version: 66.13
glider: 223
mission: 5
dive: 407
start: 7 14 118 10 12 19
data:
$ID,223
$MISSION,5
$DIVE,407
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,140718,091440,-7407.4214,-11256.2666,0,4154.0,0,53.6,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.31
$_SM_ANGLEo,-7.3
$GPS2,140718,091440,-7407.4214,-11256.2666,0,4154.0,0,53.6,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7407.000,-11308.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,223.9,5998,-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,-107.1,2796,2302,2787,2718,0.0,0.0,0,22,0.00,0.00,-9.52,0.011,16390,0.000,0.000,2794,2301,3221,3248,3195,0,0,0,0,0,0,15.09,12.59,15.07
$PING,14.8,15.7,9000.0,0.00,0.00
$GC,24,-1.06,-107.1,2794,2302,3249,3196,0.0,0.0,0,31,0.98,2.55,0.00,0.000,4356,0.067,0.101,2439,3712,3222,3248,3196,0,0,0,0,0,0,14.69,14.51,14.73
$PING,36.0,38.4,9000.0,0.00,0.00
$GC,224,-1.06,-107.1,2436,3712,3245,3196,49.4,-18.8,29,232,0.00,2.50,0.00,0.000,1030,0.000,0.041,2439,2274,3220,3246,3195,0,0,0,0,0,0,14.83,14.73,14.86
$GC,581,-1.06,-107.1,2438,2274,3245,3196,118.4,-19.3,44,589,0.00,2.50,0.00,0.000,516,0.000,0.073,2439,899,3220,3246,3195,0,0,0,0,0,0,15.16,14.50,15.19
$GC,610,-1.06,-107.1,2438,899,3246,3196,123.8,-19.5,48,617,0.10,2.55,0.00,0.000,3078,0.269,0.068,2450,2302,3220,3246,3195,0,0,0,0,0,0,14.21,14.54,14.40
$GC,974,-1.06,-107.1,2453,2303,3246,3195,189.7,-18.2,64,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2302,3220,3246,3194,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1310,-1.06,-107.1,2454,2303,3249,3194,250.6,-18.0,70,1317,0.00,2.62,0.00,0.000,260,0.000,0.100,2444,3712,3220,3246,3194,0,0,0,0,0,0,15.07,14.48,15.09
$GC,1358,-1.06,-107.1,2444,3714,3247,3194,259.8,-19.1,77,1368,0.00,2.47,0.00,0.000,1030,0.000,0.041,2444,2295,3220,3246,3194,0,0,0,0,0,0,14.85,14.76,14.88
$GC,1731,-1.06,-107.1,2445,2296,3248,3195,326.4,-17.8,85,1737,0.00,2.53,0.00,0.000,516,0.000,0.075,2444,889,3219,3246,3193,0,0,0,0,0,0,15.07,14.54,15.09
$GC,1778,-1.06,-107.1,2445,890,3248,3193,335.5,-18.7,92,1787,0.00,2.58,0.00,0.000,1030,0.000,0.064,2433,2322,3219,3246,3193,0,0,0,0,0,0,14.64,14.57,14.71
$GC,2151,-1.06,-107.1,2434,2323,3248,3194,403.3,-18.1,100,2157,0.00,2.60,0.00,0.000,516,0.000,0.074,2433,902,3220,3247,3193,0,0,0,0,0,0,15.07,14.46,15.09
$GC,2192,-1.06,-107.1,2434,903,3248,3194,410.9,-18.2,106,2199,0.12,2.53,0.00,0.000,3078,0.269,0.066,2453,2298,3219,3246,3193,0,0,0,0,0,0,14.16,14.57,14.35
$GC,2572,-1.06,-107.1,2455,2300,3248,3194,473.4,-16.4,115,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2299,3219,3246,3193,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2921,-1.06,-107.1,2453,2299,3246,3193,530.5,-16.2,120,2927,0.00,2.65,0.00,0.000,260,0.000,0.102,2445,3718,3219,3246,3192,0,0,0,0,0,0,15.07,14.45,15.09
$GC,2940,-1.06,-107.1,2446,3718,3248,3193,534.0,-16.0,123,2948,0.00,2.47,0.00,0.000,1030,0.000,0.041,2441,2296,3219,3246,3192,0,0,0,0,0,0,14.83,14.75,14.87
$GC,3342,-1.06,-107.1,2444,2295,3246,3193,598.9,-16.2,135,3347,0.00,2.50,0.00,0.000,516,0.000,0.075,2445,900,3219,3246,3192,0,0,0,0,0,0,15.07,14.50,15.09
$GC,3395,-1.06,-107.1,2444,900,3246,3193,608.1,-16.4,143,3406,0.00,2.55,0.00,0.000,1030,0.000,0.063,2434,2308,3220,3247,3193,0,0,0,0,0,0,14.70,14.59,14.75
$GC,3762,-1.06,-107.1,2433,2309,3247,3194,669.1,-16.7,150,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2308,3219,3245,3193,0,0,0,0,0,0,15.06,15.09,15.08
$PING,680.6,44.9,9000.0,0.03,0.48
$PING,692.0,29.6,9000.0,-0.00,0.01
$PING,703.2,17.0,16.6,-1.23,1.00
$STATE,4040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4040,begin apogee
$GC,4046,-0.23,0.0,2439,2064,3248,3194,714.9,-16.3,154,4170,1.10,0.10,121.57,3.041,10246,0.236,0.153,2723,2125,2781,2816,2746,0,0,0,0,0,0,14.18,13.60,12.24
$STATE,4172,end apogee,CONTROL_FINISHED_OK
$STATE,4172,begin climb
$GC,4174,1.06,107.1,2723,2126,2815,2746,716.4,0.0,155,4313,1.45,0.00,136.05,2.952,10246,0.150,0.000,3133,2126,2343,2387,2300,0,0,0,0,0,0,13.59,13.06,11.78
$PING,706.1,14.7,14.4,-1.08,1.00
$GC,4601,1.23,247.0,3134,2126,2375,2289,713.3,1.3,162,4779,0.20,2.83,169.50,2.933,10532,0.105,0.088,3209,3503,1774,1850,1698,0,0,0,0,0,0,14.26,12.86,11.83
$GC,4784,1.31,317.4,3210,3503,1851,1698,705.4,5.6,188,4875,0.00,2.67,85.93,2.846,9254,0.000,0.041,3209,2119,1486,1574,1398,0,0,0,0,0,0,13.33,13.29,11.84
$PING,694.2,25.2,25.2,-0.89,1.00
$PING,684.0,37.9,37.2,-1.05,0.99
$GC,5233,1.37,359.3,3210,2120,1567,1387,673.5,7.4,207,5283,0.00,2.80,45.85,2.857,8740,0.000,0.089,3209,692,1316,1406,1226,0,0,0,0,0,0,14.64,13.94,12.64
$GC,5344,1.41,393.1,3208,692,1402,1221,664.8,7.9,223,5388,0.10,2.55,39.40,2.817,11302,0.104,0.046,3257,2099,1178,1272,1084,0,0,0,0,0,0,14.09,14.12,12.45
$GC,5786,1.45,393.1,3251,2099,1270,1073,629.0,8.0,241,5793,0.00,2.55,0.00,0.000,324,0.000,0.090,3251,3508,1169,1267,1072,0,0,0,0,0,0,14.87,14.54,14.86
$GC,5800,1.49,425.2,3250,3509,1267,1073,627.9,8.0,243,5842,0.00,2.47,34.60,2.836,9254,0.000,0.044,3251,2093,1046,1145,947,0,0,0,0,0,0,14.65,14.59,12.95
$GC,6208,1.51,425.2,3252,2094,1143,941,591.2,9.0,256,6213,0.00,2.47,0.00,0.000,580,0.000,0.092,3253,697,1040,1141,940,0,0,0,0,0,0,14.97,14.64,15.00
$GC,6226,1.53,425.2,3254,698,1143,941,589.4,8.9,259,6234,0.10,2.45,0.00,0.000,3142,0.087,0.051,3305,2104,1040,1141,939,0,0,0,0,0,0,14.69,14.71,14.74
$GC,6628,1.53,425.2,3307,2105,1142,941,531.2,15.4,271,6633,0.00,2.55,0.00,0.000,516,0.000,0.092,3316,700,1039,1139,940,0,0,0,0,0,0,15.07,14.70,15.09
$GC,6667,1.53,425.2,3315,700,1138,938,524.6,15.9,277,6675,0.00,2.47,0.00,0.000,1030,0.000,0.055,3316,2107,1039,1139,939,0,0,0,0,0,0,14.90,14.79,14.93
$GC,7048,1.53,425.2,3315,2105,1138,940,460.6,17.1,286,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2107,1036,1133,939,0,0,0,0,0,0,15.10,15.13,15.13
$GC,7396,1.53,425.2,3317,2108,1140,940,400.8,17.1,291,7402,0.00,2.60,0.00,0.000,516,0.000,0.092,3326,698,1038,1138,938,0,0,0,0,0,0,15.11,14.68,15.14
$GC,7451,1.53,425.2,3327,699,1139,938,391.0,17.5,299,7462,0.12,2.47,0.00,0.000,5126,0.262,0.054,3294,2110,1037,1136,938,0,0,0,0,0,0,14.57,14.82,14.71
$GC,7819,1.53,425.2,3293,2111,1136,939,335.6,15.0,306,7824,0.00,2.58,0.00,0.000,516,0.000,0.095,3299,687,1037,1136,938,0,0,0,0,0,0,15.13,14.71,15.15
$GC,7852,1.53,425.2,3300,688,1138,939,330.6,14.7,311,7859,0.00,2.50,0.00,0.000,1030,0.000,0.056,3299,2111,1036,1136,937,0,0,0,0,0,0,14.91,14.82,14.95
$GC,8239,1.53,425.2,3298,2112,1136,938,272.8,15.0,321,8245,0.00,2.58,0.00,0.000,516,0.000,0.093,3306,694,1036,1136,937,0,0,0,0,0,0,15.13,14.64,15.16
$GC,8278,1.53,425.2,3305,695,1135,938,266.6,14.9,327,8286,0.00,2.50,0.00,0.000,1030,0.000,0.058,3306,2113,1036,1135,937,0,0,0,0,0,0,14.92,14.81,14.95
$GC,8658,1.53,425.2,3307,2114,1137,938,209.5,15.1,336,8664,0.00,2.58,0.00,0.000,516,0.000,0.093,3315,689,1040,1143,937,0,0,0,0,0,0,15.14,14.68,15.16
$GC,8706,1.53,425.2,3316,689,1137,938,201.7,16.1,343,8713,0.00,2.47,0.00,0.000,1030,0.000,0.057,3315,2103,1036,1135,937,0,0,0,0,0,0,14.83,14.77,14.88
$PING,174.6,181.3,9000.0,-0.29,1.00
$GC,9063,1.53,425.2,3316,2104,1137,938,142.7,16.0,358,9070,0.00,2.60,0.00,0.000,516,0.000,0.093,3325,691,1036,1135,937,0,0,0,0,0,0,15.19,14.64,15.21
$GC,9083,1.53,425.2,3323,692,1134,937,139.3,15.9,361,9093,0.12,2.50,0.00,0.000,5126,0.275,0.056,3294,2111,1036,1135,937,0,0,0,0,0,0,14.51,14.80,14.67
$GC,9428,1.53,425.2,3295,2112,1136,938,89.2,15.9,374,9434,0.00,2.58,0.00,0.000,516,0.000,0.094,3294,698,1036,1135,937,0,0,0,0,0,0,15.17,14.66,15.19
$GC,9468,1.53,425.2,3293,699,1134,937,85.0,10.3,380,9476,0.00,2.47,0.00,0.000,1030,0.000,0.055,3294,2107,1035,1134,937,0,0,0,0,0,0,14.92,14.80,14.96
$PING,76.0,78.9,9000.0,-0.14,0.37
$PING,42.2,44.9,44.5,1.03,1.00
$GC,9820,1.53,425.2,3292,2107,1133,937,38.3,12.5,394,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2107,1035,1134,936,0,0,0,0,0,0,15.17,15.21,15.20
$PING,31.0,31.4,32.2,1.04,1.00
$PING,19.0,19.1,18.8,1.12,1.00
$PING,8.6,9.0,8.9,1.00,1.00
$FREEZE,8.56,-1.829,-1.870,2,4,0
$STATE,10042,end climb,FINISH_DEPTH_REACHED
$STATE,10042,begin subsurface finish
$FINISH1,8.6,1.027350,8
$GC,10047,0.01,7.6,3295,2108,1135,937,8.6,13.0,402,10103,1.62,2.60,-48.03,0.003,20996,0.189,0.103,2802,695,2753,2784,2723,0,0,0,0,0,0,14.53,12.76,14.81
$FINISH2,8.9
$STATE,10103,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10103,begin surface
$RAFOS_CLK,381
$RAFOS,2,1531570394,12.233334,12.220555,107,57,57,54,54,50,535,220,206,184,133,170
$RAFOS,1,1531570044,12.133333,12.123333,105,71,62,59,56,53,458,182,203,225,169,124
$RAFOS,0,1531569694,12.032778,12.026111,120,58,58,57,54,52,463,201,167,145,214,181
$RAFOS_FIX,-7407.101074,-11301.980469,140718,121200,3,111,0.27
$IRIDIUM_FIX,-7409.27,-11237.80,130718,233415
$TT8_MAMPS,0.039697,0.273385
$HUMID,50.31
$INTERNAL_PRESSURE,8.22882
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,8.6,8.9
$ALTIM_BOTTOM_PING,703.2,16.6
$24V_AH,11.78,150.384
$10V_AH,11.95,0.000
$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,6.025,97.800,632.900,0.000,0.000,0.000,0.000,0.000,31.000,0.000,0.000,0.000,8313.085,764.351,974.802,144.498,0.000,1171.547,0.000,592.849,720.000,229.180,0.000
$DEVICE_MAMPS,274.635,153.000,3040.875,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10118.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.699,0.000,0.000,0.000
$MEM,280760
$DATA_FILE_SIZE,13467,410
$CAP_FILE_SIZE,85502,0
$CFSIZE,1024409600,971161600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.0
$GPS,140718,121600,-7407.101,-11301.980,0,4110.7,0,53.6,0.0,0.0,0,0.0