version: 66.13
glider: 223
mission: 5
dive: 488
start: 9 7 118 17 34 8
data:
$ID,223
$MISSION,5
$DIVE,488
$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,25
$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
$GPS1,070918,173143,-7405.1289,-11312.7412,0,1001.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.77
$_SM_ANGLEo,-7.2
$GPS2,070918,173143,-7405.1289,-11312.7412,0,1001.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold6
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,31.9,24362,-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,-107.1,2801,2307,2799,2722,0.0,0.0,0,22,0.00,0.00,-9.50,0.011,16390,0.000,0.000,2799,2306,3221,3250,3192,0,0,0,0,0,0,15.08,12.55,15.06
$GC,25,-1.06,-107.1,2799,2306,3249,3193,0.0,0.0,0,27,1.00,0.00,0.00,0.000,4102,0.062,0.000,2442,2307,3221,3249,3193,0,0,0,0,0,0,14.69,14.79,14.76
$PING,15.7,17.5,9000.0,0.00,0.00
$PING,42.0,45.0,9000.0,0.00,0.00
$GC,351,-1.06,-107.1,2444,2308,3251,3193,78.0,-20.6,12,356,0.00,2.62,0.00,0.000,260,0.000,0.111,2431,3717,3221,3250,3192,0,0,0,0,0,0,15.07,14.49,15.09
$GC,383,-1.06,-107.1,2433,3718,3251,3193,84.8,-19.6,17,391,0.00,2.47,0.00,0.000,1030,0.000,0.047,2431,2284,3220,3249,3192,0,0,0,0,0,0,14.68,14.64,14.72
$GC,740,-1.06,-107.1,2431,2284,3249,3192,153.3,-17.6,32,747,0.00,2.45,0.00,0.000,516,0.000,0.064,2431,916,3220,3249,3192,0,0,0,0,0,0,15.16,14.50,15.19
$GC,889,-1.06,-107.1,2432,911,3251,3193,181.1,-18.9,53,895,0.17,2.50,0.00,0.000,3078,0.293,0.075,2457,2302,3220,3249,3192,0,0,0,0,0,0,14.18,14.56,14.52
$GC,1233,-1.06,-107.1,2458,2302,3251,3193,242.2,-17.9,63,1238,0.00,2.47,0.00,0.000,516,0.000,0.066,2457,909,3220,3249,3192,0,0,0,0,0,0,15.07,14.54,15.09
$GC,1314,-1.06,-107.1,2458,910,3251,3192,257.6,-18.5,75,1321,0.00,2.53,0.00,0.000,1030,0.000,0.073,2448,2305,3220,3249,3192,0,0,0,0,0,0,14.60,14.51,14.66
$GC,1724,-1.06,-107.1,2448,2305,3249,3192,332.0,-18.3,88,1729,0.00,2.50,0.00,0.000,516,0.000,0.066,2449,900,3220,3249,3192,0,0,0,0,0,0,15.05,14.52,15.07
$GC,1777,-1.06,-107.1,2446,899,3251,3192,342.2,-18.0,96,1783,0.00,2.58,0.00,0.000,1030,0.000,0.077,2437,2304,3221,3250,3192,0,0,0,0,0,0,14.72,14.46,14.77
$GC,2141,-1.06,-107.1,2438,2305,3252,3193,409.9,-18.7,103,2147,0.00,2.50,0.00,0.000,516,0.000,0.066,2437,896,3220,3249,3192,0,0,0,0,0,0,15.04,14.50,15.07
$GC,2175,-1.06,-107.1,2437,897,3249,3192,416.7,-19.3,108,2182,0.00,2.60,0.00,0.000,1030,0.000,0.079,2434,2308,3220,3249,3191,0,0,0,0,0,0,14.53,14.44,14.60
$PING,436.7,56.0,9000.0,0.06,0.57
$PING,449.9,40.0,9000.0,0.01,0.03
$PING,463.0,27.1,26.6,-1.10,1.00
$PING,476.0,13.9,14.0,-1.00,1.00
$STATE,2559,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2559,begin apogee
$GC,2565,-0.23,0.0,2431,2044,3251,3192,489.0,-18.7,118,2684,1.10,0.15,115.20,2.874,10246,0.229,0.124,2724,2128,2780,2816,2745,0,0,0,0,0,0,14.18,13.74,12.41
$STATE,2685,end apogee,CONTROL_FINISHED_OK
$STATE,2685,begin climb
$GC,2687,1.06,107.1,2724,2128,2816,2745,493.4,0.0,119,2823,1.35,2.95,126.68,2.763,11012,0.119,0.080,3135,712,2343,2390,2297,0,0,0,0,0,0,13.76,13.07,11.77
$PING,483.4,12.8,9000.0,-0.74,0.92
$GC,2870,1.18,211.4,3137,713,2385,2295,491.1,3.5,144,3005,0.12,2.67,125.40,2.707,11302,0.077,0.055,3186,2102,1917,1981,1854,0,0,0,0,0,0,13.46,13.44,11.67
$PING,473.0,26.0,9000.0,-1.06,0.60
$PING,460.1,33.1,34.3,-0.86,0.94
$GC,3399,1.20,211.4,3187,2102,1973,1843,447.3,9.2,174,3404,0.00,2.62,0.00,0.000,324,0.000,0.103,3186,3509,1906,1971,1842,0,0,0,0,0,0,14.76,14.39,14.78
$GC,3614,1.20,211.4,3186,3510,1970,1843,425.6,10.1,205,3622,0.00,2.42,0.00,0.000,1030,0.000,0.045,3191,2108,1905,1968,1842,0,0,0,0,0,0,14.69,14.64,14.74
$GC,4030,1.22,211.4,3190,2108,1968,1844,387.7,9.2,219,4035,0.00,2.60,0.00,0.000,324,0.000,0.103,3191,3513,1903,1966,1840,0,0,0,0,0,0,15.05,14.56,15.08
$GC,4181,1.22,211.4,3192,3513,1969,1841,371.6,10.5,241,4189,0.00,2.45,0.00,0.000,1030,0.000,0.047,3191,2093,1903,1967,1840,0,0,0,0,0,0,14.77,14.72,14.82
$GC,4588,1.23,211.4,3192,2094,1968,1840,333.9,9.3,254,4594,0.00,2.65,0.00,0.000,324,0.000,0.103,3191,3508,1902,1966,1839,0,0,0,0,0,0,15.15,14.56,15.16
$GC,4743,1.23,211.4,3192,3508,1968,1840,318.1,10.2,276,4748,0.00,2.40,0.00,0.000,1030,0.000,0.046,3191,2081,1903,1967,1839,0,0,0,0,0,0,14.88,14.77,14.91
$GC,5148,1.23,211.4,3190,2085,1965,1839,279.4,9.7,289,5155,0.00,2.62,0.00,0.000,260,0.000,0.103,3191,3512,1901,1965,1838,0,0,0,0,0,0,15.09,14.62,15.11
$GC,5280,1.23,211.4,3191,3512,1964,1839,264.4,11.1,308,5288,0.00,2.42,0.00,0.000,1030,0.000,0.045,3191,2099,1902,1965,1839,0,0,0,0,0,0,14.76,14.71,14.81
$GC,5638,1.26,211.4,3192,2100,1966,1839,233.0,8.6,314,5644,0.00,2.62,0.00,0.000,324,0.000,0.105,3191,3517,1901,1964,1838,0,0,0,0,0,0,15.09,14.56,15.11
$GC,5735,1.27,211.4,3191,3518,1964,1839,224.2,9.2,328,5742,0.00,2.45,0.00,0.000,1094,0.000,0.046,3191,2093,1901,1964,1838,0,0,0,0,0,0,14.72,14.70,14.79
$GC,6115,1.31,211.4,3191,2094,1963,1838,193.1,8.3,340,6120,0.00,2.62,0.00,0.000,324,0.000,0.103,3191,3511,1901,1964,1838,0,0,0,0,0,0,15.15,14.55,15.17
$GC,6232,1.31,211.4,3190,3511,1963,1838,181.0,10.5,357,6240,0.00,2.45,0.00,0.000,1030,0.000,0.045,3191,2092,1900,1964,1837,0,0,0,0,0,0,14.73,14.69,14.78
$GC,6589,1.31,211.4,3192,2092,1966,1838,143.8,11.2,372,6597,0.00,2.67,0.00,0.000,260,0.000,0.102,3191,3514,1900,1964,1837,0,0,0,0,0,0,15.16,14.47,15.19
$GC,6666,1.31,211.4,3192,3515,1966,1836,134.1,12.6,383,6674,0.00,2.45,0.00,0.000,1030,0.000,0.045,3191,2092,1900,1963,1837,0,0,0,0,0,0,14.73,14.68,14.77
$GC,7009,1.31,211.4,3191,2092,1963,1838,100.2,9.8,396,7016,0.00,2.65,0.00,0.000,260,0.000,0.102,3191,3503,1900,1963,1837,0,0,0,0,0,0,15.16,14.46,15.19
$GC,7093,1.32,211.4,3191,3505,1963,1837,92.2,9.4,408,7100,0.00,2.42,0.00,0.000,1094,0.000,0.046,3191,2100,1900,1963,1837,0,0,0,0,0,0,14.72,14.66,14.76
$GC,7459,1.35,211.4,3192,2101,1965,1838,57.7,8.8,424,7464,0.12,2.62,0.00,0.000,2372,0.143,0.103,3248,3516,1900,1963,1837,0,0,0,0,0,0,14.74,14.51,14.78
$GC,7569,1.35,211.4,3249,3517,1965,1837,45.6,11.8,440,7576,0.00,2.45,0.00,0.000,1030,0.000,0.046,3258,2097,1900,1963,1837,0,0,0,0,0,0,14.72,14.66,14.75
$PING,32.7,35.4,9000.0,-0.01,0.50
$PING,21.7,22.7,9000.0,0.01,0.14
$FREEZE,6.64,-1.879,-1.871,2,85,0
$STATE,7877,end climb,FINISH_DEPTH_REACHED
$STATE,7877,begin subsurface finish
$FINISH1,6.6,1.027388,6
$GC,7883,0.01,5.7,3258,2098,1963,1837,6.6,13.5,454,7920,1.62,2.65,-30.60,0.005,20740,0.223,0.125,2799,3514,2759,2796,2723,0,0,0,0,0,0,14.23,13.49,14.60
$FINISH2,5.9
$STATE,7920,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7920,begin surface
$RAFOS_CLK,306
$RAFOS,2,1536343997,18.233334,18.221390,114,58,57,56,53,51,522,177,193,215,224,238
$RAFOS,1,1536343648,18.133333,18.124445,108,71,62,57,55,52,447,213,171,196,112,224
$RAFOS,0,1536343298,18.032778,18.027222,151,60,56,53,50,50,449,201,184,152,210,221
$RAFOS_FIX,-7405.140625,-11309.211914,070918,181824,3,124,0.70
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.041195,0.271887
$HUMID,51.10
$INTERNAL_PRESSURE,8.20929
$TCM_TEMP,11.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.0,14.0
$24V_AH,11.67,173.522
$10V_AH,11.86,0.000
$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,5.500,80.025,367.275,0.000,0.000,0.000,0.000,0.000,20.500,0.000,0.000,0.000,6396.851,475.194,1006.387,140.082,0.000,872.471,0.000,662.792,720.000,149.830,0.000
$DEVICE_MAMPS,292.995,125.460,2874.105,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7940.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.702,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,16802,460
$CAP_FILE_SIZE,72071,0
$CFSIZE,1024409600,962035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.3
$GPS,070918,181424,-7405.141,-11309.212,0,4124.3,0,53.2,0.0,0.0,0,0.0