version: 66.13
glider: 223
mission: 5
dive: 210
start: 2 23 118 9 23 46
data:
$ID,223
$MISSION,5
$DIVE,210
$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
$GPS1,230218,091440,-7417.9590,-11245.7227,0,4124.3,0,53.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,299.34
$_SM_ANGLEo,0.0
$GPS2,230218,091440,-7417.9590,-11245.7227,0,4124.3,0,53.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7424.000,-11300.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,158.7,13256,-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,9,-0.93,-146.0,2800,2313,2807,2740,0.0,0.0,0,12,0.00,0.00,-2.38,0.040,16390,0.000,0.000,2802,2311,3394,3416,3373,0,0,0,0,0,0,15.05,13.43,15.04
$GC,14,-0.93,-146.0,2804,2313,3418,3375,0.0,0.0,0,22,0.95,0.00,0.00,0.000,4102,0.118,0.000,2492,2312,3395,3416,3374,0,0,0,0,0,0,14.73,14.90,14.88
$PING,319.9,27.1,9000.0,0.00,0.00
$GC,319,-0.93,-146.0,2492,2313,3415,3373,333.6,-12.7,31,325,0.00,2.53,0.00,0.000,260,0.000,0.107,2482,3705,3394,3416,3372,0,0,0,0,0,0,15.08,14.74,15.11
$GC,464,-0.93,-146.0,2483,3705,3415,3372,354.0,-14.2,60,471,0.00,2.42,0.00,0.000,1030,0.000,0.046,2482,2299,3393,3415,3371,0,0,0,0,0,0,14.81,14.76,14.84
$GC,769,-0.93,-146.0,2482,2298,3413,3371,393.4,-12.7,91,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2297,3393,3415,3371,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1069,-0.93,-146.0,2481,2298,3413,3371,433.0,-14.0,121,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2298,3392,3415,3370,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1370,-0.93,-146.0,2483,2298,3417,3370,472.4,-13.0,151,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2297,3393,3416,3370,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1669,-0.93,-146.0,2484,2298,3417,3370,510.4,-12.8,181,1676,0.00,2.58,0.00,0.000,260,0.000,0.107,2472,3710,3392,3415,3369,0,0,0,0,0,0,15.09,14.73,15.11
$GC,1695,-0.93,-146.0,2472,3711,3415,3369,513.7,-13.4,186,1702,0.00,2.40,0.00,0.000,1030,0.000,0.047,2472,2288,3391,3415,3368,0,0,0,0,0,0,14.93,14.85,14.95
$GC,2000,-0.93,-146.0,2473,2289,3417,3369,553.5,-13.2,217,2007,0.00,2.45,0.00,0.000,516,0.000,0.080,2472,898,3391,3415,3368,0,0,0,0,0,0,15.09,14.75,15.11
$GC,2026,-0.93,-146.0,2471,899,3415,3369,557.1,-13.9,222,2033,0.17,2.53,0.00,0.000,3078,0.281,0.073,2501,2302,3391,3415,3368,0,0,0,0,0,0,14.58,14.75,14.84
$GC,2332,-0.93,-146.0,2500,2302,3415,3369,593.0,-11.8,253,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2302,3391,3415,3368,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2632,-0.93,-146.0,2500,2302,3415,3369,628.3,-11.9,283,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2301,3391,3415,3368,0,0,0,0,0,0,15.05,15.08,15.08
$GC,2932,-0.93,-146.0,2500,2302,3415,3369,662.4,-12.0,313,2938,0.00,2.50,0.00,0.000,516,0.000,0.080,2501,891,3391,3414,3368,0,0,0,0,0,0,15.05,14.76,15.08
$GC,3002,-0.93,-146.0,2502,891,3417,3369,671.1,-12.1,327,3008,0.00,2.50,0.00,0.000,1030,0.000,0.070,2493,2308,3391,3415,3368,0,0,0,0,0,0,14.87,14.74,14.90
$PING,682.9,51.7,9000.0,0.00,0.00
$PING,689.8,47.0,9000.0,0.06,0.96
$PING,696.8,37.2,38.0,-1.04,0.96
$PING,704.2,29.4,29.0,-1.23,0.99
$GC,3312,-0.93,-146.0,2494,2311,3417,3369,707.7,-12.1,355,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2310,3391,3415,3368,0,0,0,0,0,0,15.11,15.14,15.13
$PING,711.3,20.4,20.6,-1.16,1.00
$PING,718.5,14.7,14.2,-1.02,0.98
$PING,725.1,11.1,9000.0,-0.67,0.99
$STATE,3461,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3461,begin apogee
$PING,726.5,10.9,9000.0,-0.50,0.99
$GC,3466,-0.23,0.0,2493,2058,3415,3368,725.1,-11.4,360,3632,0.82,0.10,163.82,3.056,10246,0.216,0.159,2723,2117,2781,2818,2744,0,0,0,0,0,0,14.58,13.41,12.45
$STATE,3633,end apogee,CONTROL_FINISHED_OK
$STATE,3633,begin climb
$GC,3635,0.93,146.0,2722,2118,2817,2744,729.5,0.0,365,3817,1.30,0.00,176.62,2.947,10758,0.136,0.000,3096,2117,2184,2237,2131,0,0,0,0,0,0,13.43,13.27,12.33
$PING,712.4,23.1,23.1,-0.89,0.99
$GC,4181,0.93,146.0,3095,2117,2224,2123,668.2,13.3,427,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2117,2172,2222,2122,0,0,0,0,0,0,14.57,14.60,14.59
$GC,4481,0.93,146.0,3097,2117,2221,2122,627.3,13.7,457,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2117,2169,2218,2120,0,0,0,0,0,0,14.85,14.88,14.88
$GC,4781,0.93,146.0,3095,2117,2217,2121,593.0,11.4,487,4787,0.00,2.53,0.00,0.000,260,0.000,0.098,3096,3506,2169,2217,2121,0,0,0,0,0,0,14.97,14.68,15.00
$GC,4831,0.93,146.0,3095,3506,2217,2121,586.7,12.5,497,4837,0.00,2.38,0.00,0.000,1030,0.000,0.048,3112,2135,2169,2217,2121,0,0,0,0,0,0,14.78,14.73,14.81
$GC,5143,0.93,146.0,3107,2135,2217,2121,549.9,12.1,529,5148,0.00,2.60,0.00,0.000,516,0.000,0.096,3114,694,2168,2215,2121,0,0,0,0,0,0,14.95,14.70,14.99
$GC,5187,0.93,146.0,3114,695,2214,2121,544.2,12.5,538,5196,0.00,2.47,0.00,0.000,1030,0.000,0.061,3114,2096,2167,2214,2120,0,0,0,0,0,0,14.83,14.76,14.85
$GC,5492,0.93,146.0,3116,2097,2215,2121,507.1,11.7,569,5499,0.00,2.55,0.00,0.000,260,0.000,0.099,3115,3518,2167,2213,2121,0,0,0,0,0,0,15.06,14.76,15.09
$GC,5528,0.93,146.0,3114,3518,2213,2121,502.5,12.9,576,5535,0.00,2.45,0.00,0.000,1030,0.000,0.050,3130,2102,2166,2213,2120,0,0,0,0,0,0,14.78,14.73,14.81
$GC,5834,0.93,146.0,3126,2102,2215,2121,466.1,11.8,607,5839,0.00,2.55,0.00,0.000,260,0.000,0.096,3125,3513,2167,2213,2121,0,0,0,0,0,0,15.04,14.77,15.06
$GC,5868,0.93,146.0,3126,3514,2215,2121,461.6,13.3,614,5876,0.10,2.45,0.00,0.000,5126,0.249,0.049,3105,2090,2166,2213,2120,0,0,0,0,0,0,14.61,14.78,14.74
$GC,6174,0.93,146.0,3106,2091,2214,2121,428.3,10.8,645,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2090,2166,2212,2120,0,0,0,0,0,0,15.07,15.11,15.11
$GC,6473,0.93,146.0,3106,2091,2213,2121,397.0,10.6,675,6479,0.00,2.58,0.00,0.000,260,0.000,0.096,3104,3518,2165,2211,2120,0,0,0,0,0,0,15.09,14.75,15.11
$GC,6513,0.93,146.0,3106,3522,2213,2121,392.4,11.9,683,6519,0.00,2.45,0.00,0.000,1030,0.000,0.048,3114,2097,2166,2211,2121,0,0,0,0,0,0,14.92,14.79,14.94
$GC,6823,0.93,146.0,3114,2098,2210,2121,358.4,10.8,715,6829,0.00,2.55,0.00,0.000,260,0.000,0.096,3114,3511,2165,2210,2121,0,0,0,0,0,0,15.09,14.76,15.11
$PING,355.4,84.3,9000.0,-0.19,0.99
$GC,6868,0.93,146.0,3113,3512,2210,2120,353.0,12.2,724,6875,0.00,2.42,0.00,0.000,1030,0.000,0.048,3124,2100,2165,2210,2121,0,0,0,0,0,0,14.83,14.79,14.88
$PING,328.3,51.7,9000.0,-0.12,0.66
$PING,321.3,42.6,42.8,1.22,1.00
$GC,7173,0.93,146.0,3124,2100,2209,2121,317.8,11.7,755,7179,0.00,2.55,0.00,0.000,260,0.000,0.097,3125,3514,2165,2210,2120,0,0,0,0,0,0,15.09,14.75,15.12
$PING,314.7,34.0,9000.0,1.30,1.00
$GC,7203,0.93,146.0,3124,3515,2209,2121,314.1,12.8,761,7209,0.08,2.45,0.00,0.000,5126,0.262,0.049,3099,2091,2164,2209,2120,0,0,0,0,0,0,14.60,14.78,14.85
$PING,308.0,26.1,26.0,1.24,1.00
$PING,302.0,19.2,19.2,1.16,1.00
$PING,294.8,11.4,11.3,1.12,1.00
$STATE,7442,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,7442,begin subsurface finish
$FINISH1,290.1,1.027386,6
$GC,7446,0.01,5.8,3099,2093,2209,2121,290.1,9.8,786,7458,1.00,2.62,-2.45,0.047,20740,0.201,0.119,2805,3517,2774,2807,2741,0,0,0,0,0,0,14.65,13.44,14.79
$FINISH2,288.9
$STATE,7459,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7459,begin surface
$RAFOS_CLK,274
$RAFOS_FIX,-7418.889160,-11244.948242,230218,111150,0,1,0.22
$IRIDIUM_FIX,-7413.09,-11243.88,220218,093243
$TT8_MAMPS,0.039697,0.272636
$HUMID,49.40
$INTERNAL_PRESSURE,8.23859
$TCM_TEMP,12.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,294.8,11.3
$ALTIM_BOTTOM_PING,718.5,14.2
$24V_AH,12.33,84.046
$10V_AH,12.32,0.000
$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,4.425,58.325,340.450,0.000,0.000,0.000,0.000,0.000,32.750,0.000,0.000,0.000,5408.506,392.622,1652.444,93.000,0.000,984.155,0.000,1130.682,0.000,230.424,0.000
$DEVICE_MAMPS,280.755,159.120,3056.175,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7480.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.227,0.000,0.000,0.000
$MEM,280000
$DATA_FILE_SIZE,26734,788
$CAP_FILE_SIZE,91896,0
$CFSIZE,1024409600,995491840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.6
$GPS,230218,112750,-7418.889,-11244.948,0,1001.0,0,53.7,0.0,0.0,0,0.0