version: 66.13
glider: 223
mission: 5
dive: 195
start: 2 21 118 18 15 39
data:
$ID,223
$MISSION,5
$DIVE,195
$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,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$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,2
$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,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$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,28
$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
$GPS1,210218,180401,-7407.8599,-11255.7705,36,1.0,36,53.7,0.2,328.0,10,4.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-61.3
$GPS2,210218,181510,-7407.8755,-11255.9033,3,0.9,4,53.7,0.6,282.2,10,6.4
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,WM0
$TGT_LATLONG,-7409.000,-11255.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,132.0,2133,-33.3,-9.429,-35.09,591
$D_GRID,699
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-1.56,-36.1,210,2319,1370,1304,0.0,0.0,0,103,0.00,0.00,-92.25,0.002,16390,0.000,0.000,211,2318,2929,2917,2942,0,0,0,0,0,0,14.80,13.24,14.83
$GC,105,-1.61,-81.0,208,2319,2917,2942,2.0,-1.6,9,128,9.88,2.65,-7.85,0.012,18980,0.411,0.105,2274,889,3113,3123,3104,0,0,0,0,0,0,14.27,13.33,14.63
$PING,12.4,13.3,9000.0,0.00,0.00
$PING,19.3,21.8,9000.0,0.00,0.00
$PING,25.5,27.4,27.8,1.08,0.99
$PING,38.1,40.5,40.4,1.00,1.00
$GC,343,-1.61,-81.0,2273,890,3124,3104,45.3,-20.5,56,350,0.00,2.55,0.00,0.000,1030,0.000,0.076,2266,2304,3114,3124,3104,0,0,0,0,0,0,14.71,14.59,14.74
$PING,50.4,54.7,54.5,1.10,1.00
$GC,647,-1.61,-81.0,2265,2305,3124,3104,107.3,-20.3,87,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2304,3113,3124,3103,0,0,0,0,0,0,15.00,15.02,15.02
$GC,948,-1.61,-81.0,2266,2303,3126,3104,168.3,-19.4,117,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2304,3113,3124,3103,0,0,0,0,0,0,14.99,15.02,15.01
$GC,1247,-1.61,-81.0,2265,2305,3124,3103,226.9,-19.9,147,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2304,3113,3124,3103,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1547,-1.61,-81.0,2265,2305,3125,3103,284.5,-18.7,177,1554,0.00,2.53,0.00,0.000,516,0.000,0.080,2266,882,3113,3124,3103,0,0,0,0,0,0,15.07,14.71,15.10
$GC,1653,-1.61,-81.0,2265,883,3124,3102,304.9,-19.2,198,1659,0.00,2.53,0.00,0.000,1030,0.000,0.073,2255,2305,3113,3124,3102,0,0,0,0,0,0,14.87,14.73,14.90
$GC,1968,-1.61,-81.0,2254,2306,3124,3103,363.0,-17.9,216,1974,0.00,2.53,0.00,0.000,516,0.000,0.079,2255,884,3113,3124,3103,0,0,0,0,0,0,15.08,14.72,15.11
$GC,1998,-1.61,-81.0,2254,884,3124,3103,368.3,-17.8,222,2004,0.12,2.58,0.00,0.000,3078,0.327,0.075,2279,2308,3113,3124,3102,0,0,0,0,0,0,14.45,14.71,14.79
$GC,2309,-1.61,-81.0,2278,2309,3124,3103,419.5,-16.7,239,2314,0.00,2.53,0.00,0.000,516,0.000,0.076,2279,882,3113,3124,3102,0,0,0,0,0,0,15.04,14.73,15.07
$GC,2333,-1.61,-81.0,2278,883,3124,3103,423.8,-17.2,244,2339,0.00,2.55,0.00,0.000,1030,0.000,0.072,2270,2302,3113,3125,3102,0,0,0,0,0,0,14.81,14.73,14.85
$GC,2648,-1.61,-81.0,2269,2301,3124,3103,476.6,-16.4,262,2654,0.00,2.50,0.00,0.000,516,0.000,0.077,2270,887,3113,3125,3102,0,0,0,0,0,0,15.11,14.73,15.14
$GC,2693,-1.61,-81.0,2268,884,3123,3103,484.4,-17.2,271,2699,0.00,2.55,0.00,0.000,1030,0.000,0.073,2259,2302,3113,3125,3102,0,0,0,0,0,0,14.81,14.73,14.85
$GC,2998,-1.61,-81.0,2261,2302,3127,3103,535.5,-16.5,285,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2302,3113,3125,3102,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3360,-1.61,-81.0,2259,2302,3125,3098,592.9,-15.5,297,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2302,3113,3125,3102,0,0,0,0,0,0,15.11,15.15,15.14
$GC,3719,-1.61,-81.0,2259,2302,3126,3102,649.2,-16.0,309,3725,0.00,2.55,0.00,0.000,260,0.000,0.105,2248,3722,3113,3126,3101,0,0,0,0,0,0,15.13,14.74,15.15
$GC,3774,-1.61,-81.0,2249,3723,3127,3102,658.5,-17.1,320,3781,0.12,2.45,0.00,0.000,3078,0.314,0.047,2278,2284,3115,3126,3105,0,0,0,0,0,0,14.48,14.80,14.66
$STATE,4049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4049,begin apogee
$GC,4053,-0.23,0.0,2279,2066,3128,3102,701.2,-15.4,330,4283,1.73,0.10,225.32,1.294,10246,0.288,0.160,2720,2129,2783,2809,2757,0,0,0,0,0,0,14.49,14.07,13.54
$STATE,4284,end apogee,CONTROL_FINISHED_OK
$STATE,4284,begin climb
$GC,4285,1.61,81.0,2721,2130,2807,2752,706.7,0.0,337,4463,1.98,0.00,174.20,1.336,10246,0.138,0.000,3318,2129,2451,2480,2423,0,0,0,0,0,0,14.04,13.66,13.13
$GC,4799,1.61,81.0,3319,2130,2460,2408,623.8,18.5,355,4806,0.00,2.58,0.00,0.000,516,0.000,0.085,3329,732,2433,2458,2408,0,0,0,0,0,0,14.57,14.29,14.59
$GC,4836,1.61,81.0,3330,739,2460,2409,617.0,19.1,362,4842,0.00,2.42,0.00,0.000,1030,0.000,0.061,3329,2091,2432,2457,2408,0,0,0,0,0,0,14.46,14.36,14.49
$GC,5222,1.61,81.0,3330,2092,2457,2407,544.9,18.5,379,5228,0.00,2.58,0.00,0.000,260,0.000,0.095,3329,3512,2430,2455,2406,0,0,0,0,0,0,14.88,14.58,14.88
$GC,5272,1.61,81.0,3324,3511,2454,2406,535.2,19.3,389,5278,0.00,2.40,0.00,0.000,1030,0.000,0.047,3339,2135,2430,2454,2406,0,0,0,0,0,0,14.69,14.64,14.71
$GC,5643,1.61,81.0,3341,2133,2455,2407,467.5,18.1,406,5649,0.00,2.58,0.00,0.000,516,0.000,0.088,3350,699,2429,2453,2405,0,0,0,0,0,0,14.95,14.68,14.98
$GC,5683,1.61,81.0,3352,700,2456,2407,459.8,18.8,414,5690,0.08,2.47,0.00,0.000,5126,0.351,0.062,3323,2102,2430,2453,2408,0,0,0,0,0,0,14.43,14.69,14.78
$GC,6006,1.61,81.0,3322,2102,2454,2406,404.8,17.0,433,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2102,2429,2453,2405,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6304,1.61,81.0,3322,2102,2452,2406,354.0,16.8,448,6310,0.00,2.53,0.00,0.000,516,0.000,0.088,3332,691,2429,2453,2405,0,0,0,0,0,0,15.07,14.73,15.10
$GC,6359,1.61,81.0,3331,692,2452,2406,344.6,17.0,459,6370,0.00,2.47,0.00,0.000,1030,0.000,0.063,3332,2099,2428,2452,2405,0,0,0,0,0,0,14.83,14.76,14.90
$GC,6664,1.61,81.0,3333,2100,2453,2406,294.6,16.2,476,6665,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2099,2428,2452,2405,0,0,0,0,0,0,15.10,15.12,15.12
$GC,6965,1.61,81.0,3331,2100,2451,2405,249.0,14.2,506,6971,0.00,2.50,0.00,0.000,516,0.000,0.090,3342,699,2427,2451,2404,0,0,0,0,0,0,15.11,14.71,15.13
$GC,6995,1.61,81.0,3343,699,2453,2405,244.5,14.5,512,7001,0.00,2.47,0.00,0.000,1030,0.000,0.063,3342,2105,2428,2451,2405,0,0,0,0,0,0,14.82,14.75,14.86
$GC,7305,1.61,81.0,3342,2105,2450,2405,199.2,15.1,544,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2105,2428,2451,2405,0,0,0,0,0,0,15.11,15.14,15.14
$PING,155.8,161.4,161.5,1.02,1.00
$GC,7605,1.61,81.0,3342,2105,2451,2405,154.3,14.5,574,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2103,2427,2451,2404,0,0,0,0,0,0,15.11,15.14,15.14
$PING,141.5,146.4,146.7,1.01,1.00
$PING,119.9,124.6,124.6,1.02,1.00
$GC,7905,1.61,81.0,3342,2105,2450,2404,111.0,14.7,604,7911,0.00,2.53,0.00,0.000,516,0.000,0.090,3353,693,2427,2450,2404,0,0,0,0,0,0,15.12,14.76,15.15
$GC,7930,1.61,81.0,3353,694,2450,2405,107.4,14.2,609,7938,0.12,2.47,0.00,0.000,5126,0.336,0.064,3323,2105,2427,2450,2404,0,0,0,0,0,0,14.45,14.79,14.69
$PING,98.1,101.8,102.0,1.03,1.00
$PING,91.4,94.8,94.8,1.05,1.00
$PING,78.2,81.4,81.4,1.02,1.00
$PING,71.6,77.6,76.8,0.88,0.99
$GC,8235,1.61,81.0,3324,2106,2451,2405,66.3,13.1,640,8241,0.00,2.53,0.00,0.000,516,0.000,0.089,3333,692,2427,2450,2404,0,0,0,0,0,0,15.13,14.76,15.15
$PING,65.1,66.8,68.0,1.11,0.93
$GC,8270,1.61,81.0,3334,693,2452,2405,61.8,13.2,647,8277,0.00,2.47,0.00,0.000,1030,0.000,0.063,3333,2105,2428,2450,2406,0,0,0,0,0,0,14.85,14.79,14.90
$PING,58.3,59.6,9000.0,1.36,0.98
$PING,51.6,52.9,52.8,1.03,1.00
$PING,44.8,45.5,45.7,1.04,1.00
$PING,38.2,39.3,39.1,1.02,1.00
$PING,31.4,31.9,32.0,1.02,1.00
$PING,24.7,24.8,24.7,1.07,1.00
$GC,8575,1.61,81.0,3332,2105,2449,2404,20.5,13.9,678,8582,0.00,2.55,0.00,0.000,260,0.000,0.097,3333,3506,2426,2449,2403,0,0,0,0,0,0,15.13,14.73,15.15
$PING,18.2,18.1,18.1,1.04,1.00
$GC,8611,1.61,81.0,3332,3505,2449,2404,15.3,14.6,685,8618,0.00,2.38,0.00,0.000,1030,0.000,0.049,3343,2100,2426,2449,2404,0,0,0,0,0,0,14.92,14.83,14.96
$PING,11.9,11.8,11.8,1.02,1.00
$FREEZE,9.20,-1.724,-1.868,2,1,0
$FREEZE,7.63,-1.722,-1.867,2,1,0
$FREEZE,6.05,-1.720,-1.866,2,1,0
$FREEZE,4.57,-1.721,-1.865,2,1,0
$FREEZE,3.13,-1.725,-1.864,2,1,0
$FREEZE,1.60,-1.725,-1.863,2,1,0
$STATE,8705,end climb,SURFACE_DEPTH_REACHED
$STATE,8705,begin surface coast
$FREEZE,0.42,-1.725,-1.862,2,1,0
$FINISH,0.4,1.027313
$STATE,8715,end surface coast,CONTROL_FINISHED_OK
$STATE,8715,begin surface
$SM_CCo,8731,163.07,0.231,0,0,1354,350.04
$SM_GC,1.13,9.27,0.38,163.07,0.086,0.101,0.231,211,2301,1354,-8.03,-0.68,350.04,0,0,0,0,0,0,14.85,14.82,14.47
$RAFOS_CLK,333
$RAFOS_FIX,-7408.904297,-11255.800781,210218,202041,0,1,0.22
$IRIDIUM_FIX,-7407.08,-11252.31,210218,181014
$TT8_MAMPS,0.040446,0.164031
$HUMID,45.90
$INTERNAL_PRESSURE,8.0921
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,11.9,11.8
$24V_AH,13.13,79.630
$10V_AH,13.12,0.000
$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,23.300,71.175,399.525,163.075,0.000,0.000,0.000,456.525,47.750,0.000,6.030,0.000,6659.043,765.524,2002.771,142.427,0.000,1752.949,0.000,1000.694,0.000,340.199,0.000
$DEVICE_MAMPS,410.805,159.885,1336.455,231.030,0.000,0.000,0.000,185.895,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8728.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.490,0.000,0.000,0.000
$MEM,280656
$DATA_FILE_SIZE,23406,696
$CAP_FILE_SIZE,113013,0
$CFSIZE,1024409600,997392384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.7
$CURRENT,0.027,265.53,1
$GPS,210218,204435,-7408.915,-11256.719,5,1.5,8,53.7,0.2,0.0,5,9.8