version: 66.13
glider: 223
mission: 5
dive: 165
start: 2 17 118 16 16 48
data:
$ID,223
$MISSION,5
$DIVE,165
$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,46
$R_STBD_OVSHOOT,20
$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
$GPS1,170218,151512,-7419.8843,-11212.6211,0,3086.0,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,365.32
$_SM_ANGLEo,-0.9
$GPS2,170218,151512,-7419.8843,-11212.6211,0,3086.0,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,306.5,16454,-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,-146.0,2805,2265,2822,2761,0.0,0.0,0,12,0.00,0.10,-2.10,0.045,16390,0.000,0.756,2805,2322,3395,3417,3373,0,0,0,0,0,0,15.09,13.52,15.07
$GC,14,-0.93,-146.0,2804,2322,3415,3375,0.0,0.0,0,16,0.95,0.00,0.00,0.000,4102,0.111,0.000,2491,2322,3395,3417,3374,0,0,0,0,0,0,14.83,14.98,14.96
$GC,310,-0.93,-146.0,2492,2322,3418,3374,403.7,-13.7,30,316,0.00,2.55,0.00,0.000,516,0.000,0.083,2491,910,3395,3417,3373,0,0,0,0,0,0,15.11,14.76,15.13
$GC,461,-0.93,-146.0,2492,911,3419,3374,425.0,-14.3,60,466,0.00,2.42,0.00,0.000,1030,0.000,0.074,2481,2294,3395,3417,3373,0,0,0,0,0,0,14.94,14.82,14.97
$GC,770,-0.93,-146.0,2482,2295,3419,3373,469.8,-14.0,92,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2294,3394,3417,3372,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1070,-0.93,-146.0,2483,2295,3419,3372,511.4,-13.8,122,1076,0.00,2.50,0.00,0.000,516,0.000,0.081,2481,906,3391,3411,3371,0,0,0,0,0,0,15.10,14.76,15.12
$GC,1120,-0.93,-146.0,2482,907,3419,3372,518.5,-14.3,132,1127,0.00,2.50,0.00,0.000,1030,0.000,0.074,2471,2303,3393,3416,3371,0,0,0,0,0,0,14.86,14.79,14.88
$GC,1431,-0.93,-146.0,2470,2304,3417,3371,563.0,-14.3,164,1432,0.12,0.00,0.00,0.000,2054,0.297,0.000,2496,2298,3394,3418,3371,0,0,0,0,0,0,14.63,14.90,14.85
$GC,1731,-0.93,-146.0,2495,2304,3417,3371,602.3,-13.1,194,1736,0.00,2.50,0.00,0.000,516,0.000,0.081,2496,916,3393,3417,3370,0,0,0,0,0,0,15.10,14.75,15.13
$GC,1785,-0.93,-146.0,2497,917,3419,3372,609.6,-13.2,205,1793,0.00,2.47,0.00,0.000,1030,0.000,0.073,2487,2299,3394,3419,3370,0,0,0,0,0,0,14.85,14.78,14.90
$GC,2091,-0.93,-146.0,2488,2300,3419,3371,649.2,-12.7,236,2096,0.00,2.50,0.00,0.000,516,0.000,0.079,2487,910,3393,3417,3370,0,0,0,0,0,0,15.10,14.75,15.13
$GC,2121,-0.93,-146.0,2488,911,3419,3371,653.1,-13.0,242,2126,0.00,2.47,0.00,0.000,1030,0.000,0.073,2477,2298,3393,3417,3370,0,0,0,0,0,0,14.86,14.78,14.90
$GC,2431,-0.93,-146.0,2478,2299,3419,3370,693.9,-13.3,274,2437,0.00,2.50,0.00,0.000,516,0.000,0.080,2477,907,3393,3417,3369,0,0,0,0,0,0,15.11,14.74,15.14
$GC,2481,-0.93,-146.0,2478,908,3419,3370,700.8,-13.7,284,2487,0.00,2.53,0.00,0.000,1030,0.000,0.076,2474,2311,3393,3416,3370,0,0,0,0,0,0,14.85,14.77,14.90
$GC,2852,-0.93,-146.0,2475,2312,3419,3370,748.2,-12.7,298,2857,0.00,2.47,0.00,0.000,516,0.000,0.079,2474,909,3393,3417,3369,0,0,0,0,0,0,15.07,14.78,15.09
$GC,2896,-0.93,-146.0,2473,909,3416,3369,754.1,-13.1,307,2903,0.12,2.50,0.00,0.000,3078,0.268,0.073,2498,2307,3393,3417,3369,0,0,0,0,0,0,14.61,14.79,14.76
$GC,3273,-0.93,-146.0,2500,2308,3419,3370,798.0,-11.9,322,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2307,3393,3417,3369,0,0,0,0,0,0,15.08,15.12,15.10
$GC,3634,-0.93,-146.0,2500,2308,3419,3370,839.1,-11.5,334,3639,0.00,2.47,0.00,0.000,516,0.000,0.080,2498,908,3393,3417,3369,0,0,0,0,0,0,15.09,14.78,15.11
$GC,3733,-0.93,-146.0,2498,905,3417,3369,850.8,-11.8,354,3739,0.00,2.47,0.00,0.000,1030,0.000,0.070,2490,2300,3393,3417,3369,0,0,0,0,0,0,14.85,14.78,14.90
$GC,4114,-0.93,-146.0,2489,2301,3417,3369,895.6,-11.7,370,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2301,3393,3417,3369,0,0,0,0,0,0,15.09,15.12,15.11
$PING,902.6,36.8,9000.0,0.00,0.00
$PING,909.4,29.8,9000.0,0.00,0.00
$PING,916.4,25.5,25.0,-0.82,0.98
$PING,923.4,14.8,15.9,-1.07,0.94
$STATE,4413,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4413,begin apogee
$GC,4417,-0.23,0.0,2488,2077,3416,3369,930.4,-11.6,380,4842,0.85,0.08,421.73,1.260,10246,0.225,0.181,2725,2115,2782,2817,2747,0,0,0,0,0,0,14.66,13.66,13.19
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$PING,925.8,17.6,9000.0,-1.00,0.77
$PING,916.7,34.6,9000.0,-2.14,0.87
$GC,4846,0.93,146.0,2727,2120,2815,2744,936.7,0.0,394,5165,1.30,2.80,306.90,1.544,10500,0.142,0.095,3100,3501,2181,2227,2135,0,0,0,0,0,0,13.69,13.50,12.98
$GC,5184,0.93,146.0,3099,3502,2224,2133,906.9,14.8,423,5190,0.00,2.58,0.00,0.000,1030,0.000,0.047,3109,2129,2178,2224,2132,0,0,0,0,0,0,13.73,13.69,13.76
$GC,5560,0.93,146.0,3108,2129,2214,2125,861.0,12.4,438,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2129,2170,2215,2125,0,0,0,0,0,0,14.61,14.64,14.64
$GC,5920,0.93,146.0,3109,2129,2214,2125,818.3,11.8,450,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2129,2168,2213,2124,0,0,0,0,0,0,14.86,14.89,14.89
$GC,6282,0.93,146.0,3108,2129,2210,2124,777.1,11.5,462,6287,0.00,2.50,0.00,0.000,260,0.000,0.099,3108,3516,2167,2210,2124,0,0,0,0,0,0,14.97,14.66,15.00
$GC,6307,0.93,146.0,3110,3516,2212,2125,773.7,12.7,467,6313,0.00,2.42,0.00,0.000,1030,0.000,0.051,3119,2095,2167,2210,2124,0,0,0,0,0,0,14.85,14.76,14.87
$GC,6673,0.93,146.0,3120,2095,2211,2124,729.2,12.1,480,6678,0.00,2.58,0.00,0.000,260,0.000,0.097,3119,3518,2166,2209,2124,0,0,0,0,0,0,15.00,14.76,15.03
$GC,6718,0.93,146.0,3118,3519,2208,2124,723.2,13.4,489,6724,0.00,2.42,0.00,0.000,1030,0.000,0.050,3129,2086,2166,2209,2123,0,0,0,0,0,0,14.90,14.81,14.92
$GC,7083,0.93,146.0,3130,2086,2210,2124,678.1,12.3,515,7089,0.00,2.60,0.00,0.000,260,0.000,0.097,3129,3506,2165,2208,2123,0,0,0,0,0,0,15.07,14.76,15.09
$GC,7114,0.93,146.0,3129,3506,2208,2124,674.0,14.0,521,7121,0.17,2.40,0.00,0.000,5126,0.264,0.050,3103,2087,2166,2209,2123,0,0,0,0,0,0,14.67,14.84,14.89
$GC,7425,0.93,146.0,3099,2087,2210,2124,640.8,10.4,553,7431,0.00,2.55,0.00,0.000,516,0.000,0.099,3106,696,2165,2208,2123,0,0,0,0,0,0,15.07,14.74,15.10
$GC,7440,0.93,146.0,3106,697,2208,2124,639.1,11.0,556,7448,0.00,2.47,0.00,0.000,1030,0.000,0.063,3106,2110,2165,2208,2123,0,0,0,0,0,0,14.88,14.81,14.90
$GC,7746,0.93,146.0,3108,2112,2209,2124,606.2,10.7,587,7751,0.00,2.55,0.00,0.000,260,0.000,0.101,3106,3509,2165,2207,2123,0,0,0,0,0,0,15.09,14.77,15.12
$GC,7785,0.93,146.0,3106,3510,2207,2124,601.5,12.1,595,7791,0.00,2.42,0.00,0.000,1030,0.000,0.050,3116,2098,2165,2207,2123,0,0,0,0,0,0,14.88,14.83,14.91
$GC,8096,0.93,146.0,3119,2099,2208,2124,566.6,11.2,627,8101,0.00,2.58,0.00,0.000,260,0.000,0.098,3117,3530,2165,2207,2123,0,0,0,0,0,0,15.10,14.79,15.13
$GC,8131,0.93,146.0,3117,3532,2209,2124,562.3,12.6,634,8138,0.00,2.47,0.00,0.000,1030,0.000,0.051,3125,2092,2165,2207,2123,0,0,0,0,0,0,14.90,14.85,14.91
$GC,8436,0.93,146.0,3127,2093,2208,2123,527.2,11.4,665,8442,0.00,2.58,0.00,0.000,516,0.000,0.102,3126,663,2164,2206,2123,0,0,0,0,0,0,15.11,14.79,15.14
$GC,8451,0.93,146.0,3127,664,2208,2124,525.4,11.2,668,8458,0.00,2.53,0.00,0.000,1030,0.000,0.064,3126,2104,2164,2206,2123,0,0,0,0,0,0,14.88,14.83,14.92
$GC,8756,0.93,146.0,3127,2105,2208,2123,491.1,11.3,699,8762,0.00,2.55,0.00,0.000,260,0.000,0.097,3126,3509,2164,2206,2123,0,0,0,0,0,0,15.11,14.78,15.14
$GC,8811,0.93,146.0,3126,3509,2207,2123,484.3,12.4,710,8818,0.00,2.45,0.00,0.000,1030,0.000,0.050,3126,2086,2163,2205,2122,0,0,0,0,0,0,14.89,14.83,14.93
$GC,9116,0.93,146.0,3127,2087,2207,2122,450.9,10.9,741,9123,0.00,2.58,0.00,0.000,260,0.000,0.098,3126,3518,2163,2205,2122,0,0,0,0,0,0,15.11,14.79,15.14
$GC,9152,0.93,146.0,3125,3519,2204,2123,446.7,11.9,748,9159,0.00,2.45,0.00,0.000,1030,0.000,0.052,3126,2100,2163,2205,2122,0,0,0,0,0,0,14.89,14.83,14.92
$PING,423.0,65.0,9000.0,-0.08,0.88
$PING,416.5,58.5,9000.0,-0.05,0.95
$GC,9457,0.93,146.0,3125,2100,2205,2122,413.4,10.6,779,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2099,2163,2205,2122,0,0,0,0,0,0,15.13,15.14,15.14
$PING,410.1,52.1,52.1,1.00,1.00
$PING,403.6,45.3,45.4,1.02,1.00
$PING,397.1,38.7,38.7,1.04,1.00
$PING,390.7,32.2,32.2,1.02,1.00
$PING,384.4,26.1,26.0,0.99,1.00
$GC,9757,0.93,146.0,3126,2100,2206,2123,381.3,10.4,809,9763,0.00,2.55,0.00,0.000,260,0.000,0.097,3126,3521,2163,2204,2122,0,0,0,0,0,0,15.12,14.80,15.15
$PING,378.4,19.7,19.8,1.01,1.00
$GC,9812,0.93,146.0,3127,3522,2206,2123,374.9,11.8,820,9820,0.00,2.45,0.00,0.000,1030,0.000,0.049,3131,2094,2163,2204,2122,0,0,0,0,0,0,14.86,14.83,14.88
$PING,372.2,13.3,13.2,1.05,1.00
$PING,365.8,7.0,6.9,1.01,1.00
$STATE,9897,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9897,begin subsurface finish
$FINISH1,365.8,1.027460,2
$GC,9901,0.00,2.0,3131,2095,2204,2122,365.8,10.7,829,9913,1.12,2.58,-2.25,0.052,20996,0.210,0.123,2804,693,2793,2824,2762,0,0,0,0,0,0,14.69,13.52,14.81
$FINISH2,364.7
$STATE,9914,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9914,begin surface
$RAFOS_CLK,362
$RAFOS,2,1518891191,18.233334,18.219723,137,61,61,55,54,53,580,207,177,231,129,188
$RAFOS,1,1518890849,18.133333,18.124722,97,60,59,58,57,54,450,117,226,206,193,139
$RAFOS,0,1518890487,18.032778,18.024166,116,57,54,54,52,50,420,215,191,205,158,723
$RAFOS_FIX,-7419.413086,-11217.191406,170218,181824,3,117,0.23
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.038199,0.287616
$HUMID,48.97
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,365.8,6.9
$ALTIM_BOTTOM_PING,923.4,15.9
$24V_AH,12.98,69.268
$10V_AH,12.86,0.000
$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,4.650,95.550,728.625,0.000,0.000,0.000,0.000,0.000,41.750,0.000,0.000,0.000,7289.802,834.802,1776.956,97.269,0.000,1473.761,0.000,1191.522,720.000,297.385,0.000
$DEVICE_MAMPS,296.820,755.820,1543.770,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9918.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.135,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,30091,831
$CAP_FILE_SIZE,109485,0
$CFSIZE,1024409600,1000701952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.4
$GPS,170218,181424,-7419.413,-11217.191,0,4116.7,0,53.3,0.0,0.0,0,0.0