version: 66.13
glider: 223
mission: 5
dive: 466
start: 9 4 118 17 35 6
data:
$ID,223
$MISSION,5
$DIVE,466
$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,28
$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
$GPS1,040918,151512,-7401.4556,-11223.4248,0,4134.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.13
$_SM_ANGLEo,-8.1
$GPS2,040918,151512,-7401.4556,-11223.4248,0,4134.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,E0
$TGT_LATLONG,-7409.500,-11159.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,87.2,19350,-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,-107.1,2803,2313,2793,2737,0.0,0.0,0,22,0.00,0.00,-10.32,0.011,16390,0.000,0.000,2801,2312,3222,3247,3197,0,0,0,0,0,0,15.04,12.66,15.01
$GC,25,-1.06,-107.1,2803,2313,3249,3198,0.0,0.0,0,27,1.00,0.00,0.00,0.000,4102,0.057,0.000,2438,2312,3222,3247,3197,0,0,0,0,0,0,14.71,14.81,14.78
$PING,41.7,44.5,9000.0,0.00,0.00
$GC,348,-1.06,-107.1,2438,2314,3247,3197,73.9,-18.4,12,356,0.00,2.60,0.00,0.000,516,0.000,0.075,2438,890,3222,3247,3197,0,0,0,0,0,0,15.14,14.33,15.16
$GC,537,-1.06,-107.1,2438,891,3247,3197,111.3,-19.8,39,546,0.10,2.58,0.00,0.000,3078,0.266,0.069,2451,2302,3221,3246,3196,0,0,0,0,0,0,14.08,14.45,14.23
$GC,883,-1.06,-107.1,2450,2303,3246,3197,174.9,-18.5,52,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2303,3221,3247,3196,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1231,-1.06,-107.1,2452,2303,3248,3197,237.2,-17.7,60,1237,0.00,2.60,0.00,0.000,516,0.000,0.076,2452,888,3221,3247,3196,0,0,0,0,0,0,15.01,14.29,15.03
$GC,1265,-1.06,-107.1,2451,889,3243,3196,243.5,-18.3,65,1273,0.00,2.60,0.00,0.000,1030,0.000,0.072,2443,2306,3223,3247,3200,0,0,0,0,0,0,14.47,14.38,14.54
$GC,1653,-1.06,-107.1,2442,2306,3247,3196,317.1,-19.4,75,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2305,3221,3247,3196,0,0,0,0,0,0,14.99,15.01,15.01
$GC,2001,-1.06,-107.1,2444,2306,3249,3196,380.9,-18.3,80,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2305,3221,3247,3196,0,0,0,0,0,0,14.98,15.01,15.00
$GC,2351,-1.06,-107.1,2443,2311,3247,3196,445.1,-18.4,85,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2305,3221,3247,3196,0,0,0,0,0,0,14.97,15.00,15.00
$GC,2701,-1.06,-107.1,2442,2306,3247,3196,505.6,-17.3,90,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2305,3221,3247,3195,0,0,0,0,0,0,15.00,15.02,15.02
$GC,3051,-1.06,-107.1,2444,2306,3250,3196,566.8,-17.4,95,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2305,3221,3247,3195,0,0,0,0,0,0,14.99,15.02,15.01
$GC,3401,-1.06,-107.1,2442,2306,3247,3196,624.8,-16.2,100,3407,0.00,2.60,0.00,0.000,516,0.000,0.073,2443,889,3222,3248,3196,0,0,0,0,0,0,14.99,14.23,15.01
$GC,3470,-1.06,-107.1,2444,890,3249,3196,636.9,-17.5,110,3477,0.00,2.60,0.00,0.000,1030,0.000,0.068,2432,2304,3221,3247,3195,0,0,0,0,0,0,14.40,14.32,14.47
$GC,3893,-1.06,-107.1,2432,2305,3248,3196,708.0,-16.7,125,3899,0.00,2.65,0.00,0.000,260,0.000,0.106,2422,3716,3221,3248,3195,0,0,0,0,0,0,14.97,14.27,15.00
$GC,3932,-1.06,-107.1,2421,3717,3248,3196,715.9,-19.6,131,3939,0.10,2.50,0.00,0.000,3078,0.262,0.046,2447,2279,3221,3248,3195,0,0,0,0,0,0,13.99,14.54,14.13
$PING,718.4,36.5,9000.0,0.00,0.00
$PING,731.4,23.1,9000.0,-0.02,0.63
$PING,741.6,12.3,12.4,-1.04,1.00
$STATE,4171,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4171,begin apogee
$PING,753.4,35.8,9000.0,0.62,0.33
$GC,4177,-0.23,0.0,2447,2054,3249,3196,752.8,-15.2,138,4302,0.93,0.12,122.90,3.081,10246,0.143,0.146,2724,2124,2781,2817,2745,0,0,0,0,0,0,14.26,13.60,12.21
$STATE,4303,end apogee,CONTROL_FINISHED_OK
$STATE,4303,begin climb
$GC,4306,1.06,107.1,2724,2125,2817,2746,753.4,0.0,139,4452,1.38,2.83,136.88,3.019,10756,0.124,0.085,3135,747,2344,2390,2299,0,0,0,0,0,0,13.62,12.75,11.67
$GC,4535,1.14,175.6,3135,747,2382,2295,746.0,5.7,179,4626,0.00,2.58,84.78,2.966,9254,0.000,0.057,3136,2098,2065,2133,1998,0,0,0,0,0,0,13.74,13.68,11.78
$PING,731.4,28.6,9000.0,0.37,0.12
$GC,5026,1.18,208.2,3135,2098,2124,1984,709.0,8.0,204,5068,0.15,2.67,36.20,2.927,10532,0.120,0.100,3193,3519,1932,2003,1862,0,0,0,0,0,0,14.57,13.90,12.82
$GC,5164,1.18,208.2,3194,3520,2001,1860,692.5,13.8,224,5171,0.00,2.45,0.00,0.000,1030,0.000,0.046,3195,2132,1928,1998,1859,0,0,0,0,0,0,14.50,14.45,14.54
$GC,5588,1.18,208.2,3196,2133,1996,1856,640.7,12.1,239,5592,0.00,2.55,0.00,0.000,260,0.000,0.101,3195,3524,1924,1993,1855,0,0,0,0,0,0,15.01,14.59,15.04
$GC,5626,1.18,208.2,3194,3520,1994,1856,635.7,12.2,245,5634,0.00,2.47,0.00,0.000,1030,0.000,0.048,3195,2096,1924,1994,1855,0,0,0,0,0,0,14.75,14.69,14.78
$GC,6006,1.18,208.2,3194,2097,1993,1854,593.5,11.2,254,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2096,1923,1993,1853,0,0,0,0,0,0,15.07,15.09,15.09
$GC,6355,1.18,208.2,3196,2096,2000,1854,554.6,11.0,259,6361,0.00,2.62,0.00,0.000,260,0.000,0.101,3195,3506,1922,1992,1852,0,0,0,0,0,0,15.15,14.55,15.17
$GC,6383,1.18,208.2,3195,3506,1992,1853,551.1,12.3,263,6389,0.00,2.45,0.00,0.000,1030,0.000,0.048,3195,2093,1922,1993,1852,0,0,0,0,0,0,14.75,14.69,14.80
$GC,6776,1.18,208.2,3192,2093,1991,1851,505.5,11.6,274,6781,0.00,2.53,0.00,0.000,516,0.000,0.093,3195,697,1921,1991,1852,0,0,0,0,0,0,15.08,14.58,15.10
$GC,6802,1.18,208.2,3191,698,1991,1852,502.4,10.7,278,6809,0.00,2.47,0.00,0.000,1030,0.000,0.060,3195,2099,1921,1991,1852,0,0,0,0,0,0,14.72,14.64,14.76
$GC,7195,1.18,208.2,3197,2099,1993,1852,458.3,11.2,289,7202,0.00,2.62,0.00,0.000,260,0.000,0.101,3195,3512,1921,1991,1851,0,0,0,0,0,0,15.08,14.51,15.11
$GC,7285,1.18,208.2,3197,3513,1993,1852,447.3,12.2,302,7292,0.00,2.45,0.00,0.000,1030,0.000,0.046,3195,2094,1921,1991,1851,0,0,0,0,0,0,14.75,14.67,14.78
$GC,7685,1.18,208.2,3195,2094,1989,1852,402.6,11.2,314,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2095,1919,1990,1848,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8035,1.18,208.2,3195,2093,1988,1852,364.2,10.9,319,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2094,1920,1990,1851,0,0,0,0,0,0,15.16,15.20,15.19
$GC,8386,1.18,208.2,3196,2094,1989,1851,325.9,10.9,324,8391,0.00,2.62,0.00,0.000,260,0.000,0.100,3195,3514,1920,1989,1851,0,0,0,0,0,0,15.07,14.52,15.10
$GC,8427,1.18,208.2,3197,3515,1992,1852,320.9,12.4,330,8433,0.00,2.47,0.00,0.000,1030,0.000,0.047,3196,2091,1920,1989,1851,0,0,0,0,0,0,14.71,14.64,14.75
$GC,8806,1.18,208.2,3195,2092,1989,1851,278.9,11.1,339,8811,0.00,2.62,0.00,0.000,260,0.000,0.100,3196,3509,1920,1989,1851,0,0,0,0,0,0,15.07,14.50,15.09
$GC,8840,1.18,208.2,3197,3510,1991,1851,274.8,12.1,344,8846,0.00,2.45,0.00,0.000,1030,0.000,0.047,3196,2097,1920,1989,1851,0,0,0,0,0,0,14.69,14.62,14.73
$GC,9225,1.18,208.2,3197,2098,1991,1851,233.6,10.7,354,9231,0.00,2.62,0.00,0.000,260,0.000,0.099,3196,3516,1919,1988,1850,0,0,0,0,0,0,15.06,14.46,15.09
$GC,9259,1.18,208.2,3195,3516,1989,1851,229.7,11.6,359,9266,0.00,2.47,0.00,0.000,1030,0.000,0.048,3196,2092,1919,1989,1850,0,0,0,0,0,0,14.68,14.61,14.73
$GC,9631,1.18,208.2,3197,2093,1991,1851,192.9,9.7,370,9637,0.00,2.60,0.00,0.000,516,0.000,0.093,3196,698,1919,1989,1850,0,0,0,0,0,0,15.04,14.39,15.07
$GC,9659,1.18,208.2,3197,700,1990,1851,190.2,9.9,374,9665,0.00,2.50,0.00,0.000,1030,0.000,0.060,3196,2105,1919,1989,1850,0,0,0,0,0,0,14.62,14.52,14.67
$GC,10023,1.18,208.2,3196,2105,1991,1850,155.2,9.9,390,10029,0.00,2.62,0.00,0.000,260,0.000,0.102,3196,3502,1919,1989,1850,0,0,0,0,0,0,15.16,14.38,15.19
$GC,10066,1.18,208.2,3195,3503,1988,1850,150.5,11.3,396,10071,0.00,2.45,0.00,0.000,1030,0.000,0.048,3196,2097,1918,1988,1849,0,0,0,0,0,0,14.62,14.57,14.68
$GC,10415,1.18,208.2,3195,2097,1991,1850,114.3,10.2,410,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2096,1918,1988,1849,0,0,0,0,0,0,15.15,15.18,15.18
$GC,10751,1.20,208.2,3194,2097,1986,1850,82.1,9.3,422,10752,0.00,0.00,0.00,0.000,70,0.000,0.000,3195,2096,1918,1988,1849,0,0,0,0,0,0,15.15,15.18,15.18
$GC,11087,1.23,208.2,3197,2097,1990,1850,54.3,8.1,434,11093,0.00,2.67,0.00,0.000,324,0.000,0.101,3196,3511,1918,1988,1849,0,0,0,0,0,0,15.16,14.35,15.18
$PING,50.9,53.4,9000.0,-0.03,0.90
$GC,11123,1.23,208.2,3195,3512,1988,1850,50.9,10.1,439,11128,0.00,2.47,0.00,0.000,1030,0.000,0.049,3195,2100,1918,1988,1849,0,0,0,0,0,0,14.73,14.53,14.79
$PING,39.9,43.4,9000.0,-0.03,0.83
$PING,29.8,31.4,31.9,1.04,0.99
$PING,19.1,19.7,19.6,1.14,1.00
$GC,11481,1.23,208.2,3195,2100,1987,1849,19.1,9.6,454,11486,0.00,2.62,0.00,0.000,260,0.000,0.099,3196,3512,1918,1988,1849,0,0,0,0,0,0,15.04,14.40,15.07
$GC,11514,1.23,208.2,3196,3512,1986,1849,15.3,11.1,459,11520,0.00,2.47,0.00,0.000,1030,0.000,0.048,3195,2100,1918,1988,1849,0,0,0,0,0,0,14.61,14.52,14.65
$PING,7.9,8.3,8.2,1.05,1.00
$FREEZE,7.85,-1.822,-1.873,2,63,0
$STATE,11589,end climb,FINISH_DEPTH_REACHED
$STATE,11589,begin subsurface finish
$FINISH1,7.9,1.027400,5
$GC,11595,0.01,5.1,3197,2100,1990,1849,7.9,9.9,464,11626,1.40,0.00,-26.85,0.005,20998,0.207,0.000,2808,2098,2763,2798,2729,0,0,0,0,0,0,14.09,12.71,14.28
$FINISH2,7.0
$STATE,11627,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11627,begin surface
$RAFOS_CLK,445
$RAFOS,2,1536084786,18.233334,18.218334,88,58,54,53,51,50,527,214,118,196,177,127
$RAFOS,1,1536084435,18.133333,18.120832,90,66,58,58,53,53,540,222,166,197,148,110
$RAFOS,0,1536084086,18.032778,18.023890,83,62,59,58,54,53,465,152,217,200,161,182
$RAFOS_FIX,-7401.304688,-11221.423828,040918,181824,3,87,0.10
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.041195,0.116095
$HUMID,50.98
$INTERNAL_PRESSURE,8.20929
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,7.9,8.2
$ALTIM_BOTTOM_PING,741.6,12.4
$24V_AH,11.67,166.544
$10V_AH,11.92,0.000
$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,5.050,87.925,380.750,0.000,0.000,0.000,0.000,0.000,29.750,0.000,0.000,0.000,9989.978,496.113,1084.403,158.655,0.000,921.393,0.000,675.688,720.000,209.578,0.000
$DEVICE_MAMPS,266.220,146.115,3081.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11652.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.699,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,16757,469
$CAP_FILE_SIZE,87925,0
$CFSIZE,1024409600,964182016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.7
$GPS,040918,181424,-7401.305,-11221.424,0,4087.0,0,53.2,0.0,0.0,0,0.0