version: 66.13
glider: 223
mission: 5
dive: 548
start: 10 17 118 7 25 15
data:
$ID,223
$MISSION,5
$DIVE,548
$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,360
$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,2
$EXEC_DT,0
$EXEC_T,10029665
$EXEC_N,6
$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,68
$R_STBD_OVSHOOT,18
$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,0
$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
$GPS1,171018,061528,-7401.1216,-11215.6436,0,4091.3,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,755.15
$_SM_ANGLEo,9.8
$GPS2,171018,061528,-7401.1216,-11215.6436,0,4091.3,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.092,0.233
$TGT_NAME,hold5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,168.6,7145,-18.9,-9.167,-21.50,1798
$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,-0.99,-107.1,2800,2275,2858,2784,0.0,0.0,0,20,0.00,0.08,-6.50,0.032,16390,0.000,0.944,2799,2304,3244,3279,3210,0,0,0,0,1,0,14.66,12.76,14.66
$GC,23,-0.99,-107.1,2799,2304,3279,3209,0.0,0.0,0,29,1.05,2.42,0.00,0.000,4612,0.159,0.060,2486,932,3244,3279,3209,0,0,0,0,0,0,14.20,14.33,14.33
$GC,77,-0.99,-107.1,2486,932,3279,3208,755.3,0.1,8,83,0.00,2.60,0.00,0.000,1062,0.000,0.099,2486,2302,3243,3279,3208,0,0,0,0,0,0,14.45,14.37,14.52
$GC,469,-0.99,-107.1,2486,2302,3279,3207,755.3,0.0,22,476,0.00,2.72,0.00,0.000,292,0.000,0.132,2485,3720,3243,3280,3206,0,0,0,0,0,0,15.09,14.44,15.12
$GC,706,-0.99,-107.1,2484,3721,3279,3207,755.3,0.0,56,713,0.00,2.42,0.00,0.000,1062,0.000,0.055,2484,2285,3242,3279,3206,0,0,0,0,0,0,14.82,14.82,14.83
$GC,1085,-0.99,-107.1,2486,2286,3281,3206,755.3,0.0,68,1091,0.00,2.80,0.00,0.000,292,0.000,0.132,2484,3720,3242,3279,3205,0,0,0,0,0,0,15.15,14.39,15.18
$GC,1322,-0.99,-107.1,2482,3722,3280,3206,755.3,-0.0,102,1329,0.00,2.42,0.00,0.000,1062,0.000,0.057,2484,2310,3242,3279,3205,0,0,0,0,0,0,14.71,14.69,14.73
$GC,1701,-0.99,-107.1,2483,2310,3279,3206,755.3,-0.1,114,1707,0.00,2.75,0.00,0.000,292,0.000,0.134,2484,3720,3241,3277,3205,0,0,0,0,0,0,15.17,14.34,15.19
$GC,1939,-0.99,-107.1,2485,3721,3281,3205,755.3,0.0,148,1945,0.00,2.45,0.00,0.000,1062,0.000,0.056,2484,2285,3241,3279,3204,0,0,0,0,0,0,14.78,14.76,14.80
$GC,2317,-0.99,-107.1,2484,2285,3279,3204,755.2,0.1,160,2324,0.00,2.80,0.00,0.000,292,0.000,0.133,2484,3714,3241,3279,3204,0,0,0,0,0,0,15.16,14.31,15.19
$GC,2555,-0.99,-107.1,2484,3715,3279,3205,755.3,0.0,194,2561,0.00,2.40,0.00,0.000,1062,0.000,0.053,2484,2282,3241,3279,3204,0,0,0,0,0,0,14.78,14.76,14.79
$GC,2933,-0.99,-107.1,2483,2282,3279,3205,755.3,0.0,206,2939,0.00,2.83,0.00,0.000,292,0.000,0.132,2484,3723,3241,3279,3204,0,0,0,0,0,0,15.16,14.28,15.19
$GC,3171,-0.99,-107.1,2484,3724,3278,3204,755.3,0.1,240,3177,0.00,2.40,0.00,0.000,1062,0.000,0.054,2484,2303,3241,3278,3204,0,0,0,0,0,0,14.76,14.73,14.77
$GC,3549,-0.99,-107.1,2486,2304,3281,3205,755.3,-0.0,252,3555,0.00,2.78,0.00,0.000,292,0.000,0.133,2484,3719,3241,3279,3204,0,0,0,0,0,0,15.16,14.24,15.19
$GC,3787,-0.99,-107.1,2485,3720,3281,3205,755.3,-0.0,286,3793,0.00,2.42,0.00,0.000,1062,0.000,0.061,2484,2330,3240,3278,3203,0,0,0,0,0,0,14.69,14.66,14.71
$GC,4165,-0.99,-107.1,2485,2331,3280,3204,755.2,-0.1,298,4171,0.00,2.72,0.00,0.000,260,0.000,0.132,2484,3722,3241,3279,3203,0,0,0,0,0,0,15.16,14.21,15.19
$GC,4402,-0.99,-107.1,2486,3722,3280,3204,755.3,-0.0,332,4409,0.00,2.50,0.00,0.000,1062,0.000,0.060,2484,2281,3240,3278,3203,0,0,0,0,0,0,14.69,14.66,14.72
$GC,4781,-0.99,-107.1,2484,2281,3278,3204,755.2,0.0,344,4787,0.00,2.83,0.00,0.000,292,0.000,0.134,2484,3710,3240,3278,3203,0,0,0,0,0,0,15.19,14.18,15.21
$GC,5019,-0.99,-107.1,2485,3712,3280,3204,755.3,-0.1,378,5025,0.00,2.45,0.00,0.000,1062,0.000,0.060,2484,2292,3240,3278,3202,0,0,0,0,0,0,14.68,14.66,14.71
$GC,5397,-0.99,-107.1,2485,2293,3280,3204,755.3,0.0,390,5404,0.00,2.80,0.00,0.000,292,0.000,0.132,2484,3715,3239,3278,3200,0,0,0,0,0,0,15.16,14.18,15.18
$GC,5635,-0.99,-107.1,2485,3716,3280,3204,755.3,-0.0,424,5641,0.00,2.45,0.00,0.000,1062,0.000,0.058,2484,2283,3240,3278,3202,0,0,0,0,0,0,14.68,14.65,14.70
$GC,6013,-0.99,-107.1,2483,2284,3279,3203,755.3,-0.1,436,6019,0.00,2.83,0.00,0.000,292,0.000,0.132,2484,3712,3240,3278,3203,0,0,0,0,0,0,15.16,14.14,15.19
$GC,6251,-0.99,-107.1,2483,3713,3278,3203,755.2,0.1,470,6257,0.00,2.45,0.00,0.000,1062,0.000,0.057,2484,2295,3240,3278,3203,0,0,0,0,0,0,14.65,14.62,14.67
$GC,6629,-0.99,-107.1,2484,2295,3278,3203,755.1,0.1,482,6635,0.00,2.83,0.00,0.000,292,0.000,0.133,2484,3717,3240,3278,3202,0,0,0,0,0,0,15.13,14.11,15.15
$GC,6867,-0.99,-107.1,2485,3718,3280,3203,755.3,-0.0,516,6873,0.00,2.45,0.00,0.000,1062,0.000,0.057,2484,2301,3240,3278,3202,0,0,0,0,0,0,14.64,14.62,14.67
$GC,7245,-0.99,-107.1,2483,2302,3278,3203,755.2,0.0,528,7252,0.00,2.80,0.00,0.000,292,0.000,0.132,2484,3714,3239,3278,3201,0,0,0,0,0,0,15.18,14.13,15.21
$GC,7482,-0.99,-107.1,2483,3714,3278,3203,755.3,0.0,562,7489,0.00,2.45,0.00,0.000,1062,0.000,0.058,2483,2296,3240,3278,3202,0,0,0,0,0,0,14.64,14.62,14.66
$GC,7861,-0.99,-107.1,2483,2297,3278,3202,755.3,0.0,574,7867,0.00,2.80,0.00,0.000,292,0.000,0.132,2484,3709,3240,3278,3202,0,0,0,0,0,0,15.14,14.09,15.18
$GC,8098,-0.99,-107.1,2483,3708,3277,3203,755.3,0.0,608,8105,0.00,2.45,0.00,0.000,1062,0.000,0.056,2484,2289,3239,3277,3202,0,0,0,0,0,0,14.65,14.62,14.66
$GC,8477,-0.99,-107.1,2483,2289,3277,3202,755.3,-0.1,620,8483,0.00,2.78,0.00,0.000,292,0.000,0.127,2484,3716,3240,3278,3202,0,0,0,0,0,0,15.16,14.14,15.19
$GC,8715,-0.99,-107.1,2486,3717,3280,3201,755.3,-0.0,654,8721,0.00,2.45,0.00,0.000,1062,0.000,0.057,2484,2292,3240,3278,3202,0,0,0,0,0,0,14.63,14.61,14.64
$GC,9093,-0.99,-107.1,2484,2293,3279,3203,755.1,0.1,666,9100,0.00,2.83,0.00,0.000,292,0.000,0.128,2484,3717,3239,3277,3202,0,0,0,0,0,0,15.15,14.07,15.17
$GC,9331,-0.99,-107.1,2485,3718,3280,3202,755.2,-0.4,700,9337,0.00,2.45,0.00,0.000,1062,0.000,0.057,2483,2301,3240,3278,3202,0,0,0,0,0,0,14.63,14.60,14.65
$GC,9709,-0.99,-107.1,2485,2301,3280,3202,755.2,0.0,712,9715,0.00,2.80,0.00,0.000,292,0.000,0.132,2484,3717,3240,3278,3202,0,0,0,0,0,0,15.16,14.04,15.18
$GC,9947,-0.99,-107.1,2485,3714,3280,3203,755.2,-0.1,746,9953,0.00,2.45,0.00,0.000,1062,0.000,0.059,2484,2300,3239,3277,3201,0,0,0,0,0,0,14.61,14.59,14.63
$GC,10325,-0.99,-107.1,2483,2301,3277,3201,755.3,-0.0,758,10331,0.00,2.80,0.00,0.000,292,0.000,0.131,2484,3709,3239,3278,3201,0,0,0,0,0,0,15.14,14.04,15.16
$GC,10563,-0.99,-107.1,2483,3710,3277,3202,755.2,-0.0,792,10570,0.00,2.47,0.00,0.000,1062,0.000,0.057,2483,2284,3240,3278,3202,0,0,0,0,0,0,14.50,14.49,14.52
$GC,10941,-0.99,-107.1,2485,2284,3278,3202,755.3,-0.1,804,10948,0.00,2.85,0.00,0.000,292,0.000,0.128,2484,3720,3239,3278,3201,0,0,0,0,0,0,15.15,14.04,15.17
$GC,11179,-0.99,-107.1,2481,3722,3280,3202,755.2,0.1,838,11185,0.00,2.47,0.00,0.000,1062,0.000,0.057,2484,2300,3239,3277,3202,0,0,0,0,0,0,14.59,14.56,14.61
$GC,11557,-0.99,-107.1,2483,2301,3277,3202,755.1,0.1,850,11564,0.00,2.83,0.00,0.000,292,0.000,0.130,2484,3717,3240,3278,3202,0,0,0,0,0,0,15.14,14.02,15.16
$GC,11795,-0.99,-107.1,2485,3719,3280,3202,755.2,0.0,884,11801,0.00,2.47,0.00,0.000,1062,0.000,0.057,2484,2303,3241,3282,3201,0,0,0,0,0,0,14.58,14.55,14.60
$GC,12173,-0.99,-107.1,2483,2303,3277,3203,755.3,0.0,896,12179,0.00,2.83,0.00,0.000,292,0.000,0.131,2483,3716,3239,3278,3201,0,0,0,0,0,0,15.14,14.00,15.16
$GC,12411,-0.99,-107.1,2483,3716,3278,3202,755.2,0.0,930,12417,0.00,2.47,0.00,0.000,1062,0.000,0.053,2484,2286,3239,3277,3201,0,0,0,0,0,0,14.58,14.55,14.59
$STATE,12618,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12618,begin apogee
$GC,12625,-0.23,0.0,2485,2106,3279,3202,755.2,-0.2,939,12754,0.80,0.00,127.43,3.056,10246,0.115,0.000,2733,2105,2782,2820,2744,0,0,0,0,0,0,14.32,13.62,12.19
$STATE,12755,end apogee,CONTROL_FINISHED_OK
$STATE,12755,begin climb
$GC,12758,0.99,107.1,2735,2106,2822,2745,755.1,0.0,941,12910,1.25,3.10,139.00,2.968,11012,0.106,0.119,3116,3516,2344,2388,2301,0,0,0,0,0,0,13.69,12.93,11.55
$STATE,13066,end climb,NO_VERTICAL_VELOCITY
$STATE,13067,begin subsurface finish
$FINISH1,754.7,1.027629,-7
$GC,13075,-0.01,-6.5,3118,2077,2383,2290,754.7,0.6,989,13082,1.10,2.45,-1.23,0.087,20739,0.152,0.144,2798,3278,2820,2856,2785,0,0,0,0,0,0,13.85,12.46,13.95
$FINISH2,754.9
$STATE,13082,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,13082,begin surface
$RAFOS_CLK,488
$RAFOS,2,1539767630,9.233334,9.230556,160,55,55,54,49,49,290,167,119,197,215,148
$RAFOS,1,1539767224,9.133333,9.117778,82,64,58,54,53,47,606,207,158,217,133,179
$RAFOS,0,1539766902,9.032778,9.028334,119,60,60,59,54,53,380,211,192,166,220,202
$RAFOS_FIX,-7400.807617,-11216.211914,171018,090940,3,120,0.06
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.041944,0.145306
$HUMID,48.11
$INTERNAL_PRESSURE,8.30695
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,11.55,190.277
$10V_AH,11.79,0.000
$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,4.200,120.625,266.425,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,10675.288,431.009,1881.639,196.124,0.000,1158.559,0.000,1411.627,720.000,4.563,0.000
$DEVICE_MAMPS,159.120,944.010,3056.175,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13102.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.888,0.000,0.000,0.000
$MEM,280808
$DATA_FILE_SIZE,23368,990
$CAP_FILE_SIZE,105395,20
$CFSIZE,1024409600,955858944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1462.3
$GPS,171018,091440,-7400.808,-11216.212,0,4120.3,0,53.2,0.0,0.0,0,0.0