version: 66.12
glider: 223
mission: 2
dive: 15
start: 7 14 116 9 38 12
data:
$ID,223
$MISSION,2
$DIVE,15
$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,26
$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
$GPS1,140716,092632,4743.8359,-12224.7646,13,0.8,41,15.9,0.2,1.9,11,1.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.1
$GPS2,140716,093759,4743.9189,-12224.7334,4,0.7,6,15.9,0.4,357.2,12,3.8
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,55.4,1622,-8.8,-6.667,-14.45,4636
$D_GRID,175
$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,-146.6,236,2034,1610,1593,0.0,0.0,0,80,0.00,0.00,-63.20,0.000,16386,0.000,0.000,234,2034,3271,3278,3264,0,0,0,0,0,0,14.99,28.83,14.99
$GC,81,-0.67,-146.6,233,2034,3280,3266,4.5,-6.6,3,98,10.35,2.70,-1.33,0.000,18948,0.383,2.205,2597,631,3342,3363,3322,0,0,0,0,0,0,14.64,13.97,14.85
$GC,165,-0.67,-146.6,2597,631,3365,3323,21.0,-18.6,7,170,0.00,2.42,0.00,0.000,1030,0.000,0.083,2595,2035,3343,3365,3322,0,0,0,0,0,0,14.88,14.78,14.90
$GC,242,-0.67,-146.6,2594,2035,3365,3323,29.3,-10.2,11,247,0.00,2.47,0.00,0.000,260,0.000,0.105,2585,3449,3343,3364,3322,0,0,0,0,0,0,15.05,14.80,15.04
$GC,302,-0.67,-146.6,2584,3449,3366,3323,36.1,-11.3,14,307,0.00,2.38,0.00,0.000,1030,0.000,0.064,2585,2029,3343,3364,3322,0,0,0,0,0,0,14.93,14.84,14.94
$GC,383,-0.67,-146.6,2586,2030,3363,3323,45.6,-11.8,18,388,0.00,2.50,0.00,0.000,260,0.000,0.104,2583,3446,3342,3363,3322,0,0,0,0,0,0,15.09,14.85,15.09
$GC,443,-0.67,-146.6,2583,3446,3365,3323,52.2,-11.1,21,448,0.00,2.35,0.00,0.000,1030,0.000,0.064,2583,2035,3343,3364,3322,0,0,0,0,0,0,14.99,14.89,15.00
$GC,584,-0.67,-146.6,2584,2036,3364,3322,67.6,-10.6,28,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2035,3343,3364,3322,0,0,0,0,0,0,15.14,15.14,15.14
$GC,704,-0.67,-146.6,2582,2035,3366,3322,80.0,-10.4,34,709,0.00,2.47,0.00,0.000,260,0.000,0.104,2576,3447,3343,3364,3322,0,0,0,0,0,0,15.18,14.93,15.18
$GC,724,-0.67,-146.6,2576,3448,3366,3323,82.2,-10.5,35,729,0.00,2.35,0.00,0.000,1030,0.000,0.065,2577,2032,3343,3364,3322,0,0,0,0,0,0,15.04,14.95,15.06
$GC,865,-0.67,-146.6,2576,2032,3365,3328,97.4,-10.8,42,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2031,3343,3364,3322,0,0,0,0,0,0,15.19,15.19,15.20
$GC,985,-0.67,-146.6,2576,2031,3365,3323,110.4,-10.7,48,990,0.00,2.47,0.00,0.000,260,0.000,0.104,2575,3446,3343,3364,3322,0,0,0,0,0,0,15.21,14.97,15.21
$GC,1041,-0.67,-146.6,2576,3447,3363,3322,114.7,-10.8,50,1047,0.00,2.35,0.00,0.000,1030,0.000,0.064,2576,2031,3343,3364,3322,0,0,0,0,0,0,15.05,14.97,15.07
$GC,1165,-0.67,-146.6,2575,2031,3365,3322,129.7,-10.6,57,1170,0.00,2.47,0.00,0.000,260,0.000,0.105,2574,3451,3343,3364,3322,0,0,0,0,0,0,15.22,14.98,15.22
$GC,1230,-0.67,-146.6,2574,3452,3366,3323,136.1,-10.6,60,1235,0.10,2.35,0.00,0.000,3078,0.233,0.064,2605,2032,3342,3363,3322,0,0,0,0,0,0,14.94,15.00,15.07
$GC,1367,-0.67,-146.6,2605,2032,3363,3323,148.2,-8.4,67,1371,0.00,2.47,0.00,0.000,260,0.000,0.104,2600,3450,3343,3364,3322,0,0,0,0,0,0,15.23,14.97,15.24
$GC,1427,-0.67,-146.6,2602,3451,3363,3322,153.3,-8.3,70,1432,0.00,2.35,0.00,0.000,1030,0.000,0.064,2600,2033,3343,3364,3322,0,0,0,0,0,0,15.09,15.00,15.10
$GC,1568,-0.67,-146.6,2599,2033,3365,3322,165.2,-8.2,77,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2032,3343,3364,3322,0,0,0,0,0,0,15.25,15.25,15.25
$GC,1688,-0.67,-146.6,2601,2033,3364,3322,174.8,-8.0,83,1692,0.00,2.45,0.00,0.000,516,0.000,0.103,2600,625,3343,3364,3322,0,0,0,0,0,0,15.27,15.00,15.26
$STATE,1707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1707,begin apogee
$GC,1712,-0.28,0.0,2601,2000,3364,3322,176.6,-8.3,84,1850,0.40,0.00,127.70,2.023,10246,0.184,0.000,2725,2000,2747,2785,2710,0,0,0,0,1,0,14.97,14.14,13.45
$STATE,1851,end apogee,CONTROL_FINISHED_OK
$STATE,1851,begin climb
$GC,1852,0.67,146.6,2726,2001,2786,2713,182.0,0.0,91,1996,0.93,2.62,134.90,1.119,10756,0.139,0.108,3015,585,2135,2172,2098,0,0,0,0,0,0,14.20,14.26,13.86
$GC,2064,0.77,229.3,3014,586,2167,2095,175.0,4.8,101,2156,0.10,2.45,79.20,1.056,11270,0.145,0.074,3061,1995,1805,1848,1763,0,0,0,0,1,0,14.54,14.52,13.96
$GC,2283,0.77,229.3,3060,1995,1849,1760,158.9,7.7,112,2288,0.00,2.47,0.00,0.000,260,0.000,0.099,3061,3394,1803,1847,1759,0,0,0,0,0,0,14.87,14.64,14.87
$GC,2320,0.77,229.3,3060,3395,1848,1760,157.1,7.8,113,2326,0.00,2.38,0.00,0.000,1030,0.000,0.067,3069,1989,1802,1846,1759,0,0,0,0,0,0,14.78,14.69,14.80
$GC,2444,0.77,229.3,3069,1989,1848,1768,144.6,9.0,120,2449,0.00,2.47,0.00,0.000,260,0.000,0.099,3069,3395,1802,1846,1759,0,0,0,0,0,0,15.02,14.77,15.02
$GC,2516,0.77,229.3,3068,3396,1847,1760,138.4,10.0,123,2521,0.00,2.38,0.00,0.000,1030,0.000,0.066,3078,1985,1802,1846,1759,0,0,0,0,0,0,14.90,14.81,14.91
$GC,2645,0.77,229.3,3077,1986,1847,1760,125.8,8.7,130,2650,0.00,2.47,0.00,0.000,260,0.000,0.098,3078,3398,1802,1846,1759,0,0,0,0,0,0,15.10,14.86,15.09
$GC,2697,0.77,229.3,3078,3399,1845,1760,122.1,8.6,132,2702,0.00,2.35,0.00,0.000,1030,0.000,0.065,3085,1989,1802,1845,1759,0,0,0,0,0,0,14.97,14.88,14.98
$GC,2826,0.77,229.3,3085,1989,1847,1760,110.0,8.5,139,2831,0.00,2.45,0.00,0.000,260,0.000,0.099,3085,3396,1802,1845,1759,0,0,0,0,0,0,15.15,14.88,15.14
$GC,2854,0.77,229.3,3086,3396,1845,1760,108.4,8.4,140,2859,0.00,2.35,0.00,0.000,1030,0.000,0.067,3094,1988,1802,1845,1759,0,0,0,0,0,0,15.02,14.92,15.03
$GC,2987,0.77,229.3,3095,1989,1845,1760,96.5,8.3,147,2987,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,1988,1802,1845,1759,0,0,0,0,0,0,15.18,15.18,15.18
$GC,3107,0.77,229.3,3093,1988,1847,1760,86.5,8.3,153,3112,0.00,2.45,0.00,0.000,260,0.000,0.098,3094,3396,1802,1845,1759,0,0,0,0,0,0,15.19,14.92,15.19
$GC,3131,0.77,229.3,3093,3396,1847,1760,84.6,8.5,154,3136,0.10,2.38,0.00,0.000,5126,0.258,0.066,3074,1994,1802,1845,1759,0,0,0,0,0,0,14.85,14.97,14.97
$GC,3268,0.77,229.3,3075,1995,1844,1759,73.7,7.7,161,3273,0.00,2.47,0.00,0.000,516,0.000,0.111,3082,584,1801,1845,1758,0,0,0,0,0,0,15.21,14.95,15.21
$GC,3316,0.77,229.3,3081,585,1846,1760,70.3,8.1,163,3321,0.00,2.38,0.00,0.000,1030,0.000,0.076,3082,1997,1801,1845,1758,0,0,0,0,0,0,15.04,14.95,15.04
$GC,3449,0.77,229.3,3083,1998,1845,1760,58.7,8.1,170,3454,0.00,2.42,0.00,0.000,260,0.000,0.099,3082,3400,1801,1845,1758,0,0,0,0,0,0,15.21,14.97,15.21
$GC,3525,0.77,229.3,3082,3400,1846,1759,53.3,8.7,173,3532,0.00,2.35,0.00,0.000,1030,0.000,0.065,3093,1985,1801,1844,1759,0,0,0,0,0,0,15.08,14.99,15.09
$GC,3649,0.77,229.3,3093,1986,1844,1758,41.5,8.2,180,3654,0.00,2.45,0.00,0.000,260,0.000,0.100,3092,3395,1801,1844,1758,0,0,0,0,0,0,15.21,14.97,15.21
$GC,3682,0.77,229.3,3093,3397,1844,1759,39.8,8.1,181,3687,0.10,2.33,0.00,0.000,5126,0.284,0.065,3071,1988,1801,1844,1758,0,0,0,0,0,0,14.88,14.97,15.03
$GC,3751,0.77,229.3,3072,1989,1844,1759,34.1,7.0,185,3756,0.00,2.47,0.00,0.000,516,0.000,0.110,3080,576,1798,1838,1758,0,0,0,0,0,0,15.22,14.96,15.21
$GC,3787,0.77,229.3,3080,577,1844,1759,32.7,6.8,186,3794,0.00,2.38,0.00,0.000,1030,0.000,0.075,3079,1993,1801,1844,1758,0,0,0,0,0,0,15.05,14.96,15.07
$GC,3851,0.77,229.3,3078,1993,1845,1759,26.4,7.8,190,3856,0.00,2.42,0.00,0.000,260,0.000,0.099,3079,3397,1801,1844,1758,0,0,0,0,0,0,15.21,14.95,15.21
$GC,3935,0.77,229.3,3081,3397,1843,1759,19.2,8.8,194,3941,0.00,2.38,0.00,0.000,1030,0.000,0.066,3088,1992,1800,1843,1758,0,0,0,0,0,0,15.05,14.99,15.07
$GC,4012,0.77,229.3,3089,1992,1844,1759,13.0,7.7,198,4017,0.00,2.45,0.00,0.000,260,0.000,0.098,3088,3393,1803,1849,1758,0,0,0,0,0,0,15.21,14.95,15.21
$GC,4037,0.77,229.3,3088,3393,1846,1759,11.3,7.5,199,4042,0.00,2.35,0.00,0.000,1030,0.000,0.066,3097,1982,1801,1844,1758,0,0,0,0,0,0,15.04,14.96,15.05
$GC,4113,0.77,229.3,3097,1983,1846,1759,5.3,7.4,203,4118,0.00,2.45,0.00,0.000,516,0.000,0.110,3099,585,1800,1844,1756,0,0,0,0,0,0,15.21,14.96,15.21
$STATE,4153,end climb,SURFACE_DEPTH_REACHED
$STATE,4153,begin surface coast
$FINISH,0.3,1.021855
$STATE,4173,end surface coast,CONTROL_FINISHED_OK
$STATE,4173,begin surface
$SM_CCo,4189,24.40,0.187,0,0,1600,280.13
$SM_GC,2.34,8.40,2.47,24.40,0.096,0.071,0.187,225,2031,1600,-8.07,-0.90,280.13,0,0,0,0,0,0,14.97,14.99,14.90
$IRIDIUM_FIX,4722.92,-12222.38,140716,080129
$TT8_MAMPS,0.038948,0.579726
$HUMID,51.41
$INTERNAL_PRESSURE,9.19566
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,18.5
$ALTIM_BOTTOM_PING,101.8,10.3
$SC_FREEKB,3903840
$24V_AH,13.45,3.245
$10V_AH,13.37,0.000
$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,20.475,101.950,341.800,24.400,0.000,22.918,42.791,476.760,0.750,0.000,7.338,0.000,2736.130,494.256,1629.278,42.758,0.000,960.674,0.000,746.567,0.000,7.064,0.000
$DEVICE_MAMPS,383.265,2204.730,2023.425,187.425,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4218.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.499,0.000,0.000,0.000
$MEM,194196
$DATA_FILE_SIZE,6796,206
$CAP_FILE_SIZE,97563,0
$CFSIZE,1024409600,1020231680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,104909,4744.451,-12223.941,2,1.1,25,15.9,0.5,7.1,12,1.7