version: 66.13
glider: 223
mission: 5
dive: 417
start: 7 15 118 12 16 18
data:
$ID,223
$MISSION,5
$DIVE,417
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,150718,120312,-7403.8291,-11240.7031,0,2002.0,0,53.6,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,870.33
$_SM_ANGLEo,-7.5
$GPS2,150718,120312,-7403.8291,-11240.7031,0,2002.0,0,53.6,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold6
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,38.7,7990,-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,-107.1,2799,2300,2869,2811,0.0,0.0,0,18,0.00,0.00,-6.38,0.033,16390,0.000,0.000,2799,2299,3243,3268,3218,0,0,0,0,1,0,14.47,12.83,14.47
$PING,871.7,21.2,9000.0,0.00,0.00
$GC,21,-1.06,-107.1,2801,2300,3271,3218,0.0,0.0,0,27,1.00,2.62,0.00,0.000,4356,0.060,0.103,2445,3712,3241,3268,3215,0,0,0,0,0,0,14.28,14.19,14.33
$PING,882.0,12.8,9000.0,0.00,0.00
$GC,256,-1.06,-107.1,2446,3714,3269,3217,889.6,-1.0,34,263,0.00,2.47,0.00,0.000,1062,0.000,0.041,2445,2275,3241,3267,3216,0,0,0,0,0,0,14.70,14.66,14.72
$STATE,436,end dive,NO_VERTICAL_VELOCITY
$STATE,436,begin apogee
$PING,889.9,19.5,9000.0,-0.13,0.07
$GC,442,-0.23,0.0,2447,2069,3269,3216,889.6,0.0,42,574,0.95,0.08,129.50,3.071,10246,0.159,0.168,2730,2107,2781,2814,2748,0,0,0,0,0,0,14.57,13.40,12.12
$STATE,575,end apogee,CONTROL_FINISHED_OK
$STATE,575,begin climb
$GC,577,1.06,107.1,2732,2109,2817,2749,889.9,0.0,43,730,1.42,2.85,139.55,3.012,10756,0.145,0.082,3135,742,2343,2384,2303,0,0,0,0,0,0,13.42,13.06,11.80
$GC,756,1.16,188.6,3135,743,2383,2302,886.5,4.9,77,870,0.10,2.62,105.72,2.991,11302,0.076,0.051,3174,2102,2015,2081,1949,0,0,0,0,0,0,13.47,13.45,11.81
$PING,863.2,30.7,9000.0,-0.52,0.61
$GC,1219,1.20,188.6,3176,2102,2072,1939,851.7,8.0,98,1225,0.00,2.62,0.00,0.000,324,0.000,0.095,3175,3515,2003,2069,1937,0,0,0,0,0,0,14.69,14.40,14.71
$GC,1331,1.22,188.6,3176,3515,2072,1939,841.4,9.0,114,1337,0.00,2.42,0.00,0.000,1094,0.000,0.044,3178,2138,2003,2069,1937,0,0,0,0,0,0,14.66,14.61,14.69
$GC,1708,1.26,222.5,3179,2139,2067,1937,811.7,7.9,123,1751,0.00,2.65,38.95,2.967,8484,0.000,0.097,3177,3515,1873,1942,1804,0,0,0,0,0,0,15.08,14.35,13.00
$GC,1799,1.29,222.5,3179,3515,1941,1803,803.6,8.3,136,1806,0.10,2.53,0.00,0.000,3142,0.083,0.044,3226,2093,1870,1939,1802,0,0,0,0,0,0,14.50,14.50,14.54
$GC,2192,1.29,222.5,3227,2094,1937,1799,759.8,11.4,147,2198,0.00,2.60,0.00,0.000,260,0.000,0.093,3226,3525,1866,1935,1798,0,0,0,0,0,0,15.04,14.71,15.07
$GC,2219,1.29,222.5,3227,3526,1936,1798,756.3,12.4,151,2226,0.00,2.50,0.00,0.000,1030,0.000,0.045,3233,2096,1866,1935,1798,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2612,1.29,222.5,3235,2096,1935,1798,713.1,11.0,162,2618,0.00,2.58,0.00,0.000,260,0.000,0.095,3233,3521,1865,1933,1798,0,0,0,0,0,0,15.11,14.76,15.14
$GC,2653,1.29,222.5,3233,3522,1933,1797,707.9,12.6,168,2660,0.00,2.50,0.00,0.000,1030,0.000,0.045,3242,2083,1865,1933,1797,0,0,0,0,0,0,14.95,14.87,15.00
$GC,3032,1.29,222.5,3244,2084,1933,1797,664.2,11.5,177,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2083,1863,1931,1796,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3381,1.29,222.5,3243,2084,1932,1797,622.3,12.1,182,3388,0.00,2.62,0.00,0.000,260,0.000,0.096,3242,3509,1863,1930,1796,0,0,0,0,0,0,15.19,14.74,15.22
$GC,3423,1.29,222.5,3242,3509,1930,1796,616.4,14.5,188,3430,0.12,2.45,0.00,0.000,5126,0.239,0.044,3217,2094,1862,1929,1795,0,0,0,0,0,0,14.59,14.90,14.76
$GC,3802,1.29,222.5,3217,2095,1929,1796,574.0,10.9,197,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2095,1862,1929,1795,0,0,0,0,0,0,15.15,15.19,15.21
$GC,4151,1.29,222.5,3217,2095,1928,1795,538.0,10.3,202,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2095,1862,1930,1795,0,0,0,0,0,0,15.22,15.25,15.25
$GC,4502,1.29,222.5,3218,2096,1928,1796,501.6,10.4,207,4508,0.00,2.60,0.00,0.000,260,0.000,0.096,3217,3503,1861,1928,1795,0,0,0,0,0,0,15.16,14.72,15.18
$GC,4529,1.29,222.5,3218,3503,1930,1795,498.6,11.0,211,4536,0.00,2.45,0.00,0.000,1030,0.000,0.047,3223,2094,1861,1928,1795,0,0,0,0,0,0,14.98,14.88,15.02
$GC,4922,1.29,222.5,3224,2094,1927,1796,459.6,9.9,222,4928,0.00,2.55,0.00,0.000,516,0.000,0.090,3234,701,1861,1927,1795,0,0,0,0,0,0,15.16,14.69,15.19
$GC,4956,1.29,222.5,3231,701,1926,1795,456.2,10.3,227,4963,0.00,2.47,0.00,0.000,1030,0.000,0.058,3231,2109,1860,1925,1795,0,0,0,0,0,0,14.96,14.84,15.01
$GC,5342,1.29,222.5,3231,2110,1925,1795,413.9,11.2,237,5349,0.00,2.58,0.00,0.000,260,0.000,0.098,3231,3534,1859,1925,1794,0,0,0,0,0,0,15.16,14.73,15.18
$GC,5411,1.29,222.5,3232,3535,1927,1795,405.0,12.9,247,5418,0.00,2.47,0.00,0.000,1030,0.000,0.044,3241,2098,1859,1925,1794,0,0,0,0,0,0,14.89,14.84,14.94
$GC,5833,1.29,222.5,3241,2098,1925,1795,358.8,10.9,262,5838,0.00,2.58,0.00,0.000,260,0.000,0.096,3241,3517,1860,1925,1795,0,0,0,0,0,0,15.16,14.74,15.18
$GC,5866,1.29,222.5,3241,3516,1925,1795,354.8,11.8,267,5873,0.15,2.47,0.00,0.000,5126,0.264,0.045,3213,2091,1863,1932,1795,0,0,0,0,0,0,14.53,14.86,14.69
$GC,6252,1.31,222.5,3215,2091,1927,1795,319.2,9.1,277,6259,0.00,2.55,0.00,0.000,580,0.000,0.090,3220,694,1859,1925,1794,0,0,0,0,0,0,15.15,14.66,15.18
$GC,6279,1.33,222.5,3221,695,1926,1795,316.6,9.2,281,6287,0.00,2.45,0.00,0.000,1094,0.000,0.056,3220,2101,1859,1924,1794,0,0,0,0,0,0,14.85,14.78,14.90
$GC,6672,1.34,222.5,3220,2102,1924,1795,280.4,9.2,292,6673,0.00,0.00,0.00,0.000,70,0.000,0.000,3220,2102,1859,1924,1794,0,0,0,0,0,0,15.16,15.18,15.18
$GC,7021,1.36,222.5,3219,2102,1924,1794,248.8,9.0,297,7029,0.00,2.58,0.00,0.000,580,0.000,0.087,3227,701,1859,1924,1794,0,0,0,0,0,0,15.21,14.67,15.23
$GC,7042,1.37,222.5,3229,702,1925,1795,246.8,9.4,300,7049,0.00,2.45,0.00,0.000,1094,0.000,0.057,3227,2100,1858,1923,1794,0,0,0,0,0,0,14.84,14.77,14.89
$GC,7442,1.37,222.5,3227,2101,1923,1794,205.3,10.5,312,7448,0.00,2.60,0.00,0.000,260,0.000,0.097,3228,3509,1858,1923,1793,0,0,0,0,0,0,15.14,14.65,15.17
$GC,7490,1.37,222.5,3229,3510,1925,1795,199.6,11.9,319,7497,0.00,2.47,0.00,0.000,1030,0.000,0.045,3236,2088,1858,1923,1794,0,0,0,0,0,0,14.95,14.84,14.99
$GC,7849,1.37,222.5,3235,2089,1923,1794,162.0,10.2,334,7854,0.00,2.60,0.00,0.000,260,0.000,0.095,3235,3513,1858,1923,1793,0,0,0,0,0,0,15.19,14.70,15.21
$GC,7868,1.37,222.5,3233,3513,1925,1794,159.7,10.3,337,7877,0.00,2.47,0.00,0.000,1030,0.000,0.046,3245,2094,1858,1923,1793,0,0,0,0,0,0,14.94,14.84,14.98
$GC,8212,1.37,222.5,3247,2094,1925,1793,125.3,10.3,350,8218,0.00,2.55,0.00,0.000,516,0.000,0.090,3255,707,1857,1923,1792,0,0,0,0,0,0,15.14,14.63,15.16
$GC,8246,1.37,222.5,3257,702,1925,1794,121.7,10.7,355,8253,0.00,2.47,0.00,0.000,1030,0.000,0.059,3255,2102,1857,1922,1793,0,0,0,0,0,0,14.91,14.78,14.96
$GC,8603,1.37,222.5,3255,2102,1922,1793,84.9,10.4,370,8610,0.00,2.60,0.00,0.000,260,0.000,0.099,3255,3508,1854,1917,1792,0,0,0,0,0,0,15.19,14.63,15.22
$GC,8666,1.37,222.5,3256,3509,1924,1793,77.4,12.2,379,8673,0.00,2.47,0.00,0.000,1030,0.000,0.045,3265,2083,1857,1922,1793,0,0,0,0,0,0,14.89,14.82,14.92
$PING,68.8,71.0,9000.0,-0.06,0.97
$PING,56.2,57.9,9000.0,-0.04,0.89
$PING,43.3,44.4,44.4,1.04,1.00
$GC,9025,1.37,222.5,3267,2084,1924,1793,37.1,11.2,394,9030,0.00,2.50,0.00,0.000,516,0.000,0.091,3274,698,1859,1922,1796,0,0,0,0,0,0,15.18,14.66,15.21
$GC,9072,1.37,222.5,3274,699,1921,1793,32.1,10.2,401,9081,0.12,2.50,0.00,0.000,5126,0.278,0.060,3244,2112,1854,1916,1792,0,0,0,0,0,0,14.46,14.77,14.62
$PING,20.9,21.4,21.4,1.03,1.00
$FREEZE,9.61,-1.876,-1.874,2,14,0
$STATE,9302,end climb,FINISH_DEPTH_REACHED
$STATE,9302,begin subsurface finish
$FINISH1,9.6,1.027393,5
$GC,9307,0.01,5.4,3244,2113,1921,1793,9.6,10.0,410,9339,1.52,2.55,-25.20,0.005,20740,0.194,0.122,2793,3505,2759,2788,2731,0,0,0,0,0,0,14.49,13.65,14.78
$FINISH2,9.4
$STATE,9339,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9339,begin surface
$RAFOS_CLK,344
$RAFOS,2,1531656833,12.233334,12.231389,110,59,55,54,51,51,259,182,217,172,159,194
$RAFOS_FIX,-7401.860352,-11231.405273,150718,121252,2,94,9.34
$IRIDIUM_FIX,-7409.27,-11237.80,130718,233415
$TT8_MAMPS,0.038199,0.248668
$HUMID,50.47
$INTERNAL_PRESSURE,8.22882
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.9,21.4
$24V_AH,11.80,153.722
$10V_AH,11.87,0.000
$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,5.500,97.350,413.725,0.000,0.000,0.000,0.000,0.000,17.250,0.000,0.000,0.000,7848.113,540.590,919.519,122.546,0.000,929.014,0.000,594.606,0.000,121.629,0.000
$DEVICE_MAMPS,277.695,168.300,3070.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9355.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.706,0.000,0.000,0.000
$MEM,280760
$DATA_FILE_SIZE,13431,412
$CAP_FILE_SIZE,73292,0
$CFSIZE,1024409600,970227712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1454.1
$GPS,150718,120312,-7403.829,-11240.703,0,2002.0,0,53.6,0.0,0.0,0,0.0