version: 66.12
glider: 223
mission: 2
dive: 4
start: 7 13 116 21 53 10
data:
$ID,223
$MISSION,2
$DIVE,4
$N_DIVES,25
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,30
$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,2830
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,26
$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,0.80000001
$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,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,130716,214209,4743.1055,-12224.5107,1,0.9,11,15.9,0.2,347.4,12,2.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.5
$GPS2,130716,215243,4743.1123,-12224.5127,3,1.0,7,15.9,0.2,352.8,12,5.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,330.4,1502,-17.5,-10.000,-21.04,2225
$D_GRID,177
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.15,-146.6,233,1998,567,441,0.0,0.0,0,122,0.00,0.00,-102.82,0.000,16386,0.000,0.000,234,1998,3227,3240,3215,0,0,0,0,0,0,15.13,28.83,15.13
$GC,125,-1.15,-146.6,233,1998,3240,3215,3.9,-2.9,5,143,9.43,2.70,-2.17,0.000,18692,0.369,2.183,2445,3405,3342,3372,3312,0,0,0,0,0,0,14.73,13.97,14.98
$GC,192,-1.15,-146.6,2445,3406,3372,3312,21.5,-23.2,8,198,0.00,2.38,0.00,0.000,1030,0.000,0.074,2445,1993,3342,3372,3312,0,0,0,0,0,0,14.96,14.89,14.97
$GC,272,-1.15,-146.6,2445,1994,3372,3312,38.0,-19.9,12,277,0.00,2.50,0.00,0.000,260,0.000,0.110,2434,3408,3341,3372,3311,0,0,0,0,0,0,15.16,14.89,15.16
$GC,298,-1.15,-146.6,2434,3408,3372,3311,43.3,-20.8,13,303,0.00,2.38,0.00,0.000,1030,0.000,0.075,2434,1994,3342,3372,3312,0,0,0,0,0,0,15.00,14.90,15.01
$GC,438,-1.15,-146.6,2434,1994,3372,3312,69.7,-17.6,20,443,0.00,2.47,0.00,0.000,260,0.000,0.109,2425,3404,3342,3373,3311,0,0,0,0,0,0,15.22,14.90,15.22
$GC,469,-1.15,-146.6,2424,3404,3372,3311,74.1,-17.6,21,475,0.10,2.35,0.00,0.000,3078,0.271,0.074,2452,2000,3341,3372,3311,0,0,0,0,0,0,14.86,14.95,15.03
$GC,605,-1.15,-146.6,2452,2000,3372,3311,98.5,-16.7,28,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2000,3341,3372,3311,0,0,0,0,0,0,15.26,15.26,15.26
$GC,725,-1.15,-146.6,2452,2000,3372,3312,118.6,-17.1,34,730,0.00,2.47,0.00,0.000,260,0.000,0.111,2445,3408,3341,3372,3311,0,0,0,0,0,0,15.28,14.99,15.28
$GC,776,-1.15,-146.6,2444,3408,3372,3309,126.1,-17.0,36,781,0.00,2.35,0.00,0.000,1030,0.000,0.074,2445,1998,3341,3372,3311,0,0,0,0,0,0,15.13,15.02,15.14
$STATE,911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,911,begin apogee
$GC,914,-0.28,0.0,2445,1998,3372,3311,150.3,-17.2,43,1052,0.98,0.00,124.05,2.042,10246,0.213,0.000,2736,1997,2748,2788,2709,0,0,0,0,1,0,14.90,14.35,13.54
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1055,1.15,146.6,2736,1998,2790,2711,155.0,0.0,50,1196,1.40,2.60,130.25,1.070,10500,0.132,0.104,3182,3401,2135,2168,2103,0,0,0,0,0,0,14.36,14.40,14.00
$GC,1238,1.21,194.1,3181,3401,2165,2099,145.6,7.8,58,1285,0.00,2.40,41.97,1.030,9222,0.000,0.071,3192,2000,1954,1989,1919,0,0,0,0,0,0,14.71,14.62,14.08
$GC,1412,1.21,194.1,3191,2000,1971,1896,122.6,14.2,67,1417,0.00,2.53,0.00,0.000,516,0.000,0.117,3203,586,1933,1971,1896,0,0,0,0,0,0,15.02,14.74,15.02
$GC,1491,1.21,194.1,3203,586,1971,1895,113.4,14.5,70,1498,0.00,2.42,0.00,0.000,1030,0.000,0.085,3203,2001,1933,1971,1895,0,0,0,0,0,0,14.94,14.84,14.96
$GC,1616,1.21,194.1,3203,2001,1970,1894,93.4,14.3,77,1621,0.00,2.45,0.00,0.000,260,0.000,0.106,3203,3412,1932,1970,1894,0,0,0,0,0,0,15.16,14.89,15.16
$GC,1655,1.21,194.1,3203,3412,1970,1894,89.6,14.9,78,1661,0.00,2.38,0.00,0.000,1030,0.000,0.073,3213,1999,1932,1970,1894,0,0,0,0,0,0,15.00,14.90,15.02
$GC,1780,1.21,194.1,3213,1998,1970,1894,68.2,15.0,85,1785,0.00,2.47,0.00,0.000,516,0.000,0.117,3224,593,1932,1970,1894,0,0,0,0,0,0,15.20,14.91,15.20
$GC,1819,1.21,194.1,3224,593,1971,1894,64.7,15.0,86,1825,0.00,2.40,0.00,0.000,1030,0.000,0.084,3224,2007,1932,1970,1894,0,0,0,0,0,0,15.03,14.93,15.04
$GC,1944,1.21,194.1,3224,2007,1970,1894,45.3,13.6,93,1949,0.00,2.42,0.00,0.000,260,0.000,0.105,3224,3415,1931,1970,1893,0,0,0,0,0,0,15.22,14.95,15.22
$GC,1990,1.21,194.1,3224,3415,1970,1894,39.0,13.8,95,1995,0.00,2.38,0.00,0.000,1030,0.000,0.073,3234,1993,1931,1970,1893,0,0,0,0,0,0,15.07,14.97,15.08
$GC,2070,1.21,194.1,3234,1993,1970,1894,28.9,12.2,99,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1993,1932,1971,1894,0,0,0,0,0,0,15.24,15.23,15.23
$GC,2130,1.21,194.1,3234,1992,1970,1894,22.1,11.4,102,2131,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1993,1932,1970,1894,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2190,1.21,194.1,3234,1993,1970,1893,14.9,11.8,105,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1994,1932,1970,1894,0,0,0,0,0,0,15.26,15.26,15.26
$GC,2250,1.21,194.1,3234,1993,1970,1894,8.2,11.4,108,2255,0.00,2.45,0.00,0.000,260,0.000,0.104,3235,3410,1933,1970,1896,0,0,0,0,0,0,15.26,14.98,15.26
$GC,2281,1.21,194.1,3234,3411,1969,1894,5.3,11.4,109,2286,0.00,2.35,0.00,0.000,1030,0.000,0.073,3245,2001,1931,1969,1894,0,0,0,0,0,0,15.11,15.01,15.13
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,0.4,0.999074
$STATE,2336,end surface coast,CONTROL_FINISHED_OK
$STATE,2336,begin surface
$SM_CCo,2351,38.33,0.187,0,0,1601,280.13
$SM_GC,0.87,8.77,0.00,38.33,0.099,0.000,0.187,236,2000,1601,-8.05,0.00,280.13,0,0,0,0,0,0,15.02,15.28,14.92
$IRIDIUM_FIX,4722.92,-12225.08,130716,210612
$TT8_MAMPS,0.021721,0.882322
$HUMID,52.91
$INTERNAL_PRESSURE,9.25425
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,6.6
$ALTIM_BOTTOM_PING,101.7,8.1
$SC_FREEKB,3908768
$24V_AH,13.54,0.832
$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,20.675,48.850,296.275,38.325,0.000,48.848,68.271,340.957,0.750,0.000,9.427,470.961,1196.003,440.157,910.488,29.042,0.000,724.290,0.000,379.597,0.000,7.072,0.000
$DEVICE_MAMPS,369.495,2183.310,2041.785,187.425,0.000,42.080,160.000,223.000,420.000,0.000,8.990,10.470,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2344.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.393,0.000,0.000,0.000
$MEM,194232
$DATA_FILE_SIZE,3510,112
$CAP_FILE_SIZE,58585,0
$CFSIZE,1024409600,1021345792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130716,223340,4743.467,-12224.621,3,1.2,5,15.9,0.1,0.0,11,9.5