version: 66.13
glider: 223
mission: 5
dive: 148
start: 2 15 118 15 4 38
data:
$ID,223
$MISSION,5
$DIVE,148
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,15
$D_FINISH,280
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$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,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$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,0
$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,0
$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,10
$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,42
$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,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$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
$GPS1,150218,121600,-7413.1523,-11213.5791,0,4113.7,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,916.00
$_SM_ANGLEo,4.0
$GPS2,150218,121600,-7413.1523,-11213.5791,0,4113.7,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7427.000,-11215.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,128.2,25655,-16.5,-9.429,-19.22,2384
$D_GRID,990
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.93,-146.0,2795,2334,2512,2449,0.0,0.0,0,24,0.00,0.05,-7.53,0.028,16390,0.000,1.375,2795,2311,3403,3427,3380,0,0,0,0,1,0,14.52,13.34,14.53
$GC,26,-0.93,-146.0,2797,2313,3429,3381,916.4,0.0,1,33,0.98,2.55,0.00,0.000,4356,0.161,0.091,2504,3692,3402,3427,3378,0,0,0,0,0,0,14.27,14.31,14.36
$GC,257,-0.93,-146.0,2506,3699,3429,3378,914.3,0.7,47,263,0.00,2.47,0.00,0.000,1062,0.000,0.047,2504,2281,3402,3427,3377,0,0,0,0,0,0,14.58,14.54,14.63
$GC,627,-0.93,-146.0,2503,2279,3427,3377,911.7,0.6,61,633,0.00,2.53,0.00,0.000,260,0.000,0.090,2504,3695,3401,3427,3376,0,0,0,0,0,0,14.93,14.66,14.96
$GC,857,-0.93,-146.0,2504,3696,3427,3377,910.3,0.3,107,863,0.00,2.42,0.00,0.000,1062,0.000,0.051,2503,2299,3401,3427,3376,0,0,0,0,0,0,14.86,14.76,14.88
$GC,1227,-0.93,-146.0,2504,2298,3427,3375,907.7,0.9,121,1233,0.00,2.50,0.00,0.000,292,0.000,0.090,2504,3701,3401,3427,3375,0,0,0,0,0,0,15.03,14.76,15.07
$GC,1457,-0.93,-146.0,2505,3701,3429,3376,905.8,0.0,167,1464,0.00,2.42,0.00,0.000,1030,0.000,0.048,2507,2291,3401,3427,3375,0,0,0,0,0,0,14.87,14.78,14.90
$GC,1827,-0.93,-146.0,2503,2292,3427,3375,904.7,0.3,181,1833,0.00,2.53,0.00,0.000,260,0.000,0.088,2504,3693,3400,3427,3374,0,0,0,0,0,0,15.09,14.79,15.12
$GC,2057,-0.93,-146.0,2504,3694,3427,3374,903.1,-0.1,227,2064,0.00,2.40,0.00,0.000,1062,0.000,0.050,2504,2299,3400,3427,3374,0,0,0,0,0,0,14.88,14.83,14.92
$GC,2428,-0.93,-146.0,2505,2300,3429,3374,903.0,0.0,241,2434,0.00,2.47,0.00,0.000,292,0.000,0.090,2505,3696,3400,3427,3373,0,0,0,0,0,0,15.11,14.81,15.14
$GC,2658,-0.93,-146.0,2504,3697,3428,3374,902.8,-0.0,287,2664,0.00,2.42,0.00,0.000,1062,0.000,0.051,2504,2289,3401,3429,3373,0,0,0,0,0,0,14.88,14.83,14.92
$GC,3029,-0.93,-146.0,2505,2290,3429,3374,903.5,-0.0,301,3034,0.00,2.47,0.00,0.000,292,0.000,0.090,2504,3692,3400,3427,3373,0,0,0,0,0,0,15.13,14.82,15.15
$GC,3258,-0.93,-146.0,2505,3693,3428,3374,902.9,-0.0,347,3265,0.00,2.40,0.00,0.000,1062,0.000,0.050,2504,2297,3399,3427,3372,0,0,0,0,0,0,14.90,14.83,14.94
$GC,3629,-0.93,-146.0,2503,2298,3427,3373,903.3,-0.0,361,3635,0.00,2.50,0.00,0.000,292,0.000,0.090,2504,3709,3398,3426,3371,0,0,0,0,0,0,15.12,14.81,15.14
$GC,3859,-0.93,-146.0,2505,3710,3430,3373,902.8,-0.0,407,3866,0.00,2.45,0.00,0.000,1062,0.000,0.051,2504,2289,3399,3427,3372,0,0,0,0,0,0,14.89,14.83,14.92
$GC,4230,-0.93,-146.0,2505,2290,3429,3372,902.8,0.0,421,4236,0.00,2.53,0.00,0.000,260,0.000,0.086,2504,3702,3399,3427,3372,0,0,0,0,0,0,15.15,14.81,15.19
$GC,4460,-0.93,-146.0,2505,3703,3429,3372,902.8,-0.0,467,4467,0.00,2.42,0.00,0.000,1062,0.000,0.051,2504,2291,3397,3428,3367,0,0,0,0,0,0,14.90,14.84,14.94
$GC,4831,-0.93,-146.0,2503,2292,3426,3376,902.8,0.0,481,4837,0.00,2.47,0.00,0.000,292,0.000,0.085,2504,3700,3399,3427,3371,0,0,0,0,0,0,15.15,14.83,15.17
$GC,5061,-0.93,-146.0,2505,3700,3429,3372,902.8,0.0,527,5067,0.00,2.42,0.00,0.000,1062,0.000,0.051,2503,2290,3398,3426,3370,0,0,0,0,0,0,14.90,14.83,14.93
$GC,5431,-0.93,-146.0,2503,2290,3424,3371,902.8,0.0,541,5437,0.00,2.47,0.00,0.000,292,0.000,0.090,2504,3693,3398,3427,3370,0,0,0,0,0,0,15.16,14.82,15.19
$GC,5661,-0.93,-146.0,2505,3694,3429,3371,902.8,0.0,587,5668,0.00,2.40,0.00,0.000,1062,0.000,0.052,2504,2303,3398,3427,3370,0,0,0,0,0,0,14.90,14.84,14.95
$GC,6032,-0.93,-146.0,2505,2304,3429,3371,902.8,0.0,601,6038,0.00,2.50,0.00,0.000,292,0.000,0.089,2504,3720,3398,3427,3370,0,0,0,0,0,0,15.16,14.82,15.19
$GC,6262,-0.93,-146.0,2504,3726,3427,3371,902.8,0.0,647,6268,0.00,2.47,0.00,0.000,1062,0.000,0.053,2504,2288,3398,3427,3370,0,0,0,0,0,0,14.90,14.83,14.93
$GC,6632,-0.93,-146.0,2505,2289,3428,3371,902.8,0.0,661,6638,0.00,2.50,0.00,0.000,292,0.000,0.090,2504,3703,3398,3427,3370,0,0,0,0,0,0,15.16,14.78,15.19
$GC,6862,-0.93,-146.0,2503,3704,3426,3370,902.8,0.0,707,6868,0.00,2.45,0.00,0.000,1062,0.000,0.054,2504,2290,3397,3426,3369,0,0,0,0,0,0,14.89,14.83,14.94
$GC,7232,-0.93,-146.0,2505,2291,3428,3371,902.8,0.0,721,7239,0.00,2.50,0.00,0.000,292,0.000,0.090,2500,3703,3398,3426,3370,0,0,0,0,0,0,15.16,14.77,15.19
$GC,7463,-0.93,-146.0,2503,3704,3426,3370,902.8,-0.0,767,7469,0.00,2.42,0.00,0.000,1062,0.000,0.053,2504,2301,3396,3425,3368,0,0,0,0,0,0,14.86,14.79,14.89
$GC,7833,-0.93,-146.0,2503,2301,3425,3370,902.8,0.0,781,7839,0.00,2.47,0.00,0.000,292,0.000,0.086,2504,3703,3397,3426,3369,0,0,0,0,0,0,15.15,14.82,15.18
$GC,8063,-0.93,-146.0,2503,3704,3426,3370,902.7,1.4,827,8069,0.00,2.45,0.00,0.000,1062,0.000,0.055,2504,2289,3398,3426,3370,0,0,0,0,0,0,14.86,14.78,14.90
$GC,8433,-0.93,-146.0,2502,2290,3426,3370,902.8,-0.0,841,8440,0.00,2.50,0.00,0.000,292,0.000,0.089,2504,3703,3398,3426,3370,0,0,0,0,0,0,15.16,14.81,15.19
$GC,8664,-0.93,-146.0,2503,3704,3426,3370,902.7,0.8,887,8670,0.00,2.45,0.00,0.000,1062,0.000,0.054,2504,2289,3401,3432,3370,0,0,0,0,0,0,14.88,14.82,14.92
$GC,9034,-0.93,-146.0,2503,2290,3426,3375,902.7,0.0,901,9040,0.00,2.50,0.00,0.000,292,0.000,0.090,2504,3699,3397,3425,3369,0,0,0,0,0,0,15.16,14.81,15.18
$GC,9264,-0.93,-146.0,2505,3701,3427,3370,902.7,1.2,947,9271,0.00,2.42,0.00,0.000,1062,0.000,0.050,2504,2291,3397,3426,3369,0,0,0,0,0,0,14.90,14.83,14.92
$GC,9635,-0.93,-146.0,2505,2292,3428,3370,901.7,0.1,961,9641,0.00,2.50,0.00,0.000,292,0.000,0.092,2508,3703,3397,3426,3369,0,0,0,0,0,0,15.16,14.81,15.18
$GC,9865,-0.93,-146.0,2505,3704,3427,3370,899.8,1.3,1007,9871,0.00,2.42,0.00,0.000,1062,0.000,0.046,2504,2290,3397,3425,3369,0,0,0,0,0,0,14.89,14.83,14.93
$GC,10235,-0.93,-146.0,2505,2290,3426,3369,898.9,0.0,1021,10241,0.00,2.50,0.00,0.000,292,0.000,0.090,2504,3700,3397,3425,3369,0,0,0,0,0,0,15.16,14.81,15.18
$GC,10465,-0.93,-146.0,2506,3701,3427,3371,897.4,1.7,1067,10472,0.00,2.40,0.00,0.000,1062,0.000,0.047,2504,2303,3397,3425,3369,0,0,0,0,0,0,14.90,14.83,14.92
$GC,10836,-0.93,-146.0,2509,2304,3427,3369,895.9,-0.0,1081,10842,0.00,2.60,0.00,0.000,548,0.000,0.107,2504,892,3396,3425,3367,0,0,0,0,0,0,15.14,14.74,15.16
$GC,10846,-0.93,-146.0,2503,892,3429,3369,896.5,-0.3,1083,10852,0.00,2.42,0.00,0.000,1062,0.000,0.050,2504,2291,3398,3429,3368,0,0,0,0,0,0,14.90,14.81,14.93
$GC,11228,-0.93,-146.0,2505,2292,3427,3369,895.3,0.0,1099,11233,0.00,2.53,0.00,0.000,292,0.000,0.094,2503,3716,3396,3425,3368,0,0,0,0,0,0,15.14,14.81,15.16
$GC,11457,-0.93,-146.0,2505,3717,3427,3370,895.1,0.0,1145,11463,0.00,2.47,0.00,0.000,1062,0.000,0.051,2504,2286,3396,3425,3368,0,0,0,0,0,0,14.86,14.79,14.90
$STATE,11706,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11706,begin apogee
$GC,11709,-0.23,0.0,2506,2082,3427,3369,894.5,-0.0,1155,12070,0.73,0.00,351.65,1.338,10246,0.135,0.000,2732,2081,2779,2815,2744,0,0,0,0,0,0,14.78,13.88,13.36
$STATE,12071,end apogee,CONTROL_FINISHED_OK
$STATE,12071,begin climb
$GC,12073,0.93,146.0,2732,2082,2814,2744,892.6,0.0,1167,12380,1.12,2.80,293.02,1.401,10756,0.076,0.114,3114,701,2180,2225,2136,0,0,0,0,0,0,13.89,13.48,13.06
$STATE,12517,end climb,NO_VERTICAL_VELOCITY
$STATE,12517,begin subsurface finish
$FINISH1,891.8,1.027692,-10
$GC,12524,-0.01,-9.7,3115,2118,2217,2128,891.8,0.2,1255,12531,1.15,2.12,-1.48,0.076,20995,0.210,0.130,2808,1056,2845,2875,2815,0,0,0,0,0,0,13.95,13.13,14.07
$FINISH2,891.7
$STATE,12531,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12531,begin surface
$RAFOS_CLK,455
$RAFOS,2,1518718384,18.233334,18.217777,89,65,62,58,56,56,584,198,213,155,227,171
$RAFOS,1,1518718034,18.133333,18.120556,89,61,60,55,55,52,513,211,199,172,155,188
$RAFOS,0,1518717673,18.032778,18.020277,136,68,60,58,56,50,460,209,190,226,158,124
$RAFOS,2,1518707584,15.233334,15.217778,79,60,60,60,57,54,585,175,191,156,215,116
$RAFOS,1,1518707224,15.133333,15.117778,79,63,55,54,54,53,567,209,186,132,200,158
$RAFOS,0,1518706866,15.032778,15.018333,116,76,59,57,55,54,500,206,134,217,172,193
$RAFOS_FIX,-7413.007324,-11213.056641,150218,181824,3,105,0.02
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.04494,0.289114
$HUMID,45.58
$INTERNAL_PRESSURE,8.29718
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,13.06,64.019
$10V_AH,12.60,0.000
$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,3.975,107.125,644.675,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,9468.254,728.882,2333.899,88.642,0.000,1654.109,0.000,1788.211,1200.000,4.559,0.000
$DEVICE_MAMPS,210.375,1375.470,1401.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12541.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.810,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,43367,1256
$CAP_FILE_SIZE,116809,12
$CFSIZE,1024409600,1002455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.4
$GPS,150218,181424,-7413.007,-11213.057,0,4104.7,0,53.3,0.0,0.0,0,0.0