version: 66.13
glider: 223
mission: 5
dive: 561
start: 10 21 118 18 23 58
data:
$ID,223
$MISSION,5
$DIVE,561
$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,32
$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,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
$GPS1,211018,181424,-7413.5298,-11215.7949,0,4131.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,353.82
$_SM_ANGLEo,-6.7
$GPS2,211018,181424,-7413.5298,-11215.7949,0,4131.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.092,0.233
$TGT_NAME,hold5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,292.0,18259,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.99,-107.1,2802,2312,2827,2759,0.0,0.0,0,20,0.00,0.00,-7.03,0.030,16390,0.000,0.000,2802,2312,3233,3263,3203,0,0,0,0,1,0,15.07,12.86,15.01
$GC,23,-0.99,-107.1,2802,2312,3263,3203,0.0,0.0,0,25,0.95,0.00,0.00,0.000,4102,0.063,0.000,2459,2312,3232,3263,3202,0,0,0,0,0,0,14.73,14.85,14.82
$PING,356.9,24.4,9000.0,0.00,0.00
$GC,378,-0.99,-107.1,2459,2312,3262,3199,414.5,-17.4,7,384,0.00,2.55,0.00,0.000,516,0.000,0.072,2460,892,3230,3262,3199,0,0,0,0,0,0,15.06,14.49,15.07
$GC,405,-0.99,-107.1,2459,893,3262,3199,419.3,-17.6,11,412,0.00,2.55,0.00,0.000,1030,0.000,0.067,2446,2302,3230,3262,3199,0,0,0,0,0,0,14.57,14.48,14.64
$GC,770,-0.99,-107.1,2448,2303,3262,3198,484.0,-17.9,21,772,0.15,0.00,0.00,0.000,2054,0.298,0.000,2479,2302,3230,3262,3198,0,0,0,0,0,0,14.25,14.68,14.62
$GC,1106,-0.99,-107.1,2480,2303,3262,3198,538.5,-16.1,27,1112,0.00,2.55,0.00,0.000,516,0.000,0.071,2480,888,3230,3262,3198,0,0,0,0,0,0,15.05,14.47,15.07
$GC,1175,-0.99,-107.1,2479,889,3262,3198,549.9,-16.1,37,1183,0.00,2.58,0.00,0.000,1030,0.000,0.067,2470,2301,3230,3263,3197,0,0,0,0,0,0,14.54,14.46,14.62
$GC,1554,-0.99,-107.1,2472,2303,3263,3198,614.6,-17.4,49,1561,0.00,2.53,0.00,0.000,516,0.000,0.068,2470,895,3229,3262,3197,0,0,0,0,0,0,15.06,14.46,15.06
$GC,1638,-0.99,-107.1,2470,895,3262,3198,629.2,-17.1,61,1645,0.00,2.58,0.00,0.000,1030,0.000,0.067,2458,2309,3229,3262,3197,0,0,0,0,0,0,14.52,14.44,14.58
$GC,2002,-0.99,-107.1,2458,2309,3262,3198,687.0,-15.6,71,2009,0.00,2.58,0.00,0.000,516,0.000,0.070,2460,898,3229,3262,3197,0,0,0,0,0,0,15.16,14.37,15.19
$GC,2099,-0.99,-107.1,2460,899,3262,3198,703.6,-16.5,85,2107,0.00,2.55,0.00,0.000,1030,0.000,0.067,2450,2301,3229,3263,3196,0,0,0,0,0,0,14.51,14.43,14.57
$GC,2450,-0.99,-107.1,2451,2302,3264,3198,759.5,-15.8,93,2457,0.15,2.58,0.00,0.000,2564,0.293,0.070,2481,893,3229,3262,3197,0,0,0,0,0,0,14.24,14.35,14.52
$GC,2547,-0.99,-107.1,2481,894,3264,3198,774.2,-15.3,107,2554,0.00,2.58,0.00,0.000,1030,0.000,0.067,2472,2310,3229,3262,3197,0,0,0,0,0,0,14.51,14.42,14.57
$GC,2898,-0.99,-107.1,2473,2311,3264,3198,825.6,-14.5,115,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2310,3229,3262,3197,0,0,0,0,0,0,15.18,15.21,15.20
$GC,3234,-0.99,-107.1,2472,2311,3261,3198,872.6,-13.6,121,3241,0.00,2.60,0.00,0.000,516,0.000,0.069,2472,894,3229,3262,3196,0,0,0,0,0,0,15.14,14.34,15.19
$GC,3353,-0.99,-107.1,2473,895,3264,3196,890.3,-14.7,138,3359,0.00,2.58,0.00,0.000,1030,0.000,0.065,2461,2308,3229,3262,3197,0,0,0,0,0,0,14.50,14.41,14.56
$PING,929.8,22.9,9000.0,0.00,0.00
$GC,3741,-0.99,-107.1,2463,2309,3264,3198,945.3,-14.0,151,3746,0.00,2.58,0.00,0.000,516,0.000,0.067,2462,891,3229,3262,3197,0,0,0,0,0,0,15.02,14.42,15.04
$GC,3807,-0.99,-107.1,2461,891,3262,3194,953.5,-8.1,161,3815,0.00,2.60,0.00,0.000,1030,0.000,0.080,2451,2295,3231,3262,3200,0,0,0,0,0,0,14.42,14.33,14.52
$STATE,4015,end dive,NO_VERTICAL_VELOCITY
$STATE,4015,begin apogee
$GC,4022,-0.23,0.0,2451,2072,3262,3197,953.5,0.0,170,4154,0.95,0.10,129.43,3.094,10246,0.158,0.190,2729,2114,2780,2814,2746,0,0,0,0,0,0,14.29,13.45,11.98
$STATE,4155,end apogee,CONTROL_FINISHED_OK
$STATE,4155,begin climb
$GC,4158,0.99,107.1,2729,2115,2813,2746,954.0,0.0,172,4317,1.30,3.10,146.57,3.097,11012,0.115,0.121,3116,3515,2344,2384,2305,0,0,0,0,0,0,13.50,12.39,11.26
$GC,4546,1.19,265.6,3116,3515,2374,2295,953.0,0.1,231,4767,0.17,2.58,209.75,3.103,11302,0.064,0.048,3191,2090,1698,1773,1623,0,0,0,0,0,0,14.12,14.13,11.29
$PING,930.4,19.7,9000.0,-0.01,0.57
$GC,5143,1.19,265.6,3192,2090,1773,1610,891.6,13.8,274,5149,0.00,2.58,0.00,0.000,516,0.000,0.089,3192,711,1688,1766,1611,0,0,0,0,0,0,14.87,14.44,14.90
$GC,5269,1.19,265.6,3191,712,1763,1609,875.5,13.8,292,5276,0.00,2.50,0.00,0.000,1030,0.000,0.060,3192,2117,1685,1763,1608,0,0,0,0,0,0,14.68,14.62,14.73
$GC,5647,1.19,265.6,3191,2118,1763,1608,826.9,12.5,304,5654,0.00,2.60,0.00,0.000,260,0.000,0.105,3191,3515,1684,1762,1607,0,0,0,0,0,0,15.14,14.58,15.16
$GC,5689,1.19,265.6,3191,3516,1762,1608,821.0,16.1,310,5696,0.00,2.42,0.00,0.000,1030,0.000,0.047,3191,2114,1684,1762,1607,0,0,0,0,0,0,14.78,14.71,14.82
$GC,6039,1.19,265.6,3191,2114,1760,1608,776.2,12.7,318,6046,0.00,2.60,0.00,0.000,516,0.000,0.090,3191,697,1684,1761,1607,0,0,0,0,0,0,15.16,14.58,15.19
$GC,6074,1.19,265.6,3191,698,1759,1608,772.0,11.5,323,6081,0.00,2.47,0.00,0.000,1030,0.000,0.060,3192,2100,1683,1759,1607,0,0,0,0,0,0,14.75,14.67,14.80
$GC,6431,1.19,265.6,3191,2101,1758,1607,729.9,11.3,332,6437,0.00,2.62,0.00,0.000,260,0.000,0.103,3192,3514,1682,1759,1605,0,0,0,0,0,0,15.18,14.54,15.20
$GC,6473,1.19,265.6,3193,3514,1761,1607,724.1,14.1,338,6479,0.00,2.47,0.00,0.000,1030,0.000,0.047,3192,2087,1683,1760,1606,0,0,0,0,0,0,14.76,14.73,14.81
$GC,6823,1.19,265.6,3192,2088,1759,1608,678.1,13.2,346,6830,0.00,2.67,0.00,0.000,260,0.000,0.103,3192,3514,1682,1758,1607,0,0,0,0,0,0,15.18,14.52,15.21
$GC,6865,1.19,265.6,3191,3514,1758,1607,671.8,15.3,352,6871,0.00,2.47,0.00,0.000,1030,0.000,0.047,3192,2089,1682,1758,1606,0,0,0,0,0,0,14.76,14.69,14.81
$GC,7215,1.19,265.6,3193,2090,1760,1607,626.4,12.7,360,7222,0.00,2.65,0.00,0.000,260,0.000,0.100,3192,3506,1682,1758,1606,0,0,0,0,0,0,15.19,14.52,15.21
$GC,7244,1.19,265.6,3191,3506,1758,1607,622.8,13.0,364,7250,0.00,2.45,0.00,0.000,1030,0.000,0.047,3192,2092,1681,1758,1605,0,0,0,0,0,0,14.74,14.68,14.79
$GC,7607,1.19,265.6,3193,2092,1761,1607,579.5,11.8,374,7613,0.00,2.65,0.00,0.000,260,0.000,0.102,3191,3503,1682,1758,1606,0,0,0,0,0,0,15.18,14.50,15.21
$GC,7635,1.19,265.6,3191,3504,1760,1607,576.1,12.2,378,7643,0.00,2.45,0.00,0.000,1030,0.000,0.047,3192,2092,1682,1758,1606,0,0,0,0,0,0,14.73,14.66,14.76
$GC,8000,1.19,265.6,3191,2092,1757,1606,534.4,11.4,388,8006,0.00,2.62,0.00,0.000,260,0.000,0.102,3192,3517,1681,1757,1606,0,0,0,0,0,0,15.09,14.52,15.11
$GC,8034,1.19,265.6,3193,3518,1759,1607,530.1,12.3,393,8041,0.00,2.47,0.00,0.000,1030,0.000,0.047,3192,2088,1683,1760,1606,0,0,0,0,0,0,14.71,14.65,14.76
$GC,8391,1.19,265.6,3193,2089,1759,1607,488.9,11.5,402,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2088,1681,1757,1605,0,0,0,0,0,0,15.18,15.21,15.20
$GC,8727,1.19,265.6,3193,2089,1759,1606,451.1,11.3,408,8733,0.00,2.70,0.00,0.000,260,0.000,0.102,3191,3519,1680,1756,1605,0,0,0,0,0,0,15.18,14.45,15.20
$GC,8769,1.19,265.6,3192,3519,1758,1606,445.9,12.4,414,8776,0.00,2.47,0.00,0.000,1030,0.000,0.046,3192,2093,1681,1757,1605,0,0,0,0,0,0,14.69,14.64,14.74
$GC,9120,1.19,265.6,3191,2093,1755,1605,407.3,11.1,422,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2093,1680,1756,1605,0,0,0,0,0,0,15.08,15.11,15.10
$PING,395.2,62.7,9000.0,-0.08,1.00
$PING,383.1,50.1,9000.0,-0.07,0.91
$GC,9457,1.19,265.6,3191,2093,1756,1605,371.0,10.8,428,9462,0.00,2.67,0.00,0.000,260,0.000,0.104,3191,3520,1680,1756,1605,0,0,0,0,0,0,15.08,14.46,15.11
$GC,9483,1.19,265.6,3193,3521,1758,1605,367.9,11.4,432,9490,0.00,2.50,0.00,0.000,1030,0.000,0.046,3192,2092,1680,1756,1605,0,0,0,0,0,0,14.66,14.61,14.71
$PING,359.0,24.4,24.5,1.06,1.00
$PING,347.2,12.4,12.3,1.05,1.00
$STATE,9733,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9733,begin subsurface finish
$FINISH1,341.7,1.027485,1
$GC,9739,0.00,0.8,3193,2093,1757,1606,341.7,10.3,440,9749,1.38,2.67,-4.15,0.028,20740,0.194,0.122,2800,3516,2791,2826,2756,0,0,0,0,0,0,14.23,13.59,14.40
$FINISH2,340.9
$STATE,9749,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9749,begin surface
$RAFOS_CLK,367
$RAFOS,0,1540155692,21.032778,21.025555,105,61,58,54,52,50,360,189,202,174,150,127
$RAFOS_FIX,-7412.423828,-11213.535156,211018,212156,1,2,0.23
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.038199,0.133322
$HUMID,51.53
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,347.2,12.3
$24V_AH,11.26,195.213
$10V_AH,11.52,0.000
$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,5.050,96.225,485.750,0.000,0.000,0.000,0.000,0.000,22.250,0.000,0.000,0.000,8129.899,572.602,991.732,156.566,0.000,991.100,0.000,635.638,240.000,157.259,0.000
$DEVICE_MAMPS,298.350,189.720,3102.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9769.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,1.913,0.000,0.000,0.000
$MEM,280760
$DATA_FILE_SIZE,10119,441
$CAP_FILE_SIZE,77409,0
$CFSIZE,1024409600,954515456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,9735.55,0x214568,5,24
$SOUNDSPEED,1458.2
$GPS,211018,210256,-7412.424,-11213.535,0,2002.0,0,53.2,0.0,0.0,0,0.0