version: 66.12
glider: 224
mission: 2
dive: 15
start: 7 14 116 11 16 6
data:
$ID,224
$MISSION,2
$DIVE,15
$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,75
$T_MISSION,85
$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,53503
$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,200
$PITCH_MAX,3900
$C_PITCH,2743
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256762
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,220
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,2240
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2244
$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,0
$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,-165.49442
$PRESSURE_SLOPE,0.0001078037
$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,3.4000001
$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,0.0044007064
$SEABIRD_T_H,0.00063350337
$SEABIRD_T_I,2.4352601e-05
$SEABIRD_T_J,2.8452939e-06
$SEABIRD_C_G,-9.9109049
$SEABIRD_C_H,1.136714
$SEABIRD_C_I,-0.0017763629
$SEABIRD_C_J,0.00021546939
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140716,105854,4743.7876,-12223.8291,7,1.1,10,15.9,0.4,3.0,9,7.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-67.3
$GPS2,140716,111540,4743.9121,-12223.8057,6,0.9,22,15.9,0.3,341.4,12,4.0
$SPEED_LIMITS,0.115,0.225
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,193.0,2564,-11.4,-6.667,-16.54,3301
$D_GRID,168
$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,-0.75,-146.6,209,2231,1035,1159,0.0,0.0,0,91,0.00,0.00,-71.28,0.000,16390,0.000,0.000,209,2230,2842,2859,2825,0,0,0,0,0,0,14.81,13.81,14.82
$GC,92,-0.75,-146.6,209,2230,2859,2826,2.0,-2.1,3,110,10.50,2.55,0.00,0.000,2308,0.412,0.107,2484,3649,2842,2860,2825,0,0,0,0,0,0,14.44,14.54,14.65
$GC,276,-0.75,-146.6,2484,3649,2861,2825,31.6,-12.0,12,282,0.00,2.35,0.00,0.000,1030,0.000,0.068,2484,2244,2843,2861,2825,0,0,0,0,0,0,14.74,14.65,14.75
$GC,360,-0.75,-146.6,2484,2243,2861,2825,41.1,-11.4,16,365,0.00,2.45,0.00,0.000,516,0.000,0.103,2484,828,2843,2861,2825,0,0,0,0,0,0,14.89,14.64,14.90
$GC,403,-0.75,-146.6,2483,828,2861,2825,46.1,-11.4,18,409,0.00,2.45,0.00,0.000,1030,0.000,0.098,2480,2243,2842,2861,2824,0,0,0,0,0,0,14.76,14.65,14.77
$GC,547,-0.75,-146.6,2479,2244,2861,2825,61.4,-11.4,25,553,0.00,2.47,0.00,0.000,516,0.000,0.103,2480,828,2843,2861,2825,0,0,0,0,0,0,14.92,14.66,14.93
$GC,603,-0.75,-146.6,2479,828,2861,2825,66.7,-11.7,27,608,0.00,2.45,0.00,0.000,1030,0.000,0.098,2477,2248,2843,2861,2825,0,0,0,0,0,0,14.77,14.67,14.79
$GC,734,-0.75,-146.6,2477,2247,2861,2825,83.0,-11.4,34,739,0.00,2.50,0.00,0.000,260,0.000,0.119,2466,3654,2843,2861,2825,0,0,0,0,0,0,14.96,14.71,14.97
$GC,794,-0.75,-146.6,2466,3654,2861,2824,88.3,-11.5,36,801,0.10,2.38,0.00,0.000,3078,0.260,0.073,2495,2236,2843,2862,2824,0,0,0,0,0,0,14.65,14.73,14.79
$GC,919,-0.75,-146.6,2494,2235,2862,2824,102.8,-9.9,43,924,0.00,2.42,0.00,0.000,516,0.000,0.105,2495,832,2842,2861,2824,0,0,0,0,0,0,14.99,14.71,15.00
$GC,968,-0.75,-146.6,2495,832,2862,2824,107.5,-9.9,45,974,0.00,2.42,0.00,0.000,1030,0.000,0.098,2494,2243,2842,2860,2824,0,0,0,0,0,0,14.83,14.72,14.85
$GC,1108,-0.75,-146.6,2493,2241,2862,2824,121.6,-10.3,52,1113,0.00,2.50,0.00,0.000,260,0.000,0.121,2483,3652,2842,2862,2823,0,0,0,0,0,0,15.00,14.72,15.01
$GC,1134,-0.75,-146.6,2483,3652,2862,2824,124.2,-10.5,53,1140,0.00,2.35,0.00,0.000,1030,0.000,0.073,2483,2241,2842,2862,2823,0,0,0,0,0,0,14.88,14.78,14.88
$GC,1274,-0.75,-146.6,2482,2240,2862,2824,138.7,-10.2,60,1275,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2240,2843,2862,2824,0,0,0,0,0,0,15.02,15.02,15.02
$STATE,1393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1393,begin apogee
$GC,1397,-0.25,0.0,2483,2309,2862,2824,150.9,-10.4,66,1524,0.60,0.00,117.75,1.746,10246,0.226,0.000,2658,2309,2243,2224,2262,0,0,0,0,1,0,14.71,14.08,13.36
$STATE,1525,end apogee,CONTROL_FINISHED_OK
$STATE,1525,begin climb
$GC,1526,0.75,146.6,2658,2309,2231,2266,156.3,0.0,72,1661,1.00,2.65,117.50,1.757,11012,0.171,0.098,2964,897,1648,1625,1672,0,0,0,0,1,0,14.04,13.96,13.29
$GC,1687,0.79,177.8,2963,897,1630,1675,150.6,5.7,80,1727,0.00,2.50,28.92,1.375,9222,0.000,0.086,2964,2300,1518,1496,1541,0,0,0,0,1,0,14.25,14.15,13.43
$GC,1865,0.79,177.8,2963,2300,1506,1548,135.3,8.3,89,1871,0.00,2.55,1.17,0.270,8452,0.000,0.111,2964,3717,1518,1497,1539,0,0,0,0,0,0,14.66,14.40,14.35
$GC,1941,0.79,177.8,2964,3717,1507,1545,129.6,8.6,92,1947,0.00,2.40,0.00,0.000,1030,0.000,0.068,2971,2298,1526,1506,1546,0,0,0,0,0,0,14.62,14.53,14.63
$GC,2073,0.79,177.8,2972,2298,1507,1546,118.0,8.2,99,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2297,1526,1507,1546,0,0,0,0,0,0,14.83,14.83,14.83
$GC,2193,0.79,177.8,2971,2297,1507,1546,108.3,8.0,105,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2297,1526,1506,1546,0,0,0,0,0,0,14.88,14.89,14.89
$GC,2313,0.79,177.8,2971,2297,1507,1546,98.9,7.7,111,2318,0.00,2.42,0.00,0.000,516,0.000,0.102,2981,899,1526,1507,1546,0,0,0,0,0,0,14.92,14.67,14.92
$GC,2340,0.79,177.8,2981,895,1506,1547,96.9,7.7,112,2345,0.00,2.42,0.00,0.000,1030,0.000,0.090,2981,2310,1526,1507,1546,0,0,0,0,0,0,14.80,14.69,14.81
$GC,2479,0.79,177.8,2981,2310,1507,1547,85.7,8.0,119,2485,0.00,2.47,0.00,0.000,260,0.000,0.115,2981,3715,1526,1507,1546,0,0,0,0,0,0,14.94,14.70,14.94
$GC,2503,0.79,177.8,2981,3714,1507,1546,83.7,8.1,120,2508,0.00,2.38,0.00,0.000,1030,0.000,0.072,2990,2293,1526,1507,1546,0,0,0,0,0,0,14.82,14.73,14.83
$GC,2647,0.79,177.8,2990,2293,1507,1546,71.5,8.3,127,2648,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2293,1526,1507,1546,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2767,0.79,177.8,2990,2293,1507,1546,62.0,7.9,133,2772,0.00,2.53,0.00,0.000,260,0.000,0.114,2990,3717,1526,1507,1546,0,0,0,0,0,0,14.98,14.73,14.99
$GC,2798,0.79,177.8,2988,3717,1507,1546,60.0,8.0,134,2803,0.00,2.35,0.00,0.000,1030,0.000,0.070,3000,2299,1526,1507,1546,0,0,0,0,0,0,14.85,14.77,14.87
$GC,2934,0.79,177.8,2999,2299,1507,1546,47.4,9.2,141,2939,0.00,2.42,0.00,0.000,516,0.000,0.105,3010,896,1526,1507,1546,0,0,0,0,0,0,14.98,14.73,14.99
$GC,3005,0.79,177.8,3010,896,1507,1546,42.2,8.3,144,3010,0.00,2.40,0.00,0.000,1030,0.000,0.092,3010,2301,1526,1507,1546,0,0,0,0,0,0,14.84,14.73,14.85
$GC,3141,0.79,177.8,3010,2302,1507,1546,30.6,8.1,151,3146,0.00,2.47,0.00,0.000,260,0.000,0.115,3010,3712,1526,1507,1546,0,0,0,0,0,0,14.99,14.73,15.00
$GC,3172,0.79,177.8,3010,3710,1507,1546,28.4,8.3,152,3177,0.00,2.35,0.00,0.000,1030,0.000,0.072,3018,2302,1526,1507,1546,0,0,0,0,0,0,14.85,14.77,14.87
$GC,3247,0.79,177.8,3018,2301,1507,1546,21.4,8.5,156,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2301,1526,1507,1546,0,0,0,0,0,0,14.99,15.00,15.00
$GC,3307,0.79,177.8,3018,2301,1507,1546,16.7,7.9,159,3313,0.00,2.50,0.00,0.000,260,0.000,0.115,3019,3712,1526,1507,1546,0,0,0,0,0,0,15.00,14.75,15.01
$GC,3334,0.79,177.8,3018,3713,1507,1546,14.5,8.2,160,3340,0.10,2.35,0.00,0.000,5126,0.272,0.072,3001,2298,1529,1507,1552,0,0,0,0,0,0,14.70,14.78,14.83
$GC,3414,0.79,177.8,3001,2297,1506,1554,8.7,7.0,164,3419,0.00,2.42,0.00,0.000,516,0.000,0.106,3009,896,1526,1507,1546,0,0,0,0,0,0,14.99,14.74,15.00
$STATE,3517,end climb,SURFACE_DEPTH_REACHED
$STATE,3517,begin surface coast
$FINISH,0.2,1.021377
$STATE,3538,end surface coast,CONTROL_FINISHED_OK
$STATE,3538,begin surface
$SM_CCo,3555,51.05,0.181,0,0,1099,280.13
$SM_GC,1.17,8.02,2.40,51.05,0.085,0.103,0.181,206,2248,1099,-7.87,-0.34,280.13,0,0,0,0,0,0,14.78,14.76,14.68
$IRIDIUM_FIX,4722.92,-12225.08,140716,110355
$TT8_MAMPS,0.019474,0.882322
$HUMID,50.35
$INTERNAL_PRESSURE,9.13264
$TCM_TEMP,18.70
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,105.1,6.2
$SC_FREEKB,3903840
$24V_AH,13.29,2.738
$10V_AH,13.20,0.000
$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,20.325,73.425,265.350,51.050,0.000,73.678,195.688,453.233,4.750,0.000,23.922,748.945,1977.524,435.295,1429.013,41.935,0.000,815.340,0.000,584.782,0.000,8.644,0.000
$DEVICE_MAMPS,411.570,163.710,1757.205,180.540,0.000,41.310,160.000,223.000,420.000,0.000,8.990,9.970,2.190,9.970,28.700,42.180,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3570.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.729,0.000,0.000,0.000
$MEM,194216
$DATA_FILE_SIZE,6833,170
$CAP_FILE_SIZE,81158,0
$CFSIZE,1024409600,1020166144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140716,121720,4743.792,-12224.005,4,0.6,31,15.9,0.4,329.3,12,3.4