version: 66.13
glider: 223
mission: 5
dive: 169
start: 2 18 118 3 31 46
data:
$ID,223
$MISSION,5
$DIVE,169
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,180218,031616,-7414.7085,-11213.8203,0,4149.7,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,355.32
$_SM_ANGLEo,-2.9
$GPS2,180218,031616,-7414.7085,-11213.8203,0,4149.7,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,311.4,6891,-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,-146.0,2809,2306,2828,2764,0.0,0.0,0,11,0.00,0.00,-2.12,0.047,16390,0.000,0.000,2807,2305,3398,3418,3379,0,0,0,0,0,0,15.07,13.50,15.07
$GC,13,-0.93,-146.0,2809,2307,3420,3376,0.0,0.0,0,19,0.90,2.50,0.00,0.000,4356,0.103,0.105,2498,3714,3396,3418,3375,0,0,0,0,0,0,14.79,14.77,14.87
$GC,88,-0.93,-146.0,2500,3714,3419,3376,364.4,-13.9,15,96,0.00,2.45,0.00,0.000,1030,0.000,0.047,2499,2288,3400,3425,3375,0,0,0,0,0,0,14.87,14.83,14.90
$PING,369.2,22.6,9000.0,0.00,0.00
$GC,393,-0.93,-146.0,2498,2288,3417,3375,408.2,-14.3,46,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2287,3396,3418,3375,0,0,0,0,0,0,15.09,15.11,15.11
$GC,693,-0.93,-146.0,2498,2288,3417,3375,450.5,-14.2,76,699,0.00,2.50,0.00,0.000,516,0.000,0.081,2499,903,3395,3417,3374,0,0,0,0,0,0,15.09,14.74,15.11
$GC,738,-0.93,-146.0,2500,904,3419,3375,457.0,-14.6,85,746,0.00,2.50,0.00,0.000,1030,0.000,0.073,2488,2301,3395,3417,3374,0,0,0,0,0,0,14.85,14.76,14.90
$GC,1043,-0.93,-146.0,2489,2302,3419,3374,500.3,-13.8,116,1049,0.00,2.55,0.00,0.000,516,0.000,0.081,2487,892,3395,3417,3373,0,0,0,0,0,0,15.09,14.73,15.11
$GC,1084,-0.93,-146.0,2489,893,3419,3374,506.1,-14.6,124,1089,0.00,2.53,0.00,0.000,1030,0.000,0.073,2478,2302,3398,3417,3379,0,0,0,0,0,0,14.84,14.77,14.95
$GC,1393,-0.93,-146.0,2478,2303,3420,3374,551.0,-14.4,156,1394,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2302,3395,3418,3373,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1693,-0.93,-146.0,2479,2303,3419,3373,594.5,-14.6,186,1702,0.00,2.53,0.00,0.000,516,0.000,0.080,2478,881,3395,3418,3372,0,0,0,0,0,0,15.09,14.76,15.11
$GC,1737,-0.93,-146.0,2478,882,3417,3373,600.9,-14.8,194,1744,0.00,2.55,0.00,0.000,1030,0.000,0.076,2474,2301,3395,3418,3372,0,0,0,0,0,0,14.84,14.77,14.88
$GC,2048,-0.93,-146.0,2475,2302,3420,3373,646.2,-14.1,226,2054,0.00,2.50,0.00,0.000,516,0.000,0.080,2474,890,3394,3417,3371,0,0,0,0,0,0,15.10,14.76,15.12
$GC,2083,-0.93,-146.0,2473,890,3417,3372,651.3,-14.3,233,2091,0.12,2.55,0.00,0.000,3078,0.274,0.073,2497,2310,3394,3417,3371,0,0,0,0,0,0,14.58,14.77,14.75
$GC,2388,-0.93,-146.0,2496,2311,3417,3373,690.4,-12.8,264,2394,0.00,2.50,0.00,0.000,516,0.000,0.080,2497,899,3394,3417,3371,0,0,0,0,0,0,15.11,14.76,15.13
$GC,2419,-0.93,-146.0,2496,899,3417,3371,694.5,-13.4,270,2424,0.00,2.47,0.00,0.000,1030,0.000,0.074,2488,2306,3394,3417,3371,0,0,0,0,0,0,14.92,14.80,14.95
$GC,2738,-0.93,-146.0,2488,2305,3417,3372,736.9,-13.0,285,2745,0.00,2.60,0.00,0.000,260,0.000,0.109,2477,3740,3394,3417,3371,0,0,0,0,0,0,15.12,14.76,15.14
$GC,2759,-0.93,-146.0,2479,3741,3419,3371,739.8,-13.4,289,2766,0.00,2.45,0.00,0.000,1030,0.000,0.049,2478,2288,3394,3417,3371,0,0,0,0,0,0,14.95,14.87,14.97
$GC,3131,-0.93,-146.0,2477,2287,3417,3371,789.1,-13.2,303,3136,0.00,2.45,0.00,0.000,516,0.000,0.080,2476,898,3394,3417,3371,0,0,0,0,0,0,15.07,14.78,15.10
$GC,3170,-0.93,-146.0,2477,898,3417,3372,794.9,-13.7,311,3176,0.00,2.53,0.00,0.000,1030,0.000,0.077,2474,2300,3394,3417,3371,0,0,0,0,0,0,14.85,14.78,14.90
$PING,813.1,39.2,9000.0,0.00,0.00
$PING,821.1,29.6,9000.0,0.03,0.65
$PING,829.1,19.8,19.8,-1.21,1.00
$PING,837.2,12.0,11.6,-1.09,1.00
$STATE,3519,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3519,begin apogee
$GC,3523,-0.23,0.0,2474,2064,3417,3371,840.8,-13.4,326,3953,0.93,0.10,425.98,1.242,10246,0.234,0.155,2723,2128,2781,2816,2746,0,0,0,0,0,0,14.64,13.69,13.19
$STATE,3955,end apogee,CONTROL_FINISHED_OK
$STATE,3955,begin climb
$PING,836.3,21.5,9000.0,-0.50,0.19
$PING,829.9,29.2,9000.0,-1.95,0.80
$PING,823.7,29.6,9000.0,-0.65,0.79
$GC,3956,0.93,146.0,2729,2125,2813,2744,850.9,0.0,340,4322,1.25,2.72,353.15,1.418,11012,0.144,0.097,3091,3497,2184,2229,2140,0,0,0,0,0,0,13.67,13.54,13.07
$GC,4362,0.93,146.0,3093,3498,2229,2137,817.5,13.0,412,4367,0.00,2.50,0.00,0.000,1030,0.000,0.049,3099,2132,2181,2227,2136,0,0,0,0,0,0,13.87,13.79,13.88
$GC,4733,0.93,146.0,3101,2132,2221,2132,774.2,12.0,426,4738,0.00,2.67,0.00,0.000,516,0.000,0.097,3110,693,2175,2219,2131,0,0,0,0,0,0,14.59,14.37,14.62
$GC,4752,0.93,146.0,3108,694,2220,2131,771.7,11.9,430,4758,0.00,2.53,0.00,0.000,1030,0.000,0.064,3110,2088,2174,2218,2131,0,0,0,0,0,0,14.46,14.41,14.50
$GC,5122,0.93,146.0,3111,2089,2218,2131,727.8,11.5,444,5128,0.00,2.60,0.00,0.000,260,0.000,0.099,3110,3517,2173,2217,2130,0,0,0,0,0,0,14.89,14.62,14.92
$GC,5162,0.93,146.0,3109,3518,2217,2131,723.0,12.5,452,5168,0.00,2.50,0.00,0.000,1030,0.000,0.051,3120,2091,2173,2216,2130,0,0,0,0,0,0,14.72,14.66,14.75
$GC,5532,0.93,146.0,3122,2091,2217,2131,680.7,11.7,477,5539,0.00,2.60,0.00,0.000,260,0.000,0.097,3121,3522,2172,2215,2130,0,0,0,0,0,0,15.00,14.71,15.02
$GC,5573,0.93,146.0,3121,3524,2216,2130,675.5,13.1,485,5580,0.00,2.50,0.00,0.000,1030,0.000,0.051,3130,2058,2172,2214,2130,0,0,0,0,0,0,14.86,14.77,14.89
$GC,5884,0.93,146.0,3131,2059,2216,2130,638.8,12.0,517,5891,0.15,2.62,0.00,0.000,4356,0.264,0.096,3094,3519,2171,2214,2129,0,0,0,0,0,0,14.66,14.76,14.90
$GC,5915,0.93,146.0,3095,3519,2216,2130,635.1,11.6,523,5921,0.00,2.45,0.00,0.000,1030,0.000,0.050,3102,2094,2172,2214,2130,0,0,0,0,0,0,14.82,14.78,14.85
$GC,6225,0.93,146.0,3103,2094,2216,2130,602.6,10.3,555,6231,0.00,2.55,0.00,0.000,260,0.000,0.097,3102,3514,2169,2214,2125,0,0,0,0,0,0,15.07,14.75,15.09
$GC,6250,0.93,146.0,3101,3515,2212,2130,599.8,10.9,560,6257,0.00,2.45,0.00,0.000,1030,0.000,0.050,3112,2088,2171,2213,2129,0,0,0,0,0,0,14.85,14.80,14.88
$GC,6555,0.93,146.0,3110,2088,2213,2130,567.4,10.5,591,6561,0.00,2.58,0.00,0.000,260,0.000,0.098,3111,3518,2171,2213,2129,0,0,0,0,0,0,15.08,14.78,15.11
$GC,6585,0.93,146.0,3112,3518,2215,2130,564.0,11.5,597,6591,0.00,2.45,0.00,0.000,1030,0.000,0.051,3122,2094,2171,2213,2129,0,0,0,0,0,0,14.85,14.81,14.89
$GC,6896,0.93,146.0,3121,2095,2210,2129,530.7,10.7,629,6902,0.00,2.58,0.00,0.000,260,0.000,0.097,3121,3524,2170,2212,2129,0,0,0,0,0,0,15.09,14.79,15.11
$GC,6916,0.93,146.0,3121,3525,2211,2129,528.3,12.3,633,6924,0.00,2.47,0.00,0.000,1030,0.000,0.051,3130,2086,2170,2212,2129,0,0,0,0,0,0,14.88,14.84,14.92
$GC,7228,0.93,146.0,3130,2088,2213,2131,493.1,11.5,665,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2087,2170,2211,2129,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7528,0.93,146.0,3130,2088,2214,2130,459.1,11.2,695,7534,0.00,2.58,0.00,0.000,260,0.000,0.096,3129,3524,2170,2211,2129,0,0,0,0,0,0,15.11,14.83,15.14
$GC,7598,0.93,146.0,3130,3525,2213,2129,450.3,12.8,709,7605,0.12,2.42,0.00,0.000,5126,0.242,0.049,3104,2100,2170,2211,2129,0,0,0,0,0,0,14.67,14.85,14.82
$GC,7910,0.93,146.0,3105,2101,2214,2129,420.6,9.0,741,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2099,2169,2210,2128,0,0,0,0,0,0,15.15,15.14,15.14
$PING,415.3,78.0,9000.0,-0.12,1.00
$PING,402.3,64.5,9000.0,-0.10,0.91
$PING,395.9,57.6,57.7,1.05,1.00
$GC,8209,0.93,146.0,3104,2100,2210,2129,393.1,9.3,771,8216,0.00,2.58,0.00,0.000,260,0.000,0.098,3104,3514,2169,2210,2128,0,0,0,0,0,0,15.13,14.77,15.15
$PING,389.5,51.0,50.9,1.05,1.00
$GC,8250,0.93,146.0,3104,3515,2210,2129,388.9,10.7,779,8256,0.00,2.42,0.00,0.000,1030,0.000,0.050,3112,2097,2171,2210,2132,0,0,0,0,0,0,14.88,14.83,14.91
$PING,383.0,43.8,43.9,1.07,1.00
$PING,376.1,35.9,35.9,1.13,1.00
$PING,370.1,29.4,29.3,1.12,1.00
$PING,364.0,22.7,22.7,1.08,1.00
$PING,357.8,16.0,16.0,1.08,1.00
$GC,8561,0.93,146.0,3111,2097,2210,2129,357.8,10.3,811,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2097,2168,2209,2128,0,0,0,0,0,0,15.08,15.11,15.11
$PING,350.9,8.4,8.5,1.10,1.00
$STATE,8648,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8648,begin subsurface finish
$FINISH1,349.0,1.027466,2
$GC,8652,0.00,1.8,3114,2098,2212,2129,349.0,9.5,820,8664,1.05,2.60,-2.30,0.051,20740,0.202,0.123,2803,3538,2796,2828,2765,0,0,0,0,0,0,14.69,13.53,14.83
$FINISH2,348.3
$STATE,8665,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8665,begin surface
$RAFOS_CLK,319
$RAFOS_FIX,-7413.429199,-11213.725586,180218,050502,0,1,0.25
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.038199,0.286118
$HUMID,49.25
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,350.9,8.5
$ALTIM_BOTTOM_PING,837.2,11.6
$24V_AH,13.07,70.597
$10V_AH,12.44,0.000
$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,4.525,96.850,779.125,0.000,0.000,0.000,0.000,0.000,35.750,0.000,0.000,0.000,6109.331,827.872,1719.664,92.753,0.000,1497.056,0.000,1178.584,0.000,253.761,0.000
$DEVICE_MAMPS,273.870,155.295,1417.545,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8683.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.397,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,30079,822
$CAP_FILE_SIZE,103361,0
$CFSIZE,1024409600,1000292352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.1
$GPS,180218,055602,-7413.429,-11213.726,0,1001.0,0,53.3,0.0,0.0,0,0.0