version: 66.13
glider: 223
mission: 5
dive: 478
start: 9 6 118 13 20 55
data:
$ID,223
$MISSION,5
$DIVE,478
$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
$GPS1,060918,121600,-7407.3975,-11243.1299,0,4119.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.52
$_SM_ANGLEo,-7.0
$GPS2,060918,121600,-7407.3975,-11243.1299,0,4119.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7407.000,-11308.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,220.2,12627,-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,-107.1,2805,2303,2793,2724,0.0,0.0,0,22,0.00,0.00,-9.82,0.011,16390,0.000,0.000,2803,2304,3222,3248,3196,0,0,0,0,0,0,15.07,12.86,15.06
$PING,14.0,16.3,9000.0,0.00,0.00
$GC,24,-1.06,-107.1,2804,2305,3251,3197,0.0,0.0,0,31,1.00,2.55,0.00,0.000,4356,0.058,0.104,2432,3714,3222,3248,3196,0,0,0,0,0,0,14.70,14.52,14.71
$PING,24.9,31.8,9000.0,0.00,0.00
$GC,218,-1.06,-107.1,2432,3714,3248,3196,53.1,-21.0,28,225,0.00,2.47,0.00,0.000,1030,0.000,0.041,2432,2289,3221,3248,3195,0,0,0,0,0,0,14.72,14.67,14.75
$GC,583,-1.06,-107.1,2433,2288,3250,3195,125.5,-19.4,44,589,0.00,2.53,0.00,0.000,516,0.000,0.070,2432,898,3221,3248,3195,0,0,0,0,0,0,15.05,14.45,15.08
$GC,639,-1.06,-107.1,2432,898,3248,3195,136.0,-18.8,52,645,0.17,2.50,0.00,0.000,3078,0.293,0.067,2458,2301,3221,3248,3195,0,0,0,0,0,0,14.19,14.54,14.53
$GC,1003,-1.06,-107.1,2457,2301,3250,3195,201.8,-18.6,68,1009,0.00,2.60,0.00,0.000,260,0.000,0.100,2449,3715,3221,3249,3194,0,0,0,0,0,0,15.06,14.49,15.08
$GC,1051,-1.06,-107.1,2450,3715,3250,3195,210.6,-18.0,75,1058,0.00,2.45,0.00,0.000,1030,0.000,0.044,2448,2296,3221,3248,3194,0,0,0,0,0,0,14.73,14.71,14.77
$GC,1423,-1.06,-107.1,2450,2296,3250,3194,280.8,-19.0,83,1429,0.00,2.50,0.00,0.000,516,0.000,0.071,2449,892,3220,3248,3193,0,0,0,0,0,0,15.06,14.50,15.09
$GC,1492,-1.06,-107.1,2448,893,3248,3194,294.4,-19.7,93,1500,0.00,2.55,0.00,0.000,1030,0.000,0.067,2438,2302,3220,3248,3193,0,0,0,0,0,0,14.58,14.50,14.65
$GC,1915,-1.06,-107.1,2438,2302,3248,3193,375.4,-19.4,108,1920,0.00,2.62,0.00,0.000,260,0.000,0.105,2427,3723,3220,3248,3193,0,0,0,0,0,0,15.06,14.47,15.08
$GC,1969,-1.06,-107.1,2429,3724,3250,3194,386.5,-20.2,116,1975,0.10,2.47,0.00,0.000,3078,0.264,0.043,2452,2293,3220,3248,3193,0,0,0,0,0,0,14.16,14.65,14.33
$GC,2335,-1.06,-107.1,2453,2293,3250,3194,452.1,-17.9,123,2340,0.00,2.47,0.00,0.000,516,0.000,0.070,2452,903,3220,3248,3192,0,0,0,0,0,0,15.05,14.50,15.08
$GC,2381,-1.06,-107.1,2453,905,3251,3194,461.0,-18.2,130,2388,0.00,2.55,0.00,0.000,1030,0.000,0.068,2444,2308,3220,3248,3193,0,0,0,0,0,0,14.58,14.50,14.65
$GC,2753,-1.06,-107.1,2446,2308,3250,3194,529.0,-18.4,138,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2308,3221,3249,3193,0,0,0,0,0,0,15.05,15.07,15.07
$PING,566.2,41.0,9000.0,0.03,0.63
$PING,578.4,30.0,9000.0,0.01,0.12
$PING,590.6,16.8,17.1,-0.99,1.00
$GC,3103,-1.06,-107.1,2446,2309,3250,3194,590.6,-17.6,143,3109,0.00,2.58,0.00,0.000,516,0.000,0.070,2445,896,3220,3248,3193,0,0,0,0,0,0,15.05,14.40,15.07
$GC,3130,-1.06,-107.1,2445,898,3250,3194,595.8,-18.4,147,3137,0.00,2.55,0.00,0.000,1030,0.000,0.065,2434,2308,3220,3248,3193,0,0,0,0,0,0,14.58,14.49,14.64
$STATE,3142,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3142,begin apogee
$GC,3148,-0.23,0.0,2435,2064,3250,3194,598.2,-17.9,149,3268,1.12,0.10,117.70,2.975,10246,0.241,0.157,2725,2124,2780,2814,2747,0,0,0,0,0,0,14.20,13.69,12.34
$STATE,3269,end apogee,CONTROL_FINISHED_OK
$STATE,3269,begin climb
$GC,3272,1.06,107.1,2726,2125,2816,2747,603.6,0.0,150,3413,1.45,2.88,129.82,2.861,10756,0.154,0.081,3144,726,2343,2387,2299,0,0,0,0,0,0,13.69,13.06,11.74
$PING,600.5,11.2,10.2,-0.86,0.97
$GC,3495,1.14,177.1,3145,726,2380,2295,598.5,5.6,181,3587,0.00,2.60,84.82,2.811,9254,0.000,0.053,3144,2099,2059,2122,1996,0,0,0,0,0,0,13.72,13.66,11.81
$PING,590.1,26.7,9000.0,-1.08,0.65
$GC,3985,1.18,210.4,3145,2100,2114,1984,560.2,7.9,206,4023,0.12,0.00,36.85,2.781,10278,0.137,0.000,3193,2099,1926,1988,1865,0,0,0,0,0,0,14.55,14.16,12.85
$GC,4336,1.18,210.4,3192,2100,1981,1853,522.8,10.9,211,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2099,1917,1982,1852,0,0,0,0,0,0,14.95,14.97,14.97
$GC,4685,1.18,210.4,3194,2100,1982,1852,482.7,11.4,216,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2099,1915,1980,1851,0,0,0,0,0,0,15.11,15.13,15.13
$GC,5036,1.18,210.4,3194,2100,1981,1852,445.0,10.8,221,5043,0.00,2.53,0.00,0.000,516,0.000,0.086,3194,723,1915,1979,1851,0,0,0,0,0,0,15.07,14.59,15.10
$GC,5063,1.18,210.4,3195,723,1981,1851,442.0,10.6,225,5070,0.00,2.42,0.00,0.000,1030,0.000,0.054,3194,2110,1914,1979,1850,0,0,0,0,0,0,14.78,14.71,14.83
$GC,5456,1.18,210.4,3195,2111,1979,1850,400.7,10.4,236,5462,0.00,2.50,0.00,0.000,516,0.000,0.085,3195,728,1914,1979,1849,0,0,0,0,0,0,15.09,14.63,15.12
$GC,5490,1.19,210.4,3196,729,1981,1850,397.4,9.4,241,5498,0.00,2.40,0.00,0.000,1094,0.000,0.056,3196,2098,1914,1979,1849,0,0,0,0,0,0,14.76,14.70,14.82
$GC,5876,1.19,210.4,3194,2098,1978,1848,357.3,10.4,251,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2097,1912,1979,1846,0,0,0,0,0,0,15.09,15.13,15.12
$GC,6225,1.19,210.4,3196,2098,1980,1848,321.5,10.2,256,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2098,1913,1979,1848,0,0,0,0,0,0,15.16,15.19,15.19
$GC,6576,1.19,210.4,3196,2098,1980,1849,285.0,10.6,261,6582,0.00,2.47,0.00,0.000,516,0.000,0.086,3195,732,1913,1978,1848,0,0,0,0,0,0,15.10,14.59,15.13
$GC,6617,1.19,210.4,3194,732,1977,1848,280.5,10.7,267,6623,0.00,2.42,0.00,0.000,1030,0.000,0.054,3195,2112,1912,1978,1846,0,0,0,0,0,0,14.74,14.68,14.79
$GC,6996,1.19,210.4,3196,2113,1979,1847,240.7,10.4,276,7001,0.00,2.58,0.00,0.000,260,0.000,0.097,3195,3502,1912,1977,1847,0,0,0,0,0,0,15.08,14.52,15.10
$GC,7037,1.19,210.4,3195,3503,1978,1848,235.9,11.6,282,7044,0.00,2.38,0.00,0.000,1030,0.000,0.044,3195,2128,1912,1977,1847,0,0,0,0,0,0,14.74,14.68,14.76
$GC,7416,1.19,210.4,3194,2129,1977,1847,196.7,10.3,291,7422,0.00,2.62,0.00,0.000,516,0.000,0.088,3195,706,1912,1977,1847,0,0,0,0,0,0,15.09,14.50,15.11
$GC,7492,1.21,210.4,3195,706,1977,1848,189.5,9.0,302,7500,0.00,2.45,0.00,0.000,1094,0.000,0.055,3195,2100,1911,1976,1847,0,0,0,0,0,0,14.71,14.64,14.76
$GC,7835,1.21,210.4,3195,2101,1974,1847,154.8,9.7,315,7841,0.00,2.60,0.00,0.000,260,0.000,0.096,3195,3508,1910,1976,1845,0,0,0,0,0,0,15.19,14.50,15.21
$GC,7905,1.21,210.4,3194,3514,1975,1847,147.1,11.9,325,7913,0.00,2.45,0.00,0.000,1030,0.000,0.044,3201,2095,1910,1975,1846,0,0,0,0,0,0,14.72,14.66,14.77
$GC,8257,1.23,210.4,3194,2095,1975,1846,114.3,9.4,339,8262,0.00,2.62,0.00,0.000,324,0.000,0.097,3195,3519,1910,1975,1846,0,0,0,0,0,0,15.17,14.54,15.20
$PING,109.2,113.8,9000.0,-0.20,0.99
$GC,8311,1.23,210.4,3194,3519,1975,1847,108.5,10.7,347,8318,0.00,2.47,0.00,0.000,1030,0.000,0.045,3195,2095,1910,1975,1846,0,0,0,0,0,0,14.69,14.63,14.73
$PING,87.7,91.2,9000.0,-0.15,0.92
$PING,77.3,80.5,80.4,1.04,1.00
$GC,8677,1.24,210.4,3195,2096,1975,1846,74.5,9.1,363,8682,0.00,2.55,0.00,0.000,580,0.000,0.090,3195,694,1910,1975,1846,0,0,0,0,0,0,15.16,14.52,15.19
$GC,8696,1.24,210.4,3196,695,1977,1843,72.5,9.8,366,8704,0.00,2.47,0.00,0.000,1030,0.000,0.059,3195,2102,1910,1975,1846,0,0,0,0,0,0,14.66,14.59,14.72
$GC,9039,1.33,278.3,3194,2102,1975,1846,43.1,5.8,379,9090,0.00,2.65,45.42,0.353,8484,0.000,0.098,3195,3509,1643,1709,1577,0,0,0,0,0,0,15.17,14.54,14.12
$PING,34.8,38.2,38.2,1.00,1.00
$GC,9117,1.33,278.3,3196,3511,1710,1575,34.8,11.4,390,9124,0.00,2.47,0.00,0.000,1030,0.000,0.046,3195,2093,1641,1708,1574,0,0,0,0,0,0,14.66,14.60,14.71
$PING,14.2,15.7,16.3,1.02,1.00
$FREEZE,9.72,-1.872,-1.873,2,75,0
$STATE,9373,end climb,FINISH_DEPTH_REACHED
$STATE,9373,begin subsurface finish
$FINISH1,9.7,1.027381,6
$GC,9378,0.01,6.0,3195,2092,1704,1567,9.7,8.7,400,9419,1.35,2.58,-30.10,0.005,20996,0.177,0.106,2801,695,2760,2793,2727,0,0,0,0,0,0,14.29,12.74,14.45
$FINISH2,10.1
$STATE,9419,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9419,begin surface
$RAFOS_CLK,361
$RAFOS,2,1536246838,15.233334,15.232778,88,58,56,52,49,48,278,204,217,152,175,138
$RAFOS,0,1536246069,15.032778,15.019167,140,57,56,56,53,49,573,130,204,186,157,228
$RAFOS_FIX,-7406.048340,-11249.215820,060918,151504,2,114,0.37
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.039697,0.26215
$HUMID,50.23
$INTERNAL_PRESSURE,8.21906
$TCM_TEMP,12.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,14.2,16.3
$ALTIM_BOTTOM_PING,590.6,17.1
$24V_AH,11.74,170.752
$10V_AH,11.93,0.000
$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,5.325,91.875,414.625,0.000,0.000,0.000,0.000,0.000,23.500,0.000,0.000,0.000,7885.071,549.500,943.897,146.401,0.000,924.858,0.000,586.407,480.000,165.190,0.000
$DEVICE_MAMPS,292.995,156.825,2975.085,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9434.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.731,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,13461,406
$CAP_FILE_SIZE,78230,0
$CFSIZE,1024409600,963035136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.3
$GPS,060918,151304,-7406.048,-11249.216,0,3114.0,0,53.2,0.0,0.0,0,0.0