version: 66.13
glider: 223
mission: 5
dive: 172
start: 2 18 118 12 9 4
data:
$ID,223
$MISSION,5
$DIVE,172
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,180218,091440,-7412.4800,-11214.2588,0,4123.3,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,280.90
$_SM_ANGLEo,-4.2
$GPS2,180218,091440,-7412.4800,-11214.2588,0,4123.3,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,322.8,2853,-33.0,-9.429,-34.76,603
$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,-1.54,-36.9,2801,2316,2813,2756,0.0,0.0,0,10,0.00,0.00,-0.68,0.146,16390,0.000,0.000,2800,2315,2946,2975,2918,0,0,0,0,0,0,15.08,13.44,15.04
$GC,12,-1.54,-36.9,2799,2316,2975,2919,0.0,0.0,0,14,1.45,0.00,0.00,0.000,4102,0.064,0.000,2277,2315,2947,2976,2919,0,0,0,0,0,0,14.88,14.98,14.96
$GC,309,-1.54,-36.9,2276,2318,2975,2921,322.1,-14.6,30,318,0.00,2.53,0.00,0.000,516,0.000,0.078,2277,894,2948,2975,2921,0,0,0,0,0,0,15.09,14.76,15.11
$GC,542,-1.54,-36.9,2278,895,2977,2921,357.3,-14.8,76,548,0.12,2.50,0.00,0.000,3078,0.336,0.070,2295,2293,2947,2975,2920,0,0,0,0,0,0,14.45,14.69,14.83
$GC,852,-1.54,-36.9,2296,2294,2977,2922,400.2,-12.8,108,859,0.00,2.53,0.00,0.000,516,0.000,0.079,2295,895,2948,2976,2920,0,0,0,0,0,0,15.11,14.71,15.14
$GC,903,-1.54,-36.9,2292,896,2977,2921,407.0,-13.0,118,909,0.00,2.53,0.00,0.000,1030,0.000,0.070,2286,2310,2947,2975,2920,0,0,0,0,0,0,14.77,14.71,14.82
$GC,1213,-1.54,-36.9,2287,2309,2976,2921,445.2,-12.3,150,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2309,2947,2974,2920,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1513,-1.54,-36.9,2285,2309,2973,2922,482.2,-12.6,180,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2309,2947,2974,2920,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1813,-1.54,-36.9,2287,2310,2976,2921,517.8,-11.7,210,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2308,2946,2973,2920,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2113,-1.54,-36.9,2287,2308,2975,2921,551.4,-11.6,240,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2309,2946,2973,2920,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2413,-1.54,-36.9,2287,2309,2976,2921,584.9,-10.9,270,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,2309,2944,2969,2920,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2713,-1.54,-36.9,2288,2310,2976,2921,618.3,-10.9,300,2719,0.00,2.55,0.00,0.000,516,0.000,0.080,2286,895,2946,2973,2920,0,0,0,0,0,0,15.12,14.67,15.12
$GC,2868,-1.54,-36.9,2285,895,2973,2921,635.3,-10.7,331,2876,0.00,2.53,0.00,0.000,1030,0.000,0.070,2275,2307,2946,2972,2921,0,0,0,0,0,0,14.81,14.74,14.85
$GC,3173,-1.54,-36.9,2275,2308,2973,2921,666.5,-9.9,362,3180,0.00,2.50,0.00,0.000,516,0.000,0.076,2275,888,2946,2973,2920,0,0,0,0,0,0,15.11,14.76,15.14
$GC,3319,-1.54,-36.9,2275,888,2973,2920,681.3,-10.1,391,3326,0.15,2.55,0.00,0.000,3078,0.329,0.073,2298,2308,2947,2974,2920,0,0,0,0,0,0,14.44,14.74,14.67
$GC,3644,-1.54,-36.9,2300,2309,2974,2921,710.2,-8.4,416,3650,0.00,2.55,0.00,0.000,516,0.000,0.078,2300,895,2946,2973,2920,0,0,0,0,0,0,15.11,14.72,15.13
$GC,3709,-1.54,-36.9,2299,896,2973,2920,715.6,-8.5,429,3716,0.00,2.53,0.00,0.000,1030,0.000,0.072,2291,2307,2950,2980,2920,0,0,0,0,0,0,14.83,14.76,14.87
$GC,4096,-1.54,-36.9,2289,2307,2974,2921,748.7,-8.2,446,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2306,2946,2973,2920,0,0,0,0,0,0,15.06,15.08,15.07
$GC,4456,-1.54,-36.9,2292,2307,2975,2921,778.2,-8.0,458,4461,0.00,2.50,0.00,0.000,516,0.000,0.075,2291,885,2944,2968,2920,0,0,0,0,0,0,15.07,14.78,15.09
$GC,4545,-1.54,-36.9,2290,886,2973,2921,785.6,-8.3,476,4551,0.00,2.50,0.00,0.000,1030,0.000,0.069,2282,2311,2946,2973,2920,0,0,0,0,0,0,14.92,14.81,14.95
$GC,4936,-1.54,-36.9,2278,2311,2973,2921,817.6,-8.3,494,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2311,2946,2973,2920,0,0,0,0,0,0,15.12,15.16,15.15
$GC,5295,-1.54,-36.9,2279,2311,2973,2921,847.5,-8.1,506,5301,0.00,2.50,0.00,0.000,516,0.000,0.074,2280,889,2946,2973,2920,0,0,0,0,0,0,15.14,14.78,15.16
$GC,5450,-1.54,-36.9,2281,890,2975,2921,860.1,-7.9,537,5457,0.12,2.53,0.00,0.000,3078,0.328,0.070,2298,2304,2947,2974,2920,0,0,0,0,0,0,14.47,14.78,14.69
$PING,884.1,50.3,9000.0,0.00,0.00
$GC,5836,-1.56,-51.0,2298,2304,2973,2927,888.3,-7.0,554,5842,0.00,2.47,0.00,0.000,548,0.000,0.076,2298,894,2947,2974,2920,0,0,0,0,0,0,15.12,14.77,15.14
$PING,890.2,46.1,9000.0,0.00,0.00
$GC,5886,-1.58,-62.9,2298,894,2973,2920,892.0,-7.4,564,5892,0.00,2.50,0.00,0.000,1062,0.000,0.070,2289,2300,2947,2974,2920,0,0,0,0,0,0,14.84,14.78,14.90
$PING,903.8,41.0,9000.0,-0.46,0.98
$PING,910.3,30.7,9000.0,-0.70,0.85
$PING,917.1,28.2,26.9,-0.95,0.88
$GC,6257,-1.58,-62.9,2290,2302,2976,2921,919.3,-7.5,578,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2300,2947,2974,2920,0,0,0,0,0,0,15.12,15.15,15.14
$PING,923.9,22.0,9000.0,-0.64,0.94
$PING,931.1,16.8,16.6,-0.82,0.99
$PING,937.8,13.1,9000.0,-0.65,0.99
$STATE,6496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6496,begin apogee
$PING,939.5,12.0,9000.0,-0.56,1.00
$GC,6500,-0.23,0.0,2289,2064,2974,2921,937.8,-7.6,586,6590,1.73,0.10,84.90,1.619,10246,0.298,0.162,2724,2131,2782,2814,2751,0,0,0,0,0,0,14.54,14.33,13.81
$STATE,6591,end apogee,CONTROL_FINISHED_OK
$STATE,6591,begin climb
$PING,933.2,16.7,9000.0,-0.76,1.00
$GC,6592,1.58,62.9,2724,2131,2812,2750,940.5,0.0,589,6735,1.90,2.65,131.65,1.535,10500,0.150,0.094,3303,3492,2521,2554,2489,0,0,0,0,0,0,14.31,13.93,13.37
$PING,926.7,20.8,9000.0,-0.69,1.00
$PING,920.2,28.4,27.8,-0.90,0.97
$GC,6780,1.58,62.9,3302,3493,2549,2487,920.2,16.3,625,6786,0.00,2.42,0.00,0.000,1030,0.000,0.047,3313,2124,2517,2549,2486,0,0,0,0,0,0,14.19,14.12,14.21
$GC,7170,1.58,62.9,3314,2124,2544,2481,857.3,16.0,643,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2124,2511,2543,2480,0,0,0,0,0,0,14.78,14.81,14.81
$GC,7531,1.58,62.9,3314,2125,2543,2479,799.9,15.7,655,7536,0.00,2.45,0.00,0.000,260,0.000,0.096,3313,3505,2509,2541,2478,0,0,0,0,0,0,14.94,14.64,14.97
$GC,7555,1.58,62.9,3312,3505,2540,2479,795.6,17.1,660,7562,0.00,2.45,0.00,0.000,1030,0.000,0.049,3323,2093,2509,2541,2478,0,0,0,0,0,0,14.75,14.69,14.78
$GC,7921,1.58,62.9,3323,2093,2539,2478,737.1,15.7,673,7922,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2093,2508,2540,2477,0,0,0,0,0,0,15.02,15.07,15.04
$GC,8280,1.58,62.9,3323,2093,2538,2477,681.4,14.8,693,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,2093,2506,2535,2477,0,0,0,0,0,0,15.07,15.09,15.08
$GC,8580,1.58,62.9,3323,2093,2539,2477,635.3,15.6,723,8586,0.00,2.53,0.00,0.000,260,0.000,0.095,3324,3501,2507,2538,2476,0,0,0,0,0,0,15.08,14.73,15.11
$GC,8635,1.58,62.9,3323,3502,2536,2477,626.0,16.7,734,8643,0.00,2.42,0.00,0.000,1030,0.000,0.048,3334,2088,2507,2537,2477,0,0,0,0,0,0,14.85,14.81,14.89
$GC,8940,1.58,62.9,3334,2089,2540,2477,579.1,15.0,765,8941,0.00,0.00,0.00,0.000,6,0.000,0.000,3334,2087,2507,2537,2477,0,0,0,0,0,0,15.09,15.09,15.11
$GC,9240,1.58,62.9,3335,2088,2538,2477,533.9,15.6,795,9246,0.00,2.55,0.00,0.000,260,0.000,0.095,3334,3504,2507,2537,2477,0,0,0,0,0,0,15.09,14.73,15.12
$GC,9315,1.58,62.9,3335,3504,2538,2477,521.7,16.5,810,9323,0.15,2.42,0.00,0.000,5126,0.343,0.047,3309,2088,2506,2536,2476,0,0,0,0,0,0,14.50,14.83,14.71
$GC,9620,1.58,62.9,3310,2089,2538,2477,479.6,12.7,841,9621,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2088,2506,2536,2476,0,0,0,0,0,0,15.10,15.14,15.13
$GC,9920,1.58,62.9,3309,2088,2536,2476,441.3,12.6,871,9926,0.00,2.58,0.00,0.000,260,0.000,0.093,3309,3498,2503,2531,2476,0,0,0,0,0,0,15.09,14.71,15.14
$GC,9965,1.58,62.9,3312,3499,2538,2477,435.2,13.8,880,9972,0.00,2.42,0.00,0.000,1030,0.000,0.048,3318,2085,2506,2536,2476,0,0,0,0,0,0,14.88,14.82,14.89
$GC,10270,1.58,62.9,3320,2086,2538,2477,394.8,14.1,911,10276,0.00,2.55,0.00,0.000,260,0.000,0.094,3318,3504,2505,2535,2475,0,0,0,0,0,0,15.11,14.75,15.14
$GC,10341,1.58,62.9,3319,3505,2537,2476,384.8,13.9,925,10346,0.00,2.38,0.00,0.000,1030,0.000,0.048,3329,2095,2505,2535,2476,0,0,0,0,0,0,14.93,14.84,14.96
$GC,10651,1.58,62.9,3328,2095,2535,2476,346.7,12.1,957,10656,0.00,2.53,0.00,0.000,260,0.000,0.093,3329,3508,2505,2535,2476,0,0,0,0,0,0,15.06,14.77,15.09
$GC,10690,1.58,62.9,3328,3509,2535,2476,341.5,13.0,965,10697,0.12,2.42,0.00,0.000,5126,0.343,0.047,3310,2095,2505,2535,2476,0,0,0,0,0,0,14.46,14.78,14.67
$GC,11002,1.58,62.9,3310,2095,2534,2476,307.5,10.7,997,11007,0.00,2.50,0.00,0.000,516,0.000,0.092,3320,693,2505,2535,2475,0,0,0,0,0,0,15.06,14.76,15.09
$GC,11061,1.58,62.9,3321,695,2538,2476,300.7,11.1,1009,11067,0.00,2.45,0.00,0.000,1030,0.000,0.062,3320,2093,2505,2535,2475,0,0,0,0,0,0,14.85,14.82,14.89
$FREEZE,279.48,-1.548,-2.079,2,30,0
$STATE,11260,end climb,FINISH_DEPTH_REACHED
$STATE,11260,begin subsurface finish
$FINISH1,279.5,1.027412,4
$GC,11263,0.01,4.5,3321,2094,2537,2476,279.5,10.6,1030,11271,1.92,2.62,-1.17,0.081,20740,0.282,0.125,2802,3511,2781,2809,2753,0,0,0,0,0,0,14.56,13.42,14.86
$FINISH2,278.8
$STATE,11271,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11271,begin surface
$RAFOS_CLK,416
$RAFOS,1,1518966424,15.133333,15.117778,134,57,56,53,53,51,565,119,145,175,166,215
$RAFOS,0,1518966064,15.032778,15.017777,150,61,57,56,55,53,502,209,193,221,120,131
$RAFOS,2,1518955983,12.233334,12.217500,75,65,64,61,57,55,582,591,202,212,133,185
$RAFOS_FIX,-7411.576172,-11216.486328,180218,151548,1,2,0.09
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.040446,0.271138
$HUMID,49.21
$INTERNAL_PRESSURE,8.25812
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,931.1,16.6
$24V_AH,13.37,71.280
$10V_AH,13.00,0.000
$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,7.675,83.475,216.550,0.000,0.000,0.000,0.000,0.000,47.750,0.000,0.000,0.000,8773.822,318.979,2159.328,106.060,0.000,1066.292,0.000,1475.206,960.000,341.996,0.000
$DEVICE_MAMPS,343.485,162.180,1618.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11293.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.352,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,36636,1031
$CAP_FILE_SIZE,123706,0
$CFSIZE,1024409600,999866368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.9
$GPS,180218,150848,-7411.576,-11216.486,0,2002.0,0,53.3,0.0,0.0,0,0.0