version: 66.13
glider: 223
mission: 5
dive: 470
start: 9 5 118 6 56 14
data:
$ID,223
$MISSION,5
$DIVE,470
$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,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
$GPS1,050918,061528,-7406.1504,-11205.7607,0,4123.7,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,18.28
$_SM_ANGLEo,-8.9
$GPS2,050918,061528,-7406.1504,-11205.7607,0,4123.7,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,E0
$TGT_LATLONG,-7409.500,-11159.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,98.0,7083,-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,-107.1,2795,2303,2804,2732,0.0,0.0,0,20,0.00,0.00,-7.43,0.015,16390,0.000,0.000,2794,2302,3222,3253,3192,0,0,0,0,0,0,15.05,12.76,15.03
$GC,23,-1.06,-107.1,2794,2302,3253,3193,0.0,0.0,0,25,1.02,0.00,0.00,0.000,4102,0.078,0.000,2443,2303,3222,3253,3192,0,0,0,0,0,0,14.66,14.81,14.76
$PING,22.8,24.5,9000.0,0.00,0.00
$GC,351,-1.06,-107.1,2444,2304,3255,3193,80.3,-20.8,12,356,0.00,2.60,0.00,0.000,260,0.000,0.105,2431,3708,3222,3253,3191,0,0,0,0,0,0,15.04,14.47,15.07
$GC,376,-1.06,-107.1,2431,3709,3252,3192,85.7,-19.3,16,383,0.00,2.47,0.00,0.000,1030,0.000,0.044,2431,2286,3222,3252,3192,0,0,0,0,0,0,14.69,14.63,14.73
$GC,741,-1.06,-107.1,2431,2285,3252,3199,156.3,-19.5,32,747,0.00,2.53,0.00,0.000,516,0.000,0.075,2431,899,3221,3251,3191,0,0,0,0,0,0,15.04,14.44,15.07
$GC,810,-1.06,-107.1,2433,899,3254,3192,170.5,-20.2,42,818,0.12,2.53,0.00,0.000,3078,0.269,0.067,2450,2296,3221,3252,3191,0,0,0,0,0,0,14.11,14.49,14.30
$GC,1203,-1.06,-107.1,2453,2296,3254,3192,242.9,-18.1,53,1210,0.00,2.67,0.00,0.000,260,0.000,0.105,2443,3715,3222,3253,3191,0,0,0,0,0,0,15.04,14.31,15.07
$GC,1237,-1.06,-107.1,2442,3715,3252,3196,249.5,-18.9,58,1244,0.00,2.47,0.00,0.000,1030,0.000,0.045,2443,2293,3221,3252,3191,0,0,0,0,0,0,14.69,14.64,14.73
$GC,1625,-1.06,-107.1,2443,2293,3252,3191,320.5,-18.5,68,1630,0.00,2.50,0.00,0.000,516,0.000,0.072,2441,895,3221,3252,3191,0,0,0,0,0,0,15.04,14.47,15.07
$GC,1727,-1.06,-107.1,2442,896,3254,3192,340.1,-18.5,83,1735,0.00,2.55,0.00,0.000,1030,0.000,0.066,2432,2302,3221,3252,3191,0,0,0,0,0,0,14.55,14.47,14.63
$GC,2115,-1.06,-107.1,2433,2303,3254,3191,411.0,-18.4,93,2121,0.00,2.55,0.00,0.000,516,0.000,0.073,2432,888,3221,3252,3191,0,0,0,0,0,0,15.04,14.46,15.06
$GC,2203,-1.06,-107.1,2434,889,3254,3191,427.8,-19.1,106,2211,0.15,2.58,0.00,0.000,3078,0.269,0.066,2458,2305,3221,3252,3191,0,0,0,0,0,0,14.01,14.39,14.22
$GC,2603,-1.06,-107.1,2459,2306,3254,3192,499.0,-17.5,118,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2305,3221,3252,3191,0,0,0,0,0,0,15.04,15.07,15.06
$GC,2953,-1.06,-107.1,2457,2305,3252,3191,555.7,-16.1,123,2954,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2305,3221,3252,3190,0,0,0,0,0,0,15.04,15.07,15.06
$PING,590.2,59.2,9000.0,0.00,0.00
$PING,602.5,51.0,9000.0,0.05,0.94
$GC,3303,-1.06,-107.1,2459,2306,3254,3191,613.9,-16.9,128,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2305,3221,3253,3190,0,0,0,0,0,0,15.04,15.06,15.06
$PING,625.6,10.9,9000.0,-1.42,0.96
$GC,3652,-1.06,-107.1,2459,2306,3255,3192,634.6,-2.8,133,3661,0.00,2.53,0.00,0.000,548,0.000,0.061,2457,899,3222,3253,3191,0,0,0,0,0,0,15.20,14.37,15.22
$STATE,3776,end dive,NO_VERTICAL_VELOCITY
$STATE,3776,begin apogee
$GC,3783,-0.23,0.0,2458,2110,3254,3192,634.7,0.0,151,3904,0.90,0.00,117.80,3.000,10246,0.140,0.000,2732,2109,2786,2819,2754,0,0,0,0,0,0,14.38,13.68,12.32
$STATE,3905,end apogee,CONTROL_FINISHED_OK
$STATE,3905,begin climb
$GC,3907,1.06,107.1,2731,2110,2818,2749,634.5,0.0,152,4050,1.38,2.90,131.77,2.888,10500,0.135,0.097,3136,3515,2344,2388,2300,0,0,0,0,0,0,13.69,13.08,11.76
$GC,4279,1.11,150.6,3136,3515,2380,2289,616.6,7.3,212,4335,0.00,2.58,50.90,2.839,9254,0.000,0.044,3147,2087,2165,2221,2110,0,0,0,0,0,0,14.21,14.17,12.38
$PING,589.0,14.8,9000.0,-0.28,0.06
$PING,577.6,25.4,9000.0,-0.25,0.73
$GC,4701,1.12,150.6,3149,2088,2217,2098,577.6,9.2,227,4706,0.00,2.62,0.00,0.000,324,0.000,0.096,3147,3511,2157,2216,2098,0,0,0,0,0,0,14.85,14.49,14.88
$GC,4755,1.12,150.6,3146,3511,2215,2099,572.2,9.6,235,4762,0.00,2.47,0.00,0.000,1030,0.000,0.046,3147,2091,2156,2215,2098,0,0,0,0,0,0,14.66,14.60,14.69
$PING,565.6,39.7,39.2,-1.06,0.99
$GC,5120,1.17,184.3,3149,2091,2215,2098,543.4,7.9,242,5161,0.00,2.58,37.00,2.824,8740,0.000,0.092,3148,698,2029,2090,1969,0,0,0,0,0,0,15.02,14.10,13.05
$GC,5210,1.20,184.3,3148,699,2088,1966,535.8,8.6,255,5217,0.08,2.53,0.00,0.000,3142,0.094,0.056,3191,2110,2026,2087,1965,0,0,0,0,0,0,14.47,14.48,14.53
$GC,5611,1.20,184.3,3192,2111,2088,1961,490.9,11.6,267,5616,0.00,2.55,0.00,0.000,260,0.000,0.097,3191,3517,2022,2085,1960,0,0,0,0,0,0,15.05,14.59,15.08
$GC,5707,1.20,184.3,3192,3518,2086,1961,478.7,12.6,281,5716,0.00,2.45,0.00,0.000,1030,0.000,0.046,3192,2100,2022,2084,1960,0,0,0,0,0,0,14.76,14.69,14.80
$GC,6100,1.20,184.3,3192,2101,2085,1959,438.3,10.0,292,6106,0.00,2.55,0.00,0.000,516,0.000,0.090,3192,690,2020,2082,1958,0,0,0,0,0,0,15.07,14.62,15.09
$GC,6148,1.20,184.3,3191,690,2082,1959,433.6,9.7,299,6155,0.00,2.47,0.00,0.000,1030,0.000,0.057,3192,2100,2020,2082,1959,0,0,0,0,0,0,14.73,14.68,14.79
$GC,6520,1.20,184.3,3193,2101,2084,1959,395.7,10.4,307,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2100,2019,2082,1957,0,0,0,0,0,0,15.08,15.11,15.11
$GC,6869,1.21,184.3,3193,2101,2084,1957,362.7,9.3,312,6876,0.00,2.60,0.00,0.000,580,0.000,0.091,3192,692,2019,2082,1957,0,0,0,0,0,0,15.16,14.56,15.19
$GC,6925,1.21,184.3,3193,693,2083,1958,357.3,10.0,320,6932,0.00,2.47,0.00,0.000,1030,0.000,0.055,3192,2101,2019,2081,1957,0,0,0,0,0,0,14.74,14.69,14.81
$GC,7289,1.21,184.3,3191,2101,2081,1958,322.3,9.7,327,7296,0.00,2.60,0.00,0.000,260,0.000,0.096,3192,3512,2019,2081,1957,0,0,0,0,0,0,15.17,14.57,15.20
$GC,7331,1.21,184.3,3191,3513,2080,1958,318.0,10.5,333,7339,0.00,2.47,0.00,0.000,1030,0.000,0.047,3192,2087,2019,2081,1957,0,0,0,0,0,0,14.71,14.64,14.74
$GC,7709,1.23,184.3,3200,2087,2082,1958,284.6,8.7,342,7710,0.00,0.00,0.00,0.000,70,0.000,0.000,3192,2086,2018,2080,1957,0,0,0,0,0,0,15.15,15.18,15.18
$GC,8060,1.23,184.3,3191,2087,2080,1957,251.0,9.7,347,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2086,2018,2080,1956,0,0,0,0,0,0,15.07,15.10,15.09
$GC,8409,1.25,184.3,3193,2087,2081,1957,218.2,9.0,352,8416,0.00,2.65,0.00,0.000,324,0.000,0.096,3192,3506,2017,2079,1956,0,0,0,0,0,0,15.16,14.51,15.20
$GC,8458,1.25,184.3,3193,3507,2081,1957,212.4,12.4,359,8465,0.00,2.45,0.00,0.000,1030,0.000,0.044,3192,2090,2017,2079,1956,0,0,0,0,0,0,14.73,14.66,14.78
$GC,8815,1.25,184.3,3191,2090,2079,1956,174.7,10.3,371,8822,0.00,2.58,0.00,0.000,516,0.000,0.091,3192,694,2020,2086,1955,0,0,0,0,0,0,15.16,14.47,15.19
$GC,8857,1.28,184.3,3193,695,2080,1956,170.9,8.8,377,8865,0.00,2.50,0.00,0.000,1094,0.000,0.057,3192,2110,2017,2078,1956,0,0,0,0,0,0,14.68,14.62,14.73
$GC,9207,1.28,184.3,3193,2111,2080,1956,134.6,10.0,391,9214,0.00,2.60,0.00,0.000,260,0.000,0.096,3192,3514,2016,2078,1955,0,0,0,0,0,0,15.16,14.47,15.19
$GC,9270,1.28,184.3,3191,3514,2077,1957,127.7,12.0,400,9277,0.00,2.47,0.00,0.000,1030,0.000,0.047,3192,2095,2016,2077,1955,0,0,0,0,0,0,14.69,14.64,14.73
$GC,9627,1.32,217.1,3191,2096,2077,1956,95.7,8.0,415,9656,0.00,2.60,20.85,0.515,8740,0.000,0.092,3193,691,1894,1956,1832,0,0,0,0,0,0,15.16,14.55,14.02
$GC,9669,1.36,217.1,3191,692,1955,1831,92.3,8.1,421,9677,0.12,2.50,0.00,0.000,3142,0.087,0.057,3254,2112,1893,1956,1830,0,0,0,0,0,0,14.63,14.64,14.70
$GC,10021,1.36,217.1,3255,2112,1954,1827,41.6,15.1,435,10026,0.00,2.55,0.00,0.000,260,0.000,0.096,3254,3508,1888,1951,1826,0,0,0,0,0,0,15.11,14.51,15.14
$GC,10124,1.36,217.1,3255,3508,1953,1827,23.9,15.4,450,10132,0.00,2.45,0.00,0.000,1030,0.000,0.045,3264,2098,1888,1951,1826,0,0,0,0,0,0,14.66,14.61,14.71
$FREEZE,7.39,-1.882,-1.877,2,67,0
$STATE,10241,end climb,FINISH_DEPTH_REACHED
$STATE,10241,begin subsurface finish
$FINISH1,7.4,1.027461,2
$GC,10246,0.00,2.0,3266,2099,1952,1827,7.4,13.3,455,10292,1.67,2.60,-35.80,0.007,20996,0.213,0.106,2804,697,2775,2811,2740,0,0,0,0,1,0,14.23,12.77,14.59
$FINISH2,5.7
$STATE,10292,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10293,begin surface
$RAFOS_CLK,387
$RAFOS,1,1536138421,9.133333,9.116944,70,56,53,53,51,48,191,210,171,607,117,154
$RAFOS,0,1536138072,9.032778,9.020000,85,63,56,55,52,50,485,201,166,494,140,184
$RAFOS_FIX,-7407.826172,-11206.630859,050918,090900,1,2,0.31
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.041195,0.250915
$HUMID,49.96
$INTERNAL_PRESSURE,8.19952
$TCM_TEMP,12.20
$XPDR_PINGS,0
$24V_AH,11.76,167.786
$10V_AH,11.97,0.000
$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,5.450,96.850,358.325,0.000,0.000,0.000,0.000,0.000,25.500,0.000,0.000,0.000,8694.939,503.228,1043.926,152.374,0.000,918.656,0.000,661.208,480.000,185.645,0.000
$DEVICE_MAMPS,268.515,106.335,3000.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10312.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.729,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,16796,459
$CAP_FILE_SIZE,83338,0
$CFSIZE,1024409600,963788800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1450.3
$GPS,050918,090400,-7407.826,-11206.631,0,2002.0,0,53.2,0.0,0.0,0,0.0