.83,530.0,22.2,17.1,608,12377,0.00,2.17,0.00,0.000,4,0.000,0.048,3652,1032,876,0,0,0,0,0,0,28.83,26.01,28.83
$GC,12491,0.83,530.0,5.5,15.1,619,12499,0.00,2.10,0.00,0.000,6,0.000,0.038,3652,2426,875,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,12504,end climb,SURFACE_DEPTH_REACHED
$STATE,12504,begin surface coast
$FINISH,1.6,1.022355
$STATE,12526,end surface coast,CONTROL_FINISHED_OK
$STATE,12526,begin surface
$SM_CCo,12609,0.00,0.000,0,0,873,532.79
$SM_GC,2.21,10.35,0.12,0.00,0.082,0.090,0.000,58,2544,873,-10.31,-1.44,532.79,0,0,0,0,0,0,26.03,26.22,28.83
$IRIDIUM_FIX,2258.07,12130.77,130312,080803
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.53
$INTERNAL_PRESSURE,8.02765
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,23.8,3.432
$10V_AH,9.9,2.506
$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,30.025,101.025,610.800,0.000,0.000,28.141,26.841,185.011,0.000,0.000,13.919,2084.424,8062.540,648.472,1897.674,362.645,0.000,1571.162,0.000,1594.982,0.000,0.544,0.000
$DEVICE_MAMPS,286.110,97.155,1308.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12551.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.906,0.000,0.000,0.000
$MEM,324504
$DATA_FILE_SIZE,16747,623
$CAP_FILE_SIZE,152431,0
$CFSIZE,260165632,251219968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265, 20.6,1
$GPS,130312,153637,2313.812,12135.748,31,1.1,31,-3.1