version: 66.13
glider: 223
mission: 5
dive: 479
start: 9 6 118 16 0 18
data:
$ID,223
$MISSION,5
$DIVE,479
$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,34
$R_STBD_OVSHOOT,21
$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
$GPS1,060918,151304,-7406.0483,-11249.2158,0,3114.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.82
$_SM_ANGLEo,-5.6
$GPS2,060918,151304,-7406.0483,-11249.2158,0,3114.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7407.000,-11308.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.3,9682,-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,-107.1,2801,2311,2792,2725,0.0,0.0,0,21,0.00,0.00,-8.45,0.013,16390,0.000,0.000,2801,2310,3221,3248,3194,0,0,0,0,0,0,15.05,12.69,15.03
$PING,17.8,20.4,9000.0,0.00,0.00
$GC,24,-1.06,-107.1,2801,2311,3248,3195,0.0,0.0,0,30,1.00,2.55,0.00,0.000,4356,0.067,0.104,2440,3721,3221,3248,3194,0,0,0,0,0,0,14.64,14.46,14.69
$GC,259,-1.06,-107.1,2441,3722,3249,3194,59.3,-20.4,34,267,0.00,2.47,0.00,0.000,1030,0.000,0.043,2440,2291,3220,3247,3193,0,0,0,0,0,0,14.71,14.67,14.75
$GC,612,-1.06,-107.1,2441,2291,3249,3194,131.9,-20.9,48,617,0.00,2.62,0.00,0.000,260,0.000,0.100,2424,3709,3219,3247,3192,0,0,0,0,0,0,15.05,14.49,15.07
$GC,652,-1.06,-107.1,2430,3710,3249,3192,140.8,-21.9,54,660,0.10,2.45,0.00,0.000,3078,0.267,0.043,2453,2286,3220,3247,3193,0,0,0,0,0,0,14.17,14.66,14.36
$GC,1044,-1.06,-107.1,2453,2287,3247,3193,216.5,-18.8,68,1050,0.00,2.50,0.00,0.000,516,0.000,0.070,2453,903,3219,3247,3192,0,0,0,0,0,0,15.05,14.45,15.08
$GC,1113,-1.06,-107.1,2455,904,3249,3193,229.1,-17.4,78,1120,0.00,2.53,0.00,0.000,1030,0.000,0.068,2445,2298,3219,3247,3192,0,0,0,0,0,0,14.59,14.51,14.66
$GC,1536,-1.06,-107.1,2444,2299,3247,3193,310.6,-19.8,93,1542,0.00,2.62,0.00,0.000,260,0.000,0.104,2434,3722,3219,3247,3192,0,0,0,0,0,0,15.06,14.47,15.08
$GC,1603,-1.06,-107.1,2435,3723,3249,3193,325.0,-20.8,103,1610,0.00,2.47,0.00,0.000,1030,0.000,0.043,2434,2293,3219,3247,3192,0,0,0,0,0,0,14.68,14.62,14.71
$GC,2026,-1.06,-107.1,2435,2293,3249,3192,405.8,-19.0,118,2031,0.00,2.47,0.00,0.000,516,0.000,0.070,2434,902,3219,3247,3192,0,0,0,0,0,0,15.05,14.50,15.07
$GC,2149,-1.06,-107.1,2435,903,3249,3193,429.0,-18.1,136,2156,0.12,2.53,0.00,0.000,3078,0.270,0.064,2454,2304,3219,3247,3192,0,0,0,0,0,0,14.10,14.51,14.31
$GC,2514,-1.06,-107.1,2453,2304,3247,3192,491.9,-17.3,143,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2304,3219,3247,3192,0,0,0,0,0,0,15.05,15.08,15.07
$GC,2864,-1.06,-107.1,2453,2304,3247,3192,552.3,-17.2,148,2870,0.00,2.58,0.00,0.000,516,0.000,0.070,2454,893,3219,3247,3192,0,0,0,0,0,0,15.05,14.40,15.07
$GC,2891,-1.06,-107.1,2453,899,3247,3192,557.2,-17.6,152,2898,0.00,2.55,0.00,0.000,1030,0.000,0.065,2445,2306,3219,3247,3192,0,0,0,0,0,0,14.57,14.50,14.64
$PING,627.4,31.2,9000.0,0.00,0.00
$GC,3286,-1.06,-107.1,2444,2305,3247,3192,627.4,-18.1,163,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2302,3219,3247,3192,0,0,0,0,0,0,15.04,15.07,15.07
$PING,639.6,12.8,9000.0,0.00,0.01
$GC,3634,-1.06,-107.1,2445,2307,3247,3192,652.3,-3.7,168,3640,0.00,2.55,0.00,0.000,548,0.000,0.067,2445,902,3219,3247,3191,0,0,0,0,0,0,15.19,14.43,15.22
$STATE,3757,end dive,NO_VERTICAL_VELOCITY
$STATE,3757,begin apogee
$GC,3765,-0.23,0.0,2446,2116,3249,3192,652.3,0.0,186,3887,0.90,0.00,120.10,3.030,10246,0.105,0.000,2733,2115,2780,2815,2746,0,0,0,0,0,0,14.46,13.62,12.25
$STATE,3888,end apogee,CONTROL_FINISHED_OK
$STATE,3888,begin climb
$GC,3891,1.06,107.1,2734,2116,2814,2746,652.2,0.0,187,4036,1.30,2.95,132.32,2.929,10500,0.093,0.094,3139,3508,2342,2386,2298,0,0,0,0,0,0,13.69,13.00,11.64
$GC,4070,1.16,189.3,3138,3508,2384,2295,649.8,4.9,220,4177,0.00,2.70,102.22,2.878,9254,0.000,0.044,3148,2096,2011,2074,1948,0,0,0,0,0,0,13.46,13.42,11.61
$PING,636.0,19.3,9000.0,-1.49,1.00
$PING,623.7,25.2,9000.0,-0.70,0.89
$GC,4533,1.17,189.3,3148,2096,2064,1934,610.0,9.4,241,4540,0.00,2.58,0.00,0.000,580,0.000,0.088,3148,703,1998,2064,1933,0,0,0,0,0,0,14.69,14.32,14.71
$GC,4588,1.18,189.3,3149,703,2065,1933,604.7,9.5,249,4596,0.00,2.47,0.00,0.000,1094,0.000,0.054,3148,2096,1997,2063,1932,0,0,0,0,0,0,14.54,14.50,14.58
$GC,4953,1.19,189.3,3148,2096,2064,1932,570.7,9.3,256,4959,0.12,2.58,0.00,0.000,2372,0.136,0.096,3200,3518,1997,2062,1932,0,0,0,0,0,0,14.75,14.60,14.85
$GC,5029,1.19,189.3,3200,3518,2061,1931,561.5,12.6,267,5037,0.00,2.47,0.00,0.000,1030,0.000,0.046,3207,2089,1996,2061,1931,0,0,0,0,0,0,14.76,14.71,14.79
$GC,5445,1.19,189.3,3207,2089,2061,1928,512.8,11.8,281,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2089,1995,2060,1931,0,0,0,0,0,0,15.07,15.11,15.10
$GC,5792,1.19,189.3,3208,2090,2061,1931,471.8,11.7,286,5799,0.00,2.62,0.00,0.000,260,0.000,0.094,3207,3511,1994,2059,1930,0,0,0,0,0,0,15.16,14.59,15.18
$GC,5820,1.19,189.3,3208,3512,2059,1931,468.3,12.7,290,5827,0.10,2.45,0.00,0.000,5126,0.238,0.044,3189,2090,1992,2059,1926,0,0,0,0,0,0,14.40,14.72,14.58
$GC,6213,1.19,189.3,3188,2089,2058,1930,425.6,10.9,301,6219,0.00,2.55,0.00,0.000,516,0.000,0.090,3194,706,1993,2058,1929,0,0,0,0,0,0,15.09,14.54,15.11
$GC,6261,1.19,189.3,3190,707,2059,1930,420.2,11.0,308,6268,0.00,2.45,0.00,0.000,1030,0.000,0.055,3189,2109,1993,2057,1929,0,0,0,0,0,0,14.75,14.69,14.80
$GC,6633,1.19,189.3,3189,2109,2055,1929,379.7,10.8,316,6639,0.00,2.60,0.00,0.000,260,0.000,0.099,3189,3505,1993,2057,1929,0,0,0,0,0,0,15.08,14.53,15.11
$GC,6660,1.19,189.3,3190,3506,2059,1930,376.4,11.9,320,6667,0.00,2.45,0.00,0.000,1030,0.000,0.046,3189,2093,1992,2057,1928,0,0,0,0,0,0,14.76,14.69,14.81
$GC,7053,1.19,189.3,3188,2094,2056,1929,334.8,10.4,331,7059,0.00,2.65,0.00,0.000,260,0.000,0.096,3189,3510,1991,2055,1928,0,0,0,0,0,0,15.08,14.52,15.11
$GC,7101,1.19,189.3,3188,3510,2056,1929,329.8,10.7,338,7108,0.00,2.45,0.00,0.000,1030,0.000,0.045,3189,2098,1992,2056,1928,0,0,0,0,0,0,14.75,14.68,14.78
$GC,7473,1.23,189.3,3188,2099,2056,1929,297.5,8.5,346,7479,0.00,2.58,0.00,0.000,580,0.000,0.090,3189,704,1992,2056,1928,0,0,0,0,0,0,15.07,14.48,15.09
$GC,7500,1.27,228.7,3190,705,2057,1929,295.3,7.5,350,7549,0.00,2.47,40.78,2.668,9254,0.000,0.057,3189,2110,1848,1912,1784,0,0,0,0,0,0,14.70,14.63,13.11
$GC,7962,1.31,228.7,3190,2111,1908,1778,256.9,8.2,371,7963,0.00,0.00,0.00,0.000,70,0.000,0.000,3189,2110,1841,1906,1777,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8313,1.33,228.7,3190,2111,1906,1777,225.7,8.9,376,8319,0.15,2.55,0.00,0.000,2372,0.125,0.099,3250,3512,1840,1905,1775,0,0,0,0,0,0,14.78,14.57,14.90
$GC,8368,1.33,228.7,3249,3512,1905,1777,218.7,13.2,384,8375,0.12,2.45,0.00,0.000,5126,0.235,0.045,3226,2092,1840,1905,1776,0,0,0,0,0,0,14.34,14.69,14.52
$GC,8734,1.33,228.7,3226,2093,1904,1776,178.3,11.2,394,8739,0.00,2.53,0.00,0.000,516,0.000,0.088,3233,699,1839,1904,1775,0,0,0,0,0,0,15.14,14.51,15.16
$GC,8774,1.33,228.7,3235,700,1906,1776,173.4,11.8,400,8781,0.00,2.47,0.00,0.000,1030,0.000,0.058,3233,2107,1839,1904,1775,0,0,0,0,0,0,14.65,14.58,14.70
$GC,9124,1.33,228.7,3234,2108,1906,1776,130.8,12.3,414,9131,0.00,2.60,0.00,0.000,260,0.000,0.096,3233,3516,1839,1904,1775,0,0,0,0,0,0,15.19,14.52,15.21
$GC,9174,1.33,228.7,3233,3517,1903,1775,123.8,14.5,421,9182,0.00,2.47,0.00,0.000,1030,0.000,0.047,3233,2093,1839,1904,1774,0,0,0,0,0,0,14.64,14.58,14.70
$GC,9516,1.33,228.7,3235,2094,1905,1775,81.8,11.3,434,9523,0.00,2.62,0.00,0.000,260,0.000,0.093,3233,3507,1838,1903,1774,0,0,0,0,0,0,15.16,14.52,15.19
$GC,9586,1.33,228.7,3233,3503,1903,1775,72.8,12.9,444,9593,0.00,2.45,0.00,0.000,1030,0.000,0.046,3237,2097,1838,1903,1774,0,0,0,0,0,0,14.72,14.66,14.77
$GC,9936,1.33,228.7,3232,2099,1904,1775,34.0,10.6,458,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2096,1839,1904,1774,0,0,0,0,0,0,15.14,15.19,15.19
$PING,28.0,29.8,9000.0,-0.01,0.70
$PING,15.4,16.3,9000.0,0.00,0.04
$FREEZE,8.49,-1.872,-1.873,2,76,0
$STATE,10186,end climb,FINISH_DEPTH_REACHED
$STATE,10186,begin subsurface finish
$FINISH1,8.5,1.027386,6
$GC,10192,0.01,5.8,3233,2096,1903,1774,8.5,9.0,467,10229,1.55,2.60,-27.70,0.005,20996,0.212,0.100,2802,676,2760,2794,2726,0,0,0,0,0,0,14.25,12.72,14.42
$FINISH2,8.2
$STATE,10230,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10230,begin surface
$RAFOS_CLK,396
$RAFOS,1,1536257221,18.133333,18.116945,109,64,64,60,50,50,572,190,162,212,228,143
$RAFOS,0,1536256878,18.032778,18.021667,101,61,56,55,55,54,536,218,203,181,121,158
$RAFOS_FIX,-7408.932617,-11259.783203,060918,181808,2,105,0.71
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.041195,0.266644
$HUMID,51.33
$INTERNAL_PRESSURE,8.21906
$TCM_TEMP,12.00
$XPDR_PINGS,0
$24V_AH,11.61,171.112
$10V_AH,11.84,0.000
$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,5.475,101.725,395.425,0.000,0.000,0.000,0.000,0.000,25.250,0.000,0.000,0.000,8587.545,525.231,1065.912,153.930,0.000,960.120,0.000,681.108,480.000,178.450,0.000
$DEVICE_MAMPS,270.045,104.040,3030.165,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10251.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.699,0.000,0.000,0.000
$MEM,280788
$DATA_FILE_SIZE,16754,473
$CAP_FILE_SIZE,84553,0
$CFSIZE,1024409600,962904064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.8
$GPS,060918,181008,-7408.933,-11259.783,0,3105.0,0,53.2,0.0,0.0,0,0.0