version: 66.12
glider: 223
mission: 2
dive: 13
start: 7 14 116 6 42 34
data:
$ID,223
$MISSION,2
$DIVE,13
$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,25
$R_STBD_OVSHOOT,22
$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,4
$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
$GPS1,140716,063419,4743.0376,-12224.9873,1,1.4,4,15.9,0.3,0.0,9,9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.4
$GPS2,140716,064221,4743.0132,-12224.9990,5,1.3,6,15.9,0.3,187.4,9,9.8
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,352.7,1661,-8.8,-6.667,-14.45,4636
$D_GRID,178
$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,-0.67,-146.6,239,2038,1614,1595,0.0,0.0,0,79,0.00,0.00,-62.42,0.000,16386,0.000,0.000,237,2037,3295,3303,3287,0,0,0,0,0,0,15.00,28.83,15.00
$GC,80,-0.67,-146.6,237,2038,3306,3288,4.7,-7.7,3,97,10.23,2.65,-0.93,0.000,18692,0.379,2.197,2585,3446,3344,3363,3326,0,0,0,0,0,0,14.66,13.99,14.88
$GC,120,-0.67,-146.6,2585,3447,3369,3327,16.5,-19.2,5,126,0.00,2.40,0.00,0.000,1030,0.000,0.073,2585,2039,3344,3363,3326,0,0,0,0,0,0,14.84,14.75,14.85
$GC,201,-0.67,-146.6,2584,2038,3365,3328,24.4,-9.8,9,206,0.00,2.50,0.00,0.000,260,0.000,0.109,2583,3445,3344,3363,3326,0,0,0,0,0,0,15.03,14.78,15.04
$GC,242,-0.67,-146.6,2582,3445,3365,3327,28.1,-9.2,11,246,0.00,2.40,0.00,0.000,1030,0.000,0.071,2582,2024,3344,3363,3326,0,0,0,0,0,0,14.91,14.81,14.92
$GC,322,-0.67,-146.6,2582,2024,3365,3327,35.8,-9.6,15,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2024,3344,3363,3326,0,0,0,0,0,0,15.09,15.08,15.08
$GC,382,-0.67,-146.6,2582,2024,3365,3326,41.5,-9.6,18,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2023,3344,3363,3326,0,0,0,0,0,0,15.10,15.10,15.10
$GC,502,-0.67,-146.6,2582,2023,3365,3327,53.8,-10.3,24,507,0.00,2.50,0.00,0.000,260,0.000,0.106,2576,3446,3344,3363,3326,0,0,0,0,0,0,15.14,14.88,15.14
$GC,538,-0.67,-146.6,2575,3447,3365,3327,55.9,-10.3,25,545,0.00,2.38,0.00,0.000,1030,0.000,0.070,2576,2032,3344,3363,3325,0,0,0,0,0,0,15.02,14.92,15.02
$GC,662,-0.67,-146.6,2575,2033,3365,3325,72.4,-11.6,32,667,0.00,2.47,0.00,0.000,516,0.000,0.107,2574,622,3344,3363,3325,0,0,0,0,0,0,15.16,14.91,15.16
$GC,683,-0.67,-146.6,2575,623,3365,3328,74.8,-11.7,33,688,0.10,2.42,0.00,0.000,3078,0.249,0.083,2603,2040,3344,3363,3326,0,0,0,0,0,0,14.88,14.94,15.02
$GC,824,-0.67,-146.6,2604,2041,3363,3326,88.9,-9.7,40,829,0.00,2.45,0.00,0.000,260,0.000,0.106,2599,3445,3344,3363,3326,0,0,0,0,0,0,15.19,14.94,15.19
$GC,904,-0.67,-146.6,2598,3445,3365,3327,96.9,-10.1,44,909,0.00,2.35,0.00,0.000,1030,0.000,0.070,2599,2036,3343,3363,3324,0,0,0,0,0,0,15.07,14.97,15.07
$GC,1045,-0.67,-146.6,2600,2036,3363,3327,110.0,-8.5,51,1050,0.00,2.47,0.00,0.000,516,0.000,0.108,2599,619,3345,3364,3326,0,0,0,0,0,0,15.21,14.96,15.21
$GC,1069,-0.67,-146.6,2598,620,3365,3326,112.2,-8.7,52,1074,0.00,2.40,0.00,0.000,1030,0.000,0.083,2599,2033,3345,3364,3326,0,0,0,0,0,0,15.07,14.97,15.08
$GC,1206,-0.67,-146.6,2600,2033,3368,3326,126.9,-9.8,59,1211,0.00,2.45,0.00,0.000,260,0.000,0.108,2598,3444,3344,3363,3326,0,0,0,0,0,0,15.23,14.96,15.23
$GC,1254,-0.67,-146.6,2599,3446,3363,3326,131.1,-10.2,61,1259,0.00,2.35,0.00,0.000,1030,0.000,0.070,2598,2036,3344,3363,3326,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1387,-0.67,-146.6,2597,2036,3365,3326,145.0,-10.1,68,1392,0.00,2.47,0.00,0.000,260,0.000,0.108,2598,3450,3344,3363,3326,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1423,-0.67,-146.6,2597,3451,3365,3326,147.1,-10.1,69,1429,0.00,2.35,0.00,0.000,1030,0.000,0.070,2598,2035,3344,3363,3325,0,0,0,0,0,0,15.11,15.01,15.12
$GC,1547,-0.67,-146.6,2597,2035,3365,3326,160.6,-9.6,76,1552,0.00,2.47,0.00,0.000,516,0.000,0.109,2597,619,3344,3363,3325,0,0,0,0,0,0,15.24,14.98,15.24
$GC,1583,-0.67,-146.6,2597,620,3365,3326,162.6,-9.6,77,1590,0.00,2.40,0.00,0.000,1030,0.000,0.083,2598,2035,3344,3363,3325,0,0,0,0,0,0,15.09,15.00,15.11
$GC,1708,-0.67,-146.6,2599,2037,3363,3326,175.0,-8.4,84,1713,0.00,2.45,0.00,0.000,260,0.000,0.107,2598,3446,3344,3363,3325,0,0,0,0,0,0,15.25,15.00,15.25
$STATE,1747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1747,begin apogee
$GC,1752,-0.28,0.0,2598,1982,3363,3326,178.4,-8.3,86,1891,0.43,0.00,128.82,1.942,10246,0.181,0.000,2731,1980,2748,2785,2711,0,0,0,0,1,0,14.97,14.24,13.45
$STATE,1892,end apogee,CONTROL_FINISHED_OK
$STATE,1892,begin climb
$GC,1893,0.67,146.6,2732,1981,2787,2713,184.2,0.0,93,2037,0.95,2.58,136.07,1.115,10756,0.136,0.112,3026,580,2135,2173,2098,0,0,0,0,0,0,14.21,14.26,13.87
$GC,2116,0.72,190.4,3025,581,2168,2095,176.9,5.7,104,2160,0.00,2.47,31.50,1.463,9222,0.000,0.076,3026,2001,1970,2012,1929,0,0,0,0,1,0,14.66,14.56,13.66
$GC,2295,0.73,199.9,3026,2002,2035,1941,165.2,6.5,113,2319,0.00,2.55,14.00,1.030,8452,0.000,0.100,3026,3399,1926,1971,1881,0,0,0,0,1,0,14.90,14.61,14.18
$GC,2382,0.73,199.9,3025,3401,1982,1882,159.4,7.2,117,2387,0.00,2.40,0.00,0.000,1030,0.000,0.068,3031,1988,1931,1980,1882,0,0,0,0,0,0,14.81,14.71,14.82
$GC,2519,0.75,216.3,3031,1988,1982,1883,150.6,6.3,124,2546,0.00,2.55,15.18,0.985,8708,0.000,0.114,3039,585,1865,1915,1816,0,0,0,0,1,0,15.04,14.70,14.19
$GC,2557,0.76,224.8,3040,586,1921,1820,149.3,6.5,125,2579,0.00,2.42,13.00,1.083,9222,0.000,0.080,3039,1996,1821,1867,1775,0,0,0,0,1,0,14.85,14.75,14.21
$GC,2703,0.76,224.8,3039,1996,1864,1773,137.2,7.6,133,2708,0.00,2.45,0.00,0.000,260,0.000,0.103,3039,3400,1817,1862,1772,0,0,0,0,0,0,15.02,14.76,15.02
$GC,2755,0.76,224.8,3038,3404,1863,1772,134.0,7.8,135,2760,0.00,2.38,0.00,0.000,1030,0.000,0.068,3046,1991,1816,1861,1772,0,0,0,0,0,0,14.92,14.83,14.93
$GC,2884,0.76,224.8,3047,1991,1861,1773,122.3,8.3,142,2889,0.00,2.45,0.00,0.000,260,0.000,0.102,3046,3394,1816,1861,1772,0,0,0,0,0,0,15.11,14.85,15.11
$GC,2908,0.76,224.8,3046,3394,1863,1773,120.7,8.1,143,2913,0.00,2.38,0.00,0.000,1030,0.000,0.069,3054,1982,1816,1860,1772,0,0,0,0,0,0,14.95,14.86,14.96
$GC,3045,0.77,231.0,3054,1982,1862,1773,111.1,6.5,150,3048,0.00,0.00,1.83,0.228,8198,0.000,0.000,3054,1982,1801,1847,1756,0,0,0,0,0,0,15.15,15.00,14.85
$GC,3165,0.77,231.0,3053,1982,1870,1764,102.9,7.1,156,3168,0.00,0.00,1.92,0.228,8198,0.000,0.000,3054,1982,1800,1849,1752,0,0,0,0,0,0,15.19,15.02,14.88
$GC,3285,0.77,231.0,3055,1982,1869,1762,94.2,7.0,162,3294,0.00,2.53,2.00,0.226,8452,0.000,0.101,3054,3403,1806,1859,1754,0,0,0,0,0,0,15.19,14.95,14.88
$GC,3321,0.77,231.0,3053,3404,1870,1760,92.5,7.3,163,3328,0.00,2.38,1.60,0.241,9222,0.000,0.069,3064,1979,1802,1854,1751,0,0,0,0,0,0,15.06,14.97,14.90
$GC,3446,0.77,231.0,3064,1980,1873,1761,81.8,7.5,170,3448,0.00,0.00,1.75,0.233,8198,0.000,0.000,3064,1979,1801,1852,1751,0,0,0,0,0,0,15.20,15.04,14.90
$GC,3566,0.77,231.0,3065,1979,1870,1761,73.2,7.1,176,3571,0.00,2.47,1.67,0.236,8452,0.000,0.099,3065,3400,1804,1858,1751,0,0,0,0,0,0,15.21,14.96,14.90
$GC,3623,0.77,231.0,3063,3401,1872,1760,70.0,7.4,178,3630,0.00,2.35,1.75,0.234,9222,0.000,0.068,3070,1990,1802,1855,1750,0,0,0,0,0,0,15.08,14.98,14.89
$GC,3747,0.77,231.0,3071,1991,1870,1760,59.3,7.6,185,3752,0.00,2.47,1.85,0.233,8708,0.000,0.112,3081,574,1802,1856,1748,0,0,0,0,0,0,15.21,14.92,14.92
$GC,3812,0.77,231.0,3080,577,1871,1760,54.4,7.9,188,3817,0.00,2.40,1.58,0.240,9222,0.000,0.078,3081,1999,1801,1852,1751,0,0,0,0,0,0,15.09,14.99,14.89
$GC,3949,0.77,231.0,3080,2000,1874,1759,42.5,8.5,195,3955,0.00,2.42,1.55,0.242,8452,0.000,0.100,3081,3402,1805,1860,1750,0,0,0,0,0,0,15.21,14.97,14.93
$GC,4018,0.77,231.0,3082,3403,1870,1759,37.4,8.3,198,4024,0.00,2.35,1.65,0.237,9222,0.000,0.067,3089,1989,1800,1851,1750,0,0,0,0,0,0,15.09,15.00,14.90
$GC,4091,0.77,231.0,3088,1990,1874,1759,30.9,8.0,202,4097,0.00,2.47,1.62,0.239,8708,0.000,0.112,3093,577,1803,1858,1749,0,0,0,0,0,0,15.21,14.95,14.91
$GC,4140,0.77,231.0,3093,579,1872,1760,27.4,8.4,204,4146,0.00,2.40,1.60,0.239,9222,0.000,0.078,3094,1997,1800,1852,1748,0,0,0,0,0,0,15.07,14.97,14.92
$GC,4213,0.77,231.0,3093,1999,1874,1759,21.1,7.8,208,4219,0.00,2.42,1.62,0.239,8452,0.000,0.099,3094,3401,1802,1857,1748,0,0,0,0,0,0,15.20,14.95,14.91
$GC,4290,0.77,231.0,3093,3402,1872,1759,15.6,8.6,211,4298,0.12,2.35,1.52,0.226,13318,0.260,0.067,3068,1988,1801,1854,1749,0,0,0,0,0,0,14.90,14.97,14.91
$GC,4355,0.77,231.0,3067,1989,1873,1757,9.9,7.2,215,4360,0.00,2.47,1.50,0.244,8708,0.000,0.112,3077,578,1802,1857,1748,0,0,0,0,0,0,15.20,14.94,14.89
$GC,4444,0.78,240.8,3078,578,1870,1760,4.6,6.4,219,4458,0.00,2.40,6.68,0.216,9222,0.000,0.079,3076,1998,1762,1815,1709,0,0,0,0,0,0,15.04,14.94,14.90
$STATE,4475,end climb,SURFACE_DEPTH_REACHED
$STATE,4475,begin surface coast
$FINISH,0.6,1.021763
$STATE,4495,end surface coast,CONTROL_FINISHED_OK
$STATE,4495,begin surface
$SM_CCo,4508,20.42,0.188,0,0,1600,280.13
$SM_GC,3.28,8.27,0.05,20.42,0.093,0.258,0.188,232,2035,1600,-8.04,-0.88,280.13,0,0,0,0,0,0,14.96,14.96,14.89
$IRIDIUM_FIX,4722.92,-12226.80,140716,055508
$TT8_MAMPS,0.040446,0.743757
$HUMID,51.49
$INTERNAL_PRESSURE,9.18589
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,999.0
$ALTIM_BOTTOM_PING,101.1,10.3
$SC_FREEKB,3904736
$24V_AH,13.45,2.762
$10V_AH,13.43,0.000
$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,20.100,107.425,372.275,20.425,0.000,23.780,33.759,321.433,0.750,0.000,8.014,0.000,2969.596,551.342,1459.030,38.052,0.000,1013.258,0.000,752.741,0.000,7.059,0.000
$DEVICE_MAMPS,378.675,2197.080,1942.335,188.190,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4511.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.372,0.000,0.000,0.000
$MEM,194176
$DATA_FILE_SIZE,6835,222
$CAP_FILE_SIZE,100566,0
$CFSIZE,1024409600,1020444672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,140716,075903,4743.375,-12225.055,40,1.0,41,15.9,0.2,0.3,11,3.9