version: 66.13
glider: 223
mission: 5
dive: 490
start: 9 7 118 20 35 59
data:
$ID,223
$MISSION,5
$DIVE,490
$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,41
$R_STBD_OVSHOOT,38
$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
$GPS1,070918,203335,-7404.9893,-11309.6143,0,1001.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,437.09
$_SM_ANGLEo,-0.6
$GPS2,070918,203335,-7404.9893,-11309.6143,0,1001.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold6
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,32.2,22756,-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,-107.1,2801,2277,2836,2764,0.0,0.0,0,19,0.00,0.00,-6.85,0.030,16390,0.000,0.000,2800,2278,3237,3269,3206,0,0,0,0,1,0,14.45,12.63,14.45
$GC,22,-1.06,-107.1,2803,2278,3271,3207,0.0,0.0,0,28,1.10,2.50,0.00,0.000,4612,0.122,0.072,2460,900,3237,3269,3205,0,0,0,0,0,0,14.08,14.12,14.18
$GC,257,-1.06,-107.1,2460,901,3268,3205,437.2,0.2,34,264,0.00,2.50,0.00,0.000,1062,0.000,0.065,2460,2282,3236,3269,3204,0,0,0,0,0,0,14.57,14.50,14.64
$GC,649,-1.06,-107.1,2459,2286,3269,3204,437.2,-0.0,45,656,0.00,2.70,0.00,0.000,260,0.000,0.113,2460,3718,3236,3269,3204,0,0,0,0,0,0,15.09,14.50,15.11
$GC,887,-1.06,-107.1,2459,3718,3269,3204,437.1,0.0,79,895,0.00,2.47,0.00,0.000,1062,0.000,0.047,2460,2282,3236,3269,3204,0,0,0,0,0,0,14.79,14.76,14.83
$GC,1279,-1.06,-107.1,2459,2283,3270,3204,437.1,0.0,90,1286,0.00,2.72,0.00,0.000,260,0.000,0.114,2460,3711,3236,3269,3204,0,0,0,0,0,0,15.15,14.51,15.18
$GC,1518,-1.06,-107.1,2461,3711,3271,3204,437.1,0.1,124,1524,0.00,2.45,0.00,0.000,1062,0.000,0.047,2460,2281,3236,3270,3203,0,0,0,0,0,0,14.80,14.77,14.85
$GC,1911,-1.06,-107.1,2459,2281,3269,3204,437.1,0.0,135,1916,0.00,2.70,0.00,0.000,260,0.000,0.112,2460,3725,3237,3271,3203,0,0,0,0,0,0,15.14,14.54,15.16
$GC,2147,-1.06,-107.1,2461,3726,3271,3204,437.0,0.0,169,2154,0.00,2.45,0.00,0.000,1062,0.000,0.047,2460,2295,3236,3269,3203,0,0,0,0,0,0,14.81,14.76,14.83
$GC,2540,-1.06,-107.1,2460,2296,3269,3203,437.0,0.0,180,2546,0.00,2.70,0.00,0.000,260,0.000,0.112,2459,3715,3236,3269,3203,0,0,0,0,0,0,15.16,14.47,15.18
$GC,2777,-1.06,-107.1,2455,3715,3270,3203,437.0,0.0,214,2784,0.00,2.42,0.00,0.000,1062,0.000,0.047,2460,2293,3235,3268,3202,0,0,0,0,0,0,14.81,14.78,14.83
$GC,3169,-1.06,-107.1,2459,2294,3269,3203,437.0,0.0,225,3176,0.00,2.70,0.00,0.000,260,0.000,0.109,2459,3715,3235,3269,3202,0,0,0,0,0,0,15.16,14.46,15.19
$GC,3407,-1.06,-107.1,2461,3715,3271,3203,437.0,0.0,259,3414,0.00,2.42,0.00,0.000,1062,0.000,0.047,2459,2295,3235,3269,3202,0,0,0,0,0,0,14.80,14.78,14.83
$GC,3799,-1.06,-107.1,2459,2296,3269,3202,437.0,0.0,270,3806,0.00,2.70,0.00,0.000,260,0.000,0.110,2466,3719,3235,3269,3201,0,0,0,0,0,0,15.18,14.45,15.20
$GC,4038,-1.06,-107.1,2461,3720,3271,3202,436.9,0.0,304,4044,0.00,2.42,0.00,0.000,1062,0.000,0.045,2460,2302,3235,3269,3201,0,0,0,0,0,0,14.76,14.74,14.80
$GC,4429,-1.06,-107.1,2459,2302,3269,3202,437.0,0.0,315,4436,0.00,2.70,0.00,0.000,260,0.000,0.113,2460,3715,3235,3269,3201,0,0,0,0,0,0,15.17,14.40,15.19
$GC,4667,-1.06,-107.1,2459,3715,3269,3202,436.9,0.0,349,4674,0.00,2.45,0.00,0.000,1062,0.000,0.047,2460,2280,3235,3269,3201,0,0,0,0,0,0,14.76,14.73,14.79
$GC,5059,-1.06,-107.1,2459,2281,3269,3201,436.9,0.0,360,5066,0.00,2.72,0.00,0.000,260,0.000,0.109,2460,3715,3235,3269,3201,0,0,0,0,0,0,15.17,14.40,15.19
$GC,5298,-1.06,-107.1,2461,3720,3271,3201,436.9,-0.0,394,5304,0.00,2.42,0.00,0.000,1062,0.000,0.046,2459,2290,3235,3269,3201,0,0,0,0,0,0,14.76,14.72,14.78
$GC,5690,-1.06,-107.1,2460,2291,3271,3202,436.9,0.0,405,5696,0.00,2.70,0.00,0.000,260,0.000,0.107,2459,3714,3235,3269,3201,0,0,0,0,0,0,15.16,14.41,15.18
$GC,5927,-1.06,-107.1,2461,3715,3271,3202,436.9,0.0,439,5934,0.00,2.42,0.00,0.000,1062,0.000,0.046,2459,2294,3235,3269,3201,0,0,0,0,0,0,14.76,14.72,14.76
$GC,6319,-1.06,-107.1,2461,2295,3271,3201,436.9,0.0,450,6326,0.00,2.70,0.00,0.000,260,0.000,0.109,2460,3717,3233,3269,3197,0,0,0,0,0,0,15.17,14.38,15.19
$GC,6557,-1.06,-107.1,2458,3718,3269,3202,436.9,-0.0,484,6564,0.00,2.45,0.00,0.000,1062,0.000,0.046,2459,2290,3234,3269,3200,0,0,0,0,0,0,14.73,14.69,14.76
$GC,6949,-1.06,-107.1,2461,2290,3271,3201,436.9,0.0,495,6956,0.00,2.70,0.00,0.000,260,0.000,0.108,2459,3709,3234,3269,3200,0,0,0,0,0,0,15.16,14.36,15.18
$GC,7187,-1.06,-107.1,2461,3710,3271,3201,436.8,0.0,529,7194,0.00,2.42,0.00,0.000,1062,0.000,0.046,2460,2292,3234,3269,3200,0,0,0,0,0,0,14.73,14.69,14.76
$GC,7579,-1.06,-107.1,2460,2293,3271,3201,436.8,0.0,540,7586,0.00,2.70,0.00,0.000,260,0.000,0.106,2459,3716,3234,3269,3200,0,0,0,0,0,0,15.16,14.36,15.19
$GC,7817,-1.06,-107.1,2459,3717,3269,3201,436.8,0.0,574,7824,0.00,2.42,0.00,0.000,1062,0.000,0.047,2460,2308,3234,3269,3200,0,0,0,0,0,0,14.69,14.66,14.73
$GC,8209,-1.06,-107.1,2459,2309,3269,3200,436.8,0.0,585,8216,0.00,2.67,0.00,0.000,260,0.000,0.108,2460,3714,3234,3268,3200,0,0,0,0,0,0,15.15,14.34,15.18
$GC,8447,-1.06,-107.1,2459,3714,3269,3201,436.8,0.0,619,8454,0.00,2.45,0.00,0.000,1062,0.000,0.047,2460,2292,3234,3269,3199,0,0,0,0,0,0,14.71,14.67,14.73
$GC,8839,-1.06,-107.1,2458,2292,3268,3200,436.8,0.0,630,8846,0.00,2.72,0.00,0.000,260,0.000,0.107,2459,3721,3234,3269,3200,0,0,0,0,0,0,15.13,14.33,15.15
$GC,9077,-1.06,-107.1,2460,3725,3270,3201,436.7,0.0,664,9084,0.00,2.47,0.00,0.000,1062,0.000,0.047,2460,2292,3234,3268,3200,0,0,0,0,0,0,14.67,14.64,14.71
$GC,9469,-1.06,-107.1,2461,2293,3271,3199,436.7,0.0,675,9476,0.00,2.70,0.00,0.000,260,0.000,0.106,2460,3715,3234,3269,3200,0,0,0,0,0,0,15.14,14.32,15.17
$GC,9707,-1.06,-107.1,2460,3715,3270,3201,436.7,0.0,709,9714,0.00,2.42,0.00,0.000,1062,0.000,0.045,2459,2299,3233,3267,3200,0,0,0,0,0,0,14.69,14.65,14.71
$GC,10099,-1.06,-107.1,2461,2300,3271,3201,436.7,0.0,720,10106,0.00,2.70,0.00,0.000,260,0.000,0.110,2460,3710,3234,3269,3200,0,0,0,0,0,0,15.15,14.31,15.19
$GC,10337,-1.06,-107.1,2461,3713,3271,3201,436.7,0.0,754,10344,0.00,2.42,0.00,0.000,1062,0.000,0.046,2460,2297,3234,3269,3200,0,0,0,0,0,0,14.70,14.67,14.73
$GC,10729,-1.06,-107.1,2459,2298,3269,3201,436.7,0.0,765,10736,0.00,2.70,0.00,0.000,260,0.000,0.109,2460,3714,3234,3269,3200,0,0,0,0,0,0,15.14,14.31,15.16
$GC,10967,-1.06,-107.1,2461,3714,3271,3201,436.6,-0.0,799,10975,0.00,2.45,0.00,0.000,1062,0.000,0.045,2460,2285,3234,3268,3200,0,0,0,0,0,0,14.68,14.64,14.70
$GC,11360,-1.06,-107.1,2461,2287,3270,3201,436.6,0.0,810,11366,0.00,2.72,0.00,0.000,260,0.000,0.108,2460,3716,3234,3269,3200,0,0,0,0,0,0,15.15,14.30,15.17
$GC,11597,-1.06,-107.1,2459,3716,3268,3200,436.6,0.0,844,11605,0.00,2.45,0.00,0.000,1062,0.000,0.047,2460,2286,3234,3268,3200,0,0,0,0,0,0,14.70,14.66,14.72
$GC,11989,-1.06,-107.1,2460,2287,3270,3201,436.6,0.0,855,11996,0.00,2.72,0.00,0.000,260,0.000,0.107,2459,3715,3234,3269,3199,0,0,0,0,0,0,15.14,14.31,15.16
$GC,12227,-1.06,-107.1,2459,3715,3268,3200,436.6,0.0,889,12235,0.00,2.42,0.00,0.000,1062,0.000,0.045,2459,2295,3233,3268,3199,0,0,0,0,0,0,14.69,14.66,14.73
$STATE,12617,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12618,begin apogee
$GC,12624,-0.23,0.0,2459,2072,3268,3200,436.6,0.0,900,12745,0.85,0.08,118.80,2.802,10246,0.102,0.177,2733,2111,2782,2820,2744,0,0,0,0,0,0,14.41,13.69,12.39
$STATE,12746,end apogee,CONTROL_FINISHED_OK
$STATE,12746,begin climb
$GC,12749,1.06,107.1,2734,2112,2821,2743,436.7,0.0,901,12886,1.30,2.85,126.68,2.695,10756,0.095,0.081,3147,745,2342,2388,2296,0,0,0,0,0,0,13.76,13.07,11.78
$STATE,12896,end climb,NO_VERTICAL_VELOCITY
$STATE,12896,begin subsurface finish
$FINISH1,436.1,1.027496,0
$GC,12904,0.00,0.2,3149,2106,2388,2293,436.1,0.9,929,12915,1.33,2.80,-1.52,0.068,20996,0.191,0.102,2806,740,2791,2830,2753,0,0,0,0,0,0,13.14,12.11,13.27
$FINISH2,435.6
$STATE,12916,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12916,begin surface
$RAFOS_CLK,510
$RAFOS,0,1536364897,0.032778,0.026944,164,61,57,57,55,52,455,219,119,176,188,209
$RAFOS,2,1536354817,21.233334,21.226944,162,62,62,62,58,55,418,178,215,163,192,149
$RAFOS,1,1536354467,21.133333,21.129723,133,67,58,53,53,50,350,207,190,216,132,112
$RAFOS,0,1536354061,21.032778,21.016945,156,65,59,57,56,56,653,180,208,224,241,190
$RAFOS_FIX,-7404.590820,-11307.617188,070918,212144,3,150,0.50
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.044191,0.280126
$HUMID,48.30
$INTERNAL_PRESSURE,8.22882
$TCM_TEMP,11.90
$XPDR_PINGS,0
$24V_AH,11.78,173.953
$10V_AH,11.96,0.000
$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,4.575,113.650,245.475,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,10667.617,408.810,1761.927,176.016,0.000,1097.783,0.000,1326.867,1200.000,4.556,0.000
$DEVICE_MAMPS,191.250,177.480,2802.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12933.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.660,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,30042,931
$CAP_FILE_SIZE,99644,20
$CFSIZE,1024409600,961822720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1447.9
$GPS,070918,211544,-7404.591,-11307.617,0,4150.3,0,53.2,0.0,0.0,0,0.0