version: 66.13
glider: 223
mission: 5
dive: 400
start: 7 13 118 5 59 30
data:
$ID,223
$MISSION,5
$DIVE,400
$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,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,330
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,25
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,900
$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,10
$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
$GPS1,130718,031616,-7408.0679,-11159.6279,0,4122.7,0,53.0,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-28.3
$GPS2,130718,031616,-7408.0679,-11159.6279,181,99.0,181,53.0,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7407.000,-11308.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,220.2,34711,-20.3,-10.000,-22.71,1648
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,11,-1.06,-107.1,216,2306,1414,1254,0.0,0.0,0,125,0.00,0.00,-107.47,0.002,16390,0.000,0.000,214,2306,3220,3218,3222,0,0,0,0,0,0,15.02,12.57,15.00
$GC,127,-1.06,-107.1,216,2306,3219,3222,4.3,-3.5,4,146,10.90,2.58,0.00,0.000,2820,0.400,0.076,2454,897,3220,3225,3215,0,0,0,0,0,0,14.04,14.47,14.48
$GC,173,-1.06,-107.1,2453,899,3228,3214,18.3,-21.7,11,181,0.00,2.58,0.00,0.000,1030,0.000,0.072,2445,2301,3222,3234,3211,0,0,0,0,0,0,14.64,14.54,14.69
$PING,24.8,26.2,9000.0,0.00,0.00
$GC,516,-1.06,-107.1,2446,2303,3235,3208,82.4,-18.8,24,523,0.00,2.65,0.00,0.000,260,0.000,0.101,2434,3716,3220,3233,3207,0,0,0,0,0,0,15.10,14.42,15.12
$GC,719,-1.06,-107.1,2433,3717,3233,3206,122.6,-19.5,53,727,0.00,2.47,0.00,0.000,1030,0.000,0.042,2434,2288,3220,3234,3206,0,0,0,0,0,0,14.71,14.65,14.73
$GC,1076,-1.06,-107.1,2435,2288,3236,3207,192.7,-20.3,68,1083,0.00,2.55,0.00,0.000,516,0.000,0.076,2434,891,3223,3241,3205,0,0,0,0,0,0,15.12,14.44,15.15
$GC,1195,-1.06,-107.1,2435,892,3236,3206,216.8,-20.3,85,1203,0.12,2.55,0.00,0.000,3078,0.270,0.064,2454,2309,3219,3234,3205,0,0,0,0,0,0,14.16,14.57,14.36
$GC,1569,-1.06,-107.1,2454,2309,3235,3205,284.7,-17.9,93,1574,0.00,2.60,0.00,0.000,260,0.000,0.103,2446,3721,3220,3236,3204,0,0,0,0,0,0,15.04,14.50,15.07
$GC,1623,-1.06,-107.1,2448,3721,3237,3205,295.5,-19.4,101,1630,0.00,2.50,0.00,0.000,1030,0.000,0.043,2445,2289,3219,3235,3204,0,0,0,0,0,0,14.65,14.56,14.65
$GC,1987,-1.06,-107.1,2447,2289,3237,3205,360.2,-17.6,108,1993,0.00,2.55,0.00,0.000,516,0.000,0.076,2445,891,3219,3235,3204,0,0,0,0,0,0,15.04,14.45,15.07
$GC,2014,-1.06,-107.1,2445,892,3235,3205,365.0,-17.1,112,2021,0.00,2.55,0.00,0.000,1030,0.000,0.065,2435,2305,3219,3235,3204,0,0,0,0,0,0,14.64,14.57,14.69
$GC,2408,-1.06,-107.1,2436,2305,3237,3206,430.6,-16.5,123,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2305,3219,3235,3204,0,0,0,0,0,0,15.04,15.08,15.07
$GC,2757,-1.06,-107.1,2433,2304,3234,3205,487.4,-16.2,128,2763,0.00,2.60,0.00,0.000,516,0.000,0.075,2435,890,3220,3236,3204,0,0,0,0,0,0,15.05,14.44,15.07
$GC,2784,-1.06,-107.1,2434,890,3234,3204,491.9,-16.1,132,2791,0.12,2.55,0.00,0.000,3078,0.268,0.064,2455,2301,3220,3236,3204,0,0,0,0,0,0,14.17,14.56,14.33
$GC,3179,-1.06,-107.1,2455,2302,3236,3200,552.9,-15.8,143,3184,0.00,2.55,0.00,0.000,516,0.000,0.076,2455,891,3220,3236,3205,0,0,0,0,0,0,15.05,14.50,15.07
$GC,3232,-1.06,-107.1,2454,891,3236,3204,562.5,-17.2,151,3240,0.00,2.55,0.00,0.000,1030,0.000,0.063,2446,2304,3220,3236,3204,0,0,0,0,0,0,14.63,14.55,14.69
$PING,612.6,42.3,9000.0,0.00,0.00
$PING,624.2,27.1,9000.0,0.01,0.28
$GC,3597,-1.06,-107.1,2448,2304,3238,3204,624.2,-16.9,158,3603,0.00,2.58,0.00,0.000,516,0.000,0.074,2447,898,3220,3236,3204,0,0,0,0,0,0,15.05,14.42,15.07
$GC,3631,-1.06,-107.1,2446,898,3236,3204,630.2,-17.4,163,3638,0.00,2.55,0.00,0.000,1030,0.000,0.065,2434,2312,3220,3236,3204,0,0,0,0,0,0,14.62,14.56,14.66
$PING,635.2,13.5,9000.0,-1.27,1.00
$GC,4016,-1.06,-107.1,2437,2312,3241,3203,647.4,-0.0,173,4024,0.00,2.62,0.00,0.000,292,0.000,0.109,2434,3709,3220,3239,3202,0,0,0,0,0,0,15.15,14.39,15.19
$STATE,4140,end dive,NO_VERTICAL_VELOCITY
$STATE,4140,begin apogee
$GC,4148,-0.23,0.0,2434,2085,3239,3202,647.3,0.0,191,4271,0.93,0.00,120.62,2.997,10246,0.113,0.000,2729,2083,2780,2812,2749,0,0,0,0,0,0,14.52,13.63,12.31
$STATE,4272,end apogee,CONTROL_FINISHED_OK
$STATE,4272,begin climb
$GC,4274,1.06,107.1,2729,2084,2812,2749,647.2,0.0,192,4419,1.33,2.85,132.35,2.898,10756,0.107,0.087,3144,718,2342,2385,2300,0,0,0,0,0,0,13.64,13.12,11.85
$PING,637.0,12.9,12.2,-1.15,0.99
$GC,4452,1.16,187.8,3145,718,2382,2298,641.4,5.0,225,4558,0.00,2.67,98.80,2.844,9254,0.000,0.055,3144,2104,2016,2082,1951,0,0,0,0,0,0,13.56,13.50,11.86
$PING,622.8,31.1,9000.0,-1.33,0.99
$PING,610.0,44.3,44.9,-1.17,1.00
$GC,4921,1.18,187.8,3143,2104,2071,1938,603.8,8.8,247,4929,0.12,2.67,0.00,0.000,2372,0.134,0.095,3192,3517,2003,2070,1937,0,0,0,0,0,0,14.40,14.27,14.50
$GC,5068,1.18,187.8,3193,3519,2076,1938,585.5,12.9,268,5075,0.00,2.47,0.00,0.000,1030,0.000,0.044,3201,2112,2003,2070,1937,0,0,0,0,0,0,14.60,14.54,14.64
$GC,5481,1.18,187.8,3200,2112,2065,1937,540.7,10.9,282,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2112,2001,2066,1936,0,0,0,0,0,0,15.06,15.09,15.08
$GC,5832,1.18,187.8,3202,2112,2066,1937,500.2,11.7,287,5838,0.00,2.60,0.00,0.000,260,0.000,0.093,3200,3513,2000,2064,1937,0,0,0,0,0,0,15.05,14.62,15.08
$GC,5909,1.18,187.8,3202,3511,2066,1937,489.6,14.3,298,5916,0.10,2.47,0.00,0.000,5126,0.251,0.044,3182,2090,2000,2064,1936,0,0,0,0,0,0,14.43,14.72,14.60
$GC,6324,1.18,187.8,3184,2091,2064,1937,442.4,11.2,312,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2090,1999,2063,1936,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6671,1.18,187.8,3182,2090,2060,1937,406.0,10.3,317,6679,0.00,2.62,0.00,0.000,260,0.000,0.093,3182,3507,1998,2061,1936,0,0,0,0,0,0,15.16,14.61,15.19
$GC,6755,1.18,187.8,3183,3506,2063,1937,396.6,11.2,329,6763,0.00,2.47,0.00,0.000,1030,0.000,0.045,3185,2092,1998,2061,1936,0,0,0,0,0,0,14.88,14.78,14.92
$GC,7162,1.18,187.8,3185,2092,2061,1937,357.1,9.7,342,7168,0.00,2.62,0.00,0.000,260,0.000,0.093,3185,3508,1998,2060,1936,0,0,0,0,0,0,15.16,14.59,15.19
$GC,7197,1.18,187.8,3186,3508,2060,1937,353.4,10.7,347,7203,0.00,2.45,0.00,0.000,1030,0.000,0.046,3186,2101,1995,2060,1931,0,0,0,0,0,0,14.70,14.64,14.75
$GC,7582,1.18,187.8,3186,2102,2060,1936,315.3,9.9,357,7589,0.00,2.62,0.00,0.000,260,0.000,0.093,3186,3518,1998,2060,1936,0,0,0,0,0,0,15.09,14.59,15.11
$GC,7609,1.18,187.8,3185,3519,2060,1937,312.2,11.1,361,7617,0.00,2.50,0.00,0.000,1030,0.000,0.047,3186,2090,1998,2060,1936,0,0,0,0,0,0,14.87,14.76,14.92
$GC,8002,1.18,187.8,3185,2090,2059,1936,269.9,10.8,372,8008,0.00,2.65,0.00,0.000,260,0.000,0.094,3186,3517,1998,2060,1936,0,0,0,0,0,0,15.09,14.57,15.11
$GC,8064,1.18,187.8,3187,3518,2062,1937,262.7,11.7,381,8073,0.00,2.50,0.00,0.000,1030,0.000,0.045,3185,2091,1998,2060,1936,0,0,0,0,0,0,14.87,14.75,14.91
$GC,8422,1.20,187.8,3187,2092,2061,1937,229.1,9.2,387,8428,0.00,2.60,0.00,0.000,324,0.000,0.092,3186,3518,1997,2059,1936,0,0,0,0,0,0,15.08,14.59,15.11
$GC,8470,1.20,187.8,3181,3519,2059,1937,224.3,9.6,394,8477,0.00,2.47,0.00,0.000,1030,0.000,0.046,3186,2097,1997,2059,1936,0,0,0,0,0,0,14.77,14.72,14.81
$GC,8828,1.23,187.8,3186,2097,2060,1936,195.1,8.2,403,8834,0.00,2.62,0.00,0.000,324,0.000,0.095,3185,3510,1997,2058,1936,0,0,0,0,0,0,15.09,14.55,15.11
$GC,8869,1.23,187.8,3186,3511,2059,1937,191.1,9.7,409,8877,0.00,2.50,0.00,0.000,1030,0.000,0.046,3186,2084,1994,2058,1931,0,0,0,0,0,0,14.84,14.74,14.87
$GC,9220,1.25,187.8,3185,2084,2057,1937,159.9,8.9,423,9226,0.00,2.65,0.00,0.000,324,0.000,0.093,3185,3511,1996,2057,1936,0,0,0,0,0,0,15.16,14.54,15.19
$GC,9268,1.25,187.8,3185,3511,2056,1937,154.9,10.6,430,9276,0.00,2.47,0.00,0.000,1030,0.000,0.045,3182,2087,1996,2056,1936,0,0,0,0,0,0,14.74,14.68,14.79
$GC,9611,1.27,187.8,3187,2088,2058,1937,124.0,9.0,443,9618,0.00,2.65,0.00,0.000,324,0.000,0.093,3186,3518,1994,2056,1932,0,0,0,0,0,0,15.17,14.52,15.20
$GC,9653,1.27,187.8,3187,3519,2058,1937,119.9,9.9,449,9661,0.00,2.50,0.00,0.000,1030,0.000,0.046,3185,2093,1996,2056,1936,0,0,0,0,0,0,14.83,14.73,14.88
$GC,10004,1.30,187.8,3185,2094,2056,1935,89.8,8.4,463,10005,0.12,0.00,0.00,0.000,2118,0.151,0.000,3233,2093,1995,2056,1935,0,0,0,0,0,0,14.79,14.91,14.88
$GC,10339,1.30,187.8,3232,2094,2055,1936,50.0,12.1,475,10346,0.00,2.62,0.00,0.000,260,0.000,0.089,3233,3513,1995,2055,1935,0,0,0,0,0,0,15.17,14.54,15.19
$PING,43.1,45.5,9000.0,-0.01,0.34
$GC,10423,1.30,187.8,3231,3513,2057,1936,39.9,11.5,487,10430,0.00,2.47,0.00,0.000,1030,0.000,0.044,3243,2090,1995,2055,1936,0,0,0,0,0,0,14.73,14.66,14.77
$PING,30.5,31.2,9000.0,0.01,0.20
$PING,20.1,20.3,20.1,1.09,1.00
$PING,9.3,9.8,9.7,1.01,1.00
$FREEZE,9.30,-1.787,-1.869,2,6,0
$FREEZE,6.69,-1.793,-1.867,2,6,0
$FREEZE,4.54,-1.807,-1.865,2,6,0
$STATE,10729,end climb,FINISH_DEPTH_REACHED
$STATE,10729,begin subsurface finish
$FINISH1,4.5,1.027325,9
$GC,10734,0.01,8.9,3243,2090,2062,1936,4.5,10.5,501,10774,1.55,2.70,-29.42,0.005,20740,0.226,0.118,2801,3516,2746,2781,2712,0,0,0,0,0,0,14.27,12.47,14.63
$FINISH2,4.9
$STATE,10774,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10774,begin surface
$RAFOS_CLK,432
$RAFOS,2,1531462393,6.233333,6.220278,115,62,60,60,57,55,519,119,218,153,174,208
$RAFOS,1,1531462029,6.133333,6.119167,96,70,64,56,56,52,568,211,198,155,117,79
$RAFOS,0,1531461666,6.032778,6.018333,122,64,62,61,61,54,506,158,221,177,200,134
$RAFOS_FIX,-7409.856445,-11202.485352,130718,060628,3,111,0.34
$IRIDIUM_FIX,-7404.16,-11156.81,120718,143547
$TT8_MAMPS,0.038199,0.286867
$HUMID,50.43
$INTERNAL_PRESSURE,8.21906
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.3,9.7
$24V_AH,11.85,147.519
$10V_AH,12.02,0.000
$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,15.300,110.875,351.775,0.000,0.000,0.000,0.000,119.625,27.000,0.000,182.058,0.000,9048.051,634.753,1440.361,382.742,0.000,1216.061,0.000,730.494,720.000,191.744,0.000
$DEVICE_MAMPS,400.095,117.810,2997.270,0.000,0.000,0.000,0.000,71.910,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10792.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.718,0.000,0.000,0.000
$MEM,280728
$DATA_FILE_SIZE,16766,507
$CAP_FILE_SIZE,96016,0
$CFSIZE,1024409600,971882496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.2
$GPS,130718,061528,-7409.856,-11202.485,0,4111.0,0,53.0,0.0,0.0,0,0.0