version: 66.13
glider: 223
mission: 5
dive: 167
start: 2 17 118 21 59 46
data:
$ID,223
$MISSION,5
$DIVE,167
$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,43
$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
$GPS1,170218,211544,-7417.4224,-11213.3594,0,4137.3,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,358.97
$_SM_ANGLEo,-1.5
$GPS2,170218,211544,-7417.4224,-11213.3594,0,4137.3,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,308.3,11899,-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,-146.0,2809,2280,2827,2764,0.0,0.0,0,11,0.00,0.00,-2.10,0.045,16390,0.000,0.000,2807,2276,3391,3413,3370,0,0,0,0,0,0,15.08,13.50,15.07
$GC,13,-0.93,-146.0,2807,2280,3413,3372,0.0,0.0,0,19,0.93,2.42,0.00,0.000,4612,0.112,0.085,2495,885,3392,3413,3372,0,0,0,0,0,0,14.79,14.78,14.87
$GC,83,-0.93,-146.0,2496,886,3415,3372,366.6,-12.5,14,90,0.00,2.55,0.00,0.000,1030,0.000,0.079,2486,2300,3392,3413,3372,0,0,0,0,0,0,14.86,14.78,14.90
$GC,394,-0.93,-146.0,2487,2300,3414,3372,410.9,-14.3,46,399,0.00,2.50,0.00,0.000,516,0.000,0.084,2486,895,3391,3413,3370,0,0,0,0,0,0,15.09,14.76,15.11
$GC,428,-0.93,-146.0,2485,895,3412,3371,416.2,-14.9,53,436,0.00,2.53,0.00,0.000,1030,0.000,0.076,2475,2301,3391,3413,3370,0,0,0,0,0,0,14.85,14.77,14.90
$GC,734,-0.93,-146.0,2475,2302,3413,3370,461.4,-15.0,84,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2301,3391,3413,3370,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1034,-0.93,-146.0,2477,2302,3414,3370,506.3,-15.1,114,1039,0.00,2.50,0.00,0.000,516,0.000,0.080,2475,912,3391,3413,3369,0,0,0,0,0,0,15.10,14.73,15.12
$GC,1074,-0.93,-146.0,2477,913,3415,3370,512.4,-15.5,122,1080,0.15,2.50,0.00,0.000,3078,0.301,0.074,2497,2311,3391,3413,3369,0,0,0,0,0,0,14.61,14.77,14.86
$GC,1384,-0.93,-146.0,2496,2305,3412,3369,555.5,-13.6,154,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2305,3390,3413,3368,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1684,-0.93,-146.0,2498,2306,3415,3369,595.2,-13.0,184,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2304,3390,3413,3368,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1984,-0.93,-146.0,2496,2305,3407,3368,634.2,-13.0,214,1990,0.00,2.50,0.00,0.000,516,0.000,0.081,2496,895,3390,3413,3368,0,0,0,0,0,0,15.10,14.76,15.13
$GC,2029,-0.93,-146.0,2498,896,3415,3368,640.2,-13.5,223,2036,0.00,2.53,0.00,0.000,1030,0.000,0.073,2488,2300,3390,3413,3368,0,0,0,0,0,0,14.83,14.76,14.88
$GC,2334,-0.93,-146.0,2489,2301,3414,3369,680.5,-13.5,254,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2301,3390,3413,3368,0,0,0,0,0,0,15.09,15.11,15.11
$GC,2635,-0.93,-146.0,2489,2301,3414,3368,720.5,-13.3,274,2640,0.00,2.47,0.00,0.000,516,0.000,0.080,2488,902,3388,3413,3363,0,0,0,0,0,0,15.06,14.76,15.08
$GC,2664,-0.93,-146.0,2489,903,3415,3368,724.7,-14.3,280,2670,0.00,2.53,0.00,0.000,1030,0.000,0.073,2478,2308,3390,3413,3367,0,0,0,0,0,0,14.85,14.76,14.89
$GC,3055,-0.93,-146.0,2477,2308,3412,3368,776.7,-13.2,298,3060,0.00,2.47,0.00,0.000,516,0.000,0.080,2478,908,3390,3413,3367,0,0,0,0,0,0,15.06,14.77,15.09
$GC,3089,-0.93,-146.0,2477,909,3413,3368,781.3,-13.3,305,3096,0.00,2.50,0.00,0.000,1030,0.000,0.076,2475,2300,3390,3413,3367,0,0,0,0,0,0,14.85,14.78,14.90
$GC,3476,-0.93,-146.0,2476,2300,3414,3368,829.6,-12.4,322,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2300,3390,3413,3367,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3837,-0.93,-146.0,2474,2300,3413,3368,871.1,-11.1,334,3842,0.00,2.45,0.00,0.000,516,0.000,0.078,2474,910,3390,3414,3367,0,0,0,0,0,0,15.08,14.78,15.11
$GC,3881,-0.93,-146.0,2476,911,3414,3368,876.4,-11.6,343,3887,0.00,2.50,0.00,0.000,1030,0.000,0.075,2472,2306,3390,3413,3367,0,0,0,0,0,0,14.87,14.79,14.91
$GC,4256,-0.93,-146.0,2471,2307,3412,3368,920.3,-13.8,358,4262,0.00,2.50,0.00,0.000,516,0.000,0.078,2471,913,3390,3413,3367,0,0,0,0,0,0,15.13,14.75,15.15
$PING,922.8,20.0,9000.0,0.00,0.00
$GC,4306,-0.93,-146.0,2471,914,3413,3368,926.7,-12.9,368,4312,0.12,2.50,0.00,0.000,3078,0.270,0.077,2494,2305,3390,3413,3367,0,0,0,0,0,0,14.59,14.78,14.92
$STATE,4615,end dive,NO_VERTICAL_VELOCITY
$STATE,4615,begin apogee
$PING,936.5,40.8,9000.0,0.00,0.00
$GC,4619,-0.23,0.0,2496,2070,3415,3368,936.0,0.0,380,5040,0.73,0.08,412.33,1.280,10246,0.127,0.109,2727,2129,2777,2812,2743,0,0,0,0,0,0,14.79,13.60,13.17
$STATE,5041,end apogee,CONTROL_FINISHED_OK
$STATE,5041,begin climb
$PING,923.9,18.8,9000.0,1.62,0.99
$PING,917.8,36.5,9000.0,0.46,0.14
$GC,5043,0.93,146.0,2727,2130,2810,2742,936.5,0.0,394,5406,1.27,2.72,350.90,1.352,10500,0.148,0.094,3096,3504,2185,2230,2140,0,0,0,0,0,0,13.69,13.56,13.09
$GC,5460,0.93,146.0,3096,3504,2226,2137,900.1,13.5,476,5466,0.00,2.55,0.00,0.000,1030,0.000,0.047,3105,2126,2180,2226,2135,0,0,0,0,0,0,13.93,13.84,13.95
$GC,5830,0.93,146.0,3105,2127,2221,2132,857.7,11.1,490,5831,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2126,2175,2220,2131,0,0,0,0,0,0,14.64,14.68,14.67
$GC,6191,0.93,146.0,3104,2126,2217,2131,817.6,11.2,502,6196,0.00,2.53,0.00,0.000,260,0.000,0.101,3104,3504,2174,2218,2130,0,0,0,0,0,0,14.88,14.60,14.90
$GC,6231,0.93,146.0,3101,3504,2219,2131,812.7,12.0,510,6236,0.00,2.42,0.00,0.000,1030,0.000,0.051,3113,2089,2173,2217,2130,0,0,0,0,0,0,14.76,14.71,14.79
$GC,6611,0.93,146.0,3115,2089,2218,2130,769.9,11.7,526,6616,0.00,2.58,0.00,0.000,260,0.000,0.099,3114,3509,2172,2216,2129,0,0,0,0,0,0,15.00,14.71,15.02
$GC,6650,0.93,146.0,3114,3508,2217,2130,765.1,12.8,534,6656,0.00,2.45,0.00,0.000,1030,0.000,0.050,3124,2092,2172,2215,2129,0,0,0,0,0,0,14.82,14.76,14.84
$GC,7031,0.93,146.0,3124,2093,2217,2130,720.6,11.7,550,7036,0.00,2.55,0.00,0.000,260,0.000,0.098,3124,3503,2172,2214,2131,0,0,0,0,0,0,15.05,14.76,15.08
$GC,7080,0.93,146.0,3124,3504,2216,2130,714.4,12.5,560,7087,0.12,2.42,0.00,0.000,5126,0.251,0.049,3098,2096,2171,2214,2129,0,0,0,0,0,0,14.64,14.80,14.78
$GC,7451,0.93,146.0,3097,2096,2213,2132,676.6,10.5,588,7457,0.00,2.55,0.00,0.000,260,0.000,0.098,3099,3509,2171,2214,2129,0,0,0,0,0,0,15.07,14.76,15.10
$GC,7506,0.93,146.0,3099,3509,2216,2129,670.2,11.7,599,7513,0.00,2.42,0.00,0.000,1030,0.000,0.049,3106,2098,2171,2214,2129,0,0,0,0,0,0,14.88,14.83,14.91
$GC,7811,0.93,146.0,3106,2099,2213,2129,638.2,10.5,630,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2098,2171,2213,2129,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8111,0.93,146.0,3107,2099,2215,2129,607.2,10.3,660,8117,0.00,2.58,0.00,0.000,260,0.000,0.098,3106,3503,2171,2213,2129,0,0,0,0,0,0,15.09,14.74,15.12
$GC,8186,0.93,146.0,3107,3503,2213,2130,598.7,11.2,675,8193,0.00,2.42,0.00,0.000,1030,0.000,0.050,3115,2093,2173,2213,2134,0,0,0,0,0,0,14.86,14.80,14.89
$GC,8491,0.93,146.0,3117,2094,2212,2129,566.2,10.6,706,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2093,2170,2212,2129,0,0,0,0,0,0,15.11,15.14,15.13
$GC,8791,0.93,146.0,3115,2094,2212,2129,534.4,10.3,736,8797,0.00,2.58,0.00,0.000,260,0.000,0.098,3122,3532,2170,2212,2128,0,0,0,0,0,0,15.11,14.77,15.14
$GC,8871,0.93,146.0,3117,3528,2214,2128,525.1,11.6,752,8877,0.00,2.47,0.00,0.000,1030,0.000,0.049,3125,2088,2170,2212,2128,0,0,0,0,0,0,14.87,14.82,14.90
$GC,9181,0.93,146.0,3126,2089,2213,2128,492.1,11.1,784,9187,0.00,2.58,0.00,0.000,260,0.000,0.097,3125,3517,2170,2212,2128,0,0,0,0,0,0,15.11,14.77,15.14
$GC,9241,0.93,146.0,3125,3518,2211,2128,484.8,12.0,796,9247,0.15,2.40,0.00,0.000,5126,0.274,0.050,3101,2092,2169,2211,2128,0,0,0,0,0,0,14.65,14.84,14.89
$GC,9551,0.93,146.0,3100,2092,2211,2129,455.4,9.1,828,9557,0.00,2.58,0.00,0.000,260,0.000,0.096,3101,3526,2169,2211,2128,0,0,0,0,0,0,15.12,14.79,15.14
$GC,9591,0.93,146.0,3102,3526,2210,2129,451.4,10.2,836,9597,0.00,2.45,0.00,0.000,1030,0.000,0.050,3109,2100,2169,2211,2128,0,0,0,0,0,0,14.88,14.83,14.91
$PING,429.5,75.7,9000.0,-0.10,0.91
$PING,422.6,68.8,9000.0,-0.07,0.97
$GC,9901,0.93,146.0,3108,2100,2210,2129,421.7,9.8,868,9907,0.00,2.55,0.00,0.000,260,0.000,0.096,3109,3497,2169,2211,2128,0,0,0,0,0,0,15.12,14.76,15.18
$GC,9941,0.93,146.0,3113,3498,2211,2129,417.4,10.8,876,9947,0.00,2.42,0.00,0.000,1030,0.000,0.049,3119,2084,2169,2211,2128,0,0,0,0,0,0,14.88,14.83,14.91
$PING,416.3,62.4,62.4,1.01,1.00
$PING,409.4,55.3,55.3,1.02,1.00
$PING,402.4,48.3,48.3,1.02,1.00
$PING,395.4,41.2,41.2,1.01,1.00
$PING,388.5,34.1,34.1,1.02,1.00
$GC,10251,0.93,146.0,3120,2084,2212,2129,386.5,9.8,908,10257,0.00,2.55,0.00,0.000,260,0.000,0.097,3119,3503,2169,2210,2128,0,0,0,0,0,0,15.12,14.80,15.15
$GC,10276,0.93,146.0,3118,3503,2209,2128,383.8,10.7,913,10284,0.00,2.42,0.00,0.000,1030,0.000,0.050,3127,2095,2169,2210,2128,0,0,0,0,0,0,14.88,14.83,14.90
$PING,382.3,27.8,27.8,1.02,1.00
$PING,375.3,20.7,20.7,1.01,1.00
$PING,368.5,13.8,13.8,1.01,1.00
$PING,361.7,7.3,7.2,0.99,1.00
$STATE,10510,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10510,begin subsurface finish
$FINISH1,360.7,1.027479,1
$GC,10514,0.00,1.1,3129,2096,2212,2129,360.7,9.7,937,10526,1.12,2.60,-2.25,0.052,20740,0.213,0.121,2801,3506,2794,2825,2763,0,0,0,0,0,0,14.66,13.50,14.82
$FINISH2,359.8
$STATE,10527,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10527,begin surface
$RAFOS_CLK,387
$RAFOS,2,1518912786,0.233333,0.218333,131,67,57,55,55,53,588,209,187,167,147,113
$RAFOS,1,1518912426,0.133333,0.118333,159,67,58,56,55,54,560,191,121,102,236,159
$RAFOS,0,1518912066,0.032778,0.018333,152,61,61,56,53,52,514,199,162,215,188,115
$RAFOS_FIX,-7415.853516,-11213.914062,180218,000056,3,147,0.27
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.038948,0.292859
$HUMID,48.97
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,361.7,7.2
$24V_AH,13.09,69.940
$10V_AH,12.43,0.000
$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,4.600,100.275,763.225,0.000,0.000,0.000,0.000,0.000,42.500,0.000,0.000,0.000,7745.793,802.927,1965.370,101.382,0.000,1554.760,0.000,1344.523,720.000,304.126,0.000
$DEVICE_MAMPS,300.645,120.870,1351.755,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10546.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.120,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,33364,939
$CAP_FILE_SIZE,117296,0
$CFSIZE,1024409600,1000472576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,180218,001456,-7415.854,-11213.914,0,4147.3,0,53.3,0.0,0.0,0,0.0