version: 66.13
glider: 223
mission: 5
dive: 168
start: 2 18 118 0 57 22
data:
$ID,223
$MISSION,5
$DIVE,168
$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,31
$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
$GPS1,180218,001456,-7415.8535,-11213.9141,0,4147.3,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,361.29
$_SM_ANGLEo,-2.1
$GPS2,180218,001456,-7415.8535,-11213.9141,0,4147.3,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,310.6,9010,-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,-146.0,2802,2269,2827,2764,0.0,0.0,0,11,0.00,0.00,-2.10,0.046,16390,0.000,0.000,2801,2268,3394,3415,3373,0,0,0,0,0,0,15.08,13.50,15.07
$GC,13,-0.93,-146.0,2802,2269,3419,3375,0.0,0.0,0,19,0.90,2.40,0.00,0.000,4612,0.106,0.084,2493,907,3394,3415,3374,0,0,0,0,0,0,14.79,14.76,14.87
$GC,98,-0.93,-146.0,2493,908,3415,3374,371.6,-13.9,17,107,0.00,2.50,0.00,0.000,1030,0.000,0.078,2484,2298,3395,3416,3374,0,0,0,0,0,0,14.85,14.78,14.90
$GC,404,-0.93,-146.0,2483,2298,3415,3373,416.5,-14.8,48,410,0.00,2.47,0.00,0.000,516,0.000,0.083,2484,911,3394,3415,3373,0,0,0,0,0,0,15.06,14.77,15.09
$GC,428,-0.93,-146.0,2484,911,3416,3374,420.4,-15.2,53,437,0.00,2.47,0.00,0.000,1030,0.000,0.076,2473,2295,3394,3415,3373,0,0,0,0,0,0,14.85,14.77,14.90
$GC,734,-0.93,-146.0,2474,2296,3415,3372,466.7,-14.8,84,739,0.00,2.50,0.00,0.000,516,0.000,0.080,2474,912,3393,3415,3372,0,0,0,0,0,0,15.09,14.73,15.11
$GC,768,-0.93,-146.0,2473,913,3415,3372,472.0,-15.1,91,776,0.12,2.50,0.00,0.000,3078,0.276,0.074,2496,2305,3393,3415,3372,0,0,0,0,0,0,14.59,14.77,14.76
$GC,1074,-0.93,-146.0,2495,2306,3416,3372,514.3,-13.9,122,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2305,3393,3415,3371,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1374,-0.93,-146.0,2497,2307,3417,3371,555.4,-13.4,152,1380,0.00,2.53,0.00,0.000,516,0.000,0.080,2496,909,3392,3415,3370,0,0,0,0,0,0,15.09,14.73,15.13
$GC,1399,-0.93,-146.0,2497,910,3417,3370,558.9,-13.4,157,1407,0.00,2.53,0.00,0.000,1030,0.000,0.075,2488,2319,3392,3415,3370,0,0,0,0,0,0,14.83,14.76,14.88
$GC,1704,-0.93,-146.0,2488,2320,3416,3371,600.7,-13.6,188,1710,0.00,2.53,0.00,0.000,516,0.000,0.081,2488,900,3392,3415,3370,0,0,0,0,0,0,15.07,14.75,15.11
$GC,1744,-0.93,-146.0,2489,901,3417,3368,606.4,-14.1,196,1750,0.00,2.47,0.00,0.000,1030,0.000,0.075,2477,2304,3392,3415,3370,0,0,0,0,0,0,14.90,14.78,14.94
$GC,2054,-0.93,-146.0,2477,2305,3415,3369,649.8,-14.2,228,2060,0.00,2.53,0.00,0.000,516,0.000,0.080,2477,906,3392,3415,3370,0,0,0,0,0,0,15.08,14.72,15.11
$GC,2089,-0.93,-146.0,2477,907,3415,3370,654.9,-14.5,235,2096,0.00,2.53,0.00,0.000,1030,0.000,0.078,2474,2303,3392,3415,3369,0,0,0,0,0,0,14.83,14.76,14.88
$GC,2394,-0.93,-146.0,2476,2304,3417,3370,697.5,-14.1,266,2400,0.00,2.53,0.00,0.000,516,0.000,0.080,2474,907,3392,3415,3370,0,0,0,0,0,0,15.08,14.71,15.10
$GC,2439,-0.93,-146.0,2473,907,3413,3370,704.0,-13.8,275,2445,0.00,2.53,0.00,0.000,1030,0.000,0.077,2470,2308,3392,3415,3369,0,0,0,0,0,0,14.84,14.76,14.88
$GC,2815,-0.93,-146.0,2468,2308,3414,3370,754.5,-13.4,290,2816,0.15,0.00,0.00,0.000,2054,0.288,0.000,2502,2308,3392,3415,3369,0,0,0,0,0,0,14.58,14.87,14.82
$GC,3176,-0.93,-146.0,2501,2309,3415,3370,797.6,-12.2,302,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2308,3393,3415,3371,0,0,0,0,0,0,15.07,15.07,15.09
$PING,841.9,34.8,9000.0,0.00,0.00
$GC,3536,-0.93,-146.0,2502,2308,3417,3370,841.9,-12.4,314,3541,0.00,2.50,0.00,0.000,516,0.000,0.083,2502,902,3389,3415,3364,0,0,0,0,0,0,15.08,14.77,15.09
$PING,848.2,27.0,9000.0,0.00,0.00
$GC,3590,-0.93,-146.0,2502,903,3415,3369,848.9,-13.0,325,3598,0.00,2.53,0.00,0.000,1030,0.000,0.073,2493,2311,3392,3415,3369,0,0,0,0,0,0,14.87,14.79,14.90
$PING,857.6,15.5,15.5,-1.22,1.00
$PING,865.5,8.0,7.6,-1.10,0.99
$STATE,3715,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3715,begin apogee
$GC,3719,-0.23,0.0,2495,2078,3417,3369,865.5,-13.3,330,4115,0.82,0.08,392.70,1.252,10246,0.223,0.182,2720,2120,2784,2818,2750,0,0,0,0,0,0,14.65,13.71,13.26
$STATE,4117,end apogee,CONTROL_FINISHED_OK
$STATE,4117,begin climb
$PING,861.6,13.9,12.5,-0.95,0.90
$PING,855.6,70.9,9000.0,-6.63,0.91
$PING,849.4,26.1,9000.0,-0.97,0.04
$GC,4118,0.93,146.0,2722,2122,2817,2746,870.4,0.0,343,4449,1.27,2.75,318.42,1.352,10500,0.141,0.095,3095,3509,2181,2227,2136,0,0,0,0,0,0,13.72,13.47,13.05
$GC,4518,0.93,146.0,3095,3507,2221,2130,838.1,11.4,420,4525,0.00,2.55,0.00,0.000,1030,0.000,0.048,3098,2131,2174,2220,2129,0,0,0,0,0,0,13.92,13.87,13.95
$GC,4885,0.93,146.0,3100,2131,2216,2125,799.6,10.5,433,4886,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2131,2168,2214,2123,0,0,0,0,0,0,14.62,14.66,14.65
$GC,5245,0.93,146.0,3098,2131,2211,2124,760.4,10.9,445,5251,0.00,2.53,0.00,0.000,260,0.000,0.099,3098,3511,2167,2211,2124,0,0,0,0,0,0,14.85,14.61,14.88
$GC,5275,0.93,146.0,3098,3510,2211,2124,756.9,10.6,451,5281,0.00,2.47,0.00,0.000,1030,0.000,0.050,3107,2092,2167,2212,2123,0,0,0,0,0,0,14.71,14.66,14.75
$GC,5666,0.93,146.0,3108,2092,2211,2123,714.8,10.7,469,5672,0.00,2.58,0.00,0.000,260,0.000,0.098,3105,3511,2166,2209,2123,0,0,0,0,0,0,14.96,14.71,14.99
$GC,5686,0.93,146.0,3108,3512,2211,2124,712.5,11.0,473,5693,0.00,2.45,0.00,0.000,1030,0.000,0.050,3116,2098,2165,2208,2122,0,0,0,0,0,0,14.82,14.76,14.85
$GC,6057,0.93,146.0,3117,2098,2210,2123,671.1,10.5,503,6063,0.00,2.55,0.00,0.000,260,0.000,0.098,3116,3511,2165,2208,2122,0,0,0,0,0,0,15.04,14.75,15.07
$GC,6092,0.93,146.0,3117,3512,2210,2123,667.1,11.8,510,6099,0.00,2.45,0.00,0.000,1030,0.000,0.051,3125,2098,2165,2208,2122,0,0,0,0,0,0,14.85,14.80,14.88
$GC,6397,0.93,146.0,3125,2098,2208,2123,633.8,11.1,541,6404,0.00,2.58,0.00,0.000,260,0.000,0.098,3125,3521,2165,2208,2122,0,0,0,0,0,0,15.07,14.77,15.09
$GC,6433,0.93,146.0,3124,3521,2207,2123,629.5,12.7,548,6441,0.12,2.47,0.00,0.000,5126,0.241,0.050,3098,2093,2164,2207,2122,0,0,0,0,0,0,14.65,14.81,14.78
$GC,6739,0.93,146.0,3098,2093,2207,2122,597.8,10.3,579,6744,0.00,2.55,0.00,0.000,260,0.000,0.097,3098,3506,2165,2208,2122,0,0,0,0,0,0,15.04,14.78,15.07
$GC,6763,0.93,146.0,3099,3507,2209,2123,595.1,11.4,584,6770,0.00,2.42,0.00,0.000,1030,0.000,0.050,3106,2098,2165,2208,2122,0,0,0,0,0,0,14.87,14.83,14.90
$GC,7068,0.93,146.0,3106,2099,2210,2123,563.8,10.2,615,7069,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2098,2165,2208,2122,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7368,0.93,146.0,3105,2099,2206,2122,533.5,10.0,645,7375,0.00,2.58,0.00,0.000,260,0.000,0.098,3106,3501,2163,2206,2121,0,0,0,0,0,0,15.09,14.76,15.12
$GC,7404,0.93,146.0,3107,3501,2209,2122,529.5,11.2,652,7412,0.00,2.42,0.00,0.000,1030,0.000,0.050,3115,2095,2163,2206,2121,0,0,0,0,0,0,14.89,14.83,14.91
$GC,7710,0.93,146.0,3116,2095,2208,2122,498.0,10.2,683,7715,0.00,2.55,0.00,0.000,260,0.000,0.096,3115,3511,2163,2206,2121,0,0,0,0,0,0,15.05,14.80,15.08
$GC,7744,0.93,146.0,3116,3512,2208,2122,494.1,11.3,690,7751,0.00,2.45,0.00,0.000,1030,0.000,0.050,3125,2091,2163,2205,2121,0,0,0,0,0,0,14.89,14.84,14.92
$GC,8049,0.93,146.0,3125,2091,2204,2122,460.8,11.2,721,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2091,2163,2205,2121,0,0,0,0,0,0,15.11,15.12,15.12
$PING,432.9,85.8,9000.0,-0.09,0.47
$GC,8349,0.93,146.0,3127,2092,2207,2122,428.7,10.5,751,8355,0.00,2.60,0.00,0.000,260,0.000,0.096,3125,3510,2163,2205,2121,0,0,0,0,0,0,15.09,14.78,15.11
$GC,8409,0.93,146.0,3125,3510,2206,2122,421.7,11.8,763,8415,0.10,2.45,0.00,0.000,5126,0.242,0.048,3104,2088,2162,2204,2121,0,0,0,0,0,0,14.66,14.83,14.81
$PING,413.1,65.6,9000.0,-0.11,0.86
$PING,406.7,59.4,59.3,1.01,1.00
$PING,400.4,53.1,53.1,0.98,1.00
$PING,393.9,46.4,46.4,1.01,1.00
$GC,8719,0.93,146.0,3103,2089,2204,2121,392.9,9.3,795,8725,0.00,2.58,0.00,0.000,260,0.000,0.096,3104,3522,2162,2205,2120,0,0,0,0,0,0,15.11,14.79,15.14
$PING,387.8,39.9,39.9,1.05,1.00
$GC,8764,0.93,146.0,3105,3522,2205,2121,388.3,10.4,804,8776,0.00,2.45,0.00,0.000,1030,0.000,0.048,3112,2103,2162,2204,2120,0,0,0,0,0,0,14.88,14.84,14.92
$PING,381.2,33.4,33.3,1.03,1.00
$PING,374.7,26.8,26.9,1.00,1.00
$PING,368.1,20.1,20.1,1.01,1.00
$PING,361.4,13.3,13.3,1.01,1.00
$GC,9070,0.93,146.0,3113,2098,2207,2121,359.5,9.3,835,9075,0.00,2.55,0.00,0.000,260,0.000,0.095,3112,3520,2162,2204,2120,0,0,0,0,0,0,15.12,14.79,15.15
$GC,9105,0.93,146.0,3111,3521,2204,2121,356.0,10.3,842,9112,0.00,2.45,0.00,0.000,1030,0.000,0.048,3122,2093,2162,2204,2121,0,0,0,0,0,0,14.90,14.84,14.92
$STATE,9119,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9119,begin subsurface finish
$FINISH1,354.5,1.027464,2
$GC,9123,0.00,1.8,3122,2094,2204,2121,354.5,10.2,844,9135,1.08,2.58,-2.30,0.051,20996,0.203,0.125,2808,676,2795,2827,2764,0,0,0,0,0,0,14.65,13.52,14.80
$FINISH2,353.6
$STATE,9136,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9136,begin surface
$RAFOS_CLK,334
$RAFOS,2,1518923591,3.233333,3.219722,104,58,57,55,54,53,555,187,197,154,214,168
$RAFOS,1,1518923231,3.133333,3.119722,193,59,52,52,51,50,534,209,127,170,181,139
$RAFOS,0,1518922860,3.032778,3.016667,152,64,62,59,52,50,536,166,213,188,118,133
$RAFOS_FIX,-7414.708496,-11213.820312,180218,030316,3,150,0.20
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.041195,0.288365
$HUMID,49.05
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,361.4,13.3
$ALTIM_BOTTOM_PING,865.5,7.6
$24V_AH,13.05,70.255
$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,4.575,100.550,711.125,0.000,0.000,0.000,0.000,0.000,38.250,0.000,0.000,0.000,6562.252,780.868,1785.312,96.657,0.000,1468.377,0.000,1212.458,720.000,274.391,0.000
$DEVICE_MAMPS,288.405,182.070,1351.755,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9155.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.324,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,30075,846
$CAP_FILE_SIZE,108964,0
$CFSIZE,1024409600,1000374272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.3
$GPS,180218,031616,-7414.708,-11213.820,0,4149.7,0,53.3,0.0,0.0,0,0.0