version: 66.12
glider: 223
mission: 2
dive: 8
start: 7 14 116 1 28 2
data:
$ID,223
$MISSION,2
$DIVE,8
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,3
$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,90
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53472
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$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,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3880
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256899
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,18
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3890
$ROLL_DEG,40
$C_ROLL_DIVE,2035
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2744
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,20
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-186.36586
$PRESSURE_SLOPE,0.0001081376
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.25
$DEEPGLIDER,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,97
$COMPASS2_DEVICE,149
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044087539
$SEABIRD_T_H,0.00063761615
$SEABIRD_T_I,2.5496534e-05
$SEABIRD_T_J,3.0755168e-06
$SEABIRD_C_G,-9.8995104
$SEABIRD_C_H,1.1242845
$SEABIRD_C_I,-0.0021703816
$SEABIRD_C_J,0.00023950715
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140716,011906,4744.0391,-12224.3955,2,0.7,3,15.9,0.1,0.0,12,7.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.6
$GPS2,140716,012748,4744.0317,-12224.3916,3,0.8,5,15.9,0.1,0.0,10,5.3
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,58.4,1153,-9.5,-6.667,-15.00,4216
$D_GRID,174
$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,14,begin dive
$GC,15,-0.71,-146.6,234,2054,1614,1590,0.0,0.0,0,79,0.00,0.00,-62.62,0.000,16386,0.000,0.000,233,2053,3342,3352,3333,0,0,0,0,0,0,15.19,28.83,15.19
$GC,80,-0.71,-146.6,234,2054,3352,3334,4.9,-8.3,3,96,9.98,2.53,0.00,0.000,2564,0.376,0.106,2583,625,3343,3354,3332,0,0,0,0,0,0,14.80,14.91,15.02
$GC,148,-0.71,-146.6,2582,624,3360,3330,19.7,-22.1,6,153,0.00,2.40,0.00,0.000,1030,0.000,0.089,2576,2022,3343,3358,3329,0,0,0,0,0,0,15.05,14.95,15.07
$GC,221,-0.71,-146.6,2575,2023,3361,3328,29.1,-11.6,10,225,0.00,2.47,0.00,0.000,260,0.000,0.108,2571,3446,3343,3359,3327,0,0,0,0,0,0,15.18,14.90,15.19
$GC,269,-0.71,-146.6,2572,3447,3359,3326,33.6,-11.2,12,274,0.00,2.35,0.00,0.000,1030,0.000,0.071,2571,2036,3343,3360,3326,0,0,0,0,0,0,15.05,14.95,15.07
$GC,341,-0.71,-146.6,2571,2037,3361,3326,43.6,-12.3,16,346,0.00,2.47,0.00,0.000,516,0.000,0.112,2571,627,3342,3359,3326,0,0,0,0,0,0,15.19,14.92,15.19
$GC,394,-0.71,-146.6,2570,627,3361,3326,49.3,-13.7,18,399,0.00,2.42,0.00,0.000,1030,0.000,0.090,2571,2036,3339,3353,3326,0,0,0,0,0,0,15.07,14.97,15.09
$GC,522,-0.71,-146.6,2571,2037,3361,3326,66.4,-11.9,25,527,0.00,2.45,0.00,0.000,260,0.000,0.109,2571,3446,3342,3359,3325,0,0,0,0,0,0,15.23,14.96,15.23
$GC,619,-0.71,-146.6,2571,3446,3361,3326,75.4,-11.2,29,625,0.00,2.35,0.00,0.000,1030,0.000,0.070,2571,2035,3341,3359,3324,0,0,0,0,0,0,15.09,14.99,15.09
$GC,743,-0.71,-146.6,2570,2035,3361,3325,91.7,-11.7,36,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2035,3344,3363,3325,0,0,0,0,0,0,15.25,15.25,15.25
$GC,863,-0.71,-146.6,2569,2034,3362,3326,104.8,-10.8,42,868,0.00,2.47,0.00,0.000,260,0.000,0.109,2571,3451,3342,3360,3325,0,0,0,0,0,0,15.26,15.00,15.26
$GC,883,-0.71,-146.6,2572,3452,3359,3325,106.9,-10.6,43,888,0.00,2.38,0.00,0.000,1030,0.000,0.071,2571,2025,3342,3360,3325,0,0,0,0,0,0,15.12,15.02,15.14
$GC,1024,-0.71,-146.6,2571,2025,3361,3325,121.6,-10.7,50,1029,0.00,2.45,0.00,0.000,516,0.000,0.114,2571,628,3342,3360,3324,0,0,0,0,0,0,15.27,15.00,15.27
$GC,1068,-0.71,-146.6,2572,629,3359,3325,126.2,-11.0,52,1073,0.00,2.40,0.00,0.000,1030,0.000,0.088,2571,2036,3342,3359,3325,0,0,0,0,0,0,15.13,15.02,15.14
$GC,1205,-0.71,-146.6,2571,2037,3361,3325,141.1,-10.3,59,1209,0.00,2.45,0.00,0.000,260,0.000,0.110,2571,3449,3341,3359,3324,0,0,0,0,0,0,15.26,15.01,15.26
$GC,1261,-0.71,-146.6,2572,3450,3359,3325,145.6,-10.8,61,1267,0.00,2.35,0.00,0.000,1030,0.000,0.071,2572,2034,3342,3360,3324,0,0,0,0,0,0,15.11,15.01,15.12
$GC,1385,-0.71,-146.6,2571,2034,3361,3324,160.4,-10.5,68,1390,0.00,2.45,0.00,0.000,516,0.000,0.112,2570,628,3341,3359,3324,0,0,0,0,0,0,15.28,15.01,15.27
$GC,1413,-0.71,-146.6,2571,629,3358,3324,162.9,-10.8,69,1418,0.00,2.40,0.00,0.000,1030,0.000,0.088,2571,2036,3341,3360,3323,0,0,0,0,0,0,15.12,15.02,15.14
$STATE,1525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1525,begin apogee
$GC,1528,-0.28,0.0,2571,1978,3361,3324,175.2,-9.9,75,1659,0.50,0.00,123.35,2.033,10246,0.190,0.000,2725,1977,2744,2784,2705,0,0,0,0,1,0,14.97,14.28,13.47
$STATE,1660,end apogee,CONTROL_FINISHED_OK
$STATE,1660,begin climb
$GC,1661,0.71,146.6,2725,1978,2789,2708,179.8,0.0,81,1801,0.98,2.62,130.30,1.115,10756,0.142,0.116,3035,591,2133,2172,2094,0,0,0,0,0,0,14.24,14.31,13.91
$GC,1857,0.77,202.1,3037,592,2168,2093,173.5,5.3,90,1913,0.00,2.50,46.78,1.183,9222,0.000,0.081,3036,1995,1922,1965,1879,0,0,0,0,1,0,14.66,14.54,13.66
$GC,2029,0.78,205.8,3038,1995,1989,1889,162.2,6.6,99,2046,0.05,2.53,11.70,1.084,10500,0.236,0.106,3063,3401,1896,1942,1850,0,0,0,0,0,0,14.69,14.60,14.20
$GC,2122,0.78,205.8,3064,3402,1935,1849,155.1,8.9,103,2127,0.00,2.40,0.00,0.000,1030,0.000,0.071,3071,1990,1892,1937,1848,0,0,0,0,0,0,14.83,14.73,14.85
$GC,2250,0.78,205.8,3072,1990,1936,1848,143.2,8.5,110,2255,0.00,2.53,0.00,0.000,516,0.000,0.119,3081,576,1890,1935,1846,0,0,0,0,0,0,15.07,14.78,15.07
$GC,2291,0.78,205.8,3080,576,1937,1847,139.8,8.3,112,2296,0.00,2.42,0.00,0.000,1030,0.000,0.082,3082,1994,1891,1936,1847,0,0,0,0,0,0,14.93,14.83,14.94
$GC,2432,0.78,205.8,3083,1995,1935,1848,128.9,7.9,119,2437,0.00,2.45,0.00,0.000,260,0.000,0.105,3081,3403,1890,1934,1847,0,0,0,0,0,0,15.15,14.88,15.15
$GC,2496,0.78,205.8,3082,3403,1935,1848,123.5,8.8,122,2501,0.00,2.38,0.00,0.000,1030,0.000,0.072,3088,1988,1891,1935,1847,0,0,0,0,0,0,15.02,14.92,15.04
$GC,2633,0.78,205.8,3088,1989,1937,1848,112.1,7.9,129,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,1988,1891,1935,1847,0,0,0,0,0,0,15.20,15.21,15.20
$GC,2753,0.78,205.8,3089,1988,1935,1846,102.2,8.2,135,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1988,1891,1935,1847,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2873,0.78,205.8,3088,1989,1937,1848,91.0,9.5,141,2873,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,1988,1891,1935,1847,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2993,0.78,205.8,3088,1989,1937,1848,79.4,9.6,147,2998,0.00,2.42,0.00,0.000,260,0.000,0.102,3088,3396,1891,1935,1847,0,0,0,0,0,0,15.23,15.00,15.23
$GC,3057,0.78,205.8,3088,3397,1936,1848,73.4,9.7,150,3062,0.00,2.35,0.00,0.000,1030,0.000,0.071,3095,1991,1890,1934,1847,0,0,0,0,0,0,15.11,15.01,15.12
$GC,3194,0.78,205.8,3094,1991,1936,1848,60.5,9.4,157,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1991,1890,1934,1847,0,0,0,0,0,0,15.23,15.23,15.23
$GC,3314,0.78,205.8,3094,1991,1936,1848,49.3,9.4,163,3318,0.00,2.42,0.00,0.000,260,0.000,0.103,3095,3397,1890,1933,1847,0,0,0,0,0,0,15.25,15.00,15.22
$GC,3386,0.78,205.8,3095,3397,1933,1848,43.9,8.9,166,3391,0.10,2.35,0.00,0.000,5126,0.277,0.071,3076,1984,1890,1933,1847,0,0,0,0,0,0,14.92,15.00,15.09
$GC,3515,0.79,218.2,3076,1984,1935,1848,34.5,6.4,173,3524,0.00,2.45,4.47,0.271,8708,0.000,0.115,3085,586,1857,1904,1811,0,0,0,0,0,0,15.25,14.97,14.88
$GC,3548,0.81,227.6,3085,586,1917,1821,33.0,6.4,174,3559,0.00,2.38,6.43,0.272,9222,0.000,0.081,3085,1992,1814,1860,1769,0,0,0,0,0,0,15.11,15.01,14.90
$GC,3616,0.81,227.6,3084,1992,1882,1780,27.3,7.2,178,3621,0.00,2.42,1.83,0.243,8452,0.000,0.102,3085,3396,1818,1868,1768,0,0,0,0,0,0,15.23,14.98,14.88
$GC,3701,0.81,227.6,3084,3396,1883,1779,20.1,8.8,182,3707,0.00,2.35,1.75,0.239,9222,0.000,0.071,3094,1992,1814,1862,1767,0,0,0,0,0,0,15.08,14.98,14.91
$GC,3778,0.81,227.6,3094,1992,1884,1778,13.0,8.8,186,3784,0.00,2.47,1.85,0.241,8708,0.000,0.116,3098,583,1816,1868,1765,0,0,0,0,0,0,15.23,14.95,14.91
$GC,3803,0.81,227.6,3097,583,1877,1776,11.2,8.5,187,3809,0.00,2.38,1.27,0.265,9222,0.000,0.081,3098,1990,1813,1863,1763,0,0,0,0,0,0,15.08,14.99,14.92
$GC,3880,0.81,227.6,3098,1990,1883,1775,4.0,8.9,191,3886,0.00,2.42,1.50,0.249,8452,0.000,0.102,3098,3394,1815,1867,1763,0,0,0,0,0,0,15.22,14.98,14.92
$STATE,3900,end climb,SURFACE_DEPTH_REACHED
$STATE,3901,begin surface coast
$FINISH,0.3,1.021309
$STATE,3921,end surface coast,CONTROL_FINISHED_OK
$STATE,3921,begin surface
$SM_CCo,3936,26.15,0.187,0,0,1600,280.13
$SM_GC,2.18,8.23,2.35,26.15,0.083,0.079,0.187,233,2034,1600,-8.04,0.65,280.13,0,0,0,0,0,0,15.00,15.00,14.90
$IRIDIUM_FIX,4722.92,-12222.38,140716,012227
$TT8_MAMPS,0.038948,0.894306
$HUMID,53.15
$INTERNAL_PRESSURE,9.20542
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.1,5.9
$ALTIM_BOTTOM_PING,100.5,5.8
$SC_FREEKB,3906976
$24V_AH,13.47,1.623
$10V_AH,13.47,0.000
$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,19.825,87.500,331.225,26.150,0.000,0.000,0.000,0.000,0.750,0.000,7.215,0.000,2598.695,463.244,923.390,21.596,0.000,886.542,0.000,680.957,0.000,7.031,0.000
$DEVICE_MAMPS,375.615,169.830,2033.370,187.425,0.000,0.000,0.000,0.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3892.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.756,0.000,0.000,0.000
$MEM,194280
$DATA_FILE_SIZE,6834,193
$CAP_FILE_SIZE,96449,0
$CFSIZE,1024409600,1020952576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,023442,4744.264,-12223.724,18,1.1,19,15.9,0.4,235.6,9,9.6