version: 66.12
glider: 223
mission: 2
dive: 17
start: 7 14 116 12 6 9
data:
$ID,223
$MISSION,2
$DIVE,17
$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,21
$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,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
$GPS1,140716,115528,4744.6108,-12223.6680,6,0.9,8,15.9,0.3,338.3,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.1
$GPS2,140716,120556,4744.6953,-12223.7148,19,0.7,36,15.9,0.2,338.9,12,1.9
$SPEED_LIMITS,0.249,0.259
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,400.000
$MHEAD_RNG_PITCHd_Wd,147.9,955,-9.5,-6.667,-15.00,4216
$D_GRID,160
$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,-146.6,238,2035,1191,1097,0.0,0.0,0,100,0.00,0.00,-83.45,0.000,16386,0.000,0.000,238,2035,3331,3342,3321,0,0,0,0,0,0,15.00,28.83,15.02
$GC,101,-0.71,-146.6,238,2036,3344,3321,4.5,-4.7,4,118,10.10,2.72,-0.25,0.000,18948,0.376,2.202,2582,622,3344,3364,3325,0,0,0,0,0,0,14.68,14.01,14.88
$GC,182,-0.71,-146.6,2582,621,3368,3325,20.9,-18.3,8,187,0.00,2.45,0.00,0.000,1030,0.000,0.079,2576,2045,3345,3367,3323,0,0,0,0,0,0,14.88,14.78,14.90
$GC,262,-0.71,-146.6,2577,2047,3369,3322,29.6,-10.8,12,267,0.00,2.45,0.00,0.000,260,0.000,0.103,2571,3445,3345,3369,3321,0,0,0,0,0,0,15.05,14.81,15.05
$GC,334,-0.71,-146.6,2572,3446,3369,3321,36.7,-11.6,15,340,0.00,2.38,0.00,0.000,1030,0.000,0.063,2571,2029,3345,3369,3322,0,0,0,0,0,0,14.96,14.86,14.97
$GC,403,-0.71,-146.6,2570,2024,3371,3321,46.5,-12.3,19,408,0.00,2.45,0.00,0.000,516,0.000,0.103,2570,622,3344,3369,3319,0,0,0,0,0,0,15.09,14.85,15.08
$GC,431,-0.71,-146.6,2571,621,3368,3321,49.1,-12.6,20,437,0.00,2.42,0.00,0.000,1030,0.000,0.080,2571,2042,3344,3369,3320,0,0,0,0,0,0,14.95,14.85,14.96
$GC,564,-0.71,-146.6,2572,2043,3369,3320,65.8,-11.7,27,569,0.00,2.42,0.00,0.000,260,0.000,0.102,2564,3445,3344,3369,3320,0,0,0,0,0,0,15.14,14.90,15.14
$GC,596,-0.71,-146.6,2563,3445,3371,3320,68.1,-11.5,28,601,0.00,2.35,0.00,0.000,1030,0.000,0.063,2565,2029,3344,3369,3319,0,0,0,0,0,0,14.98,14.90,15.00
$GC,725,-0.71,-146.6,2565,2029,3368,3320,83.4,-10.8,35,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2029,3346,3369,3323,0,0,0,0,0,0,15.16,15.16,15.16
$GC,845,-0.71,-146.6,2564,2030,3371,3320,96.0,-10.6,41,850,0.00,2.47,0.00,0.000,260,0.000,0.102,2557,3446,3344,3369,3319,0,0,0,0,0,0,15.19,14.95,15.18
$GC,910,-0.71,-146.6,2561,3447,3369,3320,102.7,-10.9,44,916,0.10,2.35,0.00,0.000,3078,0.246,0.063,2588,2026,3344,3369,3319,0,0,0,0,0,0,14.90,14.97,15.04
$GC,1047,-0.71,-146.6,2588,2026,3371,3320,116.7,-10.0,51,1052,0.00,2.47,0.00,0.000,260,0.000,0.103,2586,3445,3343,3370,3317,0,0,0,0,0,0,15.21,14.95,15.21
$GC,1104,-0.71,-146.6,2586,3445,3371,3320,120.8,-10.0,53,1110,0.00,2.33,0.00,0.000,1030,0.000,0.063,2586,2038,3344,3370,3319,0,0,0,0,0,0,15.08,15.00,15.09
$GC,1228,-0.71,-146.6,2585,2038,3371,3319,134.4,-9.5,60,1233,0.00,2.45,0.00,0.000,260,0.000,0.103,2586,3445,3343,3369,3318,0,0,0,0,0,0,15.23,14.98,15.23
$GC,1260,-0.71,-146.6,2587,3445,3369,3319,136.5,-9.7,61,1265,0.00,2.33,0.00,0.000,1030,0.000,0.063,2585,2035,3343,3369,3318,0,0,0,0,0,0,15.09,15.00,15.11
$GC,1389,-0.71,-146.6,2586,2036,3370,3319,150.1,-9.6,68,1394,0.00,2.45,0.00,0.000,260,0.000,0.104,2585,3445,3344,3370,3318,0,0,0,0,0,0,15.25,15.00,15.25
$GC,1421,-0.71,-146.6,2584,3445,3372,3320,151.9,-9.2,69,1426,0.00,2.33,0.00,0.000,1030,0.000,0.063,2585,2036,3344,3370,3318,0,0,0,0,0,0,15.08,15.00,15.09
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1512,-0.28,0.0,2584,1977,3371,3319,161.0,-9.0,74,1652,0.47,0.00,129.25,2.007,10246,0.193,0.000,2730,1977,2747,2785,2709,0,0,0,0,1,0,14.95,14.14,13.43
$STATE,1653,end apogee,CONTROL_FINISHED_OK
$STATE,1653,begin climb
$GC,1654,0.71,146.6,2730,1977,2788,2711,164.6,0.0,81,1800,0.98,2.65,132.25,1.291,11012,0.145,0.098,3029,3407,2150,2192,2109,0,0,0,0,1,0,14.20,14.18,13.47
$GC,1911,0.71,146.6,3031,3408,2204,2116,152.2,7.6,93,1919,0.00,2.40,1.92,0.264,9222,0.000,0.063,3037,1996,2148,2192,2104,0,0,0,0,0,0,14.67,14.59,14.36
$GC,2036,0.73,168.2,3038,1997,2203,2115,143.3,6.1,100,2070,0.00,2.60,27.23,1.121,8708,0.000,0.111,3040,580,2045,2085,2005,0,0,0,0,0,0,14.95,14.55,14.18
$GC,2078,0.76,186.5,3044,581,2083,2004,140.9,6.2,102,2101,0.00,2.45,17.10,1.064,9222,0.000,0.075,3045,2000,1977,2017,1938,0,0,0,0,0,0,14.69,14.60,14.14
$GC,2218,0.76,186.5,3044,2001,2006,1927,131.6,7.2,109,2223,0.00,2.42,0.00,0.000,260,0.000,0.098,3045,3394,1965,2004,1926,0,0,0,0,0,0,14.93,14.68,14.93
$GC,2274,0.76,187.3,3043,3394,2004,1927,128.9,6.6,111,2281,0.00,2.38,0.00,0.000,1030,0.000,0.065,3054,1987,1965,2004,1926,0,0,0,0,0,0,14.83,14.75,14.85
$GC,2398,0.79,211.4,3055,1988,2004,1927,120.1,6.1,118,2425,0.00,2.47,17.30,1.030,8452,0.000,0.095,3054,3397,1886,1932,1841,0,0,0,0,1,0,15.05,14.71,14.19
$GC,2477,0.80,224.8,3053,3397,1945,1846,116.0,6.3,121,2504,0.00,2.38,15.82,0.968,9222,0.000,0.064,3064,1986,1828,1875,1782,0,0,0,0,1,0,14.88,14.78,14.18
$GC,2621,0.80,224.8,3062,1986,1892,1788,105.3,7.2,129,2623,0.00,0.00,1.62,0.236,8198,0.000,0.000,3064,1985,1826,1875,1777,0,0,0,0,0,0,15.03,14.88,14.76
$GC,2741,0.80,224.8,3065,1986,1891,1785,96.5,7.3,135,2743,0.00,0.00,1.60,0.239,8198,0.000,0.000,3064,1986,1826,1876,1776,0,0,0,0,0,0,15.07,14.92,14.79
$GC,2861,0.81,231.9,3065,1986,1892,1784,88.5,6.5,141,2870,0.00,2.45,5.18,0.334,8452,0.000,0.096,3064,3394,1799,1853,1746,0,0,0,0,0,0,15.11,14.87,14.69
$GC,2918,0.82,242.4,3064,3395,1868,1757,85.8,6.4,143,2929,0.00,2.35,7.00,0.371,9222,0.000,0.065,3071,1987,1754,1805,1703,0,0,0,0,0,0,15.00,14.90,14.70
$GC,3065,0.82,242.4,3072,1987,1830,1713,73.0,8.3,151,3074,0.00,2.50,2.00,0.240,8708,0.000,0.109,3079,590,1761,1819,1704,0,0,0,0,0,0,15.14,14.88,14.81
$GC,3093,0.82,242.4,3081,591,1827,1710,71.1,8.6,152,3099,0.00,2.35,1.85,0.250,9222,0.000,0.073,3080,1992,1753,1809,1698,0,0,0,0,0,0,14.98,14.89,14.80
$GC,3227,0.82,242.4,3082,1993,1832,1710,58.7,8.9,159,3236,0.00,2.50,2.08,0.237,8452,0.000,0.097,3081,3410,1763,1823,1703,0,0,0,0,0,0,15.16,14.90,14.82
$GC,3291,0.82,242.4,3081,3410,1830,1710,52.5,10.1,162,3297,0.00,2.40,1.85,0.216,9222,0.000,0.066,3088,1995,1756,1811,1702,0,0,0,0,0,0,15.00,14.93,14.83
$GC,3429,0.82,242.4,3087,1996,1834,1710,39.2,9.2,169,3438,0.00,2.47,2.08,0.243,8452,0.000,0.096,3088,3394,1759,1820,1699,0,0,0,0,0,0,15.17,14.93,14.81
$GC,3469,0.82,242.4,3089,3394,1830,1707,35.2,9.5,171,3475,0.00,2.35,1.77,0.242,9222,0.000,0.066,3097,1984,1753,1810,1697,0,0,0,0,0,0,15.03,14.95,14.87
$GC,3550,0.82,242.4,3098,1985,1831,1708,27.6,9.3,175,3556,0.00,2.45,1.67,0.240,8708,0.000,0.108,3104,585,1758,1819,1698,0,0,0,0,0,0,15.17,14.92,14.86
$GC,3607,0.82,242.4,3104,584,1831,1709,23.7,9.2,177,3614,0.00,2.35,1.83,0.238,9222,0.000,0.073,3104,1989,1757,1818,1697,0,0,0,0,0,0,15.04,14.95,14.85
$GC,3672,0.82,242.4,3103,1990,1833,1708,16.3,9.4,181,3675,0.00,0.00,1.80,0.239,8198,0.000,0.000,3104,1989,1754,1812,1696,0,0,0,0,0,0,15.17,15.03,14.87
$GC,3732,0.82,242.4,3103,1990,1833,1707,10.8,9.1,184,3737,0.00,2.42,1.75,0.245,8452,0.000,0.096,3104,3393,1755,1816,1695,0,0,0,0,0,0,15.16,14.92,14.87
$GC,3773,0.82,242.4,3105,3394,1826,1704,7.1,8.9,186,3778,0.00,2.33,1.33,0.257,9222,0.000,0.064,3112,1988,1753,1811,1695,0,0,0,0,0,0,15.05,14.96,14.86
$STATE,3853,end climb,SURFACE_DEPTH_REACHED
$STATE,3853,begin surface coast
$FINISH,0.4,0.999306
$STATE,3873,end surface coast,CONTROL_FINISHED_OK
$STATE,3873,begin surface
$SM_CCo,3887,19.85,0.186,0,0,1600,280.13
$SM_GC,2.52,8.40,0.08,19.85,0.096,0.194,0.186,236,2035,1600,-8.03,-0.88,280.13,0,0,0,0,0,0,14.95,14.97,14.89
$IRIDIUM_FIX,4726.11,-12219.67,140716,105128
$TT8_MAMPS,0.041195,0.871836
$HUMID,50.98
$INTERNAL_PRESSURE,9.19566
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.4
$ALTIM_BOTTOM_PING,100.5,10.5
$SC_FREEKB,3902944
$24V_AH,13.43,3.800
$10V_AH,13.36,0.000
$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,20.050,87.650,376.275,19.850,0.000,22.494,37.733,412.954,0.750,0.000,37.753,0.000,2493.352,525.148,1481.658,39.116,0.000,955.645,0.000,667.512,0.000,7.063,0.000
$DEVICE_MAMPS,376.380,2201.670,2007.360,185.895,0.000,42.080,160.000,223.000,420.000,0.000,8.990,0.000,2.190,10.470,29.190,44.920,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.579,0.000,0.000,0.000
$MEM,194232
$DATA_FILE_SIZE,6829,191
$CAP_FILE_SIZE,92537,0
$CFSIZE,1024409600,1020018688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,140716,131138,4744.602,-12223.597,2,0.8,4,15.9,0.1,0.0,12,10.0