version: 66.12
glider: 223
mission: 2
dive: 18
start: 7 14 116 13 23 23
data:
$ID,223
$MISSION,2
$DIVE,18
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,140716,131138,4744.6016,-12223.5967,2,0.8,4,15.9,0.1,0.0,12,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.1
$GPS2,140716,132309,4744.6841,-12223.6367,4,1.0,4,15.9,0.2,0.0,11,9.4
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,153.4,912,-9.5,-6.667,-15.00,4216
$D_GRID,153
$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,-0.71,-146.6,237,2035,1627,1588,0.0,0.0,0,80,0.00,0.00,-63.28,0.000,16386,0.000,0.000,236,2035,3265,3273,3257,0,0,0,0,0,0,14.97,28.83,14.98
$GC,81,-0.71,-146.6,237,2036,3272,3258,4.4,-6.3,3,99,10.30,0.00,-1.50,0.000,18438,0.376,0.000,2583,2035,3343,3365,3322,0,0,0,0,0,0,14.64,14.01,14.85
$GC,157,-0.71,-146.6,2584,2035,3365,3322,21.1,-20.0,7,157,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2035,3343,3366,3321,0,0,0,0,0,0,15.00,15.00,15.00
$GC,217,-0.71,-146.6,2582,2035,3368,3323,29.0,-13.2,10,217,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2035,3344,3366,3322,0,0,0,0,0,0,15.02,15.02,15.02
$GC,277,-0.71,-146.6,2584,2036,3366,3322,36.3,-12.4,13,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2035,3344,3366,3322,0,0,0,0,0,0,15.05,15.05,15.05
$GC,337,-0.71,-146.6,2582,2035,3368,3322,43.3,-11.6,16,342,0.00,2.47,0.00,0.000,260,0.000,0.102,2574,3445,3344,3367,3322,0,0,0,0,0,0,15.09,14.83,15.09
$GC,389,-0.71,-146.6,2573,3445,3368,3322,48.0,-11.7,18,394,0.00,2.35,0.00,0.000,1030,0.000,0.063,2574,2034,3343,3366,3321,0,0,0,0,0,0,14.96,14.87,14.97
$GC,518,-0.71,-146.6,2573,2034,3367,3322,63.9,-11.6,25,523,0.00,2.47,0.00,0.000,260,0.000,0.103,2573,3442,3343,3366,3321,0,0,0,0,0,0,15.13,14.89,15.13
$GC,542,-0.71,-146.6,2572,3443,3366,3322,66.2,-11.7,26,547,0.00,2.35,0.00,0.000,1030,0.000,0.064,2571,2033,3343,3366,3321,0,0,0,0,0,0,14.99,14.90,15.00
$GC,679,-0.71,-146.6,2572,2033,3366,3322,82.9,-12.0,33,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2033,3343,3366,3321,0,0,0,0,0,0,15.16,15.15,15.15
$GC,799,-0.71,-146.6,2571,2033,3368,3322,98.0,-12.7,39,800,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2033,3343,3366,3321,0,0,0,0,0,0,15.16,15.16,15.16
$GC,919,-0.71,-146.6,2570,2033,3368,3322,112.5,-11.6,45,924,0.00,2.45,0.00,0.000,260,0.000,0.103,2570,3440,3343,3366,3321,0,0,0,0,0,0,15.19,14.95,15.19
$GC,987,-0.71,-146.6,2571,3441,3366,3322,119.7,-11.9,48,992,0.00,2.33,0.00,0.000,1030,0.000,0.063,2570,2034,3343,3366,3321,0,0,0,0,0,0,15.05,14.97,15.07
$GC,1120,-0.71,-146.6,2570,2034,3368,3322,136.8,-12.0,55,1124,0.00,2.45,0.00,0.000,260,0.000,0.103,2570,3442,3343,3366,3321,0,0,0,0,0,0,15.22,14.96,15.21
$GC,1152,-0.71,-146.6,2571,3442,3366,3322,139.1,-11.8,56,1157,0.00,2.33,0.00,0.000,1030,0.000,0.064,2569,2035,3343,3366,3320,0,0,0,0,0,0,15.09,15.00,15.09
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1283,-0.28,0.0,2570,1977,3368,3322,154.9,-11.2,63,1423,0.50,0.00,128.80,1.981,10246,0.191,0.000,2723,1976,2750,2788,2712,0,0,0,0,1,0,14.94,14.14,13.45
$STATE,1424,end apogee,CONTROL_FINISHED_OK
$STATE,1424,begin climb
$GC,1425,0.71,146.6,2723,1976,2792,2715,159.2,0.0,70,1574,0.98,2.58,133.68,1.460,10756,0.139,0.107,3034,593,2150,2191,2109,0,0,0,0,1,0,14.20,14.13,13.40
$GC,1701,0.78,203.1,3034,593,2206,2123,148.1,5.3,83,1762,0.05,2.42,50.45,1.754,11270,0.220,0.073,3063,1998,1917,1958,1876,0,0,0,0,1,0,14.59,14.59,13.57
$GC,1897,0.78,203.1,3064,1999,1979,1881,133.6,8.2,93,1907,0.00,2.50,2.10,0.422,8452,0.000,0.096,3063,3386,1920,1970,1871,0,0,0,0,0,0,14.84,14.60,13.82
$GC,1990,0.78,203.1,3063,3387,1982,1881,126.3,9.0,97,1996,0.00,2.38,1.73,0.257,9222,0.000,0.064,3071,1985,1915,1963,1868,0,0,0,0,0,0,14.82,14.72,14.57
$GC,2119,0.78,203.1,3071,1986,1980,1877,116.0,7.3,104,2122,0.00,0.00,1.75,0.257,8198,0.000,0.000,3071,1986,1915,1964,1866,0,0,0,0,0,0,15.02,14.85,14.64
$GC,2239,0.78,203.1,3071,1986,1980,1876,106.4,7.8,110,2245,0.00,2.45,1.52,0.256,8452,0.000,0.095,3070,3393,1919,1971,1868,0,0,0,0,0,0,15.07,14.85,14.74
$GC,2292,0.78,203.1,3070,3394,1978,1876,102.8,8.6,112,2298,0.00,2.35,1.65,0.255,9222,0.000,0.064,3079,1986,1915,1964,1867,0,0,0,0,0,0,14.97,14.88,14.71
$GC,2422,0.78,203.1,3077,1985,1983,1877,91.7,7.6,119,2427,0.00,2.45,1.65,0.256,8452,0.000,0.095,3079,3395,1918,1970,1866,0,0,0,0,0,0,15.13,14.88,14.78
$GC,2471,0.78,203.1,3079,3396,1982,1876,88.0,8.3,121,2476,0.00,2.35,1.35,0.256,9222,0.000,0.064,3088,1988,1917,1966,1868,0,0,0,0,0,0,14.99,14.90,14.83
$GC,2604,0.78,203.1,3087,1988,1982,1876,76.1,8.6,128,2609,0.00,2.47,1.30,0.258,8708,0.000,0.108,3098,577,1922,1973,1871,0,0,0,0,0,0,15.16,14.89,14.84
$GC,2641,0.78,203.1,3098,578,1980,1877,74.2,8.6,129,2648,0.00,2.38,1.50,0.255,9222,0.000,0.074,3096,1990,1918,1969,1867,0,0,0,0,0,0,15.01,14.92,14.83
$GC,2765,0.78,203.1,3098,1991,1981,1875,62.7,8.1,136,2770,0.00,2.42,1.60,0.261,8452,0.000,0.096,3098,3394,1920,1972,1868,0,0,0,0,0,0,15.17,14.93,14.81
$GC,2838,0.78,203.1,3098,3395,1982,1876,57.0,9.1,139,2844,0.12,2.33,1.55,0.241,13318,0.269,0.065,3072,1989,1915,1964,1867,0,0,0,0,0,0,14.87,14.95,14.82
$GC,2967,0.78,203.1,3071,1990,1983,1874,46.4,7.3,146,2973,0.00,2.45,1.60,0.257,8708,0.000,0.108,3080,586,1918,1970,1866,0,0,0,0,0,0,15.18,14.91,14.84
$GC,3032,0.78,203.1,3080,586,1982,1876,41.6,7.7,149,3038,0.00,2.35,1.55,0.258,9222,0.000,0.074,3080,1991,1915,1965,1865,0,0,0,0,0,0,15.06,14.97,14.83
$GC,3170,0.78,207.2,3079,1991,1983,1874,32.0,6.6,156,3179,0.00,2.42,3.55,0.262,8452,0.000,0.098,3080,3395,1902,1954,1850,0,0,0,0,0,0,15.19,14.95,14.86
$GC,3298,0.78,207.2,3080,3396,1962,1856,21.8,8.6,162,3304,0.00,2.33,1.40,0.258,9222,0.000,0.064,3089,1987,1898,1948,1848,0,0,0,0,0,0,15.05,14.97,14.84
$GC,3371,0.78,207.2,3089,1988,1964,1853,15.7,7.5,166,3377,0.00,2.45,1.17,0.266,8708,0.000,0.107,3098,583,1901,1954,1848,0,0,0,0,0,0,15.19,14.94,14.87
$GC,3400,0.78,207.2,3099,584,1960,1854,14.0,7.5,167,3405,0.00,2.38,0.00,0.000,1030,0.000,0.073,3097,2000,1907,1961,1853,0,0,0,0,0,0,15.04,14.95,15.05
$GC,3473,0.78,207.2,3097,2001,1964,1854,8.2,7.2,171,3478,0.00,2.40,0.90,0.286,8452,0.000,0.096,3098,3397,1903,1956,1850,0,0,0,0,0,0,15.19,14.93,14.91
$GC,3526,0.78,207.2,3099,3397,1962,1854,4.8,7.5,173,3531,0.12,2.35,0.00,0.000,5126,0.270,0.065,3072,1983,1907,1962,1853,0,0,0,0,0,0,14.88,14.95,15.03
$STATE,3554,end climb,SURFACE_DEPTH_REACHED
$STATE,3554,begin surface coast
$FINISH,0.6,1.021922
$STATE,3574,end surface coast,CONTROL_FINISHED_OK
$STATE,3574,begin surface
$SM_CCo,3587,37.72,0.184,0,0,1601,280.13
$SM_GC,1.42,8.25,0.10,37.72,0.092,0.169,0.184,233,2047,1601,-8.04,-0.62,280.13,0,0,0,0,0,0,14.95,14.97,14.88
$IRIDIUM_FIX,4722.92,-12222.38,140716,115730
$TT8_MAMPS,0.040446,0.665112
$HUMID,51.06
$INTERNAL_PRESSURE,9.18589
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,999.0
$ALTIM_BOTTOM_PING,100.5,10.4
$SC_FREEKB,3902496
$24V_AH,13.40,4.038
$10V_AH,13.49,0.000
$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,20.325,67.575,340.800,37.725,0.000,25.364,36.742,493.507,0.750,0.000,5.913,0.000,2334.122,472.555,1473.668,39.291,0.000,858.757,0.000,617.280,0.000,7.060,0.000
$DEVICE_MAMPS,376.380,197.370,1981.350,184.365,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3613.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.016,0.000,0.000,0.000
$MEM,194200
$DATA_FILE_SIZE,6852,176
$CAP_FILE_SIZE,87615,0
$CFSIZE,1024409600,1019904000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140716,142439,4744.523,-12223.574,15,0.7,32,15.9,0.2,359.9,12,1.9