version: 66.13
glider: 223
mission: 5
dive: 471
start: 9 5 118 9 50 11
data:
$ID,223
$MISSION,5
$DIVE,471
$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,33
$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
$GPS1,050918,090400,-7407.8262,-11206.6309,0,2002.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.13
$_SM_ANGLEo,-7.0
$GPS2,050918,090400,-7407.8262,-11206.6309,0,2002.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,E0
$TGT_LATLONG,-7409.500,-11159.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,75.6,4949,-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,-107.1,2805,2308,2810,2741,0.0,0.0,0,22,0.00,0.00,-9.43,0.011,16390,0.000,0.000,2804,2306,3220,3249,3192,0,0,0,0,0,0,15.06,12.73,15.04
$GC,24,-1.06,-107.1,2803,2307,3249,3193,0.0,0.0,0,31,1.00,2.55,0.00,0.000,4356,0.061,0.106,2435,3712,3221,3249,3193,0,0,0,0,0,0,14.60,14.47,14.64
$GC,78,-1.06,-107.1,2436,3713,3251,3188,22.7,-15.1,8,85,0.00,2.45,0.00,0.000,1030,0.000,0.044,2435,2303,3221,3249,3193,0,0,0,0,0,0,14.68,14.63,14.72
$GC,442,-1.06,-107.1,2434,2302,3249,3193,100.0,-23.7,24,449,0.00,2.65,0.00,0.000,260,0.000,0.104,2424,3705,3221,3249,3194,0,0,0,0,0,0,15.14,14.40,15.16
$GC,610,-1.06,-107.1,2425,3707,3251,3193,138.2,-20.2,48,617,0.12,2.45,0.00,0.000,3078,0.269,0.042,2455,2286,3221,3250,3192,0,0,0,0,0,0,14.11,14.64,14.31
$GC,989,-1.06,-107.1,2454,2286,3249,3193,214.4,-20.7,63,995,0.00,2.50,0.00,0.000,516,0.000,0.072,2455,910,3220,3249,3192,0,0,0,0,0,0,15.04,14.42,15.06
$GC,1051,-1.06,-107.1,2457,911,3251,3193,226.2,-17.7,72,1059,0.00,2.53,0.00,0.000,1030,0.000,0.066,2446,2296,3220,3249,3192,0,0,0,0,0,0,14.58,14.50,14.64
$GC,1409,-1.06,-107.1,2446,2297,3249,3192,290.5,-18.0,78,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2296,3220,3249,3192,0,0,0,0,0,0,15.04,15.07,15.07
$GC,1759,-1.06,-107.1,2445,2297,3248,3192,351.6,-17.4,83,1765,0.00,2.55,0.00,0.000,516,0.000,0.071,2446,901,3220,3249,3191,0,0,0,0,0,0,15.04,14.40,15.07
$GC,1835,-1.06,-107.1,2445,901,3249,3192,365.5,-17.9,94,1842,0.00,2.55,0.00,0.000,1030,0.000,0.066,2435,2302,3220,3249,3191,0,0,0,0,0,0,14.56,14.48,14.62
$GC,2251,-1.06,-107.1,2436,2303,3248,3192,442.2,-18.5,108,2256,0.00,2.53,0.00,0.000,516,0.000,0.072,2435,899,3220,3249,3191,0,0,0,0,0,0,15.04,14.47,15.06
$GC,2304,-1.06,-107.1,2435,900,3249,3191,452.1,-17.5,116,2314,0.12,2.58,0.00,0.000,3078,0.271,0.067,2455,2307,3220,3249,3191,0,0,0,0,0,0,14.07,14.47,14.26
$GC,2672,-1.06,-107.1,2455,2307,3249,3192,510.4,-15.9,123,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2306,3220,3250,3190,0,0,0,0,0,0,15.04,15.07,15.06
$GC,3020,-1.06,-107.1,2455,2307,3249,3192,568.2,-16.5,128,3026,0.00,2.53,0.00,0.000,516,0.000,0.072,2455,902,3220,3249,3191,0,0,0,0,0,0,15.04,14.43,15.06
$GC,3068,-1.06,-107.1,2456,900,3251,3192,576.5,-16.9,135,3075,0.00,2.58,0.00,0.000,1030,0.000,0.067,2447,2308,3219,3247,3191,0,0,0,0,0,0,14.53,14.43,14.59
$GC,3441,-1.06,-107.1,2448,2310,3251,3193,640.9,-17.5,143,3446,0.00,2.53,0.00,0.000,516,0.000,0.071,2447,902,3220,3250,3191,0,0,0,0,0,0,15.03,14.44,15.05
$GC,3475,-1.06,-107.1,2446,902,3245,3192,646.9,-17.4,148,3481,0.00,2.55,0.00,0.000,1030,0.000,0.066,2436,2301,3220,3249,3191,0,0,0,0,0,0,14.53,14.45,14.59
$PING,689.6,41.4,9000.0,0.00,0.00
$PING,700.9,28.4,9000.0,0.00,0.00
$PING,711.9,17.0,16.7,-1.10,1.00
$GC,3863,-1.06,-107.1,2435,2302,3249,3191,711.9,-17.0,158,3868,0.00,2.53,0.00,0.000,516,0.000,0.073,2436,901,3220,3249,3191,0,0,0,0,0,0,15.04,14.35,15.06
$STATE,3899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3899,begin apogee
$GC,3907,-0.23,0.0,2433,2122,3252,3188,718.7,-16.4,164,4030,1.12,0.00,120.45,3.075,10246,0.239,0.000,2724,2121,2783,2816,2751,0,0,0,0,0,0,14.09,13.62,12.23
$STATE,4031,end apogee,CONTROL_FINISHED_OK
$STATE,4031,begin climb
$GC,4034,1.06,107.1,2726,2122,2818,2746,723.0,0.0,165,4173,1.42,0.00,135.68,2.991,10758,0.145,0.000,3135,2121,2344,2389,2299,0,0,0,0,0,0,13.60,12.97,11.67
$PING,721.7,19.5,9000.0,-0.44,0.58
$PING,710.4,14.9,9000.0,0.35,0.90
$PING,699.9,15.2,9000.0,0.20,0.73
$GC,4462,1.14,178.0,3134,2121,2376,2289,705.8,5.6,181,4556,0.00,2.83,83.78,2.956,8484,0.000,0.096,3135,3508,2053,2115,1992,0,0,0,0,0,0,14.57,13.49,12.16
$GC,4617,1.16,178.0,3136,3509,2113,1993,694.2,9.2,203,4625,0.10,2.60,0.00,0.000,3142,0.079,0.043,3180,2107,2051,2111,1991,0,0,0,0,0,0,13.83,13.83,13.88
$PING,689.3,20.9,9000.0,-0.28,0.78
$PING,657.7,53.1,52.5,-0.92,0.99
$GC,5025,1.16,178.0,3181,2108,2109,1983,649.8,11.2,216,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2106,2045,2107,1983,0,0,0,0,0,0,14.94,14.97,14.97
$GC,5375,1.16,178.0,3180,2107,2105,1982,611.6,11.0,221,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2107,2043,2105,1981,0,0,0,0,0,0,15.03,15.05,15.05
$GC,5723,1.16,178.0,3181,2108,2107,1981,574.1,10.5,226,5731,0.00,2.60,0.00,0.000,516,0.000,0.090,3182,697,2042,2104,1980,0,0,0,0,0,0,15.13,14.58,15.16
$GC,5758,1.16,178.0,3183,698,2104,1981,570.6,9.9,231,5765,0.00,2.50,0.00,0.000,1030,0.000,0.055,3182,2105,2041,2103,1980,0,0,0,0,0,0,14.76,14.69,14.81
$GC,6145,1.17,178.0,3182,2102,2103,1980,532.0,9.5,241,6150,0.00,2.58,0.00,0.000,324,0.000,0.098,3183,3518,2041,2103,1979,0,0,0,0,0,0,15.09,14.62,15.11
$GC,6248,1.17,178.0,3183,3519,2105,1981,521.2,10.0,256,6255,0.00,2.47,0.00,0.000,1030,0.000,0.044,3182,2088,2041,2103,1979,0,0,0,0,0,0,14.78,14.72,14.82
$GC,6634,1.20,178.0,3182,2088,2102,1979,488.2,8.4,266,6641,0.00,2.53,0.00,0.000,580,0.000,0.090,3182,693,2040,2102,1979,0,0,0,0,0,0,15.09,14.58,15.11
$GC,6675,1.23,178.0,3182,694,2102,1979,484.7,8.3,272,6682,0.00,2.50,0.00,0.000,1094,0.000,0.056,3182,2113,2040,2102,1979,0,0,0,0,0,0,14.74,14.68,14.80
$GC,7054,1.25,178.0,3184,2113,2104,1979,449.7,9.4,281,7060,0.00,2.58,0.00,0.000,580,0.000,0.088,3183,694,2040,2102,1978,0,0,0,0,0,0,15.09,14.58,15.11
$GC,7095,1.25,178.0,3182,698,2101,1979,445.7,9.7,287,7102,0.00,2.47,0.00,0.000,1030,0.000,0.055,3182,2110,2039,2101,1978,0,0,0,0,0,0,14.73,14.66,14.78
$GC,7474,1.27,178.0,3184,2111,2103,1979,412.5,8.7,296,7480,0.00,2.55,0.00,0.000,324,0.000,0.097,3182,3512,2039,2101,1978,0,0,0,0,0,0,15.09,14.56,15.11
$GC,7529,1.27,178.0,3182,3513,2101,1978,407.2,9.7,304,7536,0.00,2.45,0.00,0.000,1030,0.000,0.045,3183,2093,2039,2101,1978,0,0,0,0,0,0,14.75,14.68,14.78
$GC,7896,1.28,178.0,3184,2093,2103,1978,373.6,9.3,311,7897,0.00,0.00,0.00,0.000,70,0.000,0.000,3183,2093,2038,2099,1977,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8245,1.30,178.0,3183,2093,2103,1978,341.4,9.2,316,8251,0.12,2.60,0.00,0.000,2372,0.134,0.094,3229,3512,2039,2101,1977,0,0,0,0,0,0,14.81,14.57,14.89
$GC,8278,1.30,178.0,3234,3513,2103,1978,337.5,11.3,321,8287,0.00,2.47,0.00,0.000,1030,0.000,0.044,3240,2089,2039,2101,1977,0,0,0,0,0,0,14.73,14.68,14.77
$GC,8667,1.30,178.0,3239,2089,2100,1978,295.8,10.7,331,8672,0.00,2.55,0.00,0.000,516,0.000,0.089,3251,687,2038,2100,1977,0,0,0,0,0,0,15.07,14.53,15.09
$GC,8698,1.30,178.0,3251,688,2103,1978,292.1,10.4,336,8705,0.10,2.53,0.00,0.000,5126,0.252,0.057,3224,2113,2038,2100,1977,0,0,0,0,0,0,14.25,14.61,14.44
$GC,9084,1.30,178.0,3223,2113,2099,1978,247.8,12.0,346,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2113,2038,2100,1977,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9434,1.30,178.0,3224,2113,2099,1978,208.5,10.7,351,9440,0.00,2.62,0.00,0.000,516,0.000,0.086,3232,693,2038,2099,1977,0,0,0,0,0,0,15.17,14.47,15.19
$GC,9455,1.30,178.0,3234,701,2101,1978,206.1,11.6,354,9462,0.00,2.50,0.00,0.000,1030,0.000,0.060,3232,2106,2038,2099,1977,0,0,0,0,0,0,14.64,14.57,14.71
$GC,9828,1.30,178.0,3233,2107,2101,1978,160.6,11.7,371,9833,0.00,2.58,0.00,0.000,260,0.000,0.096,3232,3513,2038,2099,1977,0,0,0,0,0,0,15.07,14.52,15.09
$GC,9853,1.30,178.0,3232,3514,2098,1978,156.7,14.1,375,9861,0.00,2.47,0.00,0.000,1030,0.000,0.047,3233,2094,2038,2099,1977,0,0,0,0,0,0,14.67,14.61,14.73
$GC,10219,1.30,178.0,3234,2095,2100,1977,118.9,10.0,391,10224,0.00,2.55,0.00,0.000,516,0.000,0.092,3233,692,2037,2098,1977,0,0,0,0,0,0,15.15,14.49,15.17
$GC,10302,1.41,263.3,3234,692,2099,1978,113.1,4.7,403,10365,0.00,2.50,56.75,2.389,9254,0.000,0.055,3233,2111,1705,1767,1643,0,0,0,0,0,0,14.64,14.57,13.12
$GC,10722,1.41,263.3,3234,2112,1764,1631,63.7,14.0,427,10729,0.00,2.65,0.00,0.000,516,0.000,0.091,3233,694,1695,1761,1630,0,0,0,0,0,0,15.03,14.47,15.05
$GC,10819,1.41,263.3,3234,694,1760,1628,53.3,10.7,441,10826,0.00,2.50,0.00,0.000,1030,0.000,0.061,3237,2099,1693,1760,1627,0,0,0,0,0,0,14.65,14.58,14.71
$PING,47.5,50.0,9000.0,-0.02,0.21
$FREEZE,7.37,-1.893,-1.871,2,68,0
$STATE,11141,end climb,FINISH_DEPTH_REACHED
$STATE,11141,begin subsurface finish
$FINISH1,7.4,1.027380,6
$GC,11147,0.01,6.1,3232,2102,1758,1626,7.4,16.5,454,11191,1.48,2.60,-34.78,0.005,20996,0.191,0.107,2804,696,2759,2794,2725,0,0,0,0,0,0,14.33,12.84,14.50
$FINISH2,6.6
$STATE,11191,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11191,begin surface
$RAFOS_CLK,429
$RAFOS,2,1536149603,12.233334,12.223056,100,66,55,55,53,50,470,210,132,195,157,147
$RAFOS,1,1536149253,12.133333,12.125834,62,61,56,54,53,52,161,225,185,205,136,125
$RAFOS,0,1536148904,12.032778,12.028889,69,62,57,56,54,49,320,171,152,212,123,182
$RAFOS_FIX,-7408.594238,-11203.421875,050918,121200,2,84,0.19
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.041195,0.256907
$HUMID,50.19
$INTERNAL_PRESSURE,8.21906
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,711.9,16.7
$24V_AH,11.67,168.150
$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,5.600,106.900,396.650,0.000,0.000,0.000,0.000,0.000,28.750,0.000,0.000,0.000,9490.096,567.449,1072.110,166.141,0.000,986.697,0.000,664.659,720.000,206.495,0.000
$DEVICE_MAMPS,270.810,107.100,3074.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11212.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.747,0.000,0.000,0.000
$MEM,280788
$DATA_FILE_SIZE,16801,461
$CAP_FILE_SIZE,88961,0
$CFSIZE,1024409600,963690496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.4
$GPS,050918,121600,-7408.594,-11203.422,0,3084.5,0,53.2,0.0,0.0,0,0.0