version: 66.13
glider: 223
mission: 5
dive: 222
start: 2 24 118 14 57 58
data:
$ID,223
$MISSION,5
$DIVE,222
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,240218,121600,-7421.7935,-11219.2119,0,4142.3,0,53.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,378.61
$_SM_ANGLEo,-1.7
$GPS2,240218,121600,-7421.7935,-11219.2119,0,4142.3,0,53.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7412.000,-11220.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,305.1,18143,-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,-146.0,2808,2291,2832,2774,0.0,0.0,0,12,0.00,0.00,-2.00,0.049,16390,0.000,0.000,2802,2291,3391,3412,3370,0,0,0,0,0,0,14.99,13.33,14.98
$GC,14,-0.93,-146.0,2802,2291,3412,3371,0.0,0.0,0,21,0.93,2.55,0.00,0.000,4356,0.106,0.106,2491,3706,3391,3412,3371,0,0,0,0,0,0,14.64,14.66,14.72
$PING,385.9,17.1,9000.0,0.00,0.00
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$GC,375,-0.93,-146.0,2490,2307,3410,3371,430.8,-15.1,42,380,0.00,2.53,0.00,0.000,516,0.000,0.081,2491,892,3390,3411,3370,0,0,0,0,0,0,15.02,14.67,15.05
$GC,435,-0.93,-146.0,2490,892,3411,3370,440.1,-15.3,54,441,0.00,2.50,0.00,0.000,1030,0.000,0.078,2489,2293,3393,3417,3370,0,0,0,0,0,0,14.84,14.71,14.88
$GC,745,-0.93,-146.0,2490,2294,3413,3371,486.9,-14.9,86,752,0.00,2.53,0.00,0.000,516,0.000,0.080,2489,887,3390,3411,3369,0,0,0,0,0,0,15.04,14.68,15.06
$GC,771,-0.93,-146.0,2489,888,3413,3370,490.8,-14.3,91,778,0.00,2.58,0.00,0.000,1030,0.000,0.076,2485,2307,3390,3411,3369,0,0,0,0,0,0,14.76,14.67,14.89
$GC,1076,-0.93,-146.0,2480,2308,3413,3370,536.8,-15.0,122,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2308,3390,3411,3369,0,0,0,0,0,0,15.06,15.09,15.09
$GC,1376,-0.93,-146.0,2478,2308,3405,3369,581.5,-14.9,152,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2308,3389,3411,3367,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1676,-0.93,-146.0,2480,2308,3413,3369,625.1,-14.4,182,1682,0.00,2.55,0.00,0.000,516,0.000,0.078,2479,899,3389,3411,3368,0,0,0,0,0,0,15.09,14.67,15.11
$GC,1731,-0.93,-146.0,2481,900,3412,3369,633.3,-14.6,193,1740,0.00,2.55,0.00,0.000,1030,0.000,0.076,2475,2308,3389,3411,3368,0,0,0,0,0,0,14.89,14.69,14.92
$PING,648.4,30.8,9000.0,0.00,0.00
$PING,669.8,27.4,9000.0,0.04,0.91
$GC,2037,-0.93,-146.0,2474,2308,3410,3369,676.9,-14.3,224,2042,0.00,2.53,0.00,0.000,516,0.000,0.077,2474,888,3389,3411,3368,0,0,0,0,0,0,15.03,14.70,15.05
$GC,2066,-0.93,-146.0,2476,889,3413,3369,681.3,-14.9,230,2073,0.15,2.53,0.00,0.000,3078,0.297,0.073,2496,2315,3389,3411,3368,0,0,0,0,0,0,14.50,14.73,14.78
$GC,2387,-0.93,-146.0,2495,2316,3411,3368,723.9,-13.4,251,2393,0.00,2.53,0.00,0.000,516,0.000,0.078,2496,890,3389,3411,3368,0,0,0,0,0,0,15.09,14.71,15.12
$GC,2427,-0.93,-146.0,2496,891,3411,3368,729.6,-13.8,259,2433,0.00,2.55,0.00,0.000,1030,0.000,0.074,2489,2305,3389,3411,3368,0,0,0,0,0,0,14.78,14.70,14.90
$GC,2808,-0.93,-146.0,2490,2306,3413,3368,781.2,-13.4,275,2813,0.00,2.53,0.00,0.000,516,0.000,0.079,2488,887,3389,3411,3368,0,0,0,0,0,0,15.05,14.71,15.07
$GC,2837,-0.93,-146.0,2490,888,3413,3369,785.6,-15.8,281,2844,0.00,2.53,0.00,0.000,1030,0.000,0.073,2479,2315,3392,3411,3374,0,0,0,0,0,0,14.88,14.74,14.91
$GC,3228,-0.93,-146.0,2478,2317,3411,3368,838.7,-13.6,299,3234,0.00,2.53,0.00,0.000,516,0.000,0.077,2479,893,3389,3411,3368,0,0,0,0,0,0,15.11,14.71,15.14
$GC,3278,-0.93,-146.0,2480,893,3413,3369,845.3,-13.5,309,3285,0.00,2.55,0.00,0.000,1030,0.000,0.076,2476,2332,3389,3411,3368,0,0,0,0,0,0,14.87,14.71,14.91
$GC,3651,-0.93,-146.0,2476,2333,3413,3368,895.6,-13.6,323,3655,0.00,2.55,0.00,0.000,516,0.000,0.077,2476,897,3389,3411,3368,0,0,0,0,0,0,15.06,14.71,15.08
$GC,3695,-0.93,-146.0,2477,898,3413,3369,901.6,-14.2,332,3704,0.08,2.55,0.00,0.000,3078,0.278,0.073,2493,2303,3389,3411,3368,0,0,0,0,0,0,14.50,14.70,14.78
$PING,949.3,37.8,9000.0,0.03,0.86
$GC,4074,-0.93,-146.0,2493,2304,3413,3369,949.3,-12.4,347,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2303,3389,3411,3368,0,0,0,0,0,0,15.06,15.09,15.08
$PING,956.7,29.3,9000.0,0.02,0.39
$PING,964.1,19.4,19.7,-1.24,1.00
$PING,971.5,12.1,11.7,-1.16,0.99
$STATE,4282,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4282,begin apogee
$GC,4286,-0.23,0.0,2494,2056,3413,3368,975.3,-12.4,354,4455,0.85,0.12,166.27,3.103,10246,0.224,0.140,2727,2129,2783,2821,2745,0,0,0,0,0,0,14.55,13.35,12.31
$STATE,4456,end apogee,CONTROL_FINISHED_OK
$STATE,4456,begin climb
$PING,975.7,10.4,9.8,-0.81,0.96
$GC,4458,0.93,146.0,2729,2130,2821,2746,981.5,0.0,359,4647,1.30,0.00,184.95,3.105,10246,0.145,0.000,3095,2125,2185,2241,2130,0,0,0,0,0,0,13.37,13.24,12.25
$PING,958.2,26.0,25.7,-0.93,0.98
$PING,952.2,32.6,32.2,-0.93,1.00
$GC,5004,0.93,146.0,3096,2130,2229,2120,934.0,10.2,378,5009,0.00,2.58,0.00,0.000,260,0.000,0.098,3096,3502,2173,2227,2120,0,0,0,0,0,0,14.53,14.26,14.56
$GC,5053,0.93,146.0,3096,3501,2229,2120,928.2,10.5,388,5059,0.00,2.45,0.00,0.000,1030,0.000,0.048,3105,2120,2172,2225,2119,0,0,0,0,0,0,14.42,14.36,14.45
$GC,5424,0.93,146.0,3104,2121,2222,2119,887.8,10.8,402,5429,0.00,2.60,0.00,0.000,516,0.000,0.098,3111,700,2172,2225,2119,0,0,0,0,0,0,14.87,14.56,14.89
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$GC,5884,0.93,146.0,3110,3520,2219,2119,836.2,12.7,434,5890,0.00,2.42,0.00,0.000,1030,0.000,0.049,3120,2098,2168,2219,2118,0,0,0,0,0,0,14.87,14.78,14.90
$GC,6265,0.93,146.0,3120,2098,2218,2119,793.9,11.0,450,6270,0.00,2.58,0.00,0.000,260,0.000,0.100,3120,3510,2167,2218,2117,0,0,0,0,0,0,15.03,14.73,15.06
$GC,6289,0.93,146.0,3121,3509,2220,2119,790.8,12.6,455,6296,0.00,2.42,0.00,0.000,1030,0.000,0.052,3128,2084,2168,2218,2118,0,0,0,0,0,0,14.90,14.81,14.93
$GC,6655,0.93,146.0,3129,2084,2219,2119,749.6,11.3,468,6660,0.00,2.60,0.00,0.000,260,0.000,0.099,3128,3510,2167,2217,2118,0,0,0,0,0,0,15.09,14.76,15.11
$GC,6680,0.93,146.0,3129,3511,2218,2119,746.5,12.2,473,6688,0.17,2.40,0.00,0.000,5126,0.262,0.051,3096,2093,2167,2217,2117,0,0,0,0,0,0,14.64,14.83,14.88
$GC,7045,0.93,146.0,3094,2094,2215,2118,710.8,9.8,486,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2093,2166,2216,2117,0,0,0,0,0,0,15.11,15.14,15.13
$GC,7404,0.93,146.0,3095,2094,2214,2119,675.7,9.7,514,7410,0.00,2.62,0.00,0.000,260,0.000,0.098,3095,3539,2166,2215,2117,0,0,0,0,0,0,15.11,14.71,15.14
$GC,7454,0.93,146.0,3096,3539,2217,2118,670.1,11.3,524,7460,0.00,2.47,0.00,0.000,1030,0.000,0.048,3104,2100,2166,2215,2117,0,0,0,0,0,0,14.95,14.81,14.97
$GC,7764,0.93,146.0,3104,2100,2209,2118,639.1,9.8,556,7765,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2100,2165,2214,2117,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8064,0.93,146.0,3103,2100,2214,2117,610.6,9.7,586,8070,0.00,2.60,0.00,0.000,260,0.000,0.098,3104,3508,2166,2215,2117,0,0,0,0,0,0,15.10,14.68,15.12
$GC,8116,0.93,146.0,3105,3509,2216,2117,605.3,11.2,596,8121,0.00,2.40,0.00,0.000,1030,0.000,0.050,3114,2085,2165,2214,2117,0,0,0,0,0,0,14.92,14.83,14.96
$GC,8426,0.93,146.0,3116,2085,2215,2118,573.4,9.9,628,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2084,2165,2214,2117,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8725,0.93,146.0,3115,2084,2215,2118,543.3,10.1,658,8731,0.00,2.65,0.00,0.000,260,0.000,0.099,3114,3545,2164,2212,2116,0,0,0,0,0,0,15.09,14.73,15.12
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$GC,9446,0.93,146.0,3099,2089,2212,2116,471.1,9.3,742,9451,0.00,2.58,0.00,0.000,260,0.000,0.098,3099,3517,2164,2212,2116,0,0,0,0,0,0,15.03,14.73,15.06
$GC,9485,0.93,146.0,3099,3516,2212,2117,467.0,10.6,750,9491,0.00,2.45,0.00,0.000,1030,0.000,0.049,3108,2071,2164,2212,2116,0,0,0,0,0,0,14.91,14.79,14.95
$PING,438.3,69.7,9000.0,-0.08,0.98
$GC,9796,0.93,146.0,3107,2072,2212,2116,437.4,9.6,782,9801,0.00,2.60,0.00,0.000,260,0.000,0.096,3106,3516,2164,2212,2116,0,0,0,0,0,0,15.10,14.73,15.14
$GC,9830,0.93,146.0,3109,3513,2214,2117,433.6,10.8,789,9838,0.00,2.45,0.00,0.000,1030,0.000,0.049,3115,2099,2164,2212,2116,0,0,0,0,0,0,14.83,14.78,14.90
$PING,432.1,63.2,9000.0,-0.07,0.97
$PING,418.4,49.5,49.5,1.01,1.00
$PING,411.5,42.3,42.4,1.01,1.00
$GC,10136,0.93,146.0,3114,2100,2211,2116,403.8,9.7,820,10141,0.00,2.55,0.00,0.000,260,0.000,0.096,3115,3516,2164,2213,2116,0,0,0,0,0,0,15.11,14.73,15.14
$GC,10175,0.93,146.0,3116,3516,2214,2116,399.5,10.8,828,10181,0.00,2.45,0.00,0.000,1030,0.000,0.048,3124,2097,2161,2211,2112,0,0,0,0,0,0,14.93,14.78,14.99
$PING,398.5,28.8,28.8,1.04,1.00
$PING,391.6,22.0,21.9,1.02,1.00
$PING,384.9,15.0,15.0,1.02,1.00
$PING,378.1,8.3,8.2,1.01,1.00
$STATE,10414,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10414,begin subsurface finish
$FINISH1,376.3,1.027474,1
$GC,10418,0.00,1.3,3125,2098,2210,2116,376.3,9.5,853,10424,1.10,0.00,-2.22,0.053,20998,0.200,0.000,2804,2097,2795,2828,2762,0,0,0,0,0,0,14.57,13.38,14.72
$FINISH2,375.7
$STATE,10425,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10425,begin surface
$RAFOS_CLK,382
$RAFOS,2,1519485183,15.233334,15.217500,99,65,57,55,52,46,640,218,182,146,170,112
$RAFOS,1,1519484823,15.133333,15.117500,75,60,57,54,54,51,603,205,162,119,177,216
$RAFOS,0,1519484462,15.032778,15.017222,148,65,60,57,52,50,581,227,202,172,129,113
$RAFOS_FIX,-7421.810059,-11218.005859,240218,151512,3,107,0.06
$IRIDIUM_FIX,-7413.09,-11243.88,220218,093243
$TT8_MAMPS,0.039697,0.342293
$HUMID,49.44
$INTERNAL_PRESSURE,8.25812
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,378.1,8.2
$ALTIM_BOTTOM_PING,971.5,11.7
$24V_AH,12.25,88.048
$10V_AH,12.45,0.000
$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,4.725,108.525,351.225,0.000,0.000,0.000,0.000,0.000,43.500,0.000,0.000,0.000,8051.253,504.484,1842.584,119.589,0.000,1142.477,0.000,1224.293,720.000,309.593,0.000
$DEVICE_MAMPS,296.820,139.995,3105.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10448.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.697,0.000,0.000,0.000
$MEM,280000
$DATA_FILE_SIZE,30041,854
$CAP_FILE_SIZE,116614,0
$CFSIZE,1024409600,993935360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.2
$GPS,240218,151512,-7421.810,-11218.006,0,4107.3,0,53.7,0.0,0.0,0,0.0