version: 66.13
glider: 223
mission: 5
dive: 218
start: 2 24 118 2 26 44
data:
$ID,223
$MISSION,5
$DIVE,218
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,240218,001456,-7420.2231,-11239.8271,0,4097.0,0,53.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,336.76
$_SM_ANGLEo,-2.8
$GPS2,240218,001456,-7420.2231,-11239.8271,0,4097.0,0,53.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside1
$TGT_LATLONG,-7422.000,-11220.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,54.7,10428,-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,-146.0,2803,2318,2817,2745,0.0,0.0,0,12,0.00,0.00,-2.22,0.044,16390,0.000,0.000,2802,2317,3396,3417,3376,0,0,0,0,0,0,15.07,13.36,15.06
$PING,337.4,8.4,9000.0,0.00,0.00
$GC,14,-0.93,-146.0,2802,2318,3417,3378,0.0,0.0,0,22,0.93,0.00,0.00,0.000,4102,0.101,0.000,2491,2317,3397,3417,3377,0,0,0,0,0,0,14.75,14.91,14.88
$PING,365.1,34.3,9000.0,0.00,0.00
$GC,319,-0.93,-146.0,2492,2318,3418,3376,380.0,-14.8,31,325,0.00,2.55,0.00,0.000,516,0.000,0.080,2491,884,3395,3416,3375,0,0,0,0,0,0,15.11,14.75,15.14
$GC,374,-0.93,-146.0,2493,885,3419,3376,388.2,-14.8,42,381,0.00,2.53,0.00,0.000,1030,0.000,0.072,2481,2295,3396,3417,3375,0,0,0,0,0,0,14.92,14.74,14.95
$GC,680,-0.93,-146.0,2482,2296,3419,3376,434.5,-15.2,73,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2295,3396,3417,3375,0,0,0,0,0,0,15.05,15.08,15.08
$GC,979,-0.93,-146.0,2480,2295,3416,3375,479.7,-15.0,103,986,0.00,2.53,0.00,0.000,516,0.000,0.079,2481,899,3395,3416,3374,0,0,0,0,0,0,15.11,14.71,15.14
$GC,1021,-0.93,-146.0,2482,899,3419,3375,486.1,-15.4,111,1028,0.00,2.50,0.00,0.000,1030,0.000,0.073,2474,2311,3395,3416,3374,0,0,0,0,0,0,14.90,14.77,14.94
$GC,1332,-0.93,-146.0,2476,2312,3418,3375,532.5,-15.1,143,1337,0.00,2.50,0.00,0.000,516,0.000,0.077,2474,895,3394,3416,3373,0,0,0,0,0,0,15.11,14.66,15.14
$GC,1367,-0.93,-146.0,2476,896,3413,3375,537.9,-15.4,150,1374,0.15,2.53,0.00,0.000,3078,0.295,0.073,2496,2303,3395,3416,3374,0,0,0,0,0,0,14.54,14.76,14.80
$GC,1672,-0.93,-146.0,2497,2306,3418,3374,580.2,-13.9,181,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2303,3395,3417,3373,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1972,-0.93,-146.0,2495,2304,3412,3374,621.3,-13.6,211,1978,0.00,2.55,0.00,0.000,516,0.000,0.079,2496,890,3394,3417,3372,0,0,0,0,0,0,15.11,14.69,15.13
$GC,2017,-0.93,-146.0,2495,890,3416,3373,627.6,-13.9,220,2024,0.00,2.53,0.00,0.000,1030,0.000,0.071,2488,2304,3394,3416,3373,0,0,0,0,0,0,14.76,14.69,14.82
$GC,2322,-0.93,-146.0,2486,2305,3417,3373,669.7,-13.9,251,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2305,3394,3416,3372,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2632,-0.93,-146.0,2487,2303,3416,3374,712.7,-13.7,276,2638,0.00,2.50,0.00,0.000,516,0.000,0.076,2488,887,3395,3417,3373,0,0,0,0,0,0,15.10,14.70,15.12
$GC,2693,-0.93,-146.0,2487,889,3416,3373,721.0,-13.7,288,2698,0.00,2.50,0.00,0.000,1030,0.000,0.070,2477,2315,3394,3416,3372,0,0,0,0,0,0,14.90,14.77,14.93
$GC,3082,-0.93,-146.0,2477,2317,3417,3374,774.9,-13.7,306,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2317,3395,3417,3373,0,0,0,0,0,0,15.11,15.16,15.14
$GC,3443,-0.93,-146.0,2477,2317,3416,3373,823.6,-13.5,318,3448,0.00,2.53,0.00,0.000,516,0.000,0.075,2477,888,3394,3416,3372,0,0,0,0,0,0,15.11,14.74,15.14
$GC,3523,-0.93,-146.0,2477,889,3417,3373,834.5,-12.7,334,3529,0.00,2.55,0.00,0.000,1030,0.000,0.072,2475,2308,3394,3417,3372,0,0,0,0,0,0,14.71,14.64,14.76
$GC,3894,-0.93,-146.0,2481,2309,3416,3373,883.5,-13.3,348,3899,0.00,2.53,0.00,0.000,516,0.000,0.076,2475,886,3394,3416,3372,0,0,0,0,0,0,15.09,14.75,15.14
$GC,3928,-0.93,-146.0,2475,888,3416,3373,888.7,-13.6,355,3934,0.00,2.55,0.00,0.000,1030,0.000,0.073,2475,2307,3394,3416,3373,0,0,0,0,0,0,14.83,14.73,14.87
$GC,4313,-0.93,-146.0,2474,2307,3416,3372,939.6,-13.3,372,4319,0.00,2.50,0.00,0.000,516,0.000,0.075,2475,891,3395,3417,3373,0,0,0,0,0,0,15.12,14.74,15.14
$GC,4353,-0.93,-146.0,2474,891,3417,3373,945.1,-14.6,380,4359,0.00,2.50,0.00,0.000,1030,0.000,0.073,2475,2309,3395,3417,3373,0,0,0,0,0,0,14.91,14.78,14.95
$STATE,4703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4703,begin apogee
$GC,4708,-0.23,0.0,2477,2054,3420,3373,991.2,-13.3,395,4886,0.90,0.08,171.40,3.104,10246,0.226,0.111,2722,2115,2782,2822,2743,0,0,0,0,0,0,14.59,13.18,12.30
$STATE,4887,end apogee,CONTROL_FINISHED_OK
$STATE,4887,begin climb
$GC,4888,0.93,146.0,2724,2116,2819,2744,999.2,0.0,401,5075,1.35,0.00,183.27,3.105,10246,0.146,0.000,3098,2115,2184,2241,2128,0,0,0,0,0,0,13.39,13.24,12.22
$GC,5423,0.93,146.0,3100,2116,2230,2120,951.0,10.5,419,5429,0.00,2.58,0.00,0.000,260,0.000,0.096,3098,3499,2172,2228,2116,0,0,0,0,0,0,14.56,14.23,14.58
$GC,5483,0.93,146.0,3099,3500,2229,2120,943.8,12.3,431,5489,0.00,2.38,0.00,0.000,1030,0.000,0.047,3108,2131,2173,2227,2119,0,0,0,0,0,0,14.43,14.35,14.45
$GC,5874,0.93,146.0,3109,2132,2226,2119,900.2,11.3,449,5879,0.00,2.50,0.00,0.000,260,0.000,0.098,3109,3500,2170,2223,2118,0,0,0,0,0,0,14.88,14.61,14.91
$GC,5898,0.93,146.0,3107,3501,2223,2119,897.4,12.6,454,5906,0.00,2.45,0.00,0.000,1030,0.000,0.049,3118,2089,2168,2223,2114,0,0,0,0,0,0,14.73,14.69,14.76
$GC,6265,0.93,146.0,3120,2090,2223,2119,854.6,11.7,467,6270,0.00,2.55,0.00,0.000,260,0.000,0.096,3118,3500,2169,2221,2118,0,0,0,0,0,0,15.02,14.71,15.04
$GC,6304,0.93,146.0,3117,3500,2220,2119,849.5,11.7,475,6310,0.00,2.42,0.00,0.000,1030,0.000,0.048,3128,2098,2168,2218,2118,0,0,0,0,0,0,14.83,14.77,14.85
$GC,6684,0.93,146.0,3128,2099,2219,2119,804.7,11.3,491,6690,0.00,2.58,0.00,0.000,260,0.000,0.096,3135,3500,2168,2219,2118,0,0,0,0,0,0,15.07,14.71,15.10
$GC,6719,0.93,146.0,3127,3500,2219,2119,800.1,12.7,498,6726,0.17,2.38,0.00,0.000,5126,0.261,0.048,3096,2093,2168,2219,2118,0,0,0,0,0,0,14.65,14.83,14.88
$GC,7106,0.93,146.0,3095,2093,2218,2119,760.2,10.4,515,7111,0.00,2.55,0.00,0.000,260,0.000,0.095,3094,3509,2168,2218,2118,0,0,0,0,0,0,15.04,14.79,15.07
$GC,7150,0.93,146.0,3096,3509,2220,2125,755.2,11.3,524,7156,0.00,2.42,0.00,0.000,1030,0.000,0.047,3105,2099,2168,2218,2118,0,0,0,0,0,0,14.88,14.84,14.92
$GC,7527,0.93,146.0,3106,2100,2219,2119,715.8,10.4,539,7532,0.00,2.53,0.00,0.000,260,0.000,0.096,3104,3509,2167,2217,2118,0,0,0,0,0,0,15.05,14.80,15.07
$GC,7561,0.93,146.0,3106,3509,2219,2119,711.8,11.6,546,7567,0.00,2.38,0.00,0.000,1030,0.000,0.048,3115,2095,2167,2217,2118,0,0,0,0,0,0,14.95,14.87,14.98
$GC,7927,0.93,146.0,3116,2096,2218,2119,673.6,10.7,579,7932,0.00,2.53,0.00,0.000,260,0.000,0.096,3115,3502,2167,2216,2118,0,0,0,0,0,0,15.12,14.80,15.15
$GC,7967,0.93,146.0,3116,3502,2218,2119,668.9,12.0,587,7972,0.00,2.42,0.00,0.000,1030,0.000,0.049,3125,2061,2167,2216,2118,0,0,0,0,0,0,14.95,14.85,14.98
$GC,8277,0.93,146.0,3126,2062,2218,2119,634.6,11.0,619,8282,0.00,2.60,0.00,0.000,260,0.000,0.096,3125,3509,2166,2215,2118,0,0,0,0,0,0,15.12,14.79,15.14
$GC,8322,0.93,146.0,3126,3509,2217,2119,629.1,12.5,628,8329,0.12,2.42,0.00,0.000,5126,0.241,0.048,3099,2098,2166,2215,2118,0,0,0,0,0,0,14.62,14.83,14.78
$GC,8628,0.93,146.0,3098,2098,2214,2118,599.1,9.4,659,8633,0.00,2.53,0.00,0.000,260,0.000,0.096,3098,3503,2166,2215,2118,0,0,0,0,0,0,15.07,14.76,15.09
$GC,8672,0.93,146.0,3100,3504,2217,2118,594.4,10.5,668,8679,0.00,2.42,0.00,0.000,1030,0.000,0.047,3107,2086,2166,2214,2118,0,0,0,0,0,0,14.89,14.82,14.92
$GC,8977,0.93,146.0,3106,2086,2214,2118,564.7,9.8,699,8983,0.00,2.55,0.00,0.000,260,0.000,0.095,3107,3511,2166,2214,2118,0,0,0,0,0,0,15.12,14.79,15.15
$GC,9002,0.93,146.0,3107,3512,2214,2118,562.0,10.8,704,9009,0.00,2.42,0.00,0.000,1030,0.000,0.047,3117,2098,2166,2214,2118,0,0,0,0,0,0,14.89,14.84,14.91
$GC,9307,0.93,146.0,3117,2101,2214,2118,530.7,10.2,735,9313,0.00,2.53,0.00,0.000,260,0.000,0.097,3117,3502,2167,2214,2121,0,0,0,0,0,0,15.12,14.76,15.15
$GC,9332,0.93,146.0,3118,3502,2217,2119,528.0,11.2,740,9339,0.00,2.42,0.00,0.000,1030,0.000,0.049,3126,2094,2166,2214,2118,0,0,0,0,0,0,14.88,14.82,14.91
$GC,9637,0.93,146.0,3127,2094,2216,2119,496.4,10.3,771,9643,0.00,2.55,0.00,0.000,260,0.000,0.096,3126,3512,2166,2214,2118,0,0,0,0,0,0,15.12,14.78,15.15
$GC,9677,0.93,146.0,3126,3512,2214,2118,491.8,11.5,779,9684,0.15,2.45,0.00,0.000,5126,0.265,0.049,3102,2061,2166,2214,2118,0,0,0,0,0,0,14.64,14.83,14.89
$GC,9988,0.93,146.0,3102,2061,2214,2118,463.1,9.3,811,9994,0.00,2.60,0.00,0.000,260,0.000,0.096,3102,3506,2165,2213,2117,0,0,0,0,0,0,15.11,14.77,15.14
$GC,10028,0.93,146.0,3101,3506,2214,2118,458.9,10.5,819,10034,0.00,2.42,0.00,0.000,1030,0.000,0.049,3111,2094,2165,2214,2117,0,0,0,0,0,0,14.93,14.78,14.97
$GC,10338,0.93,146.0,3112,2095,2215,2118,429.7,9.3,851,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2094,2165,2214,2117,0,0,0,0,0,0,15.11,15.14,15.13
$PING,420.5,94.9,94.2,1.05,1.00
$PING,407.4,80.3,80.4,1.09,1.00
$PING,401.1,74.0,73.8,1.09,1.00
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$STATE,11342,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11342,begin subsurface finish
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$FINISH2,334.8
$STATE,11358,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11358,begin surface
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$RAFOS,1,1519441625,3.133333,3.118056,153,61,60,59,56,54,572,181,203,193,114,221
$RAFOS,0,1519441265,3.032778,3.018055,160,62,59,58,58,57,568,211,200,163,142,172
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$IRIDIUM_FIX,-7413.09,-11243.88,220218,093243
$TT8_MAMPS,0.040446,0.749
$HUMID,49.17
$INTERNAL_PRESSURE,8.26789
$TCM_TEMP,12.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,342.4,13.6
$24V_AH,12.22,86.839
$10V_AH,12.49,0.000
$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,4.900,118.275,354.675,0.000,0.000,0.000,0.000,0.000,48.250,0.000,0.000,0.000,8716.102,535.189,2070.847,128.092,0.000,1252.210,0.000,1388.408,720.000,346.315,0.000
$DEVICE_MAMPS,294.525,118.575,3105.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.904,0.000,0.000,0.000
$MEM,280000
$DATA_FILE_SIZE,33405,970
$CAP_FILE_SIZE,127115,0
$CFSIZE,1024409600,994459648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.9
$GPS,240218,031616,-7420.371,-11234.865,0,4137.0,0,53.7,0.0,0.0,0,0.0