version: 66.12
glider: 223
mission: 2
dive: 10
start: 7 14 116 4 0 28
data:
$ID,223
$MISSION,2
$DIVE,10
$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,24
$R_STBD_OVSHOOT,21
$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,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
$GPS1,140716,034908,4743.6753,-12224.1465,12,1.4,31,15.9,0.1,0.0,8,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.4
$GPS2,140716,040014,4743.6099,-12224.1738,3,0.9,6,15.9,0.1,0.0,9,6.6
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,189.0,1856,-8.8,-6.667,-14.45,4636
$D_GRID,173
$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,-0.67,-146.6,241,2037,1570,1485,0.0,0.0,0,79,0.00,0.00,-62.80,0.000,16386,0.000,0.000,240,2036,3194,3202,3187,0,0,0,0,0,0,15.02,28.83,15.02
$GC,80,-0.67,-146.6,241,2037,3202,3188,4.2,-6.8,3,102,10.10,2.67,-2.83,0.000,19204,0.374,2.205,2595,632,3342,3374,3311,0,0,0,0,0,0,14.67,13.98,14.89
$GC,125,-0.67,-146.6,2595,633,3376,3313,15.0,-16.9,5,131,0.00,2.45,0.00,0.000,1030,0.000,0.085,2588,2040,3343,3374,3312,0,0,0,0,0,0,14.83,14.73,14.84
$GC,202,-0.67,-146.6,2595,2042,3374,3311,24.0,-11.3,9,207,0.00,2.53,0.00,0.000,516,0.000,0.109,2588,630,3342,3374,3310,0,0,0,0,0,0,15.02,14.76,15.03
$GC,414,-0.67,-146.6,2586,630,3377,3312,47.2,-11.9,19,420,0.00,2.42,0.00,0.000,1030,0.000,0.083,2586,2042,3343,3375,3311,0,0,0,0,0,0,14.97,14.87,14.97
$GC,543,-0.67,-146.6,2587,2042,3375,3312,62.3,-10.1,26,548,0.00,2.45,0.00,0.000,260,0.000,0.108,2584,3446,3342,3374,3311,0,0,0,0,0,0,15.15,14.90,15.15
$GC,599,-0.67,-146.6,2585,3447,3374,3311,66.2,-9.6,28,606,0.00,2.38,0.00,0.000,1030,0.000,0.070,2583,2028,3342,3374,3310,0,0,0,0,0,0,15.02,14.92,15.04
$GC,724,-0.67,-146.6,2585,2029,3374,3310,79.4,-9.5,35,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2582,2028,3342,3375,3310,0,0,0,0,0,0,15.17,15.17,15.17
$GC,844,-0.67,-146.6,2585,2029,3374,3310,91.7,-10.5,41,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2028,3342,3375,3310,0,0,0,0,0,0,15.20,15.20,15.20
$GC,964,-0.67,-146.6,2583,2028,3377,3311,104.0,-10.3,47,968,0.00,2.47,0.00,0.000,260,0.000,0.108,2577,3446,3342,3375,3310,0,0,0,0,0,0,15.22,14.96,15.22
$GC,1040,-0.67,-146.6,2578,3447,3374,3310,110.2,-10.3,50,1046,0.00,2.35,0.00,0.000,1030,0.000,0.070,2577,2033,3341,3374,3309,0,0,0,0,0,0,15.09,14.99,15.10
$GC,1164,-0.67,-146.6,2578,2034,3374,3310,124.1,-10.0,57,1169,0.00,2.47,0.00,0.000,260,0.000,0.107,2574,3449,3342,3375,3310,0,0,0,0,0,0,15.23,14.98,15.23
$GC,1205,-0.67,-146.6,2575,3450,3374,3310,128.4,-10.2,59,1210,0.10,2.38,0.00,0.000,3078,0.241,0.070,2604,2025,3342,3375,3309,0,0,0,0,0,0,14.94,15.00,15.07
$GC,1345,-0.67,-146.6,2603,2026,3376,3310,141.7,-9.5,66,1350,0.00,2.50,0.00,0.000,260,0.000,0.110,2600,3453,3342,3375,3309,0,0,0,0,0,0,15.24,14.97,15.24
$GC,1378,-0.67,-146.6,2599,3453,3376,3310,143.8,-9.6,67,1383,0.00,2.38,0.00,0.000,1030,0.000,0.071,2600,2029,3341,3374,3309,0,0,0,0,0,0,15.11,15.02,15.13
$GC,1506,-0.67,-146.6,2601,2030,3374,3316,157.0,-9.2,74,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2029,3342,3375,3309,0,0,0,0,0,0,15.26,15.26,15.26
$GC,1626,-0.67,-146.6,2599,2030,3377,3310,167.1,-8.3,80,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2029,3342,3375,3309,0,0,0,0,0,0,15.26,15.26,15.26
$STATE,1705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1705,begin apogee
$GC,1708,-0.28,0.0,2601,1977,3375,3310,173.8,-8.4,84,1843,0.40,0.00,127.38,1.877,10246,0.184,0.000,2724,1977,2743,2785,2702,0,0,0,0,1,0,14.96,14.26,13.47
$STATE,1844,end apogee,CONTROL_FINISHED_OK
$STATE,1844,begin climb
$GC,1845,0.67,146.6,2724,1977,2791,2706,178.4,0.0,90,1991,0.93,2.67,133.45,1.233,11012,0.142,0.100,3014,3399,2150,2195,2106,0,0,0,0,1,0,14.22,14.25,13.52
$GC,2034,0.77,227.2,3012,3400,2210,2116,172.7,4.9,100,2123,0.10,2.45,77.07,1.260,11270,0.144,0.067,3067,1982,1818,1867,1770,0,0,0,0,1,0,14.47,14.45,13.55
$GC,2255,0.77,227.2,3064,1983,1888,1777,154.3,8.9,111,2264,0.00,2.58,2.10,0.354,8708,0.000,0.116,3065,589,1823,1878,1769,0,0,0,0,0,0,14.88,14.62,13.95
$GC,2344,0.77,227.2,3065,589,1888,1780,147.4,8.6,115,2350,0.00,2.42,1.60,0.239,9222,0.000,0.080,3065,1996,1817,1871,1764,0,0,0,0,0,0,14.81,14.72,14.65
$GC,2477,0.77,227.2,3065,1996,1890,1774,135.7,8.1,122,2486,0.00,2.50,2.05,0.296,8452,0.000,0.102,3065,3394,1824,1882,1767,0,0,0,0,0,0,15.06,14.79,13.98
$GC,2526,0.77,227.2,3066,3395,1889,1773,131.9,8.8,124,2532,0.00,2.38,1.67,0.241,9222,0.000,0.070,3071,1989,1816,1870,1762,0,0,0,0,0,0,14.92,14.83,14.76
$GC,2659,0.77,227.2,3072,1989,1890,1772,119.7,8.9,131,2662,0.00,0.00,1.80,0.237,8198,0.000,0.000,3070,1989,1815,1870,1760,0,0,0,0,0,0,15.12,14.97,14.81
$GC,2779,0.77,227.2,3072,1989,1890,1772,109.5,8.5,137,2785,0.00,2.45,1.83,0.238,8452,0.000,0.099,3070,3397,1820,1878,1763,0,0,0,0,0,0,15.16,14.90,14.84
$GC,2848,0.77,227.2,3070,3397,1890,1772,103.5,9.6,140,2854,0.00,2.35,1.75,0.238,9222,0.000,0.070,3080,1990,1816,1871,1761,0,0,0,0,0,0,15.03,14.94,14.85
$GC,2981,0.77,227.2,3081,1991,1890,1773,91.2,8.7,147,2984,0.00,0.00,1.77,0.238,8198,0.000,0.000,3080,1990,1815,1871,1760,0,0,0,0,0,0,15.18,15.02,14.86
$GC,3101,0.77,227.2,3080,1991,1892,1772,80.7,8.7,153,3107,0.00,2.45,1.67,0.240,8452,0.000,0.099,3080,3401,1820,1878,1763,0,0,0,0,0,0,15.20,14.95,14.88
$GC,3134,0.77,227.2,3081,3401,1888,1772,78.7,8.8,154,3140,0.00,2.38,1.70,0.242,9222,0.000,0.071,3089,1986,1815,1870,1760,0,0,0,0,0,0,15.03,14.93,14.88
$GC,3263,0.77,227.2,3090,1986,1890,1771,65.8,9.1,161,3269,0.00,2.47,1.75,0.242,8708,0.000,0.114,3098,581,1819,1877,1761,0,0,0,0,0,0,15.20,14.93,14.89
$GC,3292,0.77,227.2,3098,582,1884,1771,63.9,9.0,162,3298,0.10,2.40,1.42,0.236,13318,0.263,0.080,3069,1997,1815,1871,1759,0,0,0,0,0,0,14.90,14.98,14.87
$GC,3426,0.77,227.2,3068,1998,1892,1770,52.2,7.8,169,3431,0.00,2.42,1.38,0.252,8452,0.000,0.099,3069,3404,1821,1879,1763,0,0,0,0,0,0,15.21,14.97,14.90
$GC,3467,0.77,227.2,3070,3405,1888,1771,48.9,7.8,171,3473,0.00,2.38,1.65,0.243,9222,0.000,0.070,3077,1980,1815,1870,1760,0,0,0,0,0,0,15.08,14.99,14.89
$GC,3608,0.77,227.2,3076,1981,1892,1771,37.4,8.3,178,3614,0.00,2.45,1.62,0.243,8452,0.000,0.098,3077,3396,1819,1877,1761,0,0,0,0,0,0,15.21,14.95,14.92
$GC,3633,0.77,227.2,3076,3397,1888,1769,35.9,7.9,179,3639,0.00,2.38,1.48,0.252,9222,0.000,0.070,3085,1974,1815,1871,1759,0,0,0,0,0,0,15.09,15.00,14.89
$GC,3710,0.77,227.2,3084,1975,1891,1770,30.0,7.3,183,3716,0.00,2.47,1.62,0.245,8452,0.000,0.098,3085,3402,1818,1876,1760,0,0,0,0,0,0,15.23,14.93,14.90
$GC,3763,0.77,227.2,3085,3403,1890,1770,26.3,8.2,185,3769,0.00,2.35,1.52,0.247,9222,0.000,0.070,3094,1991,1815,1871,1760,0,0,0,0,0,0,15.09,15.00,14.90
$GC,3833,0.77,227.2,3095,1991,1889,1770,19.6,8.1,189,3842,0.00,2.53,1.60,0.243,8708,0.000,0.116,3098,588,1821,1879,1763,0,0,0,0,0,0,15.15,14.93,14.90
$GC,3905,0.77,227.2,3099,589,1888,1772,14.5,8.4,192,3911,0.10,2.38,1.60,0.230,13318,0.262,0.077,3070,2000,1815,1871,1759,0,0,0,0,0,0,14.90,14.97,14.90
$GC,3975,0.77,227.2,3071,2004,1887,1770,8.6,7.2,196,3980,0.00,2.40,1.55,0.247,8452,0.000,0.099,3070,3396,1819,1877,1761,0,0,0,0,0,0,15.20,14.95,14.88
$GC,4052,0.77,227.2,3069,3394,1891,1771,4.5,6.9,199,4059,0.00,2.35,1.62,0.243,9222,0.000,0.069,3078,1987,1816,1873,1759,0,0,0,0,0,0,15.07,15.00,14.90
$STATE,4095,end climb,SURFACE_DEPTH_REACHED
$STATE,4095,begin surface coast
$FINISH,0.5,1.021684
$STATE,4115,end surface coast,CONTROL_FINISHED_OK
$STATE,4115,begin surface
$SM_CCo,4128,26.75,0.188,0,0,1601,280.13
$SM_GC,3.30,8.30,0.10,26.75,0.098,0.167,0.188,239,2050,1601,-8.02,-0.54,280.13,0,0,0,0,0,0,14.97,15.00,14.90
$IRIDIUM_FIX,4726.11,-12222.38,140716,023655
$TT8_MAMPS,0.040446,0.857605
$HUMID,52.32
$INTERNAL_PRESSURE,9.18589
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,5.8
$ALTIM_BOTTOM_PING,102.0,5.9
$SC_FREEKB,3906080
$24V_AH,13.47,2.142
$10V_AH,13.27,0.000
$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,20.125,83.225,374.675,26.750,0.000,22.544,33.593,478.208,0.750,0.000,8.438,0.000,2716.125,508.056,1564.124,37.105,0.000,939.723,0.000,702.576,0.000,7.030,0.000
$DEVICE_MAMPS,374.085,2204.730,1877.310,188.190,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4150.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.751,0.000,0.000,0.000
$MEM,194200
$DATA_FILE_SIZE,6815,203
$CAP_FILE_SIZE,96159,0
$CFSIZE,1024409600,1020739584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140716,051050,4742.977,-12224.656,21,1.0,48,15.9,0.3,191.6,10,2.4