version: 66.13
glider: 223
mission: 5
dive: 153
start: 2 16 118 3 37 32
data:
$ID,223
$MISSION,5
$DIVE,153
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,160218,031616,-7413.4878,-11211.8887,0,4111.0,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,900.71
$_SM_ANGLEo,-8.3
$GPS2,160218,031616,-7413.4878,-11211.8887,0,4111.0,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7427.000,-11215.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,130.2,25072,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.93,-146.0,2794,2311,2883,2812,0.0,0.0,0,10,0.00,0.00,-1.23,0.076,16390,0.000,0.000,2794,2310,3395,3425,3366,0,0,0,0,0,0,14.21,13.10,14.21
$GC,12,-0.93,-146.0,2796,2311,3427,3368,0.0,0.0,0,14,0.93,0.00,0.00,0.000,4102,0.060,0.000,2477,2310,3395,3424,3367,0,0,0,0,0,0,14.07,14.16,14.14
$GC,319,-0.93,-146.0,2478,2311,3427,3367,900.6,0.0,11,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2310,3395,3425,3366,0,0,0,0,0,0,14.67,14.70,14.69
$GC,679,-0.93,-146.0,2478,2311,3426,3367,900.6,-0.0,23,680,0.00,0.00,0.00,0.000,38,0.000,0.000,2476,2310,3395,3425,3366,0,0,0,0,0,0,14.90,14.93,14.92
$GC,1040,-0.93,-146.0,2478,2311,3427,3366,900.6,-0.0,35,1040,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3396,3426,3366,0,0,0,0,0,0,15.00,15.02,15.02
$GC,1399,-0.93,-146.0,2478,2311,3427,3366,900.7,-0.0,47,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2310,3395,3425,3365,0,0,0,0,0,0,15.06,15.09,15.08
$GC,1759,-0.93,-146.0,2478,2311,3427,3365,900.7,-0.0,59,1760,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3395,3425,3365,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2119,-0.93,-146.0,2478,2311,3426,3365,900.7,-0.0,71,2120,0.00,0.00,0.00,0.000,38,0.000,0.000,2476,2310,3394,3424,3364,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2479,-0.93,-146.0,2476,2311,3419,3363,900.7,0.0,83,2480,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2310,3394,3424,3364,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2839,-0.93,-146.0,2478,2311,3426,3364,900.7,-0.0,95,2840,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3394,3424,3364,0,0,0,0,0,0,15.13,15.15,15.15
$GC,3199,-0.93,-146.0,2478,2311,3426,3364,900.7,-0.0,107,3200,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3393,3424,3363,0,0,0,0,0,0,15.13,15.14,15.16
$GC,3559,-0.93,-146.0,2478,2312,3426,3364,900.8,0.0,119,3560,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2311,3393,3424,3363,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3919,-0.93,-146.0,2476,2311,3423,3363,900.8,0.0,131,3920,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3393,3424,3362,0,0,0,0,0,0,15.16,15.18,15.18
$GC,4279,-0.93,-146.0,2478,2311,3425,3363,900.8,-0.0,143,4280,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3393,3424,3362,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4639,-0.93,-146.0,2476,2311,3423,3363,900.8,0.0,155,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2311,3392,3423,3362,0,0,0,0,0,0,15.16,15.19,15.19
$GC,4999,-0.93,-146.0,2475,2311,3423,3363,900.8,-0.0,167,5000,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3392,3423,3362,0,0,0,0,0,0,15.17,15.20,15.19
$GC,5359,-0.93,-146.0,2478,2312,3425,3362,900.8,-0.0,179,5360,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2307,3392,3423,3362,0,0,0,0,0,0,15.17,15.21,15.20
$GC,5719,-0.93,-146.0,2476,2311,3423,3362,900.8,0.0,191,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2311,3392,3423,3362,0,0,0,0,0,0,15.18,15.21,15.21
$GC,6080,-0.93,-146.0,2476,2311,3423,3361,900.8,0.0,203,6080,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3392,3423,3361,0,0,0,0,0,0,15.19,15.21,15.21
$GC,6439,-0.93,-146.0,2478,2312,3425,3358,900.8,0.0,215,6440,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3392,3423,3361,0,0,0,0,0,0,15.18,15.21,15.21
$GC,6799,-0.93,-146.0,2476,2311,3424,3361,900.9,0.0,227,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2311,3391,3423,3359,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7160,-0.93,-146.0,2477,2311,3425,3362,900.9,-0.0,239,7160,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3392,3423,3361,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7520,-0.93,-146.0,2476,2311,3423,3361,900.9,-0.0,251,7520,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3392,3423,3361,0,0,0,0,0,0,15.18,15.21,15.21
$GC,7879,-0.93,-146.0,2476,2311,3423,3361,900.9,0.1,263,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2311,3391,3423,3359,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8239,-0.93,-146.0,2478,2311,3424,3360,900.9,0.0,275,8240,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3392,3423,3361,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8599,-0.93,-146.0,2476,2311,3423,3361,900.9,-0.0,287,8600,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3392,3423,3361,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8959,-0.93,-146.0,2478,2312,3424,3363,900.9,0.0,299,8960,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2311,3391,3422,3361,0,0,0,0,0,0,15.19,15.21,15.21
$GC,9319,-0.93,-146.0,2476,2311,3422,3361,900.9,-0.0,311,9320,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3389,3417,3361,0,0,0,0,0,0,15.17,15.21,15.21
$GC,9679,-0.93,-146.0,2478,2311,3424,3362,900.9,-0.0,323,9680,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2311,3391,3422,3361,0,0,0,0,0,0,15.18,15.21,15.21
$GC,10039,-0.93,-146.0,2476,2311,3422,3361,900.9,0.0,335,10040,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2311,3391,3422,3361,0,0,0,0,0,0,15.19,15.21,15.21
$GC,10399,-0.93,-146.0,2478,2312,3425,3361,900.9,0.0,347,10400,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3391,3422,3360,0,0,0,0,0,0,15.19,15.21,15.21
$GC,10759,-0.93,-146.0,2475,2309,3423,3361,900.9,-0.0,359,10760,0.00,0.00,0.00,0.000,38,0.000,0.000,2476,2311,3391,3422,3360,0,0,0,0,0,0,15.19,15.21,15.21
$GC,11119,-0.93,-146.0,2476,2311,3422,3361,900.9,-0.0,371,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2310,3391,3422,3360,0,0,0,0,0,0,15.19,15.21,15.21
$GC,11479,-0.93,-146.0,2476,2311,3422,3361,900.9,-0.0,383,11480,0.00,0.00,0.00,0.000,38,0.000,0.000,2477,2310,3391,3422,3360,0,0,0,0,0,0,15.19,15.21,15.21
$STATE,11718,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11718,begin apogee
$GC,11721,-0.23,0.0,2476,2099,3421,3361,900.9,0.0,391,12129,0.85,0.00,404.70,1.270,10246,0.179,0.000,2730,2099,2785,2825,2746,0,0,0,0,0,0,14.75,13.83,13.28
$STATE,12130,end apogee,CONTROL_FINISHED_OK
$STATE,12130,begin climb
$PING,895.1,14.9,9000.0,0.00,0.00
$GC,12132,0.93,146.0,2731,2099,2820,2744,901.2,0.0,404,12439,1.27,2.83,292.40,1.572,10756,0.151,0.104,3107,715,2181,2226,2136,0,0,0,0,0,0,13.76,13.51,12.99
$PING,888.6,21.0,9000.0,0.00,0.00
$GC,12533,0.93,146.0,3107,716,2218,2129,884.9,10.2,468,12539,0.00,2.55,0.00,0.000,1030,0.000,0.044,3107,2109,2173,2218,2129,0,0,0,0,0,0,14.01,13.96,14.02
$PING,882.2,32.3,9000.0,-1.35,0.97
$GC,12923,0.93,146.0,3108,2110,2213,2125,846.4,9.8,486,12929,0.00,2.55,0.00,0.000,260,0.000,0.084,3107,3500,2167,2210,2124,0,0,0,0,0,0,14.71,14.45,14.73
$GC,13068,0.93,146.0,3107,3501,2207,2124,828.8,13.6,515,13075,0.00,2.45,0.00,0.000,1030,0.000,0.052,3116,2107,2166,2209,2124,0,0,0,0,0,0,14.63,14.59,14.66
$GC,13435,0.93,146.0,3114,2107,2209,2121,783.7,12.2,528,13440,0.00,2.55,0.00,0.000,260,0.000,0.103,3116,3500,2164,2207,2121,0,0,0,0,0,0,14.92,14.67,14.95
$GC,13464,0.93,146.0,3117,3502,2209,2122,779.5,14.0,534,13470,0.00,2.45,0.00,0.000,1030,0.000,0.053,3126,2094,2163,2207,2120,0,0,0,0,0,0,14.77,14.72,14.81
$GC,13854,0.93,146.0,3127,2094,2207,2119,726.8,13.5,552,13860,0.00,2.58,0.00,0.000,260,0.000,0.104,3125,3508,2162,2205,2120,0,0,0,0,0,0,15.03,14.77,15.06
$GC,13899,0.93,146.0,3126,3506,2207,2121,720.1,14.9,561,13906,0.12,2.45,0.00,0.000,5126,0.243,0.053,3099,2095,2164,2209,2120,0,0,0,0,0,0,14.64,14.79,14.77
$GC,14265,0.93,146.0,3100,2095,2206,2120,677.7,11.1,587,14272,0.00,2.60,0.00,0.000,260,0.000,0.104,3099,3528,2161,2203,2119,0,0,0,0,0,0,15.07,14.76,15.10
$GC,14321,0.93,146.0,3099,3529,2204,2120,670.5,12.8,598,14328,0.00,2.47,0.00,0.000,1030,0.000,0.053,3107,2093,2161,2203,2119,0,0,0,0,0,0,14.88,14.82,14.91
$GC,14626,0.93,146.0,3106,2093,2205,2120,634.9,11.6,629,14633,0.00,2.55,0.00,0.000,260,0.000,0.103,3107,3501,2161,2203,2119,0,0,0,0,0,0,15.08,14.78,15.11
$GC,14667,0.93,146.0,3106,3502,2203,2120,629.8,12.4,637,14674,0.00,2.38,0.00,0.000,1030,0.000,0.053,3116,2097,2161,2203,2119,0,0,0,0,0,0,14.92,14.85,14.96
$GC,14978,0.93,146.0,3117,2098,2205,2120,592.3,11.5,669,14978,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2097,2161,2203,2119,0,0,0,0,0,0,15.10,15.13,15.13
$GC,15277,0.93,146.0,3117,2098,2204,2120,556.3,11.6,699,15283,0.00,2.60,0.00,0.000,260,0.000,0.105,3115,3504,2160,2202,2119,0,0,0,0,0,0,15.11,14.77,15.17
$GC,15352,0.93,146.0,3117,3505,2204,2120,546.6,12.9,714,15360,0.00,2.42,0.00,0.000,1030,0.000,0.053,3125,2100,2160,2202,2119,0,0,0,0,0,0,14.90,14.84,14.93
$GC,15658,0.93,146.0,3126,2100,2204,2120,509.1,12.6,745,15658,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2100,2160,2202,2119,0,0,0,0,0,0,15.12,15.15,15.18
$PING,476.1,143.0,9000.0,-0.28,0.99
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$STATE,17094,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,17094,begin subsurface finish
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$STATE,17108,end subsurface finish,CONTROL_FINISHED_OK
$STATE,17108,begin surface
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$RAFOS,2,1518761601,6.233333,6.222500,69,57,57,57,53,53,495,206,217,151,188,120
$RAFOS,1,1518761241,6.133333,6.122500,81,62,59,56,56,55,475,184,199,223,167,214
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$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.038199,0.249417
$HUMID,49.05
$INTERNAL_PRESSURE,8.25812
$TCM_TEMP,12.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,353.9,15.9
$24V_AH,12.99,65.317
$10V_AH,12.95,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.310,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,30020,913
$CAP_FILE_SIZE,117423,0
$CFSIZE,1024409600,1001996288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.5
$GPS,160218,061528,-7413.415,-11212.437,0,4094.0,0,53.3,0.0,0.0,0,0.0