version: 66.13
glider: 223
mission: 5
dive: 209
start: 2 23 118 7 13 17
data:
$ID,223
$MISSION,5
$DIVE,209
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,230218,061528,-7416.8984,-11244.0850,0,4151.7,0,53.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,320.39
$_SM_ANGLEo,-1.0
$GPS2,230218,061528,-7416.8984,-11244.0850,0,4151.7,0,53.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7424.000,-11300.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,157.4,15356,-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,-146.0,2808,2306,2786,2713,0.0,0.0,0,12,0.00,0.00,-2.38,0.039,16390,0.000,0.000,2806,2305,3391,3414,3368,0,0,0,0,0,0,15.06,13.43,15.06
$GC,14,-0.93,-146.0,2808,2306,3417,3369,0.0,0.0,0,20,0.93,2.50,0.00,0.000,4356,0.111,0.103,2497,3715,3394,3420,3368,0,0,0,0,0,0,14.73,14.75,14.80
$GC,64,-0.93,-146.0,2496,3715,3412,3369,323.9,-8.8,10,70,0.00,2.45,0.00,0.000,1030,0.000,0.047,2498,2298,3390,3412,3368,0,0,0,0,0,0,14.86,14.81,14.95
$PING,327.1,8.3,9000.0,0.00,0.00
$PING,333.2,14.0,9000.0,0.00,0.00
$PING,339.3,20.5,20.4,1.00,1.00
$GC,374,-0.93,-146.0,2498,2295,3412,3369,362.2,-12.6,42,380,0.00,2.47,0.00,0.000,516,0.000,0.079,2497,891,3390,3412,3368,0,0,0,0,0,0,15.09,14.75,15.11
$GC,414,-0.93,-146.0,2498,891,3414,3369,367.4,-13.0,50,420,0.00,2.50,0.00,0.000,1030,0.000,0.071,2488,2312,3390,3412,3368,0,0,0,0,0,0,14.90,14.76,14.94
$GC,724,-0.93,-146.0,2487,2313,3412,3368,406.0,-12.6,82,730,0.00,2.60,0.00,0.000,260,0.000,0.109,2480,3713,3389,3412,3367,0,0,0,0,0,0,15.09,14.71,15.11
$GC,790,-0.93,-146.0,2480,3714,3412,3368,414.9,-13.6,95,797,0.00,2.40,0.00,0.000,1030,0.000,0.047,2480,2284,3389,3412,3367,0,0,0,0,0,0,14.93,14.85,14.96
$GC,1095,-0.93,-146.0,2480,2284,3412,3367,455.0,-12.9,126,1101,0.00,2.62,0.00,0.000,260,0.000,0.107,2471,3723,3389,3412,3367,0,0,0,0,0,0,15.04,14.73,15.07
$GC,1130,-0.93,-146.0,2471,3722,3413,3367,459.8,-13.8,133,1138,0.10,2.45,0.00,0.000,3078,0.237,0.047,2511,2286,3389,3412,3366,0,0,0,0,0,0,14.59,14.82,14.87
$GC,1435,-0.93,-146.0,2512,2288,3414,3366,494.0,-11.3,164,1444,0.00,2.45,0.00,0.000,516,0.000,0.078,2511,900,3388,3411,3365,0,0,0,0,0,0,15.09,14.74,15.12
$GC,1458,-0.93,-146.0,2511,900,3412,3366,496.7,-12.1,168,1464,0.00,2.53,0.00,0.000,1030,0.000,0.072,2502,2307,3389,3412,3366,0,0,0,0,0,0,14.92,14.74,14.95
$GC,1768,-0.93,-146.0,2504,2309,3414,3367,530.5,-10.9,200,1774,0.00,2.55,0.00,0.000,260,0.000,0.106,2491,3718,3389,3412,3366,0,0,0,0,0,0,15.10,14.74,15.13
$GC,1803,-0.93,-146.0,2491,3718,3412,3366,534.7,-12.3,207,1810,0.00,2.42,0.00,0.000,1030,0.000,0.046,2491,2302,3388,3412,3365,0,0,0,0,0,0,14.77,14.72,14.81
$GC,2108,-0.93,-146.0,2491,2302,3412,3366,570.8,-12.3,238,2114,0.00,2.47,0.00,0.000,516,0.000,0.076,2491,889,3388,3412,3365,0,0,0,0,0,0,15.10,14.76,15.13
$GC,2138,-0.93,-146.0,2491,890,3412,3366,574.5,-13.2,244,2144,0.00,2.53,0.00,0.000,1030,0.000,0.074,2489,2319,3388,3412,3365,0,0,0,0,0,0,14.90,14.76,14.93
$GC,2448,-0.93,-146.0,2490,2320,3414,3366,610.6,-11.5,276,2454,0.00,2.55,0.00,0.000,260,0.000,0.110,2485,3723,3388,3412,3365,0,0,0,0,0,0,15.11,14.71,15.13
$GC,2473,-0.93,-146.0,2485,3724,3412,3366,613.6,-12.6,281,2481,0.00,2.45,0.00,0.000,1030,0.000,0.047,2485,2291,3388,3412,3365,0,0,0,0,0,0,14.85,14.81,14.95
$GC,2778,-0.93,-146.0,2485,2292,3412,3365,649.8,-11.7,312,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2291,3388,3412,3365,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3078,-0.93,-146.0,2486,2292,3414,3365,685.8,-11.6,342,3084,0.00,2.45,0.00,0.000,516,0.000,0.076,2485,895,3388,3412,3365,0,0,0,0,0,0,15.10,14.74,15.13
$GC,3108,-0.93,-146.0,2484,896,3412,3365,689.5,-11.6,348,3114,0.00,2.53,0.00,0.000,1030,0.000,0.070,2475,2335,3388,3412,3365,0,0,0,0,0,0,14.90,14.76,14.92
$PING,715.1,48.0,9000.0,0.08,0.97
$PING,722.2,39.3,9000.0,0.06,0.90
$PING,728.8,33.5,33.1,-1.07,0.99
$GC,3439,-0.93,-146.0,2476,2336,3414,3365,728.8,-11.4,366,3444,0.00,2.50,0.00,0.000,260,0.000,0.106,2465,3722,3391,3412,3371,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3478,-0.93,-146.0,2466,3723,3414,3366,733.9,-12.9,374,3484,0.08,2.45,0.00,0.000,3078,0.241,0.047,2499,2283,3388,3412,3365,0,0,0,0,0,0,14.59,14.83,14.83
$PING,735.4,25.9,26.1,-1.02,1.00
$PING,742.9,17.4,17.4,-1.14,1.00
$PING,749.2,11.2,11.0,-1.06,1.00
$STATE,3648,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3648,begin apogee
$PING,753.9,12.8,9000.0,-0.45,0.60
$GC,3652,-0.23,0.0,2501,2066,3411,3365,752.5,-10.7,383,3820,0.80,0.10,164.40,3.076,10246,0.216,0.154,2723,2125,2781,2819,2743,0,0,0,0,0,0,14.62,13.40,12.43
$STATE,3821,end apogee,CONTROL_FINISHED_OK
$STATE,3821,begin climb
$PING,747.4,15.9,9000.0,-0.32,0.20
$GC,3822,0.93,146.0,2723,2126,2819,2743,756.4,0.0,388,4008,1.30,2.88,177.80,2.980,10756,0.135,0.089,3109,736,2184,2236,2132,0,0,0,0,0,0,13.43,13.27,12.31
$PING,741.1,24.0,23.1,-0.87,0.94
$GC,4043,0.93,146.0,3108,737,2229,2130,738.8,12.0,430,4048,0.00,2.58,0.00,0.000,1030,0.000,0.060,3109,2099,2179,2229,2129,0,0,0,0,0,0,13.71,13.63,13.73
$PING,734.8,27.3,28.1,-0.90,0.95
$GC,4413,0.93,146.0,3110,2101,2222,2123,691.7,12.7,450,4418,0.00,2.62,0.00,0.000,260,0.000,0.096,3109,3521,2171,2221,2122,0,0,0,0,0,0,14.62,14.36,14.64
$GC,4443,0.93,146.0,3110,3521,2220,2122,687.7,12.6,456,4448,0.00,2.47,0.00,0.000,1030,0.000,0.048,3119,2123,2171,2220,2122,0,0,0,0,0,0,14.48,14.43,14.51
$GC,4753,0.93,146.0,3120,2123,2219,2120,647.1,13.1,488,4758,0.00,2.60,0.00,0.000,516,0.000,0.095,3128,693,2169,2217,2121,0,0,0,0,0,0,14.87,14.59,14.90
$GC,4783,0.93,146.0,3129,694,2218,2122,643.2,12.7,494,4789,0.00,2.47,0.00,0.000,1030,0.000,0.062,3128,2109,2168,2216,2121,0,0,0,0,0,0,14.75,14.65,14.78
$GC,5093,0.93,146.0,3127,2109,2213,2121,602.2,13.2,526,5099,0.00,2.58,0.00,0.000,260,0.000,0.099,3128,3514,2168,2215,2121,0,0,0,0,0,0,14.97,14.68,14.99
$GC,5128,0.93,146.0,3127,3511,2214,2122,597.0,14.7,533,5136,0.17,2.42,0.00,0.000,5126,0.270,0.049,3097,2087,2167,2214,2121,0,0,0,0,0,0,14.58,14.76,14.81
$GC,5433,0.93,146.0,3104,2088,2216,2121,561.1,11.4,564,5439,0.00,2.50,0.00,0.000,516,0.000,0.096,3106,694,2166,2213,2120,0,0,0,0,0,0,15.01,14.72,15.04
$GC,5458,0.93,146.0,3107,695,2215,2121,558.2,11.7,569,5466,0.00,2.45,0.00,0.000,1030,0.000,0.061,3105,2113,2166,2213,2120,0,0,0,0,0,0,14.88,14.78,14.90
$GC,5763,0.93,146.0,3107,2114,2214,2120,521.5,12.4,600,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2113,2166,2212,2120,0,0,0,0,0,0,15.05,15.08,15.08
$GC,6063,0.93,146.0,3106,2114,2213,2121,484.5,12.1,630,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2113,2165,2211,2120,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6363,0.93,146.0,3105,2114,2210,2121,448.8,11.6,660,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2113,2165,2210,2120,0,0,0,0,0,0,15.06,15.09,15.09
$GC,6663,0.93,146.0,3105,2114,2209,2120,415.0,11.2,690,6669,0.00,2.53,0.00,0.000,260,0.000,0.101,3105,3517,2164,2209,2120,0,0,0,0,0,0,15.07,14.76,15.09
$GC,6689,0.93,146.0,3105,3517,2209,2121,411.9,12.3,695,6695,0.00,2.42,0.00,0.000,1030,0.000,0.050,3115,2087,2165,2210,2120,0,0,0,0,0,0,14.92,14.83,14.95
$GC,6993,0.93,146.0,3117,2087,2210,2121,376.7,11.6,726,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2086,2164,2209,2120,0,0,0,0,0,0,15.07,15.09,15.09
$PING,364.3,79.5,9000.0,-0.14,1.00
$PING,344.1,57.8,9000.0,-0.11,0.79
$GC,7293,0.93,146.0,3116,2087,2210,2121,343.0,11.0,756,7299,0.00,2.58,0.00,0.000,260,0.000,0.099,3116,3510,2164,2208,2120,0,0,0,0,0,0,15.07,14.76,15.10
$GC,7338,0.93,146.0,3117,3511,2210,2120,337.4,12.6,765,7346,0.00,2.45,0.00,0.000,1030,0.000,0.049,3125,2092,2164,2208,2120,0,0,0,0,0,0,14.86,14.81,14.89
$PING,331.0,42.3,42.6,1.11,1.00
$PING,324.3,34.2,34.2,1.19,1.00
$PING,317.6,26.4,26.4,1.18,1.00
$PING,310.9,18.8,18.8,1.15,1.00
$PING,304.8,12.0,12.0,1.13,1.00
$GC,7643,0.93,146.0,3125,2093,2207,2121,303.9,9.3,796,7649,0.00,2.50,0.00,0.000,516,0.000,0.096,3133,697,2164,2208,2120,0,0,0,0,0,0,15.07,14.76,15.10
$STATE,7686,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7687,begin subsurface finish
$FINISH1,299.8,1.027393,5
$GC,7693,0.01,5.4,3134,2114,2207,2121,299.8,9.4,805,7702,1.17,0.00,-2.42,0.038,20486,0.216,0.000,2802,2113,2773,2807,2740,0,0,0,0,0,0,14.63,13.47,14.87
$FINISH2,298.9
$STATE,7702,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7702,begin surface
$RAFOS_CLK,280
$RAFOS,2,1519377191,9.233334,9.219722,147,60,57,56,56,55,591,181,136,213,148,164
$RAFOS,1,1519376829,9.133333,9.119166,114,64,62,58,56,52,531,180,223,192,170,115
$RAFOS,0,1519376459,9.032778,9.016389,112,64,57,56,55,55,612,146,214,116,157,202
$RAFOS_FIX,-7417.958984,-11245.722656,230218,090940,3,124,0.20
$IRIDIUM_FIX,-7413.09,-11243.88,220218,093243
$TT8_MAMPS,0.040446,0.631407
$HUMID,48.70
$INTERNAL_PRESSURE,8.23859
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,304.8,12.0
$ALTIM_BOTTOM_PING,749.2,11.0
$24V_AH,12.31,83.704
$10V_AH,12.31,0.000
$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,4.550,93.675,342.200,0.000,0.000,0.000,0.000,0.000,33.250,0.000,0.000,0.000,5550.460,438.554,1703.354,102.888,0.000,1055.927,0.000,1156.163,720.000,238.807,0.000
$DEVICE_MAMPS,270.045,153.765,3076.065,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7726.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.129,0.000,0.000,0.000
$MEM,280040
$DATA_FILE_SIZE,26684,806
$CAP_FILE_SIZE,101338,0
$CFSIZE,1024409600,995557376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.1
$GPS,230218,091440,-7417.959,-11245.723,0,4124.3,0,53.7,0.0,0.0,0,0.0