version: 66.13
glider: 223
mission: 5
dive: 154
start: 2 16 118 8 24 42
data:
$ID,223
$MISSION,5
$DIVE,154
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,160218,061528,-7413.4146,-11212.4365,0,4094.0,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,344.51
$_SM_ANGLEo,-1.2
$GPS2,160218,061528,-7413.4146,-11212.4365,0,4094.0,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7427.000,-11215.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,129.6,25192,-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,-146.0,2797,2296,2826,2762,0.0,0.0,0,11,0.00,0.00,-2.15,0.047,16390,0.000,0.000,2797,2296,3391,3416,3366,0,0,0,0,0,0,15.09,13.52,15.07
$GC,13,-0.93,-146.0,2799,2297,3418,3368,0.0,0.0,0,15,0.93,0.00,0.00,0.000,4102,0.112,0.000,2492,2296,3391,3416,3367,0,0,0,0,0,0,14.82,14.97,14.95
$PING,364.6,26.7,9000.0,0.00,0.00
$GC,309,-0.93,-146.0,2491,2297,3416,3367,382.3,-13.5,30,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2296,3391,3416,3366,0,0,0,0,0,0,15.11,15.14,15.14
$GC,609,-0.93,-146.0,2492,2297,3416,3366,420.4,-12.7,60,615,0.00,2.55,0.00,0.000,516,0.000,0.086,2491,893,3390,3416,3365,0,0,0,0,0,0,15.11,14.76,15.14
$GC,634,-0.93,-146.0,2491,894,3416,3366,423.8,-13.4,65,642,0.00,2.53,0.00,0.000,1030,0.000,0.081,2481,2296,3391,3417,3365,0,0,0,0,0,0,14.87,14.79,14.91
$GC,939,-0.93,-146.0,2481,2297,3416,3366,464.4,-13.6,96,945,0.00,2.55,0.00,0.000,516,0.000,0.085,2482,891,3390,3416,3365,0,0,0,0,0,0,15.11,14.76,15.14
$GC,984,-0.93,-146.0,2484,892,3418,3366,470.8,-14.2,105,992,0.00,2.55,0.00,0.000,1030,0.000,0.080,2471,2307,3390,3416,3365,0,0,0,0,0,0,14.86,14.78,14.90
$GC,1289,-0.93,-146.0,2471,2308,3416,3365,512.4,-13.4,136,1295,0.00,2.60,0.00,0.000,260,0.000,0.116,2461,3710,3390,3416,3364,0,0,0,0,0,0,15.11,14.73,15.13
$GC,1334,-0.93,-146.0,2462,3710,3418,3365,519.0,-14.7,145,1343,0.12,2.45,0.00,0.000,3078,0.249,0.052,2495,2282,3390,3416,3364,0,0,0,0,0,0,14.62,14.84,14.78
$GC,1640,-0.93,-146.0,2494,2282,3416,3365,555.4,-11.3,176,1645,0.00,2.45,0.00,0.000,516,0.000,0.086,2495,894,3390,3416,3364,0,0,0,0,0,0,15.06,14.78,15.09
$GC,1700,-0.93,-146.0,2494,894,3417,3364,562.6,-12.2,188,1705,0.00,2.50,0.00,0.000,1030,0.000,0.080,2486,2307,3389,3416,3363,0,0,0,0,0,0,14.93,14.80,15.00
$GC,2009,-0.93,-146.0,2486,2308,3416,3364,600.8,-12.2,220,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2306,3389,3416,3363,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2310,-0.93,-146.0,2484,2307,3417,3364,638.1,-12.7,250,2315,0.00,2.58,0.00,0.000,260,0.000,0.116,2474,3721,3389,3416,3363,0,0,0,0,0,0,15.05,14.76,15.08
$GC,2339,-0.93,-146.0,2476,3722,3416,3365,642.2,-13.5,256,2345,0.00,2.45,0.00,0.000,1030,0.000,0.053,2476,2302,3389,3416,3363,0,0,0,0,0,0,14.88,14.83,14.90
$GC,2650,-0.93,-146.0,2478,2299,3418,3364,683.5,-13.3,288,2655,0.00,2.50,0.00,0.000,516,0.000,0.083,2476,889,3389,3416,3363,0,0,0,0,0,0,15.09,14.76,15.11
$GC,2709,-0.93,-146.0,2475,889,3416,3363,692.0,-13.7,300,2715,0.00,2.55,0.00,0.000,1030,0.000,0.083,2474,2298,3389,3416,3362,0,0,0,0,0,0,14.84,14.75,14.88
$GC,3040,-0.93,-146.0,2474,2298,3416,3363,733.6,-12.3,316,3045,0.00,2.50,0.00,0.000,516,0.000,0.085,2474,894,3389,3416,3362,0,0,0,0,0,0,15.05,14.76,15.07
$GC,3074,-0.93,-146.0,2475,894,3418,3363,738.0,-12.4,323,3081,0.10,2.55,0.00,0.000,3078,0.273,0.085,2497,2301,3389,3416,3362,0,0,0,0,0,0,14.59,14.76,14.92
$GC,3460,-0.93,-146.0,2498,2300,3418,3363,781.3,-12.5,340,3466,0.00,2.50,0.00,0.000,516,0.000,0.086,2497,893,3389,3416,3362,0,0,0,0,0,0,15.12,14.78,15.15
$GC,3499,-0.93,-146.0,2496,894,3415,3362,786.2,-12.2,348,3506,0.00,2.55,0.00,0.000,1030,0.000,0.080,2489,2308,3389,3416,3362,0,0,0,0,0,0,14.85,14.76,14.90
$PING,806.1,57.0,9000.0,0.00,0.00
$PING,812.8,51.3,9000.0,0.06,0.96
$PING,826.3,31.5,9000.0,-1.29,0.98
$GC,3880,-0.93,-146.0,2488,2309,3416,3363,829.5,-11.2,364,3886,0.00,2.58,0.00,0.000,516,0.000,0.086,2488,888,3389,3416,3362,0,0,0,0,0,0,15.14,14.75,15.16
$PING,832.6,23.5,9000.0,-1.42,1.00
$GC,3930,-0.93,-146.0,2490,889,3418,3362,835.6,-12.4,374,3936,0.00,2.55,0.00,0.000,1030,0.000,0.080,2478,2301,3390,3419,3362,0,0,0,0,0,0,14.85,14.78,14.90
$PING,840.9,17.6,17.1,-0.93,0.97
$PING,849.0,16.4,9000.0,-0.44,0.89
$STATE,4030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4030,begin apogee
$PING,851.4,15.8,9000.0,-0.17,0.99
$GC,4033,-0.23,0.0,2478,2056,3417,3362,849.0,-13.1,379,4350,0.88,0.12,312.27,1.386,10246,0.227,0.144,2720,2131,2781,2821,2742,0,0,0,0,0,0,14.66,13.85,13.33
$STATE,4351,end apogee,CONTROL_FINISHED_OK
$STATE,4351,begin climb
$GC,4353,0.93,146.0,2721,2132,2820,2739,863.6,0.0,389,4689,1.27,2.78,322.80,1.343,11012,0.144,0.102,3095,3499,2183,2227,2139,0,0,0,0,0,0,13.82,13.54,13.09
$GC,4713,0.93,146.0,3096,3499,2226,2137,837.2,13.2,440,4719,0.00,2.55,0.00,0.000,1030,0.000,0.053,3105,2117,2180,2224,2136,0,0,0,0,0,0,13.83,13.76,13.85
$GC,5083,0.93,146.0,3105,2117,2216,2130,789.4,12.9,454,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2117,2173,2216,2130,0,0,0,0,0,0,14.62,14.64,14.64
$GC,5444,0.93,146.0,3104,2117,2213,2129,744.9,12.5,466,5450,0.00,2.55,0.00,0.000,260,0.000,0.104,3105,3503,2171,2214,2128,0,0,0,0,0,0,14.86,14.58,14.88
$GC,5479,0.93,146.0,3106,3504,2218,2129,740.1,13.5,473,5485,0.00,2.47,0.00,0.000,1030,0.000,0.055,3115,2091,2171,2214,2128,0,0,0,0,0,0,14.69,14.64,14.76
$GC,5844,0.93,146.0,3114,2091,2212,2128,692.9,12.4,492,5850,0.00,2.60,0.00,0.000,260,0.000,0.103,3116,3490,2167,2208,2127,0,0,0,0,0,0,14.98,14.67,15.02
$GC,5974,0.93,146.0,3115,3491,2211,2128,675.4,13.2,518,5981,0.00,2.42,0.00,0.000,1030,0.000,0.053,3126,2095,2169,2211,2127,0,0,0,0,0,0,14.81,14.76,14.84
$GC,6285,0.93,146.0,3125,2092,2209,2128,636.2,12.8,550,6291,0.00,2.60,0.00,0.000,260,0.000,0.104,3126,3500,2168,2210,2127,0,0,0,0,0,0,15.04,14.72,15.07
$GC,6345,0.93,146.0,3125,3500,2210,2128,627.8,14.0,562,6353,0.12,2.45,0.00,0.000,5126,0.243,0.054,3095,2097,2168,2210,2127,0,0,0,0,0,0,14.61,14.78,14.76
$GC,6657,0.93,146.0,3098,2092,2210,2127,591.7,10.9,594,6663,0.00,2.55,0.00,0.000,260,0.000,0.103,3100,3496,2167,2209,2126,0,0,0,0,0,0,15.07,14.76,15.09
$GC,6687,0.93,146.0,3099,3496,2209,2127,588.1,12.1,600,6693,0.00,2.45,0.00,0.000,1030,0.000,0.054,3108,2083,2167,2209,2126,0,0,0,0,0,0,14.87,14.81,14.90
$GC,6997,0.93,146.0,3108,2083,2209,2127,553.3,10.8,632,7003,0.00,2.50,0.00,0.000,516,0.000,0.103,3118,694,2167,2208,2126,0,0,0,0,0,0,15.08,14.77,15.11
$GC,7028,0.93,146.0,3120,695,2210,2128,550.0,11.2,638,7034,0.00,2.45,0.00,0.000,1030,0.000,0.071,3118,2103,2167,2208,2126,0,0,0,0,0,0,14.92,14.81,14.95
$GC,7338,0.93,146.0,3118,2104,2208,2127,513.7,12.0,670,7345,0.00,2.60,0.00,0.000,260,0.000,0.107,3118,3515,2167,2208,2127,0,0,0,0,0,0,15.08,14.76,15.11
$GC,7439,0.93,146.0,3118,3515,2208,2127,500.6,13.3,690,7446,0.00,2.45,0.00,0.000,1030,0.000,0.054,3127,2085,2167,2208,2126,0,0,0,0,0,0,14.93,14.83,14.97
$GC,7750,0.93,146.0,3128,2085,2210,2126,465.5,11.3,722,7757,0.00,2.60,0.00,0.000,260,0.000,0.103,3127,3520,2166,2208,2125,0,0,0,0,0,0,15.10,14.76,15.12
$GC,7791,0.93,146.0,3128,3521,2209,2126,460.4,12.4,730,7798,0.12,2.47,0.00,0.000,5126,0.249,0.054,3101,2091,2166,2207,2125,0,0,0,0,0,0,14.64,14.81,14.92
$GC,8102,0.93,146.0,3099,2091,2209,2125,428.8,10.2,762,8108,0.00,2.62,0.00,0.000,260,0.000,0.103,3101,3538,2166,2208,2125,0,0,0,0,0,0,15.09,14.78,15.12
$GC,8132,0.93,146.0,3102,3538,2209,2126,425.5,10.9,768,8138,0.00,2.50,0.00,0.000,1030,0.000,0.054,3110,2100,2170,2215,2125,0,0,0,0,0,0,14.88,14.83,14.91
$PING,424.4,74.7,9000.0,-0.14,1.00
$PING,418.0,67.8,9000.0,-0.13,0.99
$PING,411.6,61.2,61.2,1.05,1.00
$PING,399.0,47.9,47.9,1.05,1.00
$PING,392.9,41.4,41.4,1.06,1.00
$GC,8443,0.93,146.0,3110,2100,2209,2126,392.9,10.2,800,8448,0.00,2.58,0.00,0.000,260,0.000,0.103,3110,3521,2166,2207,2125,0,0,0,0,0,0,15.06,14.78,15.08
$GC,8487,0.93,146.0,3109,3522,2207,2125,387.6,12.2,809,8495,0.00,2.47,0.00,0.000,1030,0.000,0.053,3120,2094,2166,2207,2125,0,0,0,0,0,0,14.88,14.83,14.91
$PING,385.9,34.1,34.1,1.05,1.00
$PING,379.0,27.4,27.3,1.01,1.00
$PING,372.3,20.0,20.1,1.04,1.00
$PING,365.8,14.0,13.8,1.02,1.00
$STATE,8751,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8751,begin subsurface finish
$FINISH1,358.3,1.027483,1
$GC,8755,0.00,0.8,3120,2095,2207,2125,358.3,10.7,836,8766,1.08,2.60,-2.28,0.052,20740,0.209,0.127,2807,3518,2794,2827,2762,0,0,0,0,0,0,14.66,13.52,14.81
$FINISH2,357.3
$STATE,8766,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8766,begin surface
$RAFOS_CLK,325
$RAFOS,2,1518772402,9.233334,9.222777,140,63,57,56,49,47,508,182,228,147,213,129
$RAFOS,1,1518772021,9.133333,9.116944,191,64,54,53,52,51,592,194,148,134,209,223
$RAFOS,0,1518771661,9.032778,9.016945,156,62,60,59,50,49,545,211,198,161,231,117
$RAFOS_FIX,-7414.554199,-11213.909180,160218,090940,3,162,0.21
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.038948,0.279377
$HUMID,49.25
$INTERNAL_PRESSURE,8.25812
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,365.8,13.8
$ALTIM_BOTTOM_PING,840.9,17.1
$24V_AH,13.09,65.613
$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,4.625,99.625,635.075,0.000,0.000,0.000,0.000,0.000,37.250,0.000,0.000,0.000,6270.112,723.728,1765.835,90.481,0.000,1378.986,0.000,1201.083,720.000,266.067,0.000
$DEVICE_MAMPS,273.105,143.820,1386.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8784.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.598,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,30017,838
$CAP_FILE_SIZE,106571,0
$CFSIZE,1024409600,1001914368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.7
$GPS,160218,091440,-7414.554,-11213.909,0,4162.3,0,53.3,0.0,0.0,0,0.0