version: 66.13
glider: 223
mission: 5
dive: 480
start: 9 6 118 18 53 14
data:
$ID,223
$MISSION,5
$DIVE,480
$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,25
$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
$GPS1,060918,181008,-7408.9326,-11259.7832,0,3105.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.85
$_SM_ANGLEo,-7.8
$GPS2,060918,181008,-7408.9326,-11259.7832,0,3105.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7407.000,-11308.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,257.5,5492,-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,-107.1,2800,2304,2794,2726,0.0,0.0,0,21,0.00,0.00,-8.85,0.011,16390,0.000,0.000,2800,2303,3222,3249,3195,0,0,0,0,0,0,15.08,12.74,15.07
$GC,24,-1.06,-107.1,2801,2304,3250,3197,0.0,0.0,0,26,1.00,0.00,0.00,0.000,4102,0.068,0.000,2446,2305,3222,3248,3196,0,0,0,0,0,0,14.75,14.81,14.81
$PING,17.6,20.0,9000.0,0.00,0.00
$GC,351,-1.06,-107.1,2445,2305,3248,3195,75.4,-19.8,12,356,0.00,2.58,0.00,0.000,260,0.000,0.100,2434,3711,3221,3248,3195,0,0,0,0,0,0,15.07,14.52,15.09
$GC,530,-1.06,-107.1,2434,3711,3248,3195,111.3,-21.0,38,537,0.00,2.47,0.00,0.000,1030,0.000,0.043,2434,2273,3221,3248,3194,0,0,0,0,0,0,14.74,14.71,14.77
$GC,882,-1.06,-107.1,2435,2274,3251,3195,179.8,-20.5,52,887,0.00,2.45,0.00,0.000,516,0.000,0.073,2434,896,3221,3248,3194,0,0,0,0,0,0,15.15,14.54,15.18
$GC,957,-1.06,-107.1,2434,898,3248,3194,196.2,-21.1,63,966,0.12,2.55,0.00,0.000,3078,0.265,0.067,2455,2302,3221,3249,3193,0,0,0,0,0,0,14.16,14.53,14.36
$GC,1345,-1.06,-107.1,2456,2303,3246,3195,267.9,-18.3,70,1350,0.00,2.62,0.00,0.000,260,0.000,0.103,2446,3722,3221,3248,3194,0,0,0,0,0,0,15.07,14.50,15.09
$GC,1461,-1.06,-107.1,2447,3723,3250,3194,292.0,-21.0,87,1468,0.00,2.47,0.00,0.000,1030,0.000,0.043,2445,2292,3220,3248,3193,0,0,0,0,0,0,14.74,14.70,14.77
$GC,1833,-1.06,-107.1,2445,2291,3248,3194,363.6,-19.1,95,1839,0.00,2.47,0.00,0.000,516,0.000,0.068,2446,895,3220,3248,3193,0,0,0,0,0,0,15.07,14.52,15.09
$GC,1853,-1.06,-107.1,2447,896,3251,3194,367.6,-18.9,98,1860,0.00,2.55,0.00,0.000,1030,0.000,0.067,2435,2305,3220,3248,3193,0,0,0,0,0,0,14.59,14.50,14.66
$GC,2255,-1.06,-107.1,2436,2306,3250,3193,444.1,-19.4,110,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2305,3221,3249,3193,0,0,0,0,0,0,15.07,15.09,15.09
$GC,2603,-1.06,-107.1,2434,2306,3248,3194,510.8,-18.9,115,2609,0.00,2.58,0.00,0.000,516,0.000,0.070,2435,902,3220,3248,3193,0,0,0,0,0,0,15.06,14.43,15.08
$GC,2637,-1.06,-107.1,2435,903,3250,3194,517.4,-19.0,120,2644,0.12,2.55,0.00,0.000,3078,0.269,0.067,2455,2309,3220,3248,3193,0,0,0,0,0,0,14.12,14.52,14.32
$GC,3025,-1.06,-107.1,2456,2310,3249,3194,584.1,-17.2,130,3030,0.00,2.53,0.00,0.000,516,0.000,0.069,2455,900,3221,3249,3193,0,0,0,0,0,0,15.04,14.50,15.07
$GC,3057,-1.06,-107.1,2456,901,3250,3195,590.3,-17.8,135,3064,0.00,2.55,0.00,0.000,1030,0.000,0.067,2447,2305,3220,3248,3193,0,0,0,0,0,0,14.57,14.49,14.63
$PING,622.1,51.5,9000.0,0.00,0.00
$PING,635.4,40.3,9000.0,0.04,0.86
$PING,648.3,25.2,25.9,-1.01,0.99
$PING,660.6,10.3,10.4,-1.19,1.00
$GC,3445,-1.06,-107.1,2447,2306,3249,3194,660.6,-18.4,145,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2305,3220,3248,3193,0,0,0,0,0,0,15.05,15.08,15.07
$STATE,3511,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3511,begin apogee
$GC,3517,-0.23,0.0,2447,2071,3248,3193,671.4,-17.7,146,3639,0.95,0.08,119.80,3.035,10246,0.147,0.174,2731,2113,2780,2815,2746,0,0,0,0,0,0,14.41,13.61,12.26
$STATE,3640,end apogee,CONTROL_FINISHED_OK
$STATE,3640,begin climb
$GC,3643,1.06,107.1,2733,2113,2817,2747,671.3,0.0,147,3786,1.35,2.97,132.68,2.947,10500,0.120,0.093,3135,3506,2344,2390,2298,0,0,0,0,0,0,13.65,12.97,11.63
$PING,661.2,13.9,11.8,-1.02,0.93
$GC,3834,1.15,184.1,3136,3506,2385,2294,666.8,5.2,181,3939,0.00,2.62,96.97,2.883,9254,0.000,0.042,3142,2125,2027,2090,1965,0,0,0,0,0,0,13.52,13.47,11.62
$GC,4296,1.20,220.6,3141,2125,2081,1953,633.0,7.7,202,4338,0.15,0.00,40.70,2.850,10278,0.119,0.000,3203,2124,1882,1947,1817,0,0,0,0,0,0,14.47,14.02,12.70
$GC,4646,1.20,220.6,3204,2125,1942,1810,596.1,10.8,207,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2124,1875,1940,1810,0,0,0,0,0,0,14.91,14.93,14.93
$GC,4996,1.20,220.6,3204,2125,1940,1809,557.1,11.1,212,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2124,1873,1938,1808,0,0,0,0,0,0,15.10,15.13,15.13
$GC,5347,1.20,220.6,3203,2125,1937,1808,519.5,10.7,217,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2124,1872,1937,1807,0,0,0,0,0,0,15.07,15.11,15.10
$GC,5696,1.20,220.6,3202,2124,1935,1807,482.7,10.5,222,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2124,1871,1937,1806,0,0,0,0,0,0,15.18,15.20,15.20
$GC,6047,1.20,220.6,3204,2125,1938,1806,445.4,10.7,227,6052,0.00,2.60,0.00,0.000,516,0.000,0.086,3211,693,1871,1936,1806,0,0,0,0,0,0,15.10,14.58,15.13
$GC,6073,1.20,220.6,3213,694,1938,1806,442.4,10.8,231,6081,0.00,2.47,0.00,0.000,1030,0.000,0.057,3211,2104,1870,1936,1805,0,0,0,0,0,0,14.76,14.70,14.82
$GC,6467,1.20,220.6,3212,2104,1937,1806,397.2,11.8,242,6472,0.00,2.58,0.00,0.000,260,0.000,0.096,3211,3514,1871,1936,1806,0,0,0,0,0,0,15.10,14.63,15.13
$GC,6515,1.20,220.6,3211,3515,1936,1806,391.1,12.6,249,6523,0.12,2.45,0.00,0.000,5126,0.228,0.045,3187,2095,1870,1936,1805,0,0,0,0,0,0,14.40,14.73,14.57
$GC,6887,1.20,220.6,3188,2096,1938,1805,351.9,10.3,257,6893,0.00,2.58,0.00,0.000,516,0.000,0.090,3187,704,1870,1936,1804,0,0,0,0,0,0,15.10,14.49,15.13
$GC,6913,1.20,220.6,3186,705,1937,1805,349.1,10.3,261,6921,0.00,2.45,0.00,0.000,1030,0.000,0.056,3186,2099,1870,1936,1804,0,0,0,0,0,0,14.75,14.68,14.81
$GC,7307,1.21,220.6,3186,2101,1936,1804,311.3,9.4,272,7312,0.00,2.58,0.00,0.000,324,0.000,0.096,3186,3509,1868,1936,1801,0,0,0,0,0,0,15.10,14.54,15.10
$GC,7354,1.21,220.6,3186,3510,1935,1804,306.2,10.5,279,7361,0.00,2.45,0.00,0.000,1030,0.000,0.045,3186,2095,1870,1936,1804,0,0,0,0,0,0,14.76,14.70,14.81
$GC,7726,1.21,220.6,3186,2095,1935,1804,270.6,9.6,287,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2094,1869,1935,1804,0,0,0,0,0,0,15.12,15.11,15.11
$GC,8077,1.21,220.6,3186,2095,1935,1804,235.9,9.9,292,8082,0.00,2.60,0.00,0.000,260,0.000,0.099,3186,3506,1869,1935,1803,0,0,0,0,0,0,15.19,14.57,15.21
$GC,8131,1.21,220.6,3188,3506,1937,1804,229.4,11.2,300,8138,0.00,2.45,0.00,0.000,1030,0.000,0.044,3186,2091,1869,1935,1804,0,0,0,0,0,0,14.74,14.69,14.78
$GC,8510,1.21,220.6,3186,2091,1934,1803,191.3,10.4,309,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2091,1869,1935,1803,0,0,0,0,0,0,15.16,15.19,15.19
$GC,8846,1.25,220.6,3186,2092,1934,1799,160.5,8.1,321,8853,0.00,2.65,0.00,0.000,324,0.000,0.097,3187,3506,1868,1934,1802,0,0,0,0,0,0,15.17,14.48,15.19
$GC,8902,1.25,220.6,3186,3505,1934,1801,155.2,10.0,329,8909,0.00,2.45,0.00,0.000,1030,0.000,0.044,3186,2095,1869,1935,1803,0,0,0,0,0,0,14.70,14.64,14.74
$GC,9269,1.26,220.6,3188,2096,1936,1803,121.0,9.4,345,9269,0.00,0.00,0.00,0.000,70,0.000,0.000,3186,2096,1868,1934,1802,0,0,0,0,0,0,15.08,15.11,15.11
$GC,9602,1.29,220.6,3187,2096,1935,1803,91.4,8.6,357,9609,0.00,2.65,0.00,0.000,324,0.000,0.098,3185,3504,1868,1934,1802,0,0,0,0,0,0,15.17,14.47,15.21
$GC,9643,1.29,220.6,3188,3505,1936,1803,87.3,9.9,363,9650,0.00,2.45,0.00,0.000,1030,0.000,0.044,3187,2097,1868,1934,1802,0,0,0,0,0,0,14.69,14.65,14.76
$GC,9994,1.31,220.6,3186,2097,1934,1802,55.4,8.7,377,10003,0.12,2.65,0.00,0.000,2372,0.145,0.096,3233,3506,1868,1934,1802,0,0,0,0,0,0,14.77,14.44,14.85
$GC,10050,1.31,220.6,3233,3502,1935,1803,49.6,10.6,385,10057,0.00,2.45,0.00,0.000,1030,0.000,0.044,3243,2097,1868,1934,1802,0,0,0,0,0,0,14.69,14.63,14.73
$PING,22.4,23.5,9000.0,-0.02,0.93
$FREEZE,7.55,-1.837,-1.873,2,77,0
$STATE,10414,end climb,FINISH_DEPTH_REACHED
$STATE,10414,begin subsurface finish
$FINISH1,7.5,1.027408,5
$GC,10419,0.01,4.6,3244,2098,1936,1802,7.5,10.6,401,10456,1.55,2.67,-28.50,0.005,20740,0.211,0.123,2795,3523,2766,2802,2731,0,0,0,0,0,0,14.23,12.40,14.59
$FINISH2,7.9
$STATE,10457,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10457,begin surface
$RAFOS_CLK,406
$RAFOS,2,1536268418,21.233334,21.227222,124,60,55,54,53,53,408,214,145,193,158,118
$RAFOS,1,1536268068,21.133333,21.129999,162,55,54,51,50,50,335,135,200,158,215,118
$RAFOS_FIX,-7406.657227,-11300.811523,060918,212144,2,143,0.38
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.039697,0.23968
$HUMID,51.06
$INTERNAL_PRESSURE,8.21906
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,660.6,10.4
$24V_AH,11.62,171.470
$10V_AH,11.79,0.000
$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,5.500,82.475,390.150,0.000,0.000,0.000,0.000,0.000,26.250,0.000,0.000,0.000,8947.416,504.763,957.060,151.177,0.000,881.790,0.000,588.071,480.000,187.391,0.000
$DEVICE_MAMPS,268.515,173.655,3034.755,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10477.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.682,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,13501,407
$CAP_FILE_SIZE,79754,0
$CFSIZE,1024409600,962838528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.3
$GPS,060918,211544,-7406.657,-11300.812,0,3143.0,0,53.2,0.0,0.0,0,0.0