version: 66.13
glider: 223
mission: 5
dive: 556
start: 10 21 118 6 3 19
data:
$ID,223
$MISSION,5
$DIVE,556
$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,54
$R_STBD_OVSHOOT,20
$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
$GPS1,211018,060035,-7414.3228,-11214.2969,0,1001.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,362.59
$_SM_ANGLEo,-5.6
$GPS2,211018,060035,-7414.3228,-11214.2969,0,1001.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.092,0.233
$TGT_NAME,hold5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,290.9,19878,-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,-107.1,2807,2273,2820,2753,0.0,0.0,0,20,0.00,0.08,-7.03,0.030,16390,0.000,0.937,2805,2305,3233,3263,3203,0,0,0,0,1,0,15.04,12.89,14.97
$GC,23,-0.99,-107.1,2811,2305,3263,3202,0.0,0.0,0,30,0.98,2.45,0.00,0.000,4612,0.076,0.070,2466,919,3232,3263,3201,0,0,0,0,0,0,14.51,14.40,14.57
$GC,217,-0.99,-107.1,2467,919,3265,3200,394.2,-17.3,28,225,0.00,2.55,0.00,0.000,1030,0.000,0.072,2455,2308,3230,3263,3198,0,0,0,0,0,0,14.47,14.39,14.54
$GC,584,-0.99,-107.1,2455,2309,3264,3199,458.9,-17.9,38,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2304,3231,3262,3200,0,0,0,0,0,0,15.01,15.03,15.02
$GC,919,-0.99,-107.1,2456,2309,3264,3198,517.7,-17.5,44,924,0.00,2.53,0.00,0.000,516,0.000,0.073,2455,912,3229,3262,3197,0,0,0,0,0,0,15.00,14.36,15.02
$GC,1008,-0.99,-107.1,2455,912,3262,3198,533.4,-17.1,57,1016,0.12,2.55,0.00,0.000,3078,0.256,0.070,2475,2305,3229,3262,3197,0,0,0,0,0,0,13.97,14.36,14.16
$GC,1365,-0.99,-107.1,2475,2306,3262,3198,588.8,-15.3,66,1372,0.00,2.55,0.00,0.000,516,0.000,0.070,2476,913,3230,3263,3197,0,0,0,0,0,0,15.16,14.28,15.19
$GC,1407,-0.99,-107.1,2477,914,3264,3198,595.5,-15.8,72,1414,0.00,2.55,0.00,0.000,1030,0.000,0.070,2467,2301,3230,3262,3199,0,0,0,0,0,0,14.43,14.35,14.50
$GC,1757,-0.99,-107.1,2469,2303,3264,3198,651.5,-16.2,80,1764,0.00,2.55,0.00,0.000,516,0.000,0.070,2467,914,3229,3262,3196,0,0,0,0,0,0,15.15,14.26,15.17
$GC,1827,-0.99,-107.1,2468,915,3264,3198,663.0,-17.0,90,1837,0.00,2.55,0.00,0.000,1030,0.000,0.069,2457,2305,3229,3262,3197,0,0,0,0,0,0,14.42,14.33,14.49
$GC,2206,-0.99,-107.1,2458,2306,3264,3198,724.4,-16.0,102,2213,0.00,2.55,0.00,0.000,516,0.000,0.071,2457,922,3229,3262,3197,0,0,0,0,0,0,15.15,14.25,15.18
$GC,2248,-0.99,-107.1,2456,922,3262,3203,731.5,-17.0,108,2255,0.12,2.55,0.00,0.000,3078,0.256,0.070,2484,2305,3229,3262,3197,0,0,0,0,0,0,13.93,14.31,14.12
$GC,2598,-0.99,-107.1,2478,2306,3264,3197,784.9,-15.6,116,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2305,3229,3262,3197,0,0,0,0,0,0,15.15,15.17,15.17
$PING,793.7,45.4,9000.0,0.00,0.00
$PING,810.6,24.3,9000.0,0.00,0.00
$GC,2934,-0.99,-107.1,2478,2305,3264,3198,831.8,-13.7,122,2941,0.00,2.55,0.00,0.000,516,0.000,0.070,2477,923,3229,3262,3197,0,0,0,0,0,0,15.14,14.23,15.16
$STATE,3109,end dive,NO_VERTICAL_VELOCITY
$STATE,3109,begin apogee
$GC,3117,-0.23,0.0,2478,2118,3264,3198,831.9,0.0,147,3245,0.77,0.00,125.62,3.092,10246,0.094,0.000,2732,2117,2779,2817,2742,0,0,0,0,0,0,14.45,13.53,12.09
$STATE,3246,end apogee,CONTROL_FINISHED_OK
$STATE,3246,begin climb
$GC,3249,0.99,107.1,2732,2118,2816,2745,832.1,0.0,149,3400,1.25,3.03,141.85,3.058,11012,0.088,0.083,3123,718,2346,2387,2306,0,0,0,0,0,0,13.61,12.78,11.39
$PING,821.2,15.6,14.5,-1.10,0.99
$GC,3490,1.08,181.2,3122,719,2377,2300,825.3,4.9,187,3595,0.00,2.67,98.07,3.014,9254,0.000,0.057,3123,2103,2043,2103,1983,0,0,0,0,0,0,13.57,13.50,11.44
$PING,810.6,27.2,25.8,-0.96,0.94
$PING,799.8,36.2,36.7,-0.96,1.00
$GC,3945,1.14,227.4,3124,2104,2097,1972,795.9,6.5,210,4008,0.15,2.80,53.75,2.995,10532,0.122,0.108,3174,3512,1853,1920,1787,0,0,0,0,0,0,14.51,13.97,12.57
$GC,4035,1.14,227.4,3175,3513,1921,1786,788.1,9.7,223,4042,0.00,2.55,0.00,0.000,1030,0.000,0.048,3176,2112,1852,1919,1785,0,0,0,0,0,0,14.20,14.14,14.23
$GC,4393,1.14,227.4,3175,2113,1914,1779,752.3,10.1,232,4399,0.00,2.60,0.00,0.000,260,0.000,0.106,3176,3510,1847,1916,1779,0,0,0,0,0,0,14.99,14.56,15.02
$GC,4413,1.14,227.4,3177,3511,1915,1779,749.8,10.4,235,4420,0.00,2.47,0.00,0.000,1030,0.000,0.050,3175,2097,1846,1913,1779,0,0,0,0,0,0,14.73,14.66,14.77
$GC,4785,1.14,227.4,3177,2104,1914,1778,709.4,10.9,246,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2097,1844,1911,1777,0,0,0,0,0,0,15.14,15.15,15.15
$GC,5120,1.14,227.4,3175,2097,1910,1777,673.0,10.8,252,5127,0.00,2.67,0.00,0.000,260,0.000,0.108,3176,3512,1843,1910,1777,0,0,0,0,0,0,15.16,14.50,15.19
$GC,5149,1.14,227.4,3175,3512,1909,1777,669.7,11.6,256,5156,0.00,2.47,0.00,0.000,1030,0.000,0.050,3175,2097,1843,1910,1777,0,0,0,0,0,0,14.73,14.68,14.78
$GC,5513,1.14,227.4,3176,2098,1910,1777,629.0,11.4,266,5520,0.00,2.58,0.00,0.000,516,0.000,0.094,3175,685,1842,1908,1776,0,0,0,0,0,0,15.08,14.55,15.11
$GC,5540,1.14,227.4,3177,690,1910,1777,625.9,11.1,270,5548,0.00,2.53,0.00,0.000,1030,0.000,0.062,3176,2107,1842,1908,1776,0,0,0,0,0,0,14.68,14.60,14.75
$GC,5905,1.14,227.4,3174,2107,1908,1776,587.2,10.4,280,5911,0.00,2.62,0.00,0.000,260,0.000,0.106,3176,3503,1840,1905,1775,0,0,0,0,0,0,15.18,14.47,15.21
$GC,5939,1.14,227.4,3175,3504,1907,1776,583.3,11.1,285,5947,0.00,2.45,0.00,0.000,1030,0.000,0.048,3175,2098,1841,1907,1776,0,0,0,0,0,0,14.71,14.65,14.76
$GC,6297,1.14,227.4,3174,2099,1907,1776,545.5,10.8,294,6304,0.00,2.55,0.00,0.000,516,0.000,0.093,3176,698,1841,1907,1775,0,0,0,0,0,0,15.07,14.52,15.09
$GC,6338,1.14,227.4,3174,699,1906,1776,541.0,10.7,300,6345,0.00,2.50,0.00,0.000,1030,0.000,0.060,3176,2109,1840,1906,1775,0,0,0,0,0,0,14.65,14.57,14.71
$GC,6688,1.14,227.4,3177,2110,1908,1776,503.7,10.7,308,6695,0.00,2.65,0.00,0.000,260,0.000,0.105,3176,3516,1840,1906,1775,0,0,0,0,0,0,15.17,14.40,15.19
$GC,6730,1.14,227.4,3175,3517,1906,1776,498.9,11.6,314,6738,0.00,2.50,0.00,0.000,1030,0.000,0.049,3176,2092,1840,1906,1775,0,0,0,0,0,0,14.67,14.61,14.72
$GC,7081,1.14,227.4,3177,2093,1908,1776,462.9,10.2,322,7088,0.00,2.55,0.00,0.000,516,0.000,0.092,3175,694,1840,1906,1775,0,0,0,0,0,0,15.06,14.47,15.09
$GC,7115,1.14,227.4,3175,695,1905,1775,459.3,10.1,327,7122,0.00,2.50,0.00,0.000,1030,0.000,0.060,3176,2101,1840,1906,1775,0,0,0,0,0,0,14.61,14.53,14.67
$GC,7472,1.14,227.4,3175,2102,1905,1776,423.4,10.0,336,7479,0.00,2.65,0.00,0.000,260,0.000,0.105,3176,3509,1840,1906,1775,0,0,0,0,0,0,15.16,14.38,15.19
$PING,418.3,65.2,9000.0,-0.09,0.96
$GC,7514,1.14,227.4,3175,3509,1906,1775,419.0,10.8,342,7524,0.00,2.50,0.00,0.000,1030,0.000,0.048,3175,2087,1840,1906,1774,0,0,0,0,0,0,14.64,14.58,14.70
$PING,406.5,53.1,9000.0,-0.06,0.81
$PING,396.0,42.5,42.4,1.02,1.00
$PING,385.6,31.6,31.6,1.03,1.00
$GC,7868,1.14,227.4,3175,2088,1905,1775,385.6,9.3,350,7874,0.00,2.67,0.00,0.000,260,0.000,0.104,3176,3513,1840,1905,1775,0,0,0,0,0,0,15.05,14.42,15.08
$GC,7894,1.14,227.4,3175,3514,1905,1775,382.8,10.0,354,7901,0.00,2.50,0.00,0.000,1030,0.000,0.050,3177,2087,1839,1905,1774,0,0,0,0,0,0,14.62,14.57,14.69
$PING,375.2,21.0,20.9,1.03,1.00
$STATE,8144,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8144,begin subsurface finish
$FINISH1,360.1,1.027467,2
$GC,8150,0.00,1.7,3175,2087,1905,1775,360.1,8.9,362,8161,1.30,2.70,-3.50,0.032,20740,0.195,0.126,2806,3516,2793,2830,2757,0,0,0,0,0,0,14.18,12.76,14.35
$FINISH2,359.0
$STATE,8162,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8162,begin surface
$RAFOS_CLK,307
$RAFOS,2,1540102434,6.233333,6.231667,81,61,60,53,53,51,332,214,139,171,182,199
$RAFOS,1,1540102021,6.133333,6.116944,128,66,59,54,53,50,600,189,217,205,152,138
$RAFOS_FIX,-7415.317871,-11211.658203,211018,060620,2,104,2.97
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.039697,0.090629
$HUMID,50.82
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,375.2,20.9
$24V_AH,11.39,193.281
$10V_AH,11.60,0.000
$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,4.700,92.050,419.300,0.000,0.000,0.000,0.000,0.000,18.000,0.000,0.000,0.000,6767.634,514.652,835.361,144.793,0.000,872.069,0.000,526.680,480.000,126.536,0.000
$DEVICE_MAMPS,255.510,937.125,3092.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8182.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.887,0.000,0.000,0.000
$MEM,280808
$DATA_FILE_SIZE,10103,364
$CAP_FILE_SIZE,67573,0
$CFSIZE,1024409600,955006976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1455.7
$GPS,211018,060035,-7414.323,-11214.297,0,1001.0,0,53.2,0.0,0.0,0,0.0