version: 66.13
glider: 223
mission: 5
dive: 481
start: 9 6 118 21 49 55
data:
$ID,223
$MISSION,5
$DIVE,481
$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,54
$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
$GPS1,060918,211544,-7406.6572,-11300.8115,0,3143.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,9.72
$_SM_ANGLEo,-8.5
$GPS2,060918,211544,-7406.6572,-11300.8115,0,3143.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7407.000,-11308.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,206.9,3698,-26.1,-10.000,-28.16,996
$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,9,begin dive
$GC,12,-1.27,-64.7,2797,2270,2801,2732,0.0,0.0,0,20,0.00,0.08,-6.40,0.015,16390,0.000,0.908,2795,2305,3047,3077,3018,0,0,0,0,0,0,15.07,12.56,15.05
$PING,12.7,18.0,9000.0,0.00,0.00
$GC,22,-1.27,-64.7,2797,2305,3078,3018,0.0,0.0,0,29,1.15,2.58,0.00,0.000,4356,0.054,0.103,2366,3720,3047,3076,3018,0,0,0,0,0,0,14.67,14.42,14.72
$GC,209,-1.27,-64.7,2367,3721,3078,3019,50.2,-20.0,27,217,0.00,2.42,0.00,0.000,1030,0.000,0.041,2366,2307,3047,3076,3018,0,0,0,0,0,0,14.72,14.69,14.76
$GC,554,-1.27,-64.7,2367,2308,3079,3019,122.8,-21.5,40,559,0.00,2.60,0.00,0.000,260,0.000,0.100,2356,3719,3047,3076,3018,0,0,0,0,0,0,15.14,14.50,15.16
$GC,790,-1.27,-64.7,2357,3720,3078,3019,175.8,-22.9,74,797,0.15,2.45,0.00,0.000,3078,0.290,0.042,2392,2290,3047,3076,3018,0,0,0,0,0,0,14.06,14.67,14.28
$GC,1198,-1.27,-64.7,2391,2294,3076,3018,257.5,-20.4,84,1203,0.00,2.65,0.00,0.000,260,0.000,0.099,2382,3723,3047,3077,3018,0,0,0,0,0,0,15.05,14.49,15.07
$GC,1259,-1.27,-64.7,2382,3724,3078,3018,271.1,-21.9,93,1268,0.00,2.45,0.00,0.000,1030,0.000,0.043,2382,2302,3046,3076,3017,0,0,0,0,0,0,14.73,14.69,14.76
$GC,1617,-1.27,-64.7,2382,2303,3077,3019,343.4,-20.1,99,1623,0.00,2.50,0.00,0.000,516,0.000,0.068,2382,902,3047,3076,3018,0,0,0,0,0,0,15.05,14.51,15.08
$GC,1679,-1.27,-64.7,2383,902,3078,3023,356.1,-20.0,108,1687,0.00,2.58,0.00,0.000,1030,0.000,0.068,2372,2305,3046,3076,3017,0,0,0,0,0,0,14.58,14.49,14.64
$GC,2037,-1.27,-64.7,2373,2306,3078,3019,423.5,-18.5,114,2043,0.00,2.55,0.00,0.000,516,0.000,0.068,2372,906,3047,3076,3018,0,0,0,0,0,0,15.05,14.45,15.08
$GC,2078,-1.27,-64.7,2373,907,3078,3019,431.2,-18.3,120,2085,0.10,2.55,0.00,0.000,3078,0.305,0.067,2384,2299,3046,3076,3017,0,0,0,0,0,0,14.06,14.49,14.26
$PING,449.2,43.2,9000.0,0.00,0.00
$PING,462.3,35.8,9000.0,0.05,0.90
$PING,475.6,16.0,18.0,-1.03,0.94
$PING,488.7,14.4,11.4,-0.81,0.81
$STATE,2454,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2454,begin apogee
$GC,2460,-0.23,0.0,2386,2059,3078,3019,494.3,-16.7,129,2532,1.15,0.10,69.65,2.892,10246,0.160,0.161,2725,2122,2782,2815,2749,0,0,0,0,0,0,14.36,14.10,12.72
$STATE,2533,end apogee,CONTROL_FINISHED_OK
$STATE,2533,begin climb
$GC,2536,1.27,64.7,2727,2122,2816,2750,494.3,0.0,130,2619,1.58,2.75,75.38,2.798,10500,0.122,0.090,3207,3503,2517,2554,2481,0,0,0,0,0,0,14.15,13.24,12.21
$PING,484.2,14.7,9000.0,-0.13,0.97
$GC,2848,1.34,128.0,3206,3502,2543,2474,487.1,3.5,167,2928,0.00,2.45,71.03,2.787,9254,0.000,0.041,3221,2121,2259,2305,2214,0,0,0,0,0,0,14.38,14.32,12.35
$PING,471.2,25.3,9000.0,-0.66,0.95
$GC,3298,1.38,128.0,3215,2121,2295,2203,454.5,8.0,186,3304,0.00,2.60,0.00,0.000,324,0.000,0.097,3216,3503,2248,2295,2202,0,0,0,0,0,0,14.90,14.44,14.92
$GC,3346,1.41,128.0,3217,3503,2296,2204,450.3,8.7,193,3355,0.00,2.45,0.00,0.000,1094,0.000,0.046,3223,2103,2248,2294,2202,0,0,0,0,0,0,14.66,14.59,14.69
$GC,3718,1.43,147.8,3224,2103,2293,2202,420.5,8.0,201,3746,0.12,2.60,21.17,2.710,10788,0.126,0.089,3281,704,2177,2224,2130,0,0,0,0,0,0,14.76,14.52,13.16
$GC,3774,1.43,147.8,3280,704,2219,2130,415.2,9.7,209,3781,0.00,2.47,0.00,0.000,1030,0.000,0.057,3281,2098,2174,2221,2128,0,0,0,0,0,0,14.62,14.56,14.67
$GC,4137,1.43,147.8,3280,2098,2218,2125,374.6,11.4,216,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2098,2171,2218,2125,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4489,1.43,147.8,3282,2099,2219,2125,335.2,11.3,221,4495,0.00,2.58,0.00,0.000,260,0.000,0.096,3280,3516,2170,2217,2124,0,0,0,0,0,0,15.07,14.63,15.09
$GC,4516,1.43,147.8,3281,3517,2217,2124,331.9,11.8,225,4523,0.00,2.47,0.00,0.000,1030,0.000,0.044,3286,2090,2170,2217,2124,0,0,0,0,0,0,14.77,14.71,14.81
$GC,4908,1.43,147.8,3285,2091,2216,2124,288.4,10.9,236,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2091,2169,2216,2123,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5258,1.43,147.8,3290,2091,2215,2124,252.7,10.0,241,5265,0.00,2.55,0.00,0.000,516,0.000,0.090,3289,703,2169,2215,2123,0,0,0,0,0,0,15.17,14.54,15.19
$GC,5285,1.43,147.8,3288,703,2215,2124,250.0,9.8,245,5294,0.00,2.47,0.00,0.000,1030,0.000,0.056,3289,2112,2169,2215,2123,0,0,0,0,0,0,14.76,14.69,14.80
$GC,5678,1.43,147.8,3290,2112,2217,2124,207.9,10.9,256,5684,0.00,2.60,0.00,0.000,260,0.000,0.097,3289,3510,2168,2214,2123,0,0,0,0,0,0,15.08,14.53,15.11
$GC,5748,1.43,147.8,3288,3511,2214,2125,199.6,11.9,266,5755,0.12,2.45,0.00,0.000,5126,0.285,0.044,3264,2098,2168,2214,2123,0,0,0,0,0,0,14.24,14.69,14.45
$GC,6100,1.45,147.8,3265,2098,2216,2123,167.0,9.3,280,6105,0.00,2.60,0.00,0.000,324,0.000,0.099,3264,3508,2168,2214,2122,0,0,0,0,0,0,15.15,14.58,15.18
$GC,6174,1.45,147.8,3263,3508,2214,2123,159.3,10.0,291,6183,0.00,2.45,0.00,0.000,1030,0.000,0.045,3270,2098,2168,2214,2122,0,0,0,0,0,0,14.67,14.64,14.71
$GC,6518,1.48,147.8,3270,2099,2214,2123,129.5,8.6,304,6524,0.00,2.62,0.00,0.000,324,0.000,0.098,3271,3503,2168,2214,2122,0,0,0,0,0,0,15.17,14.51,15.19
$GC,6595,1.48,147.8,3270,3502,2214,2123,121.9,9.7,315,6603,0.00,2.45,0.00,0.000,1030,0.000,0.046,3271,2092,2168,2214,2122,0,0,0,0,0,0,14.70,14.64,14.75
$GC,6938,1.51,147.8,3270,2093,2214,2122,91.6,8.1,328,6944,0.00,2.62,0.00,0.000,324,0.000,0.095,3271,3503,2167,2213,2122,0,0,0,0,0,0,15.16,14.50,15.19
$GC,7086,1.56,187.7,3272,3502,2216,2122,78.9,5.9,349,7121,0.00,2.40,27.15,0.461,9254,0.000,0.045,3270,2092,2014,2067,1961,0,0,0,0,0,0,14.82,14.71,14.07
$GC,7470,1.56,187.7,3270,2092,2062,1952,38.5,10.5,368,7476,0.00,2.60,0.00,0.000,516,0.000,0.094,3271,694,2007,2063,1952,0,0,0,0,0,0,15.14,14.47,15.17
$GC,7498,1.57,187.7,3270,695,2062,1952,35.9,9.4,372,7505,0.08,2.50,0.00,0.000,3142,0.107,0.062,3308,2100,2007,2062,1952,0,0,0,0,0,0,14.52,14.58,14.62
$PING,19.1,19.7,9000.0,0.00,0.00
$FREEZE,7.41,-1.839,-1.874,2,78,0
$STATE,7695,end climb,FINISH_DEPTH_REACHED
$STATE,7695,begin subsurface finish
$FINISH1,7.4,1.027416,4
$GC,7700,0.01,4.3,3310,2101,2064,1951,7.4,14.4,382,7736,1.80,2.67,-25.27,0.005,20740,0.223,0.123,2802,3516,2767,2804,2731,0,0,0,0,0,0,14.27,12.67,14.62
$FINISH2,7.1
$STATE,7736,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7736,begin surface
$RAFOS_CLK,302
$RAFOS_FIX,-7406.828125,-11300.039062,060918,232331,0,1,0.05
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.039697,0.264397
$HUMID,50.90
$INTERNAL_PRESSURE,8.19952
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,488.7,11.4
$24V_AH,12.21,171.690
$10V_AH,12.41,0.000
$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,6.250,81.375,264.375,0.000,0.000,0.000,0.000,0.000,19.500,0.000,0.000,0.000,6417.522,404.009,882.439,133.685,0.000,747.446,0.000,560.808,0.000,137.443,0.000
$DEVICE_MAMPS,305.235,908.055,2892.465,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7701.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.717,0.000,0.000,0.000
$MEM,280788
$DATA_FILE_SIZE,13436,388
$CAP_FILE_SIZE,69117,0
$CFSIZE,1024409600,962740224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.6
$GPS,060918,235831,-7406.828,-11300.039,0,1001.0,0,53.2,0.0,0.0,0,0.0