version: 66.13
glider: 223
mission: 5
dive: 224
start: 2 24 118 20 38 40
data:
$ID,223
$MISSION,5
$DIVE,224
$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,46
$R_STBD_OVSHOOT,39
$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
$GPS1,240218,181424,-7420.8433,-11217.9072,0,4115.7,0,53.7,0.0,0.0,0,0.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,375.49
$_SM_ANGLEo,-1.5
$GPS2,240218,181424,-7420.8433,-11217.9072,0,4115.7,0,53.7,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7412.000,-11220.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,302.6,16412,-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,-146.0,2806,2279,2830,2766,0.0,0.0,0,13,0.00,0.00,-2.05,0.047,16390,0.000,0.000,2804,2278,3397,3418,3376,0,0,0,0,0,0,15.06,13.33,15.05
$GC,14,-0.93,-146.0,2806,2279,3420,3377,0.0,0.0,0,21,0.90,2.42,0.00,0.000,4612,0.107,0.081,2501,908,3397,3418,3377,0,0,0,0,0,0,14.69,14.69,14.77
$GC,95,-0.93,-146.0,2502,908,3419,3376,385.0,-13.7,16,101,0.00,2.42,0.00,0.000,1030,0.000,0.074,2489,2284,3396,3417,3376,0,0,0,0,0,0,14.88,14.75,14.92
$GC,405,-0.93,-146.0,2490,2284,3417,3375,429.7,-14.5,48,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2284,3395,3416,3375,0,0,0,0,0,0,15.09,15.12,15.12
$GC,705,-0.93,-146.0,2490,2284,3417,3375,473.8,-14.3,78,712,0.00,2.47,0.00,0.000,516,0.000,0.081,2490,908,3395,3417,3374,0,0,0,0,0,0,15.09,14.71,15.11
$GC,746,-0.93,-146.0,2490,908,3417,3375,479.9,-15.0,86,753,0.00,2.47,0.00,0.000,1030,0.000,0.071,2480,2308,3395,3417,3374,0,0,0,0,0,0,14.88,14.75,14.92
$GC,1057,-0.93,-146.0,2481,2309,3419,3375,525.8,-14.6,118,1063,0.00,2.53,0.00,0.000,516,0.000,0.078,2480,911,3392,3412,3373,0,0,0,0,0,0,15.11,14.69,15.13
$GC,1098,-0.93,-146.0,2480,911,3417,3374,531.9,-15.0,126,1103,0.00,2.47,0.00,0.000,1030,0.000,0.073,2475,2312,3399,3425,3373,0,0,0,0,0,0,14.84,14.71,14.87
$GC,1407,-0.93,-146.0,2476,2313,3419,3374,578.1,-14.9,158,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2312,3395,3417,3373,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1709,-0.93,-146.0,2475,2313,3419,3374,622.5,-15.0,188,1714,0.00,2.50,0.00,0.000,516,0.000,0.078,2475,907,3394,3416,3372,0,0,0,0,0,0,15.11,14.71,15.13
$GC,1753,-0.93,-146.0,2476,907,3419,3373,629.4,-14.9,197,1761,0.15,2.53,0.00,0.000,3078,0.290,0.071,2496,2310,3395,3417,3373,0,0,0,0,0,0,14.42,14.59,14.68
$GC,2058,-0.93,-146.0,2497,2309,3418,3374,670.8,-13.4,228,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2310,3394,3416,3373,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2368,-0.93,-146.0,2495,2310,3417,3373,713.8,-14.3,253,2375,0.00,2.50,0.00,0.000,516,0.000,0.077,2496,902,3394,3417,3372,0,0,0,0,0,0,15.11,14.68,15.14
$GC,2414,-0.93,-146.0,2497,903,3420,3368,720.4,-14.4,262,2420,0.00,2.50,0.00,0.000,1030,0.000,0.070,2487,2317,3394,3417,3372,0,0,0,0,0,0,14.82,14.69,14.85
$GC,2790,-0.93,-146.0,2487,2316,3417,3374,773.8,-14.1,277,2796,0.00,2.50,0.00,0.000,516,0.000,0.079,2487,911,3394,3417,3372,0,0,0,0,0,0,15.06,14.71,15.09
$GC,2825,-0.93,-146.0,2489,913,3419,3373,778.9,-14.1,284,2831,0.00,2.50,0.00,0.000,1030,0.000,0.070,2477,2307,3394,3417,3372,0,0,0,0,0,0,14.81,14.73,14.85
$GC,3210,-0.93,-146.0,2477,2307,3417,3373,828.7,-12.6,301,3217,0.00,2.47,0.00,0.000,516,0.000,0.076,2477,910,3394,3417,3372,0,0,0,0,0,0,15.12,14.72,15.15
$GC,3246,-0.93,-146.0,2476,910,3416,3373,833.6,-13.8,308,3252,0.00,2.50,0.00,0.000,1030,0.000,0.073,2474,2305,3394,3417,3372,0,0,0,0,0,0,14.81,14.73,14.85
$PING,882.8,54.5,9000.0,0.00,0.00
$GC,3631,-0.93,-146.0,2475,2305,3419,3373,886.9,-14.7,325,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2310,3394,3417,3372,0,0,0,0,0,0,15.13,15.15,15.15
$PING,908.1,27.0,9000.0,0.00,0.00
$PING,916.3,18.2,18.1,-1.08,1.00
$PING,924.6,10.7,10.5,-0.98,1.00
$STATE,3930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3930,begin apogee
$GC,3935,-0.23,0.0,2474,2074,3417,3373,928.5,-13.7,335,4106,0.90,0.08,168.73,3.104,10246,0.225,0.176,2722,2116,2781,2818,2744,0,0,0,0,0,0,14.56,13.34,12.34
$STATE,4107,end apogee,CONTROL_FINISHED_OK
$STATE,4107,begin climb
$PING,924.6,9.0,9.9,-1.01,0.97
$GC,4109,0.93,146.0,2723,2116,2821,2745,931.1,0.0,340,4299,1.33,2.88,182.00,3.096,10500,0.145,0.093,3098,3500,2184,2240,2129,0,0,0,0,0,0,13.38,13.26,12.26
$PING,918.0,14.8,9000.0,-0.75,0.92
$GC,4318,0.93,146.0,3099,3501,2238,2130,916.8,10.6,380,4324,0.00,2.60,0.00,0.000,1030,0.000,0.047,3107,2109,2181,2236,2127,0,0,0,0,0,0,13.61,13.54,13.63
$PING,902.3,33.8,33.5,-1.13,1.00
$GC,4690,0.93,146.0,3106,2109,2226,2120,876.4,10.7,394,4695,0.00,2.65,0.00,0.000,516,0.000,0.097,3117,688,2173,2226,2120,0,0,0,0,0,0,14.59,14.35,14.62
$GC,4714,0.93,146.0,3117,688,2224,2120,873.4,11.7,399,4722,0.00,2.55,0.00,0.000,1030,0.000,0.061,3117,2099,2171,2224,2119,0,0,0,0,0,0,14.53,14.40,14.54
$GC,5081,0.93,146.0,3118,2100,2222,2120,831.7,11.0,412,5086,0.00,2.55,0.00,0.000,260,0.000,0.096,3117,3513,2169,2220,2119,0,0,0,0,0,0,14.90,14.62,14.92
$GC,5145,0.93,146.0,3118,3512,2222,2121,823.4,13.1,425,5151,0.00,2.42,0.00,0.000,1030,0.000,0.047,3126,2091,2169,2220,2119,0,0,0,0,0,0,14.79,14.71,14.80
$GC,5532,0.93,146.0,3125,2092,2216,2120,778.7,11.3,442,5537,0.00,2.58,0.00,0.000,260,0.000,0.094,3126,3517,2168,2218,2119,0,0,0,0,0,0,15.00,14.69,15.02
$GC,5566,0.93,146.0,3127,3518,2220,2120,774.4,12.6,449,5573,0.10,2.45,0.00,0.000,5126,0.244,0.049,3093,2100,2168,2218,2119,0,0,0,0,0,0,14.61,14.77,14.84
$GC,5952,0.93,146.0,3095,2101,2218,2120,736.0,9.9,466,5958,0.00,2.55,0.00,0.000,260,0.000,0.095,3088,3519,2167,2216,2119,0,0,0,0,0,0,15.07,14.74,15.09
$GC,5992,0.93,146.0,3094,3518,2219,2123,731.6,11.4,474,5998,0.00,2.42,0.00,0.000,1030,0.000,0.048,3101,2085,2167,2216,2119,0,0,0,0,0,0,14.89,14.78,14.92
$GC,6362,0.93,146.0,3101,2085,2215,2118,694.8,10.2,493,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2084,2167,2215,2119,0,0,0,0,0,0,15.10,15.14,15.12
$GC,6662,0.93,146.0,3104,2085,2217,2120,664.1,10.5,523,6668,0.00,2.58,0.00,0.000,260,0.000,0.095,3101,3518,2166,2214,2119,0,0,0,0,0,0,15.11,14.68,15.14
$GC,6737,0.93,146.0,3102,3518,2217,2119,655.4,11.7,538,6744,0.00,2.45,0.00,0.000,1030,0.000,0.047,3111,2095,2166,2214,2119,0,0,0,0,0,0,14.85,14.78,14.88
$GC,7042,0.93,146.0,3110,2096,2214,2119,623.6,10.3,569,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2096,2166,2214,2119,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7342,0.93,146.0,3110,2096,2214,2120,593.1,10.5,599,7348,0.00,2.55,0.00,0.000,260,0.000,0.095,3111,3514,2166,2214,2119,0,0,0,0,0,0,15.11,14.75,15.14
$GC,7377,0.93,146.0,3110,3513,2213,2119,589.0,11.8,606,7384,0.00,2.40,0.00,0.000,1030,0.000,0.048,3122,2094,2166,2214,2119,0,0,0,0,0,0,14.90,14.81,14.94
$GC,7682,0.93,146.0,3121,2096,2213,2119,556.5,10.6,637,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2095,2166,2213,2119,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7982,0.93,146.0,3121,2096,2213,2120,525.9,10.1,667,7988,0.00,2.55,0.00,0.000,260,0.000,0.093,3122,3517,2166,2213,2119,0,0,0,0,0,0,15.12,14.66,15.14
$GC,8052,0.93,146.0,3124,3517,2215,2120,518.0,11.5,681,8059,0.10,2.45,0.00,0.000,5126,0.235,0.047,3095,2092,2166,2213,2119,0,0,0,0,0,0,14.58,14.78,14.85
$GC,8363,0.94,146.0,3096,2093,2214,2119,490.0,8.9,713,8370,0.00,2.55,0.00,0.000,324,0.000,0.093,3094,3511,2165,2212,2119,0,0,0,0,0,0,15.10,14.77,15.13
$GC,8394,0.94,146.0,3094,3512,2212,2119,487.0,10.2,719,8400,0.00,2.45,0.00,0.000,1030,0.000,0.047,3103,2096,2165,2213,2118,0,0,0,0,0,0,14.85,14.79,14.96
$GC,8704,0.94,146.0,3102,2096,2211,2119,458.4,9.1,751,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2095,2165,2212,2118,0,0,0,0,0,0,15.09,15.12,15.11
$PING,442.3,78.2,9000.0,-0.12,0.93
$PING,436.2,72.1,9000.0,-0.09,0.98
$GC,9004,0.96,146.0,3102,2096,2211,2118,431.9,8.7,781,9010,0.00,2.55,0.00,0.000,324,0.000,0.094,3103,3514,2165,2212,2118,0,0,0,0,0,0,15.09,14.75,15.11
$PING,429.9,65.7,65.7,1.01,1.00
$GC,9055,0.96,146.0,3104,3515,2213,2118,426.9,9.9,791,9060,0.00,2.45,0.00,0.000,1030,0.000,0.047,3113,2100,2165,2212,2119,0,0,0,0,0,0,14.85,14.81,14.89
$PING,423.2,58.5,58.5,1.05,1.00
$PING,416.5,51.6,51.6,1.05,1.00
$PING,409.8,44.6,44.6,1.03,1.00
$PING,403.2,37.8,37.8,1.04,1.00
$GC,9365,0.96,146.0,3114,2100,2211,2119,397.6,9.3,823,9371,0.00,2.55,0.00,0.000,260,0.000,0.094,3113,3517,2165,2211,2119,0,0,0,0,0,0,15.11,14.76,15.14
$PING,396.6,31.0,31.0,1.04,1.00
$GC,9395,0.96,146.0,3114,3519,2213,2120,394.5,10.4,829,9402,0.00,2.47,0.00,0.000,1030,0.000,0.048,3123,2090,2164,2211,2118,0,0,0,0,0,0,14.85,14.79,14.88
$PING,389.8,23.8,23.8,1.04,1.00
$PING,383.1,16.9,16.9,1.05,1.00
$PING,376.4,9.9,9.9,1.04,1.00
$STATE,9614,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9615,begin subsurface finish
$FINISH1,373.5,1.027483,1
$GC,9618,0.00,0.8,3123,2091,2211,2119,373.5,9.8,852,9631,1.10,2.58,-2.25,0.052,20996,0.200,0.120,2802,696,2804,2836,2772,0,0,0,0,0,0,14.57,13.32,14.72
$FINISH2,372.6
$STATE,9631,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9631,begin surface
$RAFOS_CLK,349
$RAFOS,2,1519506788,21.233334,21.218889,108,61,55,54,54,53,594,211,774,166,220,146
$RAFOS,1,1519506427,21.133333,21.118610,93,60,55,54,53,51,569,213,141,185,174,161
$RAFOS,0,1519506067,21.032778,21.018612,85,65,62,58,55,53,536,163,191,211,141,182
$RAFOS_FIX,-7419.497559,-11217.309570,240218,212144,3,95,0.23
$IRIDIUM_FIX,-7413.09,-11243.88,220218,093243
$TT8_MAMPS,0.040446,0.653877
$HUMID,50.11
$INTERNAL_PRESSURE,8.26789
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,376.4,9.9
$ALTIM_BOTTOM_PING,924.6,10.5
$24V_AH,12.26,88.790
$10V_AH,12.24,0.000
$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,4.575,95.525,350.725,0.000,0.000,0.000,0.000,0.000,39.750,0.000,0.000,0.000,7352.185,442.646,1814.301,114.939,0.000,1097.312,0.000,1224.116,720.000,284.030,0.000
$DEVICE_MAMPS,289.935,175.950,3103.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9653.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.082,0.000,0.000,0.000
$MEM,280000
$DATA_FILE_SIZE,30017,854
$CAP_FILE_SIZE,109922,0
$CFSIZE,1024409600,993722368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,240218,211544,-7419.498,-11217.310,0,4095.3,0,53.7,0.0,0.0,0,0.0