version: 66.13
glider: 223
mission: 5
dive: 485
start: 9 7 118 6 44 8
data:
$ID,223
$MISSION,5
$DIVE,485
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,070918,061528,-7406.1738,-11311.8750,0,4098.7,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,490.45
$_SM_ANGLEo,-7.5
$GPS2,070918,061528,-7406.1738,-11311.8750,0,4098.7,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold6
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,27.2,24169,-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,-107.1,2805,2318,2858,2786,0.0,0.0,0,19,0.00,0.00,-6.72,0.030,16390,0.000,0.000,2804,2318,3242,3275,3209,0,0,0,0,1,0,14.21,12.49,14.21
$GC,22,-1.06,-107.1,2805,2318,3276,3210,0.0,0.0,0,28,1.05,2.62,0.00,0.000,4612,0.057,0.083,2443,913,3241,3273,3209,0,0,0,0,0,0,14.00,13.84,14.04
$GC,257,-1.06,-107.1,2442,914,3273,3209,490.5,0.1,34,264,0.00,2.47,0.00,0.000,1062,0.000,0.058,2433,2289,3244,3280,3208,0,0,0,0,0,0,14.50,14.43,14.56
$GC,649,-1.06,-107.1,2433,2288,3273,3208,490.6,-0.0,45,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2289,3243,3273,3213,0,0,0,0,0,0,15.07,15.10,15.09
$GC,999,-1.06,-107.1,2433,2290,3273,3208,490.6,0.1,50,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2288,3240,3273,3207,0,0,0,0,0,0,15.13,15.16,15.16
$GC,1349,-1.06,-107.1,2433,2289,3273,3208,490.6,0.0,55,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2289,3240,3274,3207,0,0,0,0,0,0,15.16,15.18,15.18
$GC,1700,-1.06,-107.1,2432,2290,3272,3208,490.6,-0.0,60,1700,0.00,0.00,0.00,0.000,38,0.000,0.000,2434,2289,3240,3273,3207,0,0,0,0,0,0,15.16,15.19,15.19
$GC,2049,-1.06,-107.1,2433,2290,3270,3208,490.6,0.0,65,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2289,3240,3273,3207,0,0,0,0,0,0,15.17,15.20,15.19
$GC,2399,-1.06,-107.1,2435,2290,3274,3208,490.6,0.0,70,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2289,3240,3273,3207,0,0,0,0,0,0,15.18,15.21,15.21
$GC,2750,-1.06,-107.1,2435,2290,3276,3208,490.7,-0.0,75,2750,0.00,0.00,0.00,0.000,38,0.000,0.000,2434,2289,3240,3273,3207,0,0,0,0,0,0,15.17,15.20,15.20
$GC,3099,-1.06,-107.1,2440,2290,3275,3208,490.6,0.0,80,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2289,3240,3273,3207,0,0,0,0,0,0,15.19,15.21,15.21
$GC,3450,-1.06,-107.1,2433,2289,3273,3204,490.7,-0.1,85,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2289,3239,3272,3207,0,0,0,0,0,0,15.17,15.20,15.19
$GC,3799,-1.06,-107.1,2433,2289,3273,3207,490.6,0.0,90,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2289,3240,3273,3207,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4150,-1.06,-107.1,2433,2290,3273,3202,490.7,-0.0,95,4150,0.00,0.00,0.00,0.000,38,0.000,0.000,2434,2289,3239,3273,3206,0,0,0,0,0,0,15.17,15.20,15.20
$GC,4499,-1.06,-107.1,2435,2289,3275,3207,490.6,0.0,100,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2289,3239,3273,3206,0,0,0,0,0,0,15.19,15.21,15.21
$GC,4849,-1.06,-107.1,2435,2290,3275,3207,490.6,0.0,105,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2289,3239,3273,3206,0,0,0,0,0,0,15.16,15.21,15.20
$GC,5200,-1.06,-107.1,2435,2290,3275,3207,490.6,-0.0,110,5200,0.00,0.00,0.00,0.000,38,0.000,0.000,2434,2289,3239,3273,3205,0,0,0,0,0,0,15.19,15.21,15.21
$GC,5549,-1.06,-107.1,2434,2290,3273,3209,490.6,-0.0,115,5550,0.12,0.00,0.00,0.000,2054,0.221,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,14.59,14.83,14.77
$GC,5899,-1.06,-107.1,2464,2289,3273,3207,490.6,0.0,120,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,15.19,15.21,15.21
$GC,6249,-1.06,-107.1,2466,2289,3275,3208,490.6,0.0,125,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.17,15.20,15.20
$GC,6600,-1.06,-107.1,2464,2295,3273,3207,490.6,0.0,130,6600,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,15.18,15.21,15.21
$GC,6949,-1.06,-107.1,2464,2290,3274,3207,490.6,0.0,135,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.17,15.20,15.19
$GC,7299,-1.06,-107.1,2464,2289,3273,3207,490.6,0.0,140,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.19,15.21,15.21
$GC,7650,-1.06,-107.1,2464,2290,3273,3207,490.6,0.0,145,7650,0.00,0.00,0.00,0.000,38,0.000,0.000,2464,2289,3240,3274,3206,0,0,0,0,0,0,15.16,15.19,15.19
$GC,7999,-1.06,-107.1,2464,2289,3273,3207,490.6,-0.0,150,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.19,15.21,15.21
$GC,8349,-1.06,-107.1,2462,2289,3272,3207,490.6,-0.0,155,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3240,3274,3206,0,0,0,0,0,0,15.17,15.20,15.19
$GC,8700,-1.06,-107.1,2464,2289,3273,3206,490.6,0.0,160,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,15.16,15.19,15.18
$GC,9050,-1.06,-107.1,2464,2289,3273,3206,490.6,-0.0,165,9051,0.00,0.00,0.00,0.000,38,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.14,15.16,15.16
$GC,9399,-1.06,-107.1,2464,2289,3273,3207,490.6,-0.0,170,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.17,15.20,15.20
$GC,9749,-1.06,-107.1,2464,2290,3275,3207,490.6,0.0,175,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.16,15.19,15.19
$GC,10100,-1.06,-107.1,2464,2289,3273,3206,490.6,-0.0,180,10100,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2289,3238,3271,3206,0,0,0,0,0,0,15.17,15.18,15.20
$GC,10449,-1.06,-107.1,2464,2289,3273,3207,490.6,0.0,185,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,2289,3239,3273,3206,0,0,0,0,0,0,15.16,15.19,15.19
$GC,10799,-1.06,-107.1,2464,2289,3273,3206,490.6,0.0,190,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,15.14,15.17,15.16
$GC,11149,-1.06,-107.1,2464,2289,3273,3207,490.6,0.0,195,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,15.16,15.19,15.18
$GC,11500,-1.06,-107.1,2466,2290,3274,3207,490.6,0.0,200,11500,0.00,0.00,0.00,0.000,38,0.000,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,15.14,15.16,15.16
$GC,11849,-1.06,-107.1,2466,2290,3275,3209,490.6,-0.0,205,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2289,3239,3273,3206,0,0,0,0,0,0,15.15,15.18,15.18
$GC,12199,-1.06,-107.1,2466,2288,3275,3207,490.6,0.0,210,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.14,15.16,15.16
$GC,12550,-1.06,-107.1,2460,2290,3273,3207,490.6,0.0,215,12550,0.00,0.00,0.00,0.000,38,0.000,0.000,2464,2289,3239,3273,3206,0,0,0,0,0,0,15.15,15.18,15.17
$STATE,12617,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12617,begin apogee
$GC,12623,-0.23,0.0,2466,2089,3275,3207,490.6,0.0,216,12745,0.88,0.00,119.78,2.831,10246,0.144,0.000,2728,2089,2782,2820,2745,0,0,0,0,0,0,14.35,13.72,12.40
$STATE,12746,end apogee,CONTROL_FINISHED_OK
$STATE,12746,begin climb
$GC,12749,1.06,107.1,2729,2089,2822,2746,490.6,0.0,217,12881,1.42,0.00,129.23,2.718,10246,0.138,0.000,3141,2087,2343,2391,2296,0,0,0,0,0,0,13.75,13.06,11.81
$STATE,13177,end climb,NO_VERTICAL_VELOCITY
$STATE,13177,begin subsurface finish
$FINISH1,491.0,1.027519,-1
$GC,13183,-0.00,-0.9,3141,2088,2375,2285,491.0,-0.3,224,13190,1.23,2.00,-1.45,0.076,20739,0.198,0.130,2801,3109,2800,2836,2764,0,0,0,0,0,0,14.05,12.66,14.22
$FINISH2,491.0
$STATE,13190,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13190,begin surface
$RAFOS_CLK,515
$RAFOS,2,1536311626,9.233334,9.229445,104,71,59,57,53,53,376,194,124,170,152,134
$RAFOS,1,1536311276,9.133333,9.132222,111,58,57,54,52,52,297,222,196,210,139,184
$RAFOS_FIX,-7406.404785,-11311.727539,070918,090948,2,108,0.04
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.039697,0.099617
$HUMID,48.85
$INTERNAL_PRESSURE,8.25812
$TCM_TEMP,12.30
$XPDR_PINGS,0
$24V_AH,11.81,172.559
$10V_AH,12.18,0.000
$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,4.700,7.850,249.000,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,12331.480,281.280,551.216,119.489,0.000,479.590,0.000,331.164,480.000,4.557,0.000
$DEVICE_MAMPS,221.085,130.050,2831.265,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.655,0.000,0.000,0.000
$MEM,280788
$DATA_FILE_SIZE,6803,225
$CAP_FILE_SIZE,49272,1
$CFSIZE,1024409600,962363392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1453.4
$GPS,070918,091648,-7406.405,-11311.728,0,3107.5,0,53.2,0.0,0.0,0,0.0