version: 66.13
glider: 223
mission: 5
dive: 464
start: 9 4 118 8 39 42
data:
$ID,223
$MISSION,5
$DIVE,464
$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,45
$R_STBD_OVSHOOT,14
$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
$GPS1,040918,060904,-7403.7612,-11223.1064,0,3108.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,773.02
$_SM_ANGLEo,6.7
$GPS2,040918,060904,-7403.7612,-11223.1064,0,3108.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,E0
$TGT_LATLONG,-7409.500,-11159.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,77.9,16170,-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,-107.1,2796,2311,2742,2673,0.0,0.0,0,19,0.00,0.00,-6.75,0.031,16390,0.000,0.000,2797,2309,3244,3282,3207,0,0,0,0,1,0,14.88,13.03,14.80
$GC,22,-1.06,-107.1,2796,2310,3282,3208,0.0,0.0,0,24,1.12,0.00,0.00,0.000,4102,0.146,0.000,2463,2310,3244,3281,3207,0,0,0,0,0,0,14.18,14.50,14.42
$GC,390,-1.06,-107.1,2462,2310,3279,3206,772.8,-0.0,6,397,0.00,2.58,0.00,0.000,548,0.000,0.060,2463,903,3242,3280,3205,0,0,0,0,0,0,15.02,14.07,15.05
$GC,628,-1.06,-107.1,2464,904,3281,3209,773.2,-0.0,40,635,0.00,2.70,0.00,0.000,1062,0.000,0.101,2463,2297,3242,3279,3205,0,0,0,0,0,0,14.21,14.11,14.30
$GC,1020,-1.06,-107.1,2463,2298,3279,3205,773.1,-0.0,51,1027,0.00,2.50,0.00,0.000,548,0.000,0.055,2463,909,3242,3279,3205,0,0,0,0,0,0,15.02,14.08,15.04
$GC,1258,-1.06,-107.1,2464,910,3281,3206,773.2,0.0,85,1265,0.00,2.70,0.00,0.000,1030,0.000,0.099,2463,2307,3242,3279,3205,0,0,0,0,0,0,14.22,14.11,14.30
$GC,1651,-1.06,-107.1,2464,2309,3281,3206,772.8,-0.0,96,1657,0.00,2.47,0.00,0.000,516,0.000,0.053,2463,905,3242,3279,3205,0,0,0,0,0,0,15.05,14.16,15.07
$GC,1888,-1.06,-107.1,2464,905,3281,3206,773.2,-0.0,130,1895,0.00,2.70,0.00,0.000,1062,0.000,0.098,2463,2305,3242,3279,3205,0,0,0,0,0,0,14.21,14.11,14.29
$GC,2280,-1.06,-107.1,2463,2305,3279,3205,773.2,-0.1,141,2287,0.00,2.53,0.00,0.000,516,0.000,0.053,2463,897,3242,3279,3205,0,0,0,0,0,0,15.03,14.09,15.05
$GC,2518,-1.06,-107.1,2464,898,3281,3206,773.2,-0.9,175,2525,0.00,2.70,0.00,0.000,1062,0.000,0.093,2463,2307,3242,3279,3206,0,0,0,0,0,0,14.21,14.11,14.29
$GC,2910,-1.06,-107.1,2462,2308,3279,3205,772.9,0.1,186,2917,0.00,2.50,0.00,0.000,516,0.000,0.052,2463,909,3241,3279,3204,0,0,0,0,0,0,15.07,14.09,15.09
$GC,3148,-1.06,-107.1,2463,909,3282,3205,773.3,-0.0,220,3156,0.00,2.67,0.00,0.000,1062,0.000,0.092,2463,2307,3241,3279,3204,0,0,0,0,0,0,14.21,14.09,14.28
$GC,3540,-1.06,-107.1,2464,2307,3281,3205,773.2,-0.1,231,3547,0.00,2.50,0.00,0.000,516,0.000,0.053,2463,911,3241,3279,3204,0,0,0,0,0,0,15.02,14.08,15.05
$GC,3778,-1.06,-107.1,2463,912,3279,3205,773.3,-0.9,265,3785,0.00,2.67,0.00,0.000,1062,0.000,0.094,2464,2308,3241,3279,3204,0,0,0,0,0,0,14.19,14.09,14.27
$GC,4170,-1.06,-107.1,2464,2309,3281,3205,772.9,0.1,276,4177,0.00,2.53,0.00,0.000,516,0.000,0.054,2463,899,3241,3279,3204,0,0,0,0,0,0,15.07,14.07,15.09
$GC,4408,-1.06,-107.1,2462,900,3279,3205,773.3,0.0,310,4415,0.00,2.70,0.00,0.000,1062,0.000,0.093,2463,2308,3241,3279,3204,0,0,0,0,0,0,14.20,14.09,14.27
$GC,4800,-1.06,-107.1,2462,2308,3279,3204,773.3,-0.1,321,4807,0.00,2.53,0.00,0.000,516,0.000,0.053,2463,896,3241,3279,3204,0,0,0,0,0,0,15.09,14.08,15.11
$GC,5038,-1.06,-107.1,2462,897,3282,3204,773.3,-0.9,355,5045,0.00,2.70,0.00,0.000,1062,0.000,0.091,2463,2308,3242,3279,3205,0,0,0,0,0,0,14.19,14.09,14.26
$GC,5430,-1.06,-107.1,2464,2309,3281,3205,773.0,0.1,366,5437,0.00,2.53,0.00,0.000,516,0.000,0.052,2463,893,3241,3279,3204,0,0,0,0,0,0,15.07,14.08,15.09
$GC,5668,-1.06,-107.1,2462,894,3279,3205,773.3,-0.0,400,5675,0.00,2.70,0.00,0.000,1062,0.000,0.091,2463,2302,3241,3279,3204,0,0,0,0,0,0,14.20,14.08,14.26
$GC,6060,-1.06,-107.1,2464,2303,3281,3205,773.3,-0.1,411,6067,0.00,2.50,0.00,0.000,516,0.000,0.052,2463,903,3241,3279,3204,0,0,0,0,0,0,15.08,14.07,15.11
$GC,6298,-1.06,-107.1,2462,904,3279,3204,773.3,-0.9,445,6305,0.00,2.70,0.00,0.000,1062,0.000,0.093,2463,2311,3241,3279,3204,0,0,0,0,0,0,14.19,14.07,14.26
$GC,6690,-1.06,-107.1,2462,2312,3279,3204,773.0,0.1,456,6697,0.00,2.53,0.00,0.000,516,0.000,0.052,2463,899,3242,3279,3205,0,0,0,0,0,0,15.06,14.08,15.08
$GC,6928,-1.06,-107.1,2463,899,3282,3205,773.3,-0.0,490,6935,0.00,2.70,0.00,0.000,1062,0.000,0.093,2463,2305,3241,3279,3204,0,0,0,0,0,0,14.19,14.07,14.26
$GC,7320,-1.06,-107.1,2462,2306,3279,3205,773.3,-0.1,501,7327,0.00,2.50,0.00,0.000,516,0.000,0.052,2463,904,3241,3279,3204,0,0,0,0,0,0,15.08,14.08,15.11
$GC,7558,-1.06,-107.1,2462,904,3279,3205,773.4,-1.0,535,7565,0.00,2.67,0.00,0.000,1062,0.000,0.093,2462,2299,3241,3279,3204,0,0,0,0,0,0,14.18,14.08,14.27
$GC,7950,-1.06,-107.1,2462,2299,3278,3205,773.0,0.1,546,7957,0.00,2.50,0.00,0.000,516,0.000,0.051,2463,898,3241,3279,3204,0,0,0,0,0,0,15.07,14.07,15.09
$GC,8188,-1.06,-107.1,2462,899,3279,3205,773.4,-0.0,580,8195,0.00,2.70,0.00,0.000,1062,0.000,0.091,2463,2309,3241,3279,3204,0,0,0,0,0,0,14.18,14.07,14.26
$GC,8580,-1.06,-107.1,2464,2310,3281,3205,773.4,-0.1,591,8587,0.00,2.53,0.00,0.000,516,0.000,0.053,2463,898,3241,3279,3204,0,0,0,0,0,0,15.03,14.07,15.05
$GC,8818,-1.06,-107.1,2462,899,3279,3205,773.4,-0.9,625,8825,0.00,2.67,0.00,0.000,1062,0.000,0.092,2463,2297,3241,3279,3203,0,0,0,0,0,0,14.18,14.07,14.26
$GC,9210,-1.06,-107.1,2462,2297,3279,3205,773.1,0.1,636,9217,0.00,2.50,0.00,0.000,516,0.000,0.051,2463,896,3241,3279,3204,0,0,0,0,0,0,15.08,14.07,15.09
$GC,9448,-1.06,-107.1,2462,897,3279,3205,773.4,0.0,670,9455,0.00,2.70,0.00,0.000,1062,0.000,0.092,2463,2304,3241,3279,3204,0,0,0,0,0,0,14.18,14.07,14.26
$GC,9840,-1.06,-107.1,2464,2305,3281,3205,773.4,-0.1,681,9847,0.00,2.50,0.00,0.000,516,0.000,0.050,2463,900,3241,3279,3204,0,0,0,0,0,0,15.09,14.09,15.11
$GC,10078,-1.06,-107.1,2463,900,3280,3205,773.4,-0.9,715,10085,0.00,2.70,0.00,0.000,1062,0.000,0.090,2463,2311,3244,3285,3203,0,0,0,0,0,0,14.17,14.06,14.25
$GC,10470,-1.06,-107.1,2462,2311,3279,3205,773.1,0.1,726,10477,0.00,2.53,0.00,0.000,516,0.000,0.050,2463,901,3241,3279,3204,0,0,0,0,0,0,15.07,14.07,15.10
$GC,10708,-1.06,-107.1,2463,902,3281,3205,773.5,0.0,760,10715,0.00,2.67,0.00,0.000,1062,0.000,0.089,2463,2305,3241,3279,3204,0,0,0,0,0,0,14.19,14.09,14.27
$GC,11100,-1.06,-107.1,2464,2306,3281,3211,773.4,0.0,771,11108,0.00,2.50,0.00,0.000,516,0.000,0.050,2463,909,3241,3279,3204,0,0,0,0,0,0,15.03,14.07,15.05
$GC,11338,-1.06,-107.1,2464,909,3280,3205,773.5,0.0,805,11345,0.00,2.67,0.00,0.000,1062,0.000,0.090,2463,2305,3241,3279,3203,0,0,0,0,0,0,14.19,14.08,14.27
$GC,11730,-1.06,-107.1,2464,2306,3281,3205,773.5,-0.0,816,11737,0.00,2.50,0.00,0.000,516,0.000,0.050,2463,906,3241,3279,3204,0,0,0,0,0,0,15.08,14.07,15.10
$GC,11968,-1.06,-107.1,2463,906,3279,3205,773.5,-0.0,850,11975,0.00,2.67,0.00,0.000,1062,0.000,0.093,2463,2306,3241,3279,3204,0,0,0,0,0,0,14.18,14.08,14.25
$GC,12361,-1.06,-107.1,2461,2307,3278,3204,773.5,0.0,861,12367,0.00,2.50,0.00,0.000,516,0.000,0.050,2463,903,3241,3279,3204,0,0,0,0,0,0,15.05,14.09,15.08
$GC,12598,-1.06,-107.1,2464,904,3281,3205,773.6,-0.0,895,12605,0.00,2.67,0.00,0.000,1062,0.000,0.091,2462,2301,3241,3279,3203,0,0,0,0,0,0,14.19,14.07,14.26
$STATE,12610,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12610,begin apogee
$GC,12616,-0.23,0.0,2463,2099,3280,3205,773.5,0.1,897,12747,0.88,0.00,129.43,3.072,10246,0.134,0.000,2726,2098,2783,2820,2746,0,0,0,0,0,0,14.18,13.54,12.09
$STATE,12748,end apogee,CONTROL_FINISHED_OK
$STATE,12748,begin climb
$GC,12751,1.06,107.1,2726,2098,2821,2746,773.1,0.0,898,12902,1.38,2.72,140.62,2.993,11012,0.119,0.064,3134,705,2344,2385,2304,0,0,0,0,0,0,13.59,13.02,11.70
$STATE,13075,end climb,NO_VERTICAL_VELOCITY
$STATE,13075,begin subsurface finish
$FINISH1,773.2,1.027686,-9
$GC,13083,-0.01,-9.4,3133,2115,2370,2298,773.2,0.0,945,13089,1.20,2.08,-1.23,0.087,20995,0.176,0.084,2797,1005,2831,2865,2798,0,0,0,0,0,0,13.87,12.53,14.01
$FINISH2,773.2
$STATE,13090,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13090,begin surface
$RAFOS_CLK,484
$RAFOS,2,1536063183,12.233334,12.217500,61,52,50,50,49,49,210,179,168,219,142,156
$RAFOS,1,1536062825,12.133333,12.118055,123,65,59,56,55,53,593,213,178,160,196,225
$RAFOS,0,1536062461,12.032778,12.016945,153,58,55,53,53,53,604,139,228,153,239,180
$RAFOS,1,1536052031,9.133333,9.119722,111,61,60,56,55,55,563,219,209,148,185,163
$RAFOS,0,1536051660,9.032778,9.016666,98,59,57,53,50,49,612,190,215,116,138,153
$RAFOS_FIX,-7400.693359,-11222.775391,040918,121236,2,138,0.26
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.042693,0.120589
$HUMID,46.77
$INTERNAL_PRESSURE,8.29718
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,11.70,165.724
$10V_AH,11.81,0.000
$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,4.575,112.300,270.050,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,10774.101,441.212,1828.568,204.086,0.000,1133.630,0.000,1349.104,1200.000,4.551,0.000
$DEVICE_MAMPS,175.950,114.750,3072.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13111.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.708,0.000,0.000,0.000
$MEM,280788
$DATA_FILE_SIZE,30043,946
$CAP_FILE_SIZE,99520,20
$CFSIZE,1024409600,964411392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1463.1
$GPS,040918,120936,-7400.693,-11222.775,0,3138.0,0,53.2,0.0,0.0,0,0.0