version: 66.13
glider: 223
mission: 5
dive: 206
start: 2 23 118 0 2 33
data:
$ID,223
$MISSION,5
$DIVE,206
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,220
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$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,3
$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,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$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,1.5
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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
$GPS1,220218,235939,-7411.8726,-11305.3369,0,1001.0,0,53.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,398.21
$_SM_ANGLEo,0.4
$GPS2,220218,235939,-7411.8726,-11305.3369,0,1001.0,0,53.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7424.000,-11300.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,119.6,22617,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.93,-146.0,2799,2320,2834,2771,0.0,0.0,0,12,0.00,0.00,-1.98,0.047,16390,0.000,0.000,2798,2319,3396,3421,3371,0,0,0,0,0,0,15.07,13.44,15.06
$GC,14,-0.93,-146.0,2795,2320,3422,3373,0.0,0.0,0,21,0.90,2.47,0.00,0.000,4612,0.120,0.080,2500,895,3398,3423,3373,0,0,0,0,0,0,14.76,14.76,14.84
$GC,75,-0.93,-146.0,2501,896,3425,3374,403.8,-10.5,12,81,0.00,2.50,0.00,0.000,1030,0.000,0.074,2495,2295,3397,3422,3372,0,0,0,0,0,0,14.83,14.76,14.88
$GC,385,-0.93,-146.0,2500,2295,3422,3371,441.5,-12.3,44,390,0.00,2.60,0.00,0.000,260,0.000,0.108,2484,3725,3396,3422,3371,0,0,0,0,0,0,15.07,14.73,15.10
$GC,425,-0.93,-146.0,2483,3725,3422,3371,446.8,-13.5,52,430,0.00,2.47,0.00,0.000,1030,0.000,0.047,2484,2289,3396,3422,3371,0,0,0,0,0,0,14.84,14.79,14.94
$GC,735,-0.93,-146.0,2485,2289,3424,3371,485.8,-12.2,84,740,0.00,2.47,0.00,0.000,516,0.000,0.081,2479,890,3396,3422,3370,0,0,0,0,0,0,15.07,14.73,15.09
$GC,795,-0.93,-146.0,2485,891,3425,3371,493.3,-12.7,96,801,0.00,2.50,0.00,0.000,1030,0.000,0.073,2474,2309,3396,3422,3370,0,0,0,0,0,0,14.90,14.77,14.93
$GC,1105,-0.93,-146.0,2473,2310,3421,3371,533.3,-12.7,128,1111,0.00,2.55,0.00,0.000,260,0.000,0.107,2464,3718,3395,3421,3370,0,0,0,0,0,0,15.09,14.73,15.11
$GC,1135,-0.93,-146.0,2462,3718,3421,3371,537.4,-14.1,134,1144,0.15,2.45,0.00,0.000,3078,0.265,0.047,2496,2262,3395,3421,3370,0,0,0,0,0,0,14.60,14.82,14.84
$GC,1449,-0.93,-146.0,2497,2263,3423,3371,573.4,-11.2,166,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2262,3395,3421,3370,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1749,-0.93,-146.0,2497,2263,3423,3371,607.8,-11.3,196,1755,0.00,2.67,0.00,0.000,260,0.000,0.106,2487,3707,3395,3421,3369,0,0,0,0,0,0,15.11,14.71,15.14
$GC,1779,-0.93,-146.0,2487,3709,3420,3370,611.4,-12.5,202,1785,0.00,2.40,0.00,0.000,1030,0.000,0.047,2487,2300,3395,3421,3369,0,0,0,0,0,0,14.95,14.83,14.97
$GC,2089,-0.93,-146.0,2486,2299,3421,3370,648.4,-11.9,234,2098,0.00,2.47,0.00,0.000,516,0.000,0.077,2487,888,3395,3421,3369,0,0,0,0,0,0,15.10,14.76,15.13
$GC,2122,-0.93,-146.0,2486,889,3421,3369,652.6,-13.3,240,2128,0.00,2.53,0.00,0.000,1030,0.000,0.071,2477,2328,3395,3421,3369,0,0,0,0,0,0,14.90,14.76,14.94
$GC,2432,-0.93,-146.0,2478,2328,3423,3369,691.3,-11.9,272,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2328,3395,3421,3369,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2754,-0.93,-146.0,2478,2329,3423,3369,729.1,-11.7,288,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2327,3394,3421,3368,0,0,0,0,0,0,15.07,15.09,15.09
$PING,772.4,31.1,9000.0,0.00,0.00
$GC,3113,-0.93,-146.0,2476,2328,3421,3369,772.4,-12.1,300,3118,0.00,2.55,0.00,0.000,516,0.000,0.077,2476,888,3394,3421,3368,0,0,0,0,0,0,15.08,14.70,15.10
$GC,3153,-0.93,-146.0,2476,889,3421,3369,777.6,-12.5,308,3159,0.00,2.53,0.00,0.000,1030,0.000,0.073,2475,2301,3394,3421,3368,0,0,0,0,0,0,14.84,14.76,14.89
$PING,779.4,24.3,9000.0,0.00,0.00
$PING,786.9,16.5,16.6,-1.01,1.00
$PING,794.2,10.0,9.8,-0.96,1.00
$STATE,3292,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3292,begin apogee
$GC,3297,-0.23,0.0,2476,2067,3423,3369,794.2,-11.9,316,3467,0.90,0.10,167.77,3.094,10246,0.217,0.153,2726,2125,2782,2821,2743,0,0,0,0,0,0,14.62,13.39,12.41
$STATE,3468,end apogee,CONTROL_FINISHED_OK
$STATE,3468,begin climb
$PING,789.5,14.8,14.4,-0.89,0.99
$GC,3470,0.93,146.0,2728,2126,2821,2744,798.5,0.0,321,3659,1.27,2.90,180.73,3.023,10756,0.135,0.090,3104,728,2184,2233,2135,0,0,0,0,0,0,13.41,13.25,12.31
$PING,783.5,23.4,9000.0,-1.26,0.99
$GC,3693,0.93,146.0,3105,727,2227,2133,781.8,11.6,364,3699,0.00,2.58,0.00,0.000,1030,0.000,0.060,3104,2093,2179,2228,2131,0,0,0,0,0,0,13.70,13.62,13.72
$PING,775.1,24.5,9000.0,-0.64,0.76
$GC,4078,0.93,146.0,3105,2094,2221,2125,734.1,12.2,381,4084,0.00,2.62,0.00,0.000,260,0.000,0.099,3106,3520,2171,2219,2124,0,0,0,0,0,0,14.64,14.38,14.66
$GC,4133,0.93,146.0,3106,3521,2220,2125,726.9,13.5,392,4140,0.00,2.45,0.00,0.000,1030,0.000,0.050,3114,2132,2171,2218,2124,0,0,0,0,0,0,14.48,14.42,14.50
$GC,4499,0.93,146.0,3115,2132,2217,2124,680.5,12.7,415,4504,0.00,2.60,0.00,0.000,516,0.000,0.097,3120,698,2168,2214,2123,0,0,0,0,0,0,14.88,14.63,14.91
$GC,4533,0.93,146.0,3124,699,2214,2124,676.1,12.8,422,4541,0.00,2.50,0.00,0.000,1030,0.000,0.064,3125,2106,2168,2214,2123,0,0,0,0,0,0,14.71,14.65,14.73
$GC,4838,0.93,146.0,3126,2107,2215,2124,636.5,13.3,453,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2106,2167,2212,2123,0,0,0,0,0,0,15.00,15.03,15.02
$GC,5138,0.93,146.0,3124,2106,2211,2124,597.2,13.1,483,5144,0.00,2.55,0.00,0.000,260,0.000,0.102,3125,3521,2167,2212,2123,0,0,0,0,0,0,15.04,14.72,15.07
$GC,5168,0.93,146.0,3124,3521,2211,2124,592.9,14.2,489,5175,0.15,2.47,0.00,0.000,5126,0.272,0.051,3101,2089,2166,2211,2122,0,0,0,0,0,0,14.62,14.76,14.85
$GC,5479,0.93,146.0,3103,2090,2212,2124,556.7,11.8,521,5484,0.00,2.50,0.00,0.000,516,0.000,0.096,3110,690,2166,2210,2123,0,0,0,0,0,0,15.07,14.76,15.09
$GC,5504,0.93,146.0,3111,691,2211,2123,553.7,11.5,526,5512,0.00,2.50,0.00,0.000,1030,0.000,0.062,3110,2112,2166,2209,2123,0,0,0,0,0,0,14.84,14.78,14.88
$GC,5809,0.93,146.0,3111,2112,2210,2124,517.2,11.7,557,5814,0.00,2.50,0.00,0.000,260,0.000,0.099,3110,3508,2165,2208,2123,0,0,0,0,0,0,15.08,14.77,15.11
$GC,5844,0.93,146.0,3111,3509,2211,2124,512.7,13.2,564,5851,0.00,2.45,0.00,0.000,1030,0.000,0.050,3121,2087,2165,2208,2122,0,0,0,0,0,0,14.78,14.72,14.82
$GC,6149,0.93,146.0,3122,2088,2210,2124,474.9,12.3,595,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2087,2165,2208,2123,0,0,0,0,0,0,15.09,15.12,15.11
$GC,6449,0.93,146.0,3122,2088,2210,2124,438.4,11.8,625,6454,0.00,2.58,0.00,0.000,260,0.000,0.098,3121,3517,2165,2208,2122,0,0,0,0,0,0,15.09,14.78,15.12
$GC,6490,0.93,146.0,3122,3518,2210,2123,433.1,13.4,633,6495,0.15,2.40,0.00,0.000,5126,0.275,0.049,3096,2093,2165,2208,2123,0,0,0,0,0,0,14.64,14.85,14.90
$GC,6799,0.93,146.0,3097,2093,2209,2122,399.2,10.8,665,6805,0.00,2.55,0.00,0.000,260,0.000,0.097,3096,3507,2164,2207,2121,0,0,0,0,0,0,15.09,14.78,15.12
$GC,6834,0.93,146.0,3097,3507,2210,2122,395.1,11.3,672,6841,0.00,2.42,0.00,0.000,1030,0.000,0.049,3105,2091,2164,2208,2121,0,0,0,0,0,0,14.88,14.83,14.90
$GC,7139,0.93,146.0,3106,2091,2210,2122,362.3,10.9,703,7146,0.00,2.50,0.00,0.000,516,0.000,0.093,3112,689,2164,2207,2121,0,0,0,0,0,0,15.09,14.77,15.12
$GC,7185,0.93,146.0,3115,689,2206,2121,357.1,11.6,712,7192,0.00,2.50,0.00,0.000,1030,0.000,0.061,3115,2109,2164,2207,2121,0,0,0,0,0,0,14.85,14.80,14.89
$PING,355.4,54.3,9000.0,-0.07,1.00
$PING,348.5,45.7,9000.0,-0.06,0.91
$PING,341.7,34.8,9000.0,1.43,0.99
$PING,335.4,28.1,9000.0,1.35,0.99
$PING,329.2,21.5,21.5,1.06,1.00
$GC,7491,0.93,146.0,3117,2109,2208,2122,324.1,10.5,743,7496,0.00,2.53,0.00,0.000,260,0.000,0.099,3112,3519,2163,2206,2121,0,0,0,0,0,0,15.07,14.76,15.09
$PING,322.9,15.1,15.1,1.04,1.00
$GC,7530,0.93,146.0,3117,3520,2208,2122,319.4,12.0,751,7536,0.00,2.45,0.00,0.000,1030,0.000,0.049,3125,2098,2163,2206,2121,0,0,0,0,0,0,14.93,14.80,14.96
$STATE,7579,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7579,begin subsurface finish
$FINISH1,313.7,1.027404,5
$GC,7583,0.01,4.9,3127,2098,2208,2122,313.7,10.9,757,7593,1.12,0.00,-2.45,0.037,20486,0.208,0.000,2803,2098,2778,2812,2745,0,0,0,0,0,0,14.65,13.45,14.89
$FINISH2,312.8
$STATE,7593,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7593,begin surface
$RAFOS_CLK,277
$RAFOS,2,1519344787,0.233333,0.218611,144,62,59,56,56,55,581,174,113,218,125,194
$RAFOS,1,1519344427,0.133333,0.118611,94,69,61,57,53,53,522,206,124,174,220,147
$RAFOS_FIX,-7413.862305,-11251.840820,230218,000056,2,119,8.43
$IRIDIUM_FIX,-7413.09,-11243.88,220218,093243
$TT8_MAMPS,0.039697,0.331058
$HUMID,49.25
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,322.9,15.1
$ALTIM_BOTTOM_PING,794.2,9.8
$24V_AH,12.31,82.629
$10V_AH,12.30,0.000
$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,4.650,86.600,348.500,0.000,0.000,0.000,0.000,0.000,33.000,0.000,0.000,0.000,5540.464,434.046,1619.463,101.175,0.000,1022.793,0.000,1087.820,480.000,235.793,0.000
$DEVICE_MAMPS,275.400,153.000,3093.660,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7614.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.651,0.000,0.000,0.000
$MEM,280000
$DATA_FILE_SIZE,26717,758
$CAP_FILE_SIZE,97114,0
$CFSIZE,1024409600,995966976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.0
$GPS,220218,235939,-7411.873,-11305.337,0,1001.0,0,53.7,0.0,0.0,0,0.0