version: 66.13
glider: 223
mission: 5
dive: 157
start: 2 16 118 16 43 57
data:
$ID,223
$MISSION,5
$DIVE,157
$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,42
$R_STBD_OVSHOOT,19
$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
$GPS1,160218,150848,-7418.6597,-11214.2197,0,3135.5,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,360.01
$_SM_ANGLEo,-0.1
$GPS2,160218,150848,-7418.6597,-11214.2197,0,3135.5,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7427.000,-11215.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,128.1,15451,-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,-146.0,2803,2286,2827,2762,0.0,0.0,0,11,0.00,0.00,-2.10,0.047,16390,0.000,0.000,2801,2285,3392,3417,3367,0,0,0,0,0,0,15.09,13.52,15.07
$GC,13,-0.93,-146.0,2803,2286,3419,3370,0.0,0.0,0,19,0.90,2.45,0.00,0.000,4612,0.115,0.086,2500,880,3392,3417,3368,0,0,0,0,0,0,14.80,14.78,14.87
$PING,366.6,13.6,9000.0,0.00,0.00
$GC,83,-0.93,-146.0,2501,882,3419,3368,367.1,-11.7,14,89,0.00,2.55,0.00,0.000,1030,0.000,0.079,2491,2299,3392,3417,3368,0,0,0,0,0,0,14.86,14.79,14.90
$GC,393,-0.93,-146.0,2491,2299,3417,3368,407.4,-13.1,46,399,0.00,2.53,0.00,0.000,516,0.000,0.086,2492,912,3392,3417,3367,0,0,0,0,0,0,15.11,14.76,15.14
$GC,438,-0.93,-146.0,2492,913,3419,3368,413.6,-13.7,55,445,0.00,2.50,0.00,0.000,1030,0.000,0.077,2482,2305,3391,3416,3367,0,0,0,0,0,0,14.87,14.78,14.91
$GC,743,-0.93,-146.0,2481,2306,3416,3367,454.9,-13.6,86,749,0.00,2.55,0.00,0.000,516,0.000,0.083,2481,877,3391,3416,3366,0,0,0,0,0,0,15.09,14.78,15.12
$GC,793,-0.93,-146.0,2480,877,3424,3366,461.9,-13.8,96,800,0.00,2.55,0.00,0.000,1030,0.000,0.075,2471,2300,3391,3416,3366,0,0,0,0,0,0,14.84,14.78,14.90
$GC,1104,-0.93,-146.0,2470,2300,3416,3366,504.0,-13.7,128,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2299,3391,3416,3366,0,0,0,0,0,0,15.09,15.13,15.11
$GC,1404,-0.93,-146.0,2470,2299,3417,3366,545.4,-14.0,158,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2299,3390,3416,3365,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1704,-0.93,-146.0,2471,2300,3418,3366,586.6,-13.6,188,1710,0.00,2.53,0.00,0.000,516,0.000,0.083,2471,905,3390,3416,3365,0,0,0,0,0,0,15.09,14.76,15.12
$GC,1775,-0.93,-146.0,2471,906,3419,3365,596.6,-13.8,202,1781,0.10,2.53,0.00,0.000,3078,0.275,0.075,2500,2308,3391,3417,3365,0,0,0,0,0,0,14.62,14.78,14.88
$GC,2086,-0.93,-146.0,2501,2308,3418,3365,633.8,-11.8,234,2091,0.00,2.50,0.00,0.000,516,0.000,0.083,2500,902,3390,3417,3363,0,0,0,0,0,0,15.06,14.78,15.09
$GC,2115,-0.93,-146.0,2501,903,3418,3365,637.4,-12.6,240,2121,0.00,2.53,0.00,0.000,1030,0.000,0.073,2491,2314,3390,3416,3364,0,0,0,0,0,0,14.85,14.79,14.90
$GC,2426,-0.93,-146.0,2490,2314,3417,3365,674.3,-12.2,272,2431,0.00,2.55,0.00,0.000,260,0.000,0.110,2480,3726,3390,3416,3364,0,0,0,0,0,0,15.07,14.77,15.09
$GC,2465,-0.93,-146.0,2480,3727,3416,3365,679.4,-12.9,280,2471,0.00,2.45,0.00,0.000,1030,0.000,0.048,2480,2297,3389,3415,3364,0,0,0,0,0,0,14.90,14.84,14.92
$GC,2785,-0.93,-146.0,2479,2296,3416,3364,718.1,-11.9,303,2791,0.00,2.53,0.00,0.000,516,0.000,0.082,2480,892,3389,3416,3363,0,0,0,0,0,0,15.11,14.76,15.14
$GC,2845,-0.93,-146.0,2482,893,3418,3365,725.4,-12.4,315,2851,0.00,2.53,0.00,0.000,1030,0.000,0.075,2475,2300,3390,3417,3364,0,0,0,0,0,0,14.86,14.77,14.90
$GC,3235,-0.93,-146.0,2475,2300,3416,3365,772.7,-12.0,333,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2300,3390,3416,3364,0,0,0,0,0,0,15.12,15.14,15.15
$GC,3596,-0.93,-146.0,2476,2300,3418,3365,817.3,-11.8,345,3602,0.00,2.50,0.00,0.000,516,0.000,0.083,2475,891,3390,3416,3364,0,0,0,0,0,0,15.13,14.79,15.16
$GC,3646,-0.93,-146.0,2475,892,3417,3365,823.3,-12.3,355,3652,0.12,2.53,0.00,0.000,3078,0.267,0.073,2499,2305,3390,3416,3364,0,0,0,0,0,0,14.61,14.80,14.77
$PING,852.9,51.8,9000.0,0.00,0.00
$GC,4016,-0.93,-146.0,2499,2306,3416,3364,862.7,-10.6,369,4023,0.00,2.53,0.00,0.000,516,0.000,0.081,2500,903,3390,3416,3364,0,0,0,0,0,0,15.14,14.76,15.16
$GC,4052,-0.93,-146.0,2499,903,3416,3364,866.5,-7.7,376,4058,0.00,2.50,0.00,0.000,1030,0.000,0.073,2496,2301,3390,3417,3364,0,0,0,0,0,0,14.85,14.76,14.88
$PING,872.6,34.2,9000.0,0.06,0.76
$PING,879.2,24.4,25.8,-1.01,0.99
$PING,885.8,19.9,19.0,-1.08,0.96
$PING,892.6,14.8,9000.0,-0.72,1.00
$STATE,4316,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4316,begin apogee
$GC,4320,-0.23,0.0,2490,2072,3416,3365,896.1,-11.2,389,4710,0.85,0.10,383.35,1.303,10246,0.228,0.154,2725,2131,2777,2816,2739,0,0,0,0,0,0,14.66,13.71,13.21
$STATE,4712,end apogee,CONTROL_FINISHED_OK
$STATE,4712,begin climb
$PING,891.9,24.0,9000.0,-0.20,0.02
$PING,885.8,17.0,9000.0,0.25,0.04
$PING,879.3,26.8,9000.0,-0.24,0.09
$GC,4713,0.93,146.0,2724,2130,2813,2740,899.8,0.0,402,5060,1.25,2.78,333.90,1.321,10756,0.139,0.093,3099,738,2185,2228,2143,0,0,0,0,0,0,13.72,13.50,13.11
$GC,5224,0.93,146.0,3100,733,2219,2139,850.6,11.7,501,5231,0.00,2.53,0.00,0.000,1030,0.000,0.061,3099,2091,2177,2217,2138,0,0,0,0,0,0,14.11,14.06,14.14
$GC,5600,0.93,146.0,3099,2092,2214,2135,806.0,12.0,516,5606,0.00,2.65,0.00,0.000,260,0.000,0.099,3100,3530,2174,2214,2134,0,0,0,0,0,0,14.73,14.47,14.75
$GC,5675,0.93,146.0,3098,3530,2214,2134,796.1,13.5,531,5681,0.00,2.47,0.00,0.000,1030,0.000,0.050,3109,2125,2174,2214,2134,0,0,0,0,0,0,14.60,14.56,14.64
$GC,6050,0.93,146.0,3110,2126,2215,2134,749.6,12.4,546,6056,0.00,2.60,0.00,0.000,516,0.000,0.099,3120,697,2172,2212,2133,0,0,0,0,0,0,14.94,14.65,14.97
$GC,6071,0.93,146.0,3122,698,2214,2134,747.1,12.5,550,6076,0.00,2.47,0.00,0.000,1030,0.000,0.066,3120,2113,2172,2212,2133,0,0,0,0,0,0,14.81,14.71,14.83
$GC,6441,0.93,146.0,3119,2120,2211,2133,699.6,13.2,564,6447,0.00,2.53,0.00,0.000,260,0.000,0.101,3120,3513,2172,2211,2133,0,0,0,0,0,0,14.99,14.71,15.01
$GC,6487,0.93,146.0,3120,3515,2212,2134,693.0,14.6,573,6494,0.00,2.42,0.00,0.000,1030,0.000,0.050,3129,2090,2171,2210,2133,0,0,0,0,0,0,14.86,14.78,14.88
$GC,6792,0.93,146.0,3130,2091,2211,2133,653.6,12.7,604,6797,0.15,2.58,0.00,0.000,4356,0.268,0.099,3095,3517,2169,2209,2129,0,0,0,0,0,0,14.66,14.75,14.88
$GC,6831,0.93,146.0,3094,3518,2209,2133,648.5,12.6,612,6837,0.00,2.45,0.00,0.000,1030,0.000,0.050,3103,2098,2170,2209,2132,0,0,0,0,0,0,14.85,14.81,14.87
$GC,7142,0.93,146.0,3103,2099,2209,2132,612.5,11.5,644,7148,0.00,2.55,0.00,0.000,260,0.000,0.099,3104,3512,2170,2209,2132,0,0,0,0,0,0,15.04,14.78,15.07
$GC,7167,0.93,146.0,3105,3512,2211,2133,609.3,12.3,649,7175,0.00,2.45,0.00,0.000,1030,0.000,0.051,3113,2096,2170,2209,2132,0,0,0,0,0,0,14.85,14.80,14.88
$GC,7472,0.93,146.0,3115,2096,2210,2133,573.6,11.8,680,7478,0.00,2.60,0.00,0.000,260,0.000,0.099,3113,3537,2170,2208,2132,0,0,0,0,0,0,15.09,14.77,15.11
$GC,7507,0.93,146.0,3114,3538,2210,2133,569.1,13.1,687,7514,0.00,2.50,0.00,0.000,1030,0.000,0.051,3123,2087,2170,2208,2132,0,0,0,0,0,0,14.85,14.81,14.89
$GC,7812,0.93,146.0,3124,2088,2210,2132,532.0,12.2,718,7818,0.00,2.58,0.00,0.000,260,0.000,0.099,3123,3513,2169,2208,2131,0,0,0,0,0,0,15.09,14.77,15.12
$GC,7842,0.93,146.0,3122,3513,2208,2132,528.0,12.9,724,7848,0.10,2.45,0.00,0.000,5126,0.248,0.051,3104,2095,2169,2208,2131,0,0,0,0,0,0,14.64,14.81,14.79
$GC,8153,0.93,146.0,3104,2095,2208,2132,493.5,10.9,756,8158,0.00,2.55,0.00,0.000,260,0.000,0.097,3104,3513,2169,2208,2131,0,0,0,0,0,0,15.07,14.81,15.09
$GC,8192,0.93,146.0,3104,3512,2208,2132,488.8,11.7,764,8198,0.00,2.45,0.00,0.000,1030,0.000,0.050,3117,2091,2169,2208,2131,0,0,0,0,0,0,14.88,14.81,14.90
$GC,8502,0.93,146.0,3114,2092,2210,2132,454.3,11.1,796,8511,0.00,2.60,0.00,0.000,260,0.000,0.096,3113,3510,2169,2208,2131,0,0,0,0,0,0,15.11,14.77,15.14
$GC,8530,0.93,146.0,3112,3511,2208,2132,450.9,12.0,801,8538,0.00,2.45,0.00,0.000,1030,0.000,0.050,3122,2090,2169,2208,2131,0,0,0,0,0,0,14.90,14.84,14.93
$PING,440.2,85.6,9000.0,-0.14,0.99
$PING,420.0,66.4,9000.0,-0.11,0.87
$GC,8835,0.93,146.0,3122,2089,2207,2132,416.6,11.1,832,8841,0.00,2.60,0.00,0.000,260,0.000,0.097,3128,3533,2169,2207,2131,0,0,0,0,0,0,15.11,14.79,15.14
$PING,413.7,59.9,60.0,0.97,1.00
$GC,8880,0.93,146.0,3123,3533,2209,2133,411.3,12.0,841,8888,0.10,2.47,0.00,0.000,5126,0.249,0.050,3105,2098,2169,2207,2131,0,0,0,0,0,0,14.66,14.85,14.81
$PING,407.7,54.3,54.2,0.98,1.00
$PING,400.8,48.1,48.1,0.92,1.00
$PING,388.8,37.0,37.0,0.91,1.00
$PING,382.7,31.3,31.3,0.93,1.00
$GC,9185,0.93,146.0,3106,2099,2209,2132,380.7,10.0,872,9191,0.00,2.53,0.00,0.000,516,0.000,0.100,3113,696,2169,2207,2131,0,0,0,0,0,0,15.11,14.78,15.14
$GC,9205,0.93,146.0,3112,696,2208,2131,378.7,10.0,876,9211,0.00,2.47,0.00,0.000,1030,0.000,0.065,3113,2107,2169,2207,2131,0,0,0,0,0,0,14.88,14.82,14.92
$PING,370.4,13.1,9000.0,1.32,0.99
$STATE,9405,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9405,begin subsurface finish
$FINISH1,358.0,1.027400,5
$GC,9408,0.01,5.1,3113,2109,2206,2131,358.0,10.1,897,9421,0.98,2.60,-2.20,0.054,20740,0.149,0.122,2804,3522,2777,2811,2744,0,0,0,0,0,0,14.73,13.53,14.83
$FINISH2,358.0
$STATE,9421,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9421,begin surface
$RAFOS_CLK,344
$RAFOS,2,1518804796,18.233334,18.221111,133,62,61,54,53,48,575,179,214,146,132,191
$RAFOS,1,1518804421,18.133333,18.116945,129,60,58,57,57,55,607,148,133,219,175,187
$RAFOS,0,1518804085,18.032778,18.023611,64,58,54,54,52,49,196,222,142,175,122,156
$RAFOS_FIX,-7420.400879,-11217.687500,160218,181824,2,131,0.33
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.039697,0.294357
$HUMID,49.21
$INTERNAL_PRESSURE,8.26789
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,382.7,31.3
$ALTIM_BOTTOM_PING,885.8,19.0
$24V_AH,13.11,66.587
$10V_AH,12.49,0.000
$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,4.550,111.175,717.250,0.000,0.000,0.000,0.000,0.000,40.250,0.000,0.000,0.000,6749.915,781.873,1878.194,94.993,0.000,1509.922,0.000,1287.642,720.000,287.943,0.000
$DEVICE_MAMPS,275.400,153.765,1321.155,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9438.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.478,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,30015,899
$CAP_FILE_SIZE,113798,0
$CFSIZE,1024409600,1001586688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,160218,181424,-7420.401,-11217.688,0,3131.0,0,53.3,0.0,0.0,0,0.0