version: 66.13
glider: 223
mission: 5
dive: 108
start: 2 9 118 23 31 22
data:
$ID,223
$MISSION,5
$DIVE,108
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,15
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,200
$T_MISSION,2300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.15000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53553
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00375924
$HD_B,0.0090143103
$HD_C,2.26105e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,225
$PITCH_MAX,3880
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256899
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,40
$PITCH_AD_RATE,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3890
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2782
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,400
$LOITER_D_NO_PUMP,400
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-185.88379
$PRESSURE_SLOPE,0.0001081376
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,10
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,8
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$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,32
$XPDR_DEVICE,24
$SIM_W,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
$SC_NDIVE,1.0
$GPS1,090218,231539,-7411.0439,-11210.5391,20,2.0,20,53.3,0.3,339.8,5,7.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-65.2
$GPS2,090218,233054,-7411.0239,-11210.1191,3,1.6,6,53.3,0.3,107.0,6,10.0
$SPEED_LIMITS,0.100,0.276
$TGT_NAME,out1
$TGT_LATLONG,-7409.000,-11211.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,280.4,3814,-17.4,-10.000,-19.94,2247
$D_GRID,818
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.97,-146.0,211,2318,1366,1300,0.0,0.0,0,122,0.00,0.00,-113.20,0.002,16390,0.000,0.000,211,2318,3379,3369,3389,0,0,0,0,0,0,14.73,13.49,14.76
$GC,124,-0.97,-146.0,211,2319,3370,3389,3.5,-3.9,11,142,10.88,2.55,0.00,0.000,2596,0.418,0.083,2480,896,3380,3378,3383,0,0,0,0,0,0,14.31,14.33,14.51
$PING,17.0,18.4,9000.0,0.00,0.00
$GC,221,-0.97,-146.0,2479,897,3383,3378,22.3,-15.1,30,228,0.00,2.53,0.00,0.000,1030,0.000,0.080,2473,2296,3380,3384,3377,0,0,0,0,0,0,14.69,14.58,14.71
$PING,26.1,28.0,9000.0,0.00,0.00
$PING,35.5,37.2,37.3,1.02,1.00
$PING,44.9,46.7,46.7,1.00,1.00
$PING,63.7,66.6,66.6,1.05,1.00
$GC,526,-0.97,-146.0,2474,2297,3389,3375,69.8,-15.4,61,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2296,3380,3387,3374,0,0,0,0,0,0,14.92,14.95,14.95
$GC,826,-0.97,-146.0,2472,2297,3388,3374,115.4,-15.0,91,832,0.00,2.55,0.00,0.000,516,0.000,0.086,2473,898,3380,3388,3373,0,0,0,0,0,0,14.98,14.69,15.00
$GC,881,-0.97,-146.0,2472,898,3388,3374,123.8,-15.2,102,889,0.00,2.53,0.00,0.000,1030,0.000,0.080,2463,2295,3381,3389,3373,0,0,0,0,0,0,14.79,14.72,14.82
$GC,1186,-0.97,-146.0,2462,2296,3389,3374,170.7,-15.1,133,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2295,3381,3389,3373,0,0,0,0,0,0,15.02,15.04,15.04
$GC,1486,-0.97,-146.0,2462,2296,3389,3373,215.8,-15.0,163,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,2295,3381,3389,3373,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1787,-0.97,-146.0,2464,2296,3387,3374,260.1,-14.2,193,1793,0.00,2.50,0.00,0.000,516,0.000,0.086,2462,896,3381,3390,3372,0,0,0,0,0,0,15.06,14.79,15.08
$GC,1812,-0.97,-146.0,2463,897,3390,3373,263.9,-15.2,198,1819,0.10,2.55,0.00,0.000,3078,0.280,0.083,2478,2308,3378,3384,3372,0,0,0,0,0,0,14.63,14.77,14.78
$GC,2127,-0.97,-146.0,2480,2309,3392,3373,306.7,-13.9,228,2133,0.00,2.55,0.00,0.000,516,0.000,0.086,2478,897,3381,3390,3373,0,0,0,0,0,0,15.07,14.78,15.09
$GC,2182,-0.97,-146.0,2478,897,3390,3372,314.5,-13.8,239,2189,0.00,2.53,0.00,0.000,1030,0.000,0.082,2476,2299,3381,3390,3372,0,0,0,0,0,0,14.87,14.80,14.87
$GC,2488,-0.97,-146.0,2477,2300,3392,3373,355.0,-13.0,255,2488,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2299,3381,3390,3372,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2788,-0.97,-146.0,2477,2300,3392,3372,393.8,-13.1,270,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2299,3381,3390,3372,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3088,-0.97,-146.0,2477,2300,3392,3372,433.9,-13.6,285,3094,0.00,2.53,0.00,0.000,516,0.000,0.086,2476,884,3381,3391,3371,0,0,0,0,0,0,15.06,14.82,15.09
$GC,3123,-0.97,-146.0,2477,885,3393,3372,439.0,-13.9,292,3130,0.00,2.55,0.00,0.000,1030,0.000,0.082,2467,2301,3380,3390,3371,0,0,0,0,0,0,14.90,14.83,14.93
$GC,3429,-0.97,-146.0,2466,2301,3391,3372,481.6,-14.0,308,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2301,3380,3390,3371,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3749,-0.97,-146.0,2467,2302,3393,3372,524.7,-13.4,321,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2301,3381,3391,3371,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4109,-0.97,-146.0,2468,2302,3393,3371,573.6,-12.8,333,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2301,3381,3391,3371,0,0,0,0,0,0,15.09,15.11,15.11
$STATE,4317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4317,begin apogee
$GC,4320,-0.23,0.0,2466,2056,3391,3371,600.0,-12.3,340,4712,0.93,0.12,385.23,1.361,10246,0.230,0.142,2723,2127,2779,2810,2749,0,0,0,0,0,0,14.74,13.64,13.12
$STATE,4713,end apogee,CONTROL_FINISHED_OK
$STATE,4713,begin climb
$GC,4714,0.97,146.0,2724,2128,2808,2747,608.7,0.0,353,5032,1.33,2.83,303.75,1.437,10756,0.142,0.096,3119,720,2182,2224,2140,0,0,0,0,0,0,13.64,13.43,12.95
$GC,5091,0.97,146.0,3120,720,2217,2137,575.2,12.6,427,5097,0.00,2.62,0.00,0.000,1030,0.000,0.067,3119,2092,2175,2215,2136,0,0,0,0,0,0,13.86,13.74,13.88
$GC,5471,0.97,146.0,3118,2092,2210,2130,529.0,12.2,443,5477,0.00,2.65,0.00,0.000,260,0.000,0.103,3120,3518,2169,2209,2130,0,0,0,0,0,0,14.56,14.33,14.59
$GC,5536,0.97,146.0,3119,3519,2208,2130,520.1,13.7,456,5545,0.00,2.47,0.00,0.000,1030,0.000,0.053,3128,2125,2168,2208,2129,0,0,0,0,0,0,14.46,14.42,14.48
$GC,5914,0.97,146.0,3128,2126,2205,2129,471.4,12.7,476,5920,0.00,2.65,0.00,0.000,516,0.000,0.101,3139,700,2167,2207,2128,0,0,0,0,0,0,14.83,14.57,14.86
$GC,5940,0.97,146.0,3140,701,2209,2130,468.2,13.1,481,5945,0.00,2.47,0.00,0.000,1030,0.000,0.070,3139,2106,2170,2207,2134,0,0,0,0,0,0,14.72,14.63,14.74
$GC,6256,0.97,146.0,3138,2107,2205,2129,428.1,12.6,499,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3139,2106,2167,2206,2128,0,0,0,0,0,0,14.90,14.94,14.93
$GC,6554,0.97,146.0,3138,2107,2205,2126,390.5,12.7,514,6562,0.00,2.58,0.00,0.000,260,0.000,0.106,3139,3512,2165,2204,2127,0,0,0,0,0,0,14.99,14.72,15.01
$GC,6621,0.97,146.0,3138,3509,2204,2129,381.0,13.9,527,6627,0.12,2.45,0.00,0.000,5126,0.265,0.054,3112,2101,2166,2204,2128,0,0,0,0,0,0,14.63,14.78,14.76
$GC,6937,0.97,146.0,3115,2101,2205,2128,344.1,11.3,545,6942,0.00,2.55,0.00,0.000,516,0.000,0.104,3124,684,2165,2204,2127,0,0,0,0,0,0,15.00,14.77,15.02
$GC,6981,0.97,146.0,3123,684,2203,2128,338.7,11.9,554,6988,0.00,2.53,0.00,0.000,1030,0.000,0.070,3123,2110,2165,2203,2127,0,0,0,0,0,0,14.88,14.81,14.88
$GC,7298,0.97,146.0,3125,2111,2200,2128,302.5,11.4,572,7303,0.00,2.53,0.00,0.000,260,0.000,0.105,3124,3513,2164,2203,2126,0,0,0,0,0,0,15.05,14.80,15.07
$GC,7328,0.97,146.0,3123,3514,2203,2128,298.7,12.9,578,7334,0.00,2.42,0.00,0.000,1030,0.000,0.055,3133,2087,2165,2203,2127,0,0,0,0,0,0,14.92,14.85,14.95
$GC,7638,0.97,146.0,3135,2088,2205,2128,261.8,12.0,610,7645,0.00,2.62,0.00,0.000,260,0.000,0.105,3134,3514,2165,2203,2127,0,0,0,0,0,0,15.06,14.80,15.09
$GC,7679,0.97,146.0,3134,3515,2204,2128,256.4,13.0,618,7686,0.10,2.45,0.00,0.000,5126,0.272,0.055,3116,2095,2165,2203,2127,0,0,0,0,0,0,14.69,14.84,14.83
$GC,7991,0.97,146.0,3116,2096,2203,2127,223.5,10.4,650,7997,0.00,2.55,0.00,0.000,260,0.000,0.103,3116,3510,2164,2203,2126,0,0,0,0,0,0,15.04,14.81,15.07
$GC,8026,0.97,146.0,3116,3512,2203,2127,219.3,11.9,657,8033,0.00,2.45,0.00,0.000,1030,0.000,0.054,3125,2090,2164,2203,2126,0,0,0,0,0,0,14.90,14.84,14.92
$GC,8331,0.97,146.0,3125,2090,2202,2129,185.0,11.5,688,8331,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2090,2164,2202,2126,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8631,0.97,146.0,3125,2089,2201,2127,151.2,11.1,718,8638,0.00,2.60,0.00,0.000,260,0.000,0.102,3125,3510,2163,2201,2126,0,0,0,0,0,0,15.09,14.82,15.11
$GC,8661,0.97,146.0,3125,3510,2202,2127,147.5,12.4,724,8668,0.00,2.45,0.00,0.000,1030,0.000,0.054,3136,2089,2164,2202,2126,0,0,0,0,0,0,14.91,14.85,14.95
$PING,136.3,141.4,141.5,1.03,1.00
$PING,118.7,123.0,123.2,1.03,1.00
$GC,8972,0.97,146.0,3135,2089,2202,2126,113.1,11.1,756,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2088,2164,2202,2126,0,0,0,0,0,0,15.09,15.12,15.11
$PING,100.8,104.2,104.2,1.05,1.00
$PING,82.9,85.7,85.6,1.04,1.00
$GC,9272,0.97,146.0,3137,2089,2203,2126,79.5,11.2,786,9272,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2088,2163,2202,2125,0,0,0,0,0,0,15.09,15.12,15.12
$PING,73.8,76.0,76.1,1.05,1.00
$PING,64.9,66.6,66.5,1.06,1.00
$PING,56.0,57.6,57.6,1.03,1.00
$PING,47.2,48.3,48.4,1.03,1.00
$GC,9572,0.97,146.0,3138,2089,2203,2126,46.1,11.0,816,9578,0.00,2.60,0.00,0.000,260,0.000,0.102,3136,3507,2163,2201,2125,0,0,0,0,0,0,15.10,14.81,15.12
$GC,9612,0.97,146.0,3135,3508,2201,2126,41.3,12.2,824,9618,0.10,2.42,0.00,0.000,5126,0.265,0.052,3118,2096,2163,2201,2125,0,0,0,0,0,0,14.71,14.87,14.85
$PING,39.1,40.2,40.1,1.03,1.00
$PING,31.0,31.8,31.8,1.02,1.00
$PING,22.6,22.6,22.7,1.07,1.00
$PING,14.1,13.8,13.8,1.07,1.00
$FREEZE,9.69,-1.176,-1.868,2,1,0
$FREEZE,8.57,-1.177,-1.868,2,1,0
$GC,9922,0.97,146.0,3119,2095,2202,2126,8.6,11.1,856,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2096,2162,2200,2124,0,0,0,0,0,0,15.09,15.12,15.12
$FREEZE,7.46,-1.167,-1.867,2,1,0
$FREEZE,6.37,-1.170,-1.866,2,1,0
$FREEZE,5.28,-1.165,-1.865,2,1,0
$FREEZE,4.22,-1.164,-1.864,2,1,0
$FREEZE,3.27,-1.163,-1.863,2,1,0
$FREEZE,2.24,-1.164,-1.863,2,1,0
$FREEZE,1.13,-1.162,-1.862,2,1,0
$STATE,9991,end climb,SURFACE_DEPTH_REACHED
$STATE,9991,begin surface coast
$FREEZE,0.30,-1.178,-1.862,2,1,0
$FINISH,0.3,1.027302
$STATE,10001,end surface coast,CONTROL_FINISHED_OK
$STATE,10001,begin surface
$SM_CCo,10015,125.75,0.236,0,0,1354,350.04
$SM_GC,1.23,8.43,0.40,125.75,0.073,0.093,0.236,212,2318,1354,-8.02,-0.31,350.04,0,0,0,0,0,0,14.91,14.88,14.59
$RAFOS_CLK,369
$RAFOS,2,1518221589,0.233333,0.219167,84,64,61,56,55,54,536,209,196,221,118,178
$RAFOS,1,1518221223,0.133333,0.117500,104,65,64,58,56,54,582,130,208,196,158,119
$RAFOS,0,1518220868,0.032778,0.018889,95,67,63,63,54,53,502,190,201,180,215,153
$RAFOS_FIX,-7410.243652,-11211.840820,100218,000056,3,94,0.64
$IRIDIUM_FIX,-7410.50,-11205.65,090218,231801
$TT8_MAMPS,0.041195,0.289114
$HUMID,46.41
$INTERNAL_PRESSURE,8.08233
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.1,13.8
$24V_AH,12.95,50.911
$10V_AH,12.44,0.000
$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,21.975,77.150,688.975,125.750,0.000,0.000,0.000,736.525,33.250,0.000,8.075,0.000,7436.966,956.578,2523.229,155.377,0.000,2391.094,0.000,1239.209,720.000,238.176,0.000
$DEVICE_MAMPS,417.690,141.525,1437.435,236.385,0.000,0.000,0.000,211.905,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10011.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.520,0.000,0.000,0.000
$MEM,280252
$DATA_FILE_SIZE,30034,864
$CAP_FILE_SIZE,126678,0
$CFSIZE,1024409600,1007042560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.6
$CURRENT,0.069,111.29,1
$GPS,100218,022130,-7409.904,-11211.327,29,0.7,29,53.3,0.5,139.9,11,4.0