version: 66.13
glider: 223
mission: 5
dive: 487
start: 9 7 118 15 27 33
data:
$ID,223
$MISSION,5
$DIVE,487
$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,75
$R_STBD_OVSHOOT,19
$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
$GPS1,070918,151512,-7405.7759,-11312.0264,0,4114.3,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.22
$_SM_ANGLEo,-5.5
$GPS2,070918,151512,-7405.7759,-11312.0264,0,4114.3,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold6
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,29.0,24134,-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,12,-1.06,-107.1,2803,2264,2795,2724,0.0,0.0,0,22,0.00,0.10,-9.07,0.012,16390,0.000,0.719,2801,2311,3221,3249,3193,0,0,0,0,0,0,15.07,12.55,15.05
$PING,16.1,17.6,9000.0,0.00,0.00
$GC,25,-1.06,-107.1,2803,2312,3248,3194,0.0,0.0,0,31,1.02,2.38,0.00,0.000,4612,0.092,0.063,2456,933,3222,3252,3193,0,0,0,0,0,0,14.49,14.52,14.56
$PING,26.7,29.1,9000.0,0.00,0.00
$PING,37.8,40.8,40.9,1.07,1.00
$GC,226,-1.06,-107.1,2455,933,3250,3194,48.6,-17.2,29,233,0.00,2.50,0.00,0.000,1030,0.000,0.077,2445,2301,3221,3250,3193,0,0,0,0,0,0,14.57,14.47,14.64
$GC,585,-1.06,-107.1,2446,2302,3251,3193,116.6,-18.8,44,590,0.00,2.42,0.00,0.000,516,0.000,0.064,2445,933,3220,3249,3192,0,0,0,0,0,0,15.06,14.54,15.08
$GC,673,-1.06,-107.1,2445,934,3249,3193,134.0,-18.2,57,681,0.00,2.50,0.00,0.000,1030,0.000,0.077,2434,2299,3221,3249,3193,0,0,0,0,0,0,14.58,14.48,14.65
$GC,1033,-1.06,-107.1,2434,2299,3249,3193,203.8,-20.1,72,1039,0.00,2.40,0.00,0.000,516,0.000,0.063,2434,932,3221,3250,3192,0,0,0,0,0,0,15.06,14.54,15.08
$GC,1135,-1.06,-107.1,2434,932,3249,3193,224.9,-19.5,87,1144,0.12,2.50,0.00,0.000,3078,0.264,0.074,2455,2305,3220,3249,3192,0,0,0,0,0,0,14.13,14.50,14.31
$GC,1523,-1.06,-107.1,2455,2306,3249,3193,294.2,-17.8,97,1529,0.00,2.42,0.00,0.000,516,0.000,0.062,2455,932,3221,3250,3192,0,0,0,0,0,0,15.06,14.53,15.09
$GC,1618,-1.06,-107.1,2456,933,3251,3193,311.2,-17.0,111,1625,0.00,2.50,0.00,0.000,1030,0.000,0.075,2447,2299,3220,3249,3192,0,0,0,0,0,0,14.56,14.47,14.62
$GC,2013,-1.06,-107.1,2447,2300,3249,3192,380.9,-17.8,122,2018,0.00,2.38,0.00,0.000,516,0.000,0.062,2447,936,3221,3250,3192,0,0,0,0,0,0,15.06,14.54,15.09
$GC,2073,-1.06,-107.1,2447,936,3249,3192,392.6,-18.5,131,2082,0.00,2.50,0.00,0.000,1030,0.000,0.074,2436,2312,3220,3249,3192,0,0,0,0,0,0,14.55,14.46,14.62
$PING,407.0,41.1,9000.0,0.02,0.29
$PING,420.0,25.4,9000.0,-0.02,0.26
$PING,432.9,8.3,9000.0,-1.27,1.00
$GC,2430,-1.06,-107.1,2436,2313,3249,3192,437.1,-11.0,137,2439,0.00,2.47,0.00,0.000,516,0.000,0.064,2436,928,3220,3249,3191,0,0,0,0,0,0,15.16,14.45,15.18
$STATE,2575,end dive,NO_VERTICAL_VELOCITY
$STATE,2575,begin apogee
$GC,2583,-0.23,0.0,2436,2120,3249,3192,437.1,0.0,158,2700,0.93,0.00,114.68,2.803,10246,0.102,0.000,2737,2114,2781,2817,2745,0,0,0,0,0,0,14.57,13.78,12.46
$STATE,2701,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin climb
$GC,2703,1.06,107.1,2738,2115,2818,2745,437.0,0.0,159,2836,1.27,0.00,124.40,2.703,10502,0.086,0.000,3143,2114,2342,2387,2298,0,0,0,0,0,0,13.85,13.08,11.84
$PING,425.6,11.2,9000.0,-1.28,0.82
$PING,415.4,23.0,22.1,-0.86,0.95
$GC,3219,1.18,204.8,3144,2121,2374,2286,420.4,3.9,194,3332,0.12,2.75,105.50,2.678,10532,0.133,0.102,3198,3506,1945,2008,1883,0,0,0,0,0,0,14.54,13.62,12.36
$GC,3486,1.18,204.8,3192,3502,1998,1879,396.8,10.9,232,3493,0.00,2.45,0.00,0.000,1030,0.000,0.044,3200,2126,1938,1998,1878,0,0,0,0,0,0,14.23,14.19,14.24
$GC,3851,1.19,204.8,3199,2126,1994,1872,362.1,9.4,239,3857,0.00,2.60,0.00,0.000,324,0.000,0.104,3200,3508,1933,1995,1871,0,0,0,0,0,0,14.96,14.52,14.98
$GC,3976,1.19,204.8,3200,3508,1994,1872,348.9,10.7,257,3984,0.00,2.42,0.00,0.000,1030,0.000,0.045,3208,2097,1932,1994,1871,0,0,0,0,0,0,14.76,14.70,14.79
$GC,4341,1.19,204.8,3209,2098,1993,1870,313.8,9.6,264,4347,0.00,2.65,0.00,0.000,260,0.000,0.106,3208,3511,1932,1993,1871,0,0,0,0,0,0,15.06,14.54,15.09
$GC,4466,1.19,204.8,3207,3512,1992,1870,299.9,11.0,282,4474,0.12,2.42,0.00,0.000,5126,0.237,0.046,3184,2097,1930,1992,1869,0,0,0,0,0,0,14.35,14.68,14.52
$GC,4831,1.22,204.8,3183,2097,1992,1869,268.4,8.5,289,4838,0.00,2.65,0.00,0.000,324,0.000,0.106,3183,3510,1930,1992,1868,0,0,0,0,0,0,15.08,14.57,15.11
$GC,5000,1.23,204.8,3184,3510,1994,1869,252.5,9.5,313,5006,0.00,2.40,0.00,0.000,1094,0.000,0.047,3185,2095,1930,1992,1868,0,0,0,0,0,0,14.88,14.78,14.92
$GC,5392,1.26,204.8,3186,2096,1993,1869,219.3,8.4,324,5397,0.00,2.62,0.00,0.000,324,0.000,0.105,3185,3513,1929,1991,1867,0,0,0,0,0,0,15.09,14.59,15.11
$GC,5533,1.28,204.8,3186,3515,1993,1869,206.1,9.1,344,5538,0.00,2.40,0.00,0.000,1094,0.000,0.046,3185,2093,1929,1991,1867,0,0,0,0,0,0,14.87,14.78,14.91
$GC,5896,1.30,204.8,3186,2093,1990,1868,175.3,9.1,363,5901,0.00,2.62,0.00,0.000,324,0.000,0.103,3185,3512,1928,1990,1867,0,0,0,0,0,0,15.14,14.56,15.17
$GC,5964,1.30,204.8,3185,3513,1992,1868,168.6,9.7,373,5972,0.00,2.45,0.00,0.000,1030,0.000,0.046,3185,2087,1928,1990,1867,0,0,0,0,0,0,14.76,14.71,14.81
$GC,6315,1.32,204.8,3186,2088,1992,1867,138.9,8.8,387,6322,0.12,2.62,0.00,0.000,2372,0.144,0.103,3232,3514,1928,1990,1867,0,0,0,0,0,0,14.78,14.56,14.88
$GC,6456,1.32,204.8,3231,3513,1989,1867,121.9,12.6,407,6461,0.00,2.40,0.00,0.000,1030,0.000,0.046,3233,2095,1928,1990,1867,0,0,0,0,0,0,14.83,14.73,14.88
$PING,115.3,120.2,9000.0,-0.34,1.00
$PING,102.6,106.8,9000.0,-0.29,0.97
$GC,6821,1.32,204.8,3233,2095,1988,1868,79.2,12.1,423,6826,0.00,2.62,0.00,0.000,260,0.000,0.103,3233,3511,1928,1989,1867,0,0,0,0,0,0,15.09,14.54,15.11
$GC,6937,1.32,204.8,3233,3512,1989,1867,63.5,13.5,440,6944,0.00,2.45,0.00,0.000,1030,0.000,0.045,3233,2094,1928,1989,1867,0,0,0,0,0,0,14.73,14.68,14.78
$PING,57.2,60.0,60.0,1.03,1.00
$PING,45.1,47.5,47.5,1.03,1.00
$PING,33.6,35.2,35.3,1.05,1.00
$GC,7296,1.32,204.8,3234,2095,1991,1867,24.7,10.4,455,7301,0.00,2.62,0.00,0.000,260,0.000,0.103,3233,3510,1927,1988,1866,0,0,0,0,0,0,15.15,14.52,15.17
$PING,23.2,24.5,24.4,1.05,1.00
$PING,13.0,13.5,13.6,1.05,1.00
$GC,7415,1.32,204.8,3234,3511,1991,1867,11.4,11.0,472,7420,0.00,2.42,0.00,0.000,1030,0.000,0.046,3233,2090,1927,1989,1866,0,0,0,0,0,0,14.82,14.71,14.87
$FREEZE,9.87,-1.875,-1.874,2,84,0
$STATE,7425,end climb,FINISH_DEPTH_REACHED
$STATE,7425,begin subsurface finish
$FINISH1,9.9,1.027390,6
$GC,7431,0.01,5.6,3232,2090,1989,1867,9.9,11.2,474,7459,1.52,0.00,-23.05,0.005,20998,0.216,0.000,2799,2089,2761,2799,2724,0,0,0,0,0,0,14.25,12.64,14.62
$FINISH2,9.4
$STATE,7460,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7460,begin surface
$RAFOS_CLK,293
$RAFOS_FIX,-7405.128906,-11312.741211,070918,171743,0,1,0.15
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.038199,0.237433
$HUMID,50.51
$INTERNAL_PRESSURE,8.20929
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.0,13.6
$24V_AH,11.84,173.204
$10V_AH,12.02,0.000
$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,5.250,76.900,344.575,0.000,0.000,0.000,0.000,0.000,18.250,0.000,0.000,0.000,5966.354,436.548,1023.401,136.443,0.000,847.559,0.000,687.656,0.000,134.910,0.000
$DEVICE_MAMPS,263.925,719.100,2802.960,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7484.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,0.000
$MEM,280788
$DATA_FILE_SIZE,16766,478
$CAP_FILE_SIZE,68857,0
$CFSIZE,1024409600,962134016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.8
$GPS,070918,173143,-7405.129,-11312.741,0,1001.0,0,53.2,0.0,0.0,0,0.0