version: 66.12
glider: 223
mission: 2
dive: 14
start: 7 14 116 8 11 38
data:
$ID,223
$MISSION,2
$DIVE,14
$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,24
$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
$GPS1,140716,075903,4743.3750,-12225.0547,40,1.0,41,15.9,0.2,0.3,11,3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.1
$GPS2,140716,081125,4743.3862,-12225.0420,3,1.3,4,15.9,0.1,0.0,12,7.4
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,1.7,998,-9.5,-6.667,-15.00,4216
$D_GRID,179
$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,13,begin dive
$GC,15,-0.71,-146.6,234,2038,1625,1595,0.0,0.0,0,79,0.00,0.00,-62.55,0.000,16386,0.000,0.000,232,2037,3286,3291,3281,0,0,0,0,0,0,14.98,28.83,14.98
$GC,80,-0.71,-146.6,232,2038,3293,3282,4.5,-7.3,3,97,10.23,2.65,-1.08,0.000,18692,0.379,2.186,2576,3450,3343,3359,3327,0,0,0,0,0,0,14.63,13.95,14.85
$GC,144,-0.71,-146.6,2577,3450,3360,3327,19.7,-21.9,6,149,0.00,2.40,0.00,0.000,1030,0.000,0.065,2576,2030,3343,3360,3327,0,0,0,0,0,0,14.85,14.76,14.87
$GC,221,-0.71,-146.6,2576,2030,3362,3328,30.1,-13.0,10,226,0.00,2.50,0.00,0.000,260,0.000,0.106,2572,3441,3343,3360,3326,0,0,0,0,0,0,15.03,14.77,15.03
$GC,262,-0.71,-146.6,2574,3442,3361,3328,35.0,-12.2,12,266,0.00,2.38,0.00,0.000,1030,0.000,0.067,2572,2031,3343,3360,3326,0,0,0,0,0,0,14.91,14.82,14.92
$GC,342,-0.71,-146.6,2572,2031,3362,3327,44.6,-12.0,16,343,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2031,3344,3361,3327,0,0,0,0,0,0,15.07,15.07,15.07
$GC,462,-0.71,-146.6,2572,2031,3362,3328,58.3,-11.4,22,467,0.00,2.47,0.00,0.000,516,0.000,0.104,2572,620,3343,3360,3327,0,0,0,0,0,0,15.12,14.86,15.13
$GC,502,-0.71,-146.6,2573,620,3360,3327,63.0,-11.4,24,507,0.00,2.42,0.00,0.000,1030,0.000,0.082,2572,2035,3343,3360,3327,0,0,0,0,0,0,15.00,14.90,15.01
$GC,643,-0.71,-146.6,2573,2036,3360,3327,78.2,-10.6,31,648,0.00,2.45,0.00,0.000,260,0.000,0.106,2571,3445,3343,3360,3326,0,0,0,0,0,0,15.16,14.91,15.16
$GC,711,-0.71,-146.6,2572,3446,3360,3327,84.4,-10.2,34,716,0.00,2.38,0.00,0.000,1030,0.000,0.065,2571,2024,3343,3360,3326,0,0,0,0,0,0,15.02,14.92,15.02
$GC,846,-0.71,-146.6,2570,2024,3362,3327,100.7,-11.8,41,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2024,3343,3360,3326,0,0,0,0,0,0,15.14,15.14,15.15
$GC,964,-0.71,-146.6,2570,2024,3362,3328,115.1,-11.9,47,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2029,3343,3360,3326,0,0,0,0,0,0,15.21,15.20,15.21
$GC,1084,-0.71,-146.6,2570,2024,3362,3327,129.5,-11.9,53,1089,0.00,2.50,0.00,0.000,260,0.000,0.106,2571,3445,3343,3360,3326,0,0,0,0,0,0,15.23,14.97,15.23
$GC,1181,-0.71,-146.6,2568,3445,3362,3327,139.3,-12.2,57,1187,0.00,2.38,0.00,0.000,1030,0.000,0.065,2571,2036,3343,3360,3326,0,0,0,0,0,0,15.07,14.97,15.07
$GC,1305,-0.71,-146.6,2573,2037,3360,3327,154.2,-10.6,64,1310,0.00,2.47,0.00,0.000,260,0.000,0.105,2571,3445,3343,3360,3327,0,0,0,0,0,0,15.23,14.98,15.23
$GC,1389,-0.71,-146.6,2571,3445,3362,3327,163.8,-11.9,68,1394,0.00,2.35,0.00,0.000,1030,0.000,0.066,2571,2024,3343,3360,3327,0,0,0,0,0,0,15.10,15.01,15.11
$GC,1526,-0.71,-146.6,2572,2024,3360,3327,178.2,-9.7,75,1531,0.00,2.42,0.00,0.000,516,0.000,0.105,2571,627,3343,3360,3326,0,0,0,0,0,0,15.26,14.98,15.26
$STATE,1545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1545,begin apogee
$GC,1550,-0.28,0.0,2570,2001,3361,3327,180.3,-9.6,76,1689,0.50,0.00,127.30,2.011,10246,0.193,0.000,2724,2001,2750,2787,2713,0,0,0,0,1,0,14.95,14.12,13.43
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1690,begin climb
$GC,1691,0.71,146.6,2726,2001,2788,2716,186.0,0.0,83,1833,1.00,2.75,130.23,1.985,10756,0.136,0.110,3039,577,2149,2189,2109,0,0,0,0,1,0,14.21,14.11,13.39
$GC,1937,0.71,148.1,3039,578,2199,2115,176.0,6.6,95,1946,0.00,2.45,2.83,0.927,9222,0.000,0.077,3039,1992,2144,2187,2101,0,0,0,0,0,0,14.62,14.52,13.76
$GC,2074,0.71,148.1,3038,1992,2200,2106,166.1,6.7,102,2079,0.00,2.47,1.70,0.319,8452,0.000,0.099,3039,3400,2144,2189,2099,0,0,0,0,0,0,14.94,14.70,14.47
$GC,2115,0.71,148.1,3038,3400,2200,2106,163.2,7.1,104,2124,0.00,2.40,2.05,0.436,9222,0.000,0.066,3049,1984,2143,2189,2098,0,0,0,0,0,0,14.85,14.75,13.77
$GC,2255,0.71,148.1,3048,1984,2200,2105,153.5,6.9,111,2265,0.00,2.53,2.08,0.463,8452,0.000,0.099,3048,3390,2145,2191,2100,0,0,0,0,0,0,15.04,14.80,13.89
$GC,2288,0.71,148.1,3050,3391,2196,2104,152.3,6.7,112,2294,0.00,2.38,1.33,0.288,9222,0.000,0.067,3058,1984,2140,2183,2097,0,0,0,0,0,0,14.92,14.83,14.66
$GC,2417,0.72,156.1,3057,1984,2199,2104,143.5,6.5,119,2435,0.00,2.50,12.60,1.190,8452,0.000,0.096,3058,3410,2099,2139,2060,0,0,0,0,0,0,15.11,14.79,14.37
$GC,2502,0.72,156.1,3059,3410,2136,2061,136.7,8.4,123,2507,0.00,2.40,0.00,0.000,1030,0.000,0.067,3068,1985,2098,2136,2060,0,0,0,0,0,0,14.92,14.83,14.93
$GC,2639,0.72,156.1,3067,1986,2138,2061,124.7,8.3,130,2644,0.00,2.47,0.00,0.000,260,0.000,0.101,3068,3403,2098,2136,2060,0,0,0,0,0,0,15.12,14.88,15.12
$GC,2659,0.72,156.1,3067,3403,2138,2061,123.1,8.1,131,2664,0.00,2.40,0.00,0.000,1030,0.000,0.067,3078,1994,2098,2136,2060,0,0,0,0,0,0,15.00,14.89,15.02
$GC,2800,0.72,156.1,3079,1994,2136,2061,112.9,7.3,138,2805,0.00,2.45,0.00,0.000,260,0.000,0.098,3078,3409,2098,2136,2060,0,0,0,0,0,0,15.16,14.92,15.15
$GC,2836,0.72,156.1,3079,3410,2136,2061,111.3,7.4,139,2843,0.12,2.38,0.00,0.000,5126,0.271,0.067,3053,1987,2098,2136,2060,0,0,0,0,0,0,14.83,14.94,14.99
$GC,2961,0.72,156.1,3053,1987,2138,2060,101.5,6.7,146,2965,0.00,2.45,0.00,0.000,516,0.000,0.112,3063,584,2098,2136,2060,0,0,0,0,0,0,15.19,14.93,15.19
$GC,2997,0.72,159.0,3062,585,2138,2061,100.1,6.6,147,3003,0.00,2.38,0.00,0.000,1030,0.000,0.076,3063,1997,2098,2136,2060,0,0,0,0,0,0,15.02,14.93,15.04
$GC,3121,0.72,159.0,3062,1998,2137,2061,90.8,6.8,154,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,1997,2098,2137,2060,0,0,0,0,0,0,15.21,15.21,15.21
$GC,3241,0.72,159.0,3064,1998,2136,2061,82.4,7.0,160,3246,0.00,2.42,0.00,0.000,260,0.000,0.101,3066,3401,2098,2136,2060,0,0,0,0,0,0,15.21,14.97,15.21
$GC,3281,0.72,159.0,3064,3402,2136,2061,79.6,6.9,162,3286,0.00,2.35,0.00,0.000,1030,0.000,0.066,3072,1990,2097,2136,2059,0,0,0,0,0,0,15.05,14.96,15.07
$GC,3422,0.72,159.0,3071,1990,2138,2061,69.3,7.8,169,3427,0.00,2.45,0.00,0.000,516,0.000,0.111,3083,586,2098,2136,2060,0,0,0,0,0,0,15.23,14.94,15.23
$GC,3474,0.72,159.0,3083,587,2136,2060,66.2,7.5,171,3479,0.00,2.38,0.00,0.000,1030,0.000,0.076,3082,1998,2098,2136,2060,0,0,0,0,0,0,15.09,15.00,15.10
$GC,3603,0.75,184.3,3083,1998,2136,2061,57.2,6.1,178,3620,0.00,2.40,12.48,0.331,8452,0.000,0.098,3082,3394,1993,2033,1954,0,0,0,0,0,0,15.24,14.97,14.83
$GC,3660,0.76,190.8,3083,3395,2042,1958,54.2,6.5,180,3670,0.00,2.35,4.20,0.310,9222,0.000,0.067,3091,1982,1968,2008,1928,0,0,0,0,0,0,15.08,14.99,14.84
$GC,3806,0.76,190.8,3092,1983,2018,1931,42.0,7.8,188,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,1983,1974,2018,1930,0,0,0,0,0,0,15.20,15.20,15.20
$GC,3926,0.78,207.3,3092,1983,2018,1931,34.3,6.3,194,3943,0.00,2.50,9.70,0.271,8452,0.000,0.099,3091,3392,1902,1947,1857,0,0,0,0,0,0,15.21,14.94,14.88
$GC,3959,0.80,224.1,3093,3393,1952,1860,33.0,6.3,195,3974,0.00,2.35,9.62,0.266,9222,0.000,0.067,3099,1983,1830,1873,1787,0,0,0,0,0,0,15.07,14.97,14.85
$GC,4049,0.80,224.1,3100,1983,1883,1790,25.2,7.4,200,4054,0.00,2.45,0.00,0.000,516,0.000,0.112,3100,587,1837,1884,1790,0,0,0,0,0,0,15.19,14.94,15.19
$GC,4085,0.80,224.1,3101,588,1884,1790,23.8,7.3,201,4092,0.00,2.38,0.00,0.000,1030,0.000,0.076,3100,1998,1836,1882,1790,0,0,0,0,0,0,15.07,14.97,15.07
$GC,4150,0.80,224.1,3099,1999,1885,1791,17.8,7.4,205,4155,0.00,2.42,0.00,0.000,260,0.000,0.100,3100,3401,1836,1883,1790,0,0,0,0,0,0,15.19,14.95,15.19
$GC,4214,0.80,224.1,3100,3401,1885,1791,12.7,8.2,208,4219,0.00,2.35,0.00,0.000,1030,0.000,0.067,3109,1990,1837,1884,1790,0,0,0,0,0,0,15.07,14.97,15.08
$GC,4291,0.80,224.1,3109,1991,1883,1791,6.5,7.5,212,4296,0.10,2.45,0.00,0.000,4612,0.275,0.112,3089,583,1836,1883,1790,0,0,0,0,0,0,14.89,14.95,15.02
$GC,4315,0.80,224.1,3088,583,1886,1791,5.2,7.4,213,4320,0.00,2.38,0.00,0.000,1030,0.000,0.076,3091,1998,1837,1884,1790,0,0,0,0,0,0,15.07,14.98,15.09
$STATE,4371,end climb,SURFACE_DEPTH_REACHED
$STATE,4371,begin surface coast
$FINISH,0.4,1.010883
$STATE,4391,end surface coast,CONTROL_FINISHED_OK
$STATE,4391,begin surface
$SM_CCo,4405,28.90,0.185,0,0,1600,280.13
$SM_GC,1.58,8.32,0.05,28.90,0.096,0.259,0.185,234,2032,1600,-8.04,-0.88,280.13,0,0,0,0,0,0,14.97,14.97,14.90
$IRIDIUM_FIX,4722.92,-12217.96,140716,063558
$TT8_MAMPS,0.040446,0.914529
$HUMID,51.92
$INTERNAL_PRESSURE,9.19566
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,18.8
$ALTIM_BOTTOM_PING,100.7,10.3
$SC_FREEKB,3904288
$24V_AH,13.39,3.014
$10V_AH,13.44,0.000
$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,20.275,102.225,316.100,28.900,0.000,24.822,39.447,532.400,0.750,0.000,6.476,0.000,2947.807,499.509,1687.698,42.528,0.000,951.698,0.000,739.975,0.000,7.062,0.000
$DEVICE_MAMPS,378.675,2186.370,2011.185,185.130,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4440.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.378,0.000,0.000,0.000
$MEM,194184
$DATA_FILE_SIZE,6809,217
$CAP_FILE_SIZE,102536,0
$CFSIZE,1024409600,1020329984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,092632,4743.836,-12224.765,13,0.8,41,15.9,0.2,1.9,11,1.6