version: 66.12
glider: 223
mission: 2
dive: 20
start: 7 14 116 15 36 15
data:
$ID,223
$MISSION,2
$DIVE,20
$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,60
$T_MISSION,70
$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,30
$R_STBD_OVSHOOT,31
$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,5
$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
$GPS1,140716,152502,4744.4243,-12223.8613,9,0.9,12,15.9,0.1,0.0,9,9.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.4
$GPS2,140716,153602,4744.4136,-12223.8467,5,0.7,32,15.9,0.0,0.0,11,5.8
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,184.6,3388,-10.1,-10.000,-14.63,5455
$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,-0.74,-146.6,238,2042,1608,1598,0.0,0.0,0,80,0.00,0.00,-63.42,0.000,16386,0.000,0.000,237,2041,3285,3294,3277,0,0,0,0,0,0,15.01,28.83,15.01
$GC,81,-0.74,-146.6,236,2042,3296,3279,4.5,-6.7,3,98,10.25,2.62,-1.10,0.000,18692,0.385,2.200,2565,3435,3344,3365,3324,0,0,0,0,0,0,14.69,14.00,14.87
$GC,286,-0.74,-146.6,2566,3436,3365,3325,38.7,-13.0,13,291,0.00,2.33,0.00,0.000,1030,0.000,0.063,2565,2040,3344,3365,3323,0,0,0,0,0,0,14.94,14.85,14.95
$GC,362,-0.74,-146.6,2565,2040,3367,3324,48.2,-11.8,17,367,0.00,2.47,0.00,0.000,260,0.000,0.103,2558,3439,3344,3365,3323,0,0,0,0,0,0,15.09,14.84,15.09
$GC,399,-0.74,-146.6,2557,3439,3366,3324,50.5,-11.5,18,405,0.00,2.38,0.00,0.000,1030,0.000,0.064,2557,2042,3344,3365,3323,0,0,0,0,0,0,14.94,14.88,14.96
$GC,523,-0.74,-146.6,2557,2042,3367,3324,65.7,-10.6,25,528,0.00,2.45,0.00,0.000,260,0.000,0.102,2549,3439,3344,3364,3324,0,0,0,0,0,0,15.16,14.90,15.14
$GC,551,-0.74,-146.6,2550,3439,3365,3324,67.7,-10.3,26,557,0.10,2.35,0.00,0.000,3078,0.243,0.064,2579,2029,3344,3365,3323,0,0,0,0,0,0,14.83,14.90,14.97
$GC,684,-0.74,-146.6,2580,2030,3365,3324,79.8,-8.4,33,689,0.00,2.45,0.00,0.000,516,0.000,0.103,2577,628,3344,3365,3323,0,0,0,0,0,0,15.16,14.92,15.16
$GC,717,-0.74,-146.6,2580,629,3365,3324,81.7,-8.6,34,722,0.00,2.38,0.00,0.000,1030,0.000,0.078,2574,2027,3344,3366,3323,0,0,0,0,0,0,15.01,14.91,15.02
$GC,845,-0.74,-146.6,2574,2027,3367,3324,95.5,-10.0,41,850,0.00,2.45,0.00,0.000,260,0.000,0.103,2571,3445,3344,3365,3323,0,0,0,0,0,0,15.18,14.94,15.19
$GC,918,-0.74,-146.6,2573,3445,3367,3324,102.2,-10.9,44,923,0.00,2.35,0.00,0.000,1030,0.000,0.063,2571,2029,3344,3365,3323,0,0,0,0,0,0,15.04,14.95,15.06
$GC,1046,-0.74,-146.6,2570,2030,3367,3324,117.9,-11.0,51,1047,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2029,3344,3366,3323,0,0,0,0,0,0,15.21,15.21,15.22
$GC,1167,-0.74,-146.6,2571,2029,3365,3324,130.5,-10.5,57,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2029,3343,3366,3321,0,0,0,0,0,0,15.19,15.19,15.19
$GC,1286,-0.74,-146.6,2572,2030,3365,3324,143.5,-10.3,63,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2029,3344,3365,3323,0,0,0,0,0,0,15.24,15.24,15.24
$GC,1406,-0.74,-146.6,2570,2030,3367,3324,154.8,-9.6,69,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2029,3344,3365,3323,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1526,-0.74,-146.6,2572,2031,3365,3324,167.2,-10.7,75,1531,0.00,2.47,0.00,0.000,260,0.000,0.104,2571,3450,3344,3366,3323,0,0,0,0,0,0,15.26,14.95,15.26
$STATE,1546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1546,begin apogee
$GC,1551,-0.28,0.0,2571,1989,3367,3323,169.1,-10.5,76,1689,0.50,0.00,128.95,2.007,10246,0.185,0.000,2727,1987,2746,2784,2709,0,0,0,0,1,0,14.97,14.22,13.45
$STATE,1690,end apogee,CONTROL_FINISHED_OK
$STATE,1690,begin climb
$GC,1691,0.74,146.6,2728,1988,2786,2712,174.2,0.0,83,1836,1.05,0.00,136.27,1.232,10246,0.142,0.000,3045,1988,2145,2182,2109,0,0,0,0,1,0,14.19,14.25,13.50
$GC,1947,0.98,344.7,3045,1987,2206,2119,162.7,6.3,96,2137,0.22,0.00,181.30,1.564,10502,0.132,0.000,3133,1987,1338,1383,1294,0,0,0,0,1,0,14.56,14.14,13.38
$GC,2247,0.98,344.7,3133,1987,1404,1295,126.3,13.1,111,2249,0.00,0.00,1.65,0.239,8198,0.000,0.000,3133,1987,1336,1388,1285,0,0,0,0,0,0,14.74,14.61,14.45
$GC,2367,0.98,344.7,3132,1987,1409,1289,109.8,13.9,117,2371,0.00,2.50,0.00,0.000,260,0.000,0.096,3132,3396,1348,1408,1288,0,0,0,0,0,0,14.91,14.66,14.91
$GC,2399,0.98,344.7,3132,3399,1410,1289,106.9,14.0,118,2405,0.00,2.40,1.35,0.243,9222,0.000,0.065,3140,1988,1336,1391,1281,0,0,0,0,0,0,14.81,14.71,14.65
$GC,2528,0.98,344.7,3141,1988,1408,1287,87.0,13.8,125,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1987,1347,1408,1286,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2648,0.98,344.7,3141,1988,1408,1287,69.9,14.3,131,2653,0.00,2.50,0.00,0.000,516,0.000,0.112,3151,583,1347,1408,1286,0,0,0,0,0,0,15.07,14.81,15.07
$GC,2669,0.98,344.7,3151,584,1408,1287,66.9,14.3,132,2674,0.00,2.40,0.00,0.000,1030,0.000,0.075,3149,1997,1347,1408,1286,0,0,0,0,0,0,14.93,14.84,14.95
$GC,2809,0.98,344.7,3152,1998,1408,1287,46.5,14.3,139,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1997,1347,1408,1286,0,0,0,0,0,0,15.11,15.14,15.11
$GC,2929,0.98,344.7,3152,1998,1408,1287,29.8,13.8,145,2934,0.00,2.42,0.00,0.000,260,0.000,0.098,3150,3396,1347,1408,1286,0,0,0,0,0,0,15.14,14.90,15.14
$GC,2974,0.98,344.7,3152,3396,1408,1287,24.2,13.7,147,2979,0.00,2.35,0.00,0.000,1030,0.000,0.065,3161,1990,1347,1408,1286,0,0,0,0,0,0,15.00,14.91,15.01
$GC,3050,0.98,344.7,3161,1989,1410,1287,14.3,12.4,151,3055,0.00,2.45,0.00,0.000,260,0.000,0.097,3161,3397,1347,1408,1286,0,0,0,0,0,0,15.14,14.91,15.14
$GC,3098,0.98,344.7,3162,3398,1408,1287,8.9,12.3,153,3104,0.10,2.35,0.00,0.000,5126,0.292,0.065,3142,1990,1347,1408,1286,0,0,0,0,0,0,14.83,14.92,14.98
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,0.3,1.010477
$STATE,3171,end surface coast,CONTROL_FINISHED_OK
$STATE,3171,begin surface
$SM_CCo,3244,0.00,0.000,0,0,1346,342.93
$SM_GC,1.38,8.43,0.08,0.00,0.087,0.200,0.000,234,2035,1346,-8.04,-0.85,342.93,0,0,0,0,0,0,14.93,14.94,15.02
$IRIDIUM_FIX,4726.11,-12226.80,140716,142928
$TT8_MAMPS,0.038199,0.907039
$HUMID,50.82
$INTERNAL_PRESSURE,9.16636
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,19.0
$ALTIM_BOTTOM_PING,151.0,33.6
$SC_FREEKB,3901600
$24V_AH,13.38,4.511
$10V_AH,13.39,0.000
$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,20.650,48.625,449.525,0.000,0.000,25.013,49.599,441.028,3.250,0.000,34.420,0.000,2087.052,523.750,1261.844,35.411,0.000,835.504,0.000,470.341,0.000,22.703,0.000
$DEVICE_MAMPS,384.795,2200.140,2007.360,0.000,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3197.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.309,0.000,0.000,0.000
$MEM,194344
$DATA_FILE_SIZE,3489,157
$CAP_FILE_SIZE,69932,0
$CFSIZE,1024409600,1019691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140716,163043,4743.871,-12224.160,3,0.9,8,15.9,0.1,0.0,11,4.6