version: 66.12
glider: 223
mission: 2
dive: 9
start: 7 14 116 2 46 26
data:
$ID,223
$MISSION,2
$DIVE,9
$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,20
$R_STBD_OVSHOOT,25
$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,1
$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
$GPS1,140716,023442,4744.2637,-12223.7236,18,1.1,19,15.9,0.4,235.6,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.2
$GPS2,140716,024613,4744.1890,-12223.7793,3,1.0,5,15.9,0.4,196.2,9,7.1
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,188.9,3036,-8.8,-6.667,-14.45,4636
$D_GRID,169
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.67,-146.6,232,2033,1622,1593,0.0,0.0,0,80,0.00,0.00,-63.28,0.000,16386,0.000,0.000,229,2034,3276,3287,3266,0,0,0,0,0,0,15.02,28.83,15.01
$GC,81,-0.67,-146.6,234,2034,3286,3266,4.5,-6.7,3,98,10.20,2.70,-1.30,0.000,18948,0.376,2.198,2597,628,3345,3369,3322,0,0,0,0,0,0,14.66,13.95,14.88
$GC,321,-0.67,-146.6,2598,629,3368,3322,36.6,-10.0,15,327,0.00,2.42,0.00,0.000,1030,0.000,0.086,2594,2034,3345,3369,3321,0,0,0,0,0,0,14.94,14.84,14.95
$GC,402,-0.67,-146.6,2595,2035,3368,3322,44.5,-9.9,19,407,0.00,2.47,0.00,0.000,260,0.000,0.108,2584,3445,3344,3368,3321,0,0,0,0,0,0,15.13,14.85,15.12
$GC,506,-0.67,-146.6,2585,3446,3368,3322,54.9,-10.5,24,511,0.00,2.38,0.00,0.000,1030,0.000,0.071,2584,2031,3345,3369,3321,0,0,0,0,0,0,14.98,14.88,15.00
$GC,643,-0.67,-146.6,2583,2031,3370,3322,68.3,-9.7,31,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2029,3345,3369,3321,0,0,0,0,0,0,15.17,15.17,15.17
$GC,763,-0.67,-146.6,2583,2031,3370,3322,81.5,-11.2,37,768,0.00,2.47,0.00,0.000,516,0.000,0.109,2588,622,3344,3368,3321,0,0,0,0,0,0,15.19,14.94,15.20
$GC,783,-0.67,-146.6,2586,623,3369,3322,84.1,-11.6,38,788,0.00,2.42,0.00,0.000,1030,0.000,0.086,2585,2040,3345,3369,3321,0,0,0,0,0,0,15.07,14.95,15.08
$GC,926,-0.67,-146.6,2584,2041,3371,3325,100.9,-11.7,45,931,0.00,2.45,0.00,0.000,260,0.000,0.109,2581,3448,3344,3368,3321,0,0,0,0,0,0,15.17,14.95,15.18
$GC,962,-0.67,-146.6,2579,3448,3370,3322,103.5,-11.6,46,969,0.00,2.38,0.00,0.000,1030,0.000,0.072,2580,2027,3345,3369,3321,0,0,0,0,0,0,15.07,14.97,15.07
$GC,1087,-0.67,-146.6,2579,2027,3370,3322,117.9,-9.9,53,1091,0.00,2.47,0.00,0.000,260,0.000,0.109,2574,3445,3344,3368,3321,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1143,-0.67,-146.6,2574,3445,3370,3322,122.0,-9.7,55,1150,0.10,2.38,0.00,0.000,3078,0.234,0.072,2604,2023,3345,3369,3321,0,0,0,0,0,0,14.94,14.99,15.08
$GC,1267,-0.67,-146.6,2604,2023,3368,3322,134.2,-8.4,62,1272,0.00,2.50,0.00,0.000,260,0.000,0.110,2601,3448,3345,3369,3321,0,0,0,0,0,0,15.24,14.99,15.24
$GC,1295,-0.67,-146.6,2599,3449,3370,3322,135.8,-8.3,63,1300,0.00,2.35,0.00,0.000,1030,0.000,0.072,2601,2034,3345,3369,3321,0,0,0,0,0,0,15.11,15.01,15.12
$GC,1428,-0.67,-146.6,2602,2034,3368,3321,146.5,-7.7,70,1433,0.00,2.47,0.00,0.000,260,0.000,0.109,2598,3451,3344,3368,3321,0,0,0,0,0,0,15.25,15.00,15.25
$GC,1452,-0.67,-146.6,2599,3452,3368,3321,148.3,-8.2,71,1457,0.00,2.38,0.00,0.000,1030,0.000,0.072,2598,2031,3344,3368,3321,0,0,0,0,0,0,15.11,15.00,15.11
$GC,1589,-0.67,-146.6,2598,2031,3370,3321,161.4,-9.1,78,1594,0.00,2.47,0.00,0.000,260,0.000,0.110,2596,3444,3344,3368,3321,0,0,0,0,0,0,15.26,15.00,15.26
$GC,1629,-0.67,-146.6,2597,3445,3368,3328,165.1,-9.1,80,1634,0.00,2.35,0.00,0.000,1030,0.000,0.071,2596,2031,3344,3368,3320,0,0,0,0,0,0,15.12,15.02,15.14
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1689,begin apogee
$GC,1692,-0.28,0.0,2598,1980,3368,3321,170.6,-9.1,83,1824,0.43,0.00,123.97,2.036,10246,0.184,0.000,2729,1979,2744,2782,2706,0,0,0,0,1,0,14.97,14.26,13.45
$STATE,1825,end apogee,CONTROL_FINISHED_OK
$STATE,1825,begin climb
$GC,1826,0.67,146.6,2729,1979,2788,2710,175.8,0.0,89,1965,0.93,2.65,125.95,2.008,10500,0.140,0.103,3018,3404,2150,2193,2107,0,0,0,0,1,0,14.21,14.14,13.41
$GC,1989,0.85,299.2,3017,3405,2203,2111,173.3,3.3,97,2141,0.15,2.45,139.07,1.483,11270,0.123,0.069,3081,1996,1525,1576,1474,0,0,0,0,1,0,14.34,14.36,13.43
$GC,2253,0.85,299.2,3080,1996,1591,1478,150.9,9.7,111,2259,0.00,2.58,1.20,0.261,8708,0.000,0.115,3085,574,1523,1582,1465,0,0,0,0,0,0,14.81,14.54,14.52
$GC,2290,0.85,299.2,3086,575,1590,1473,148.9,9.6,112,2296,0.00,2.47,0.00,0.000,1030,0.000,0.079,3084,1998,1531,1590,1472,0,0,0,0,0,0,14.73,14.64,14.74
$GC,2414,0.85,299.2,3085,1998,1589,1473,134.9,10.3,119,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,1998,1531,1590,1472,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2534,0.85,299.2,3086,1999,1590,1473,121.1,11.7,125,2539,0.00,2.45,0.00,0.000,260,0.000,0.103,3085,3400,1531,1591,1472,0,0,0,0,0,0,15.07,14.80,15.07
$GC,2566,0.85,299.2,3086,3401,1590,1473,118.6,11.8,126,2571,0.00,2.40,0.00,0.000,1030,0.000,0.070,3093,1981,1531,1591,1472,0,0,0,0,0,0,14.95,14.85,14.97
$GC,2695,0.85,299.2,3093,1981,1590,1473,102.5,11.1,133,2700,0.00,2.50,0.00,0.000,260,0.000,0.102,3093,3408,1531,1590,1472,0,0,0,0,0,0,15.14,14.86,15.14
$GC,2731,0.85,299.2,3093,3408,1592,1473,100.1,11.2,134,2738,0.00,2.38,0.00,0.000,1030,0.000,0.072,3100,1989,1531,1590,1472,0,0,0,0,0,0,15.01,14.91,15.02
$GC,2856,0.85,299.2,3101,1990,1590,1473,85.2,10.7,141,2860,0.00,2.50,0.00,0.000,516,0.000,0.116,3107,579,1531,1590,1472,0,0,0,0,0,0,15.16,14.90,15.16
$GC,2884,0.85,299.2,3108,578,1588,1473,82.8,11.2,142,2889,0.00,2.40,0.00,0.000,1030,0.000,0.081,3107,1994,1531,1590,1472,0,0,0,0,0,0,15.04,14.94,15.05
$GC,3017,0.85,299.2,3106,1994,1592,1473,65.6,12.3,149,3022,0.00,2.42,1.05,0.269,8452,0.000,0.101,3107,3396,1524,1582,1466,0,0,0,0,0,0,15.19,14.94,14.88
$GC,3049,0.85,299.2,3108,3396,1588,1469,62.9,12.4,150,3054,0.00,2.38,0.00,0.000,1030,0.000,0.072,3114,1982,1529,1589,1469,0,0,0,0,0,0,15.03,14.93,15.04
$GC,3178,0.85,299.2,3116,1983,1590,1470,45.4,12.3,157,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1982,1530,1591,1469,0,0,0,0,0,0,15.20,15.20,15.20
$GC,3298,0.85,299.2,3116,1983,1590,1470,34.2,9.1,163,3303,0.00,2.47,0.00,0.000,260,0.000,0.103,3115,3400,1530,1591,1469,0,0,0,0,0,0,15.21,14.97,15.21
$GC,3331,0.85,299.2,3115,3401,1590,1470,31.8,10.0,164,3336,0.00,2.38,0.00,0.000,1030,0.000,0.072,3122,1984,1530,1591,1469,0,0,0,0,0,0,15.05,14.96,15.07
$GC,3399,0.85,299.2,3122,1986,1589,1470,22.0,12.1,168,3404,0.00,2.47,0.00,0.000,516,0.000,0.117,3129,584,1530,1591,1469,0,0,0,0,0,0,15.21,14.94,15.21
$GC,3427,0.85,299.2,3130,585,1590,1470,19.8,11.9,169,3433,0.10,2.38,0.00,0.000,5126,0.275,0.080,3100,1990,1530,1591,1470,0,0,0,0,0,0,14.90,14.98,15.06
$GC,3500,0.85,299.2,3097,1991,1592,1470,11.5,10.2,173,3505,0.00,2.45,0.00,0.000,260,0.000,0.103,3100,3404,1530,1590,1470,0,0,0,0,0,0,15.21,14.95,15.21
$GC,3569,0.85,299.2,3099,3405,1592,1467,5.7,9.6,176,3574,0.00,2.40,0.00,0.000,1030,0.000,0.071,3108,1996,1530,1591,1470,0,0,0,0,0,0,15.04,14.97,15.06
$STATE,3621,end climb,SURFACE_DEPTH_REACHED
$STATE,3621,begin surface coast
$FINISH,0.3,1.020102
$STATE,3641,end surface coast,CONTROL_FINISHED_OK
$STATE,3641,begin surface
$SM_CCo,3714,0.00,0.000,0,0,1529,298.04
$SM_GC,1.27,8.32,0.08,0.00,0.093,0.201,0.000,240,2035,1529,-8.02,-0.68,298.04,0,0,0,0,0,0,14.98,14.99,15.07
$IRIDIUM_FIX,4726.11,-12222.38,140716,012505
$TT8_MAMPS,0.041195,0.827645
$HUMID,52.91
$INTERNAL_PRESSURE,9.20542
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,6.3
$ALTIM_BOTTOM_PING,100.9,5.8
$SC_FREEKB,3906528
$24V_AH,13.41,1.908
$10V_AH,13.20,0.000
$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,20.225,83.350,391.250,0.000,0.000,22.543,34.512,498.604,0.750,0.000,6.365,0.000,2381.384,484.790,1503.997,36.077,0.000,905.274,0.000,645.413,0.000,7.031,0.000
$DEVICE_MAMPS,375.615,2197.845,2035.665,0.000,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.408,0.000,0.000,0.000
$MEM,194164
$DATA_FILE_SIZE,6814,180
$CAP_FILE_SIZE,87047,0
$CFSIZE,1024409600,1020837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140716,034908,4743.675,-12224.146,12,1.4,31,15.9,0.1,0.0,8,3.3