version: 66.13
glider: 223
mission: 5
dive: 492
start: 9 8 118 5 4 26
data:
$ID,223
$MISSION,5
$DIVE,492
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,080918,031408,-7402.0400,-11305.2344,0,3098.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.55
$_SM_ANGLEo,-6.7
$GPS2,080918,031408,-7402.0400,-11305.2344,0,3098.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold6
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,46.9,20775,-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,-107.1,2806,2308,2797,2724,0.0,0.0,0,21,0.00,0.00,-8.48,0.013,16390,0.000,0.000,2805,2307,3220,3250,3191,0,0,0,0,0,0,15.07,12.58,15.06
$PING,17.8,18.9,9000.0,0.00,0.00
$GC,24,-1.06,-107.1,2805,2308,3250,3192,0.0,0.0,0,30,1.02,2.50,0.00,0.000,4612,0.073,0.067,2443,889,3220,3250,3191,0,0,0,0,0,0,14.62,14.52,14.67
$GC,49,-1.06,-107.1,2444,886,3249,3192,20.7,-13.1,4,56,0.00,2.55,0.00,0.000,1030,0.000,0.076,2434,2291,3220,3250,3191,0,0,0,0,0,0,14.59,14.51,14.66
$GC,413,-1.06,-107.1,2433,2292,3250,3192,90.6,-19.9,20,420,0.00,2.53,0.00,0.000,516,0.000,0.068,2434,891,3220,3250,3191,0,0,0,0,0,0,15.18,14.49,15.21
$GC,490,-1.06,-107.1,2433,891,3250,3191,105.9,-19.7,31,502,0.12,2.58,0.00,0.000,3078,0.265,0.075,2454,2304,3220,3250,3191,0,0,0,0,0,0,14.16,14.50,14.35
$GC,834,-1.06,-107.1,2455,2303,3252,3192,170.9,-19.0,44,840,0.00,2.47,0.00,0.000,516,0.000,0.067,2454,888,3220,3250,3190,0,0,0,0,0,0,15.07,14.53,15.09
$GC,875,-1.06,-107.1,2454,889,3252,3191,179.1,-19.4,50,882,0.00,2.58,0.00,0.000,1030,0.000,0.074,2445,2307,3220,3250,3191,0,0,0,0,0,0,14.60,14.51,14.66
$GC,1284,-1.06,-107.1,2445,2308,3249,3191,257.3,-19.3,60,1289,0.00,2.53,0.00,0.000,516,0.000,0.067,2445,888,3220,3250,3191,0,0,0,0,0,0,15.07,14.54,15.09
$GC,1323,-1.06,-107.1,2445,888,3250,3191,265.3,-18.9,66,1330,0.00,2.58,0.00,0.000,1030,0.000,0.072,2434,2307,3220,3250,3191,0,0,0,0,0,0,14.58,14.48,14.65
$GC,1703,-1.06,-107.1,2434,2307,3250,3191,337.8,-19.2,75,1708,0.00,2.50,0.00,0.000,516,0.000,0.067,2435,894,3220,3250,3191,0,0,0,0,0,0,15.06,14.45,15.08
$GC,1736,-1.06,-107.1,2434,895,3250,3191,344.7,-19.8,80,1743,0.12,2.58,0.00,0.000,3078,0.265,0.074,2455,2309,3220,3250,3191,0,0,0,0,0,0,14.14,14.50,14.34
$GC,2124,-1.06,-107.1,2456,2311,3252,3191,412.8,-17.7,90,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2310,3220,3250,3190,0,0,0,0,0,0,15.06,15.09,15.08
$PING,424.9,45.4,9000.0,0.00,0.00
$PING,437.2,34.8,9000.0,0.05,0.82
$PING,449.4,24.8,24.7,-0.85,1.00
$PING,461.5,11.9,12.4,-0.94,0.99
$STATE,2470,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2470,begin apogee
$PING,474.8,28.7,9000.0,0.17,0.06
$GC,2478,-0.23,0.0,2455,2047,3250,3191,473.7,-17.4,95,2595,0.90,0.15,114.75,2.848,10246,0.149,0.125,2725,2132,2781,2818,2745,0,0,0,0,0,0,14.42,13.74,12.43
$STATE,2596,end apogee,CONTROL_FINISHED_OK
$STATE,2596,begin climb
$GC,2599,1.06,107.1,2726,2133,2820,2745,474.8,0.0,96,2735,1.38,2.90,126.38,2.736,11012,0.127,0.079,3136,739,2343,2390,2297,0,0,0,0,0,0,13.75,13.07,11.77
$GC,2768,1.19,214.1,3137,740,2386,2294,472.8,3.3,119,2903,0.12,2.62,127.35,2.685,11302,0.076,0.055,3188,2095,1908,1972,1844,0,0,0,0,0,0,13.40,13.39,11.63
$PING,464.4,11.9,9000.0,1.36,0.96
$PING,452.3,29.0,9000.0,-0.05,0.00
$PING,438.1,39.9,41.2,-1.06,0.97
$GC,3315,1.19,214.1,3187,2095,1960,1830,423.8,10.2,152,3321,0.00,2.53,0.00,0.000,516,0.000,0.081,3192,742,1895,1960,1831,0,0,0,0,0,0,14.77,14.35,14.79
$GC,3496,1.19,214.1,3191,742,1958,1828,405.0,10.3,178,3503,0.00,2.42,0.00,0.000,1030,0.000,0.062,3192,2109,1893,1958,1828,0,0,0,0,0,0,14.64,14.57,14.69
$GC,3874,1.19,214.1,3191,2109,1958,1828,366.3,10.0,187,3881,0.00,2.62,0.00,0.000,260,0.000,0.106,3192,3513,1892,1958,1826,0,0,0,0,0,0,15.09,14.53,15.11
$GC,4007,1.19,214.1,3190,3513,1956,1828,351.4,11.3,206,4015,0.00,2.38,0.00,0.000,1030,0.000,0.046,3192,2134,1892,1957,1827,0,0,0,0,0,0,14.76,14.70,14.81
$GC,4364,1.20,214.1,3193,2135,1958,1828,317.0,9.5,212,4371,0.00,2.60,0.00,0.000,324,0.000,0.105,3192,3516,1891,1956,1827,0,0,0,0,0,0,15.12,14.53,15.15
$GC,4476,1.20,214.1,3193,3516,1958,1828,304.9,10.7,228,4483,0.00,2.45,0.00,0.000,1030,0.000,0.046,3191,2092,1891,1956,1827,0,0,0,0,0,0,14.78,14.72,14.82
$GC,4854,1.22,214.1,3191,2094,1955,1827,270.1,9.2,237,4861,0.00,2.65,0.00,0.000,324,0.000,0.103,3192,3509,1891,1955,1827,0,0,0,0,0,0,15.17,14.54,15.20
$GC,4945,1.22,214.1,3193,3509,1957,1828,260.9,9.8,250,4952,0.00,2.42,0.00,0.000,1030,0.000,0.047,3192,2101,1891,1955,1827,0,0,0,0,0,0,14.77,14.72,14.80
$GC,5344,1.23,214.1,3193,2102,1957,1827,224.2,9.2,262,5351,0.00,2.65,0.00,0.000,324,0.000,0.104,3192,3504,1890,1954,1826,0,0,0,0,0,0,15.16,14.52,15.19
$GC,5470,1.23,214.1,3193,3505,1956,1827,211.2,10.3,280,5477,0.00,2.42,0.00,0.000,1030,0.000,0.046,3192,2099,1890,1954,1826,0,0,0,0,0,0,14.75,14.69,14.78
$GC,5848,1.24,214.1,3193,2100,1956,1827,176.9,9.5,292,5855,0.00,2.65,0.00,0.000,324,0.000,0.105,3192,3503,1890,1954,1826,0,0,0,0,0,0,15.16,14.50,15.19
$GC,6023,1.24,214.1,3193,3504,1956,1827,158.5,10.6,317,6030,0.00,2.45,0.00,0.000,1030,0.000,0.046,3192,2089,1890,1954,1826,0,0,0,0,0,0,14.73,14.68,14.78
$GC,6380,1.24,214.1,3193,2088,1955,1827,123.7,9.7,332,6387,0.00,2.67,0.00,0.000,260,0.000,0.103,3191,3508,1889,1953,1826,0,0,0,0,0,0,15.16,14.48,15.19
$GC,6485,1.24,214.1,3191,3509,1953,1826,112.4,10.7,347,6493,0.00,2.45,0.00,0.000,1030,0.000,0.047,3192,2095,1889,1953,1826,0,0,0,0,0,0,14.73,14.68,14.76
$GC,6828,1.27,214.1,3193,2095,1955,1827,80.5,8.8,360,6835,0.00,2.67,0.00,0.000,324,0.000,0.104,3192,3513,1889,1953,1825,0,0,0,0,0,0,15.16,14.46,15.19
$GC,6926,1.27,214.1,3193,3512,1955,1833,70.2,10.6,374,6933,0.00,2.45,0.00,0.000,1030,0.000,0.046,3192,2093,1889,1953,1826,0,0,0,0,0,0,14.72,14.65,14.76
$PING,63.8,66.2,9000.0,-0.08,0.94
$PING,53.3,57.3,9000.0,-0.06,0.88
$PING,42.5,44.3,45.0,1.02,0.99
$GC,7278,1.28,214.1,3193,2094,1955,1826,37.5,9.4,388,7283,0.00,2.62,0.00,0.000,324,0.000,0.103,3192,3514,1889,1952,1826,0,0,0,0,0,0,15.16,14.52,15.18
$PING,32.0,33.4,33.1,1.13,1.00
$GC,7339,1.28,214.1,3191,3513,1952,1826,31.3,9.8,397,7346,0.00,2.45,0.00,0.000,1030,0.000,0.047,3192,2096,1889,1953,1825,0,0,0,0,0,0,14.71,14.66,14.77
$PING,19.7,22.1,21.9,0.97,1.00
$PING,7.8,8.0,8.6,1.05,0.99
$FREEZE,7.83,-1.713,-1.872,2,89,0
$FREEZE,5.47,-1.709,-1.870,2,89,0
$FREEZE,2.99,-1.706,-1.868,2,89,0
$FREEZE,0.49,-1.709,-1.866,2,89,0
$STATE,7696,end climb,SURFACE_DEPTH_REACHED
$STATE,7696,begin surface coast
$FREEZE,-0.10,-1.736,-1.858,2,89,0
$FINISH,-0.1,1.027263
$STATE,7722,end surface coast,CONTROL_FINISHED_OK
$STATE,7722,begin surface
$SM_CCo,7740,94.50,0.236,0,0,1354,350.04
$SM_GC,0.70,8.98,0.40,94.50,0.084,0.085,0.236,215,2317,1354,-8.03,-0.42,350.04,0,0,0,0,0,0,14.74,14.72,14.22
$RAFOS_CLK,304
$RAFOS,2,1536387219,6.233333,6.227500,122,59,58,58,55,55,399,194,207,116,182,220
$RAFOS,1,1536386869,6.133333,6.130278,138,61,54,52,51,50,343,199,174,135,211,148
$RAFOS,0,1536386462,6.032778,6.017222,104,65,63,50,50,49,639,151,222,167,191,116
$RAFOS_FIX,-7403.073730,-11304.868164,080918,060628,3,121,0.18
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.041195,0.23219
$HUMID,49.37
$INTERNAL_PRESSURE,8.08233
$TCM_TEMP,11.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,7.8,8.6
$ALTIM_BOTTOM_PING,461.5,12.4
$24V_AH,11.63,174.627
$10V_AH,11.83,0.000
$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,12.650,77.800,368.475,94.500,0.000,0.000,0.000,0.000,20.000,0.000,0.000,0.000,6309.182,563.203,929.139,138.476,0.000,926.737,0.000,595.699,720.000,146.946,0.000
$DEVICE_MAMPS,265.455,125.460,2848.095,235.620,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7745.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.733,0.000,0.000,0.000
$MEM,280816
$DATA_FILE_SIZE,13482,413
$CAP_FILE_SIZE,70643,0
$CFSIZE,1024409600,961626112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.6
$GPS,080918,061528,-7403.074,-11304.868,0,4121.3,0,53.2,0.0,0.0,0,0.0