version: 66.13
glider: 223
mission: 5
dive: 166
start: 2 17 118 19 4 4
data:
$ID,223
$MISSION,5
$DIVE,166
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,170218,181424,-7419.4131,-11217.1914,0,4116.7,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,365.93
$_SM_ANGLEo,-2.3
$GPS2,170218,181424,-7419.4131,-11217.1914,0,4116.7,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,315.0,15746,-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,-146.0,2804,2311,2823,2762,0.0,0.0,0,12,0.00,0.00,-2.10,0.046,16390,0.000,0.000,2804,2311,3395,3418,3373,0,0,0,0,0,0,15.08,13.52,15.07
$GC,13,-0.93,-146.0,2804,2311,3418,3375,0.0,0.0,0,15,0.93,0.00,0.00,0.000,4102,0.103,0.000,2495,2311,3396,3418,3375,0,0,0,0,0,0,14.82,14.97,14.95
$GC,309,-0.93,-146.0,2494,2311,3418,3374,404.3,-13.5,30,315,0.00,2.58,0.00,0.000,260,0.000,0.110,2485,3708,3396,3418,3374,0,0,0,0,0,0,15.09,14.73,15.11
$GC,364,-0.93,-146.0,2484,3708,3417,3374,412.4,-14.9,41,373,0.00,2.45,0.00,0.000,1030,0.000,0.049,2485,2282,3396,3418,3374,0,0,0,0,0,0,14.88,14.83,14.90
$GC,670,-0.93,-146.0,2484,2282,3418,3374,455.3,-13.8,72,675,0.00,2.45,0.00,0.000,516,0.000,0.084,2485,898,3395,3418,3373,0,0,0,0,0,0,15.05,14.77,15.08
$GC,715,-0.93,-146.0,2483,899,3419,3374,461.7,-14.2,81,722,0.00,2.47,0.00,0.000,1030,0.000,0.076,2474,2302,3395,3417,3373,0,0,0,0,0,0,14.92,14.80,14.96
$GC,1019,-0.93,-146.0,2474,2303,3418,3373,505.5,-14.4,112,1025,0.00,2.55,0.00,0.000,516,0.000,0.082,2474,891,3395,3418,3372,0,0,0,0,0,0,15.10,14.74,15.12
$GC,1055,-0.93,-146.0,2473,891,3418,3374,510.8,-15.2,119,1062,0.15,2.50,0.00,0.000,3078,0.299,0.077,2495,2306,3395,3418,3373,0,0,0,0,0,0,14.62,14.80,14.87
$GC,1359,-0.93,-146.0,2494,2307,3418,3372,552.7,-13.3,150,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2306,3395,3418,3372,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1659,-0.93,-146.0,2494,2307,3418,3372,592.8,-13.5,180,1665,0.00,2.55,0.00,0.000,516,0.000,0.081,2495,894,3394,3418,3371,0,0,0,0,0,0,15.10,14.75,15.13
$GC,1704,-0.93,-146.0,2494,894,3418,3371,598.9,-13.5,189,1712,0.00,2.53,0.00,0.000,1030,0.000,0.073,2486,2303,3394,3418,3371,0,0,0,0,0,0,14.85,14.78,14.89
$GC,2009,-0.93,-146.0,2487,2304,3420,3372,639.3,-13.2,220,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2303,3394,3418,3371,0,0,0,0,0,0,15.10,15.14,15.12
$GC,2309,-0.93,-146.0,2487,2304,3420,3372,678.3,-12.5,250,2315,0.00,2.53,0.00,0.000,516,0.000,0.080,2486,878,3394,3418,3370,0,0,0,0,0,0,15.11,14.77,15.13
$GC,2345,-0.93,-146.0,2487,879,3420,3371,683.1,-13.2,257,2352,0.00,2.50,0.00,0.000,1030,0.000,0.075,2476,2301,3394,3418,3370,0,0,0,0,0,0,14.92,14.80,14.95
$GC,2659,-0.93,-146.0,2476,2302,3418,3371,725.2,-13.5,277,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2301,3394,3418,3370,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3020,-0.93,-146.0,2477,2302,3420,3371,773.8,-13.4,289,3026,0.00,2.47,0.00,0.000,516,0.000,0.079,2476,897,3394,3418,3370,0,0,0,0,0,0,15.11,14.78,15.14
$GC,3050,-0.93,-146.0,2477,897,3420,3371,778.1,-15.4,295,3056,0.10,2.53,0.00,0.000,3078,0.275,0.075,2492,2303,3394,3418,3370,0,0,0,0,0,0,14.60,14.79,14.77
$GC,3440,-0.93,-146.0,2493,2304,3420,3371,826.0,-12.0,313,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2303,3393,3417,3370,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3801,-0.93,-146.0,2491,2304,3420,3370,868.9,-12.0,325,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2303,3394,3418,3370,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4161,-0.93,-146.0,2491,2304,3418,3371,914.2,-12.7,337,4167,0.00,2.50,0.00,0.000,516,0.000,0.080,2492,888,3394,3418,3370,0,0,0,0,0,0,15.14,14.79,15.16
$PING,916.6,26.0,9000.0,0.00,0.00
$GC,4206,-0.93,-146.0,2493,889,3420,3371,919.9,-13.1,346,4212,0.00,2.53,0.00,0.000,1030,0.000,0.076,2487,2301,3394,3419,3370,0,0,0,0,0,0,14.87,14.79,14.92
$PING,925.6,18.5,9000.0,0.00,0.00
$STATE,4550,end dive,NO_VERTICAL_VELOCITY
$STATE,4550,begin apogee
$GC,4554,-0.23,0.0,2488,2060,3420,3371,934.1,0.0,360,4884,0.75,0.10,324.25,1.395,10246,0.103,0.158,2738,2121,2778,2814,2743,0,0,0,0,0,0,14.83,13.76,13.28
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4886,begin climb
$PING,928.6,11.5,13.1,-1.12,0.93
$PING,922.4,18.4,9000.0,-1.11,0.73
$PING,909.7,30.0,30.1,-0.96,1.00
$GC,4887,0.93,146.0,2739,2122,2814,2741,935.7,0.0,371,5296,1.20,2.72,395.65,1.274,10500,0.135,0.096,3094,3504,2181,2227,2136,0,0,0,0,0,0,13.78,13.49,13.05
$GC,5425,0.93,146.0,3094,3505,2219,2129,893.3,11.5,476,5431,0.00,2.50,0.00,0.000,1030,0.000,0.049,3098,2133,2173,2218,2128,0,0,0,0,0,0,14.05,14.01,14.08
$GC,5800,0.93,146.0,3097,2133,2214,2125,853.8,10.6,491,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2132,2169,2214,2124,0,0,0,0,0,0,14.72,14.75,14.74
$GC,6162,0.93,146.0,3098,2133,2212,2124,816.0,10.6,503,6167,0.00,2.50,0.00,0.000,260,0.000,0.100,3098,3504,2167,2211,2123,0,0,0,0,0,0,14.88,14.62,14.91
$GC,6186,0.93,146.0,3099,3504,2213,2125,813.2,12.1,508,6193,0.00,2.45,0.00,0.000,1030,0.000,0.050,3107,2093,2168,2212,2124,0,0,0,0,0,0,14.73,14.68,14.76
$GC,6552,0.93,146.0,3108,2093,2210,2124,771.4,11.7,521,6558,0.00,2.55,0.00,0.000,260,0.000,0.099,3107,3501,2167,2210,2124,0,0,0,0,0,0,15.00,14.73,15.03
$GC,6577,0.93,146.0,3107,3502,2210,2124,768.0,13.1,526,6584,0.00,2.42,0.00,0.000,1030,0.000,0.050,3118,2096,2166,2210,2123,0,0,0,0,0,0,14.82,14.77,14.85
$GC,6944,0.93,146.0,3119,2098,2210,2124,725.0,11.9,539,6949,0.00,2.55,0.00,0.000,260,0.000,0.100,3118,3507,2165,2208,2123,0,0,0,0,0,0,15.02,14.77,15.04
$GC,6988,0.93,146.0,3117,3509,2208,2123,719.0,13.6,548,6994,0.00,2.40,0.00,0.000,1030,0.000,0.051,3127,2088,2165,2209,2122,0,0,0,0,0,0,14.92,14.83,14.95
$GC,7353,0.93,146.0,3126,2088,2209,2124,674.6,11.8,576,7359,0.00,2.55,0.00,0.000,260,0.000,0.099,3127,3503,2165,2209,2122,0,0,0,0,0,0,15.07,14.77,15.10
$GC,7388,0.93,146.0,3128,3504,2210,2124,670.2,13.1,583,7396,0.12,2.42,0.00,0.000,5126,0.238,0.051,3099,2098,2165,2208,2123,0,0,0,0,0,0,14.66,14.81,14.79
$GC,7694,0.93,146.0,3099,2100,2208,2123,638.0,10.5,614,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2098,2165,2207,2123,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7994,0.93,146.0,3099,2099,2203,2123,606.8,10.2,644,7999,0.00,2.53,0.00,0.000,260,0.000,0.099,3100,3506,2165,2208,2123,0,0,0,0,0,0,15.06,14.79,15.08
$GC,8053,0.93,146.0,3099,3506,2207,2123,600.1,11.2,656,8059,0.00,2.42,0.00,0.000,1030,0.000,0.051,3108,2091,2165,2208,2123,0,0,0,0,0,0,14.89,14.84,14.93
$GC,8363,0.93,146.0,3108,2092,2207,2123,567.9,10.3,688,8369,0.00,2.58,0.00,0.000,260,0.000,0.098,3108,3527,2165,2207,2124,0,0,0,0,0,0,15.11,14.79,15.14
$GC,8398,0.93,146.0,3108,3527,2207,2123,563.9,11.8,695,8405,0.00,2.45,0.00,0.000,1030,0.000,0.050,3118,2097,2164,2207,2122,0,0,0,0,0,0,14.90,14.84,14.93
$GC,8703,0.93,146.0,3120,2098,2209,2124,530.8,10.5,726,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2097,2165,2207,2123,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9003,0.93,146.0,3120,2098,2208,2124,499.9,10.0,756,9009,0.00,2.58,0.00,0.000,260,0.000,0.100,3117,3501,2164,2206,2123,0,0,0,0,0,0,15.12,14.78,15.15
$GC,9053,0.93,146.0,3120,3502,2208,2123,494.3,11.5,766,9059,0.00,2.42,0.00,0.000,1030,0.000,0.050,3128,2088,2164,2206,2122,0,0,0,0,0,0,14.91,14.85,14.94
$GC,9363,0.93,146.0,3129,2089,2208,2123,461.8,10.0,798,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2088,2164,2206,2122,0,0,0,0,0,0,15.13,15.16,15.16
$PING,436.0,84.6,9000.0,-0.13,0.98
$GC,9663,0.93,146.0,3128,2089,2205,2123,430.6,10.7,828,9669,0.00,2.58,0.00,0.000,260,0.000,0.099,3128,3496,2163,2205,2122,0,0,0,0,0,0,15.13,14.79,15.16
$GC,9718,0.93,146.0,3127,3496,2205,2123,424.0,12.2,839,9726,0.12,2.40,0.00,0.000,5126,0.239,0.050,3101,2095,2163,2205,2122,0,0,0,0,0,0,14.68,14.86,14.81
$PING,415.6,63.6,9000.0,-0.09,0.83
$PING,396.1,44.6,44.4,1.00,1.00
$GC,10023,0.93,146.0,3100,2100,2204,2122,395.1,9.3,870,10029,0.00,2.58,0.00,0.000,516,0.000,0.099,3109,688,2163,2205,2121,0,0,0,0,0,0,15.13,14.77,15.16
$GC,10053,0.93,146.0,3109,688,2205,2122,392.2,9.7,876,10059,0.00,2.45,0.00,0.000,1030,0.000,0.063,3109,2092,2163,2204,2122,0,0,0,0,0,0,14.90,14.83,14.93
$PING,389.3,37.8,37.9,0.98,1.00
$PING,382.6,31.0,31.0,1.01,1.00
$PING,376.0,24.2,24.2,1.02,1.00
$PING,369.3,17.5,17.5,1.01,1.00
$PING,362.6,9.8,10.0,1.07,1.00
$GC,10364,0.93,146.0,3110,2093,2206,2122,362.6,9.6,908,10369,0.00,2.55,0.00,0.000,260,0.000,0.099,3109,3519,2163,2204,2122,0,0,0,0,0,0,15.08,14.81,15.10
$STATE,10392,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10392,begin subsurface finish
$FINISH1,359.4,1.027473,1
$GC,10398,0.00,1.4,3119,2088,2204,2121,359.4,10.7,914,10410,1.08,2.60,-2.28,0.051,20740,0.210,0.126,2807,3513,2794,2825,2763,0,0,0,0,0,0,14.66,13.52,14.81
$FINISH2,358.3
$STATE,10410,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10410,begin surface
$RAFOS_CLK,389
$RAFOS,2,1518901986,21.233334,21.218334,136,62,61,53,53,52,595,208,194,221,119,183
$RAFOS,1,1518901621,21.133333,21.116945,175,69,64,57,55,51,595,216,186,198,145,170
$RAFOS,0,1518901276,21.032778,21.021111,101,65,63,62,60,55,466,195,171,204,143,217
$RAFOS_FIX,-7417.422363,-11213.359375,170218,212144,3,137,0.38
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.041195,0.210469
$HUMID,49.76
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,362.6,10.0
$24V_AH,13.05,69.597
$10V_AH,12.53,0.000
$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,4.450,96.100,719.900,0.000,0.000,0.000,0.000,0.000,42.250,0.000,0.000,0.000,7731.927,748.858,1923.518,99.508,0.000,1487.163,0.000,1311.839,720.000,302.642,0.000
$DEVICE_MAMPS,299.115,157.590,1395.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10427.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.135,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,33330,916
$CAP_FILE_SIZE,116621,0
$CFSIZE,1024409600,1000570880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,170218,211544,-7417.422,-11213.359,0,4137.3,0,53.3,0.0,0.0,0,0.0