version: 66.13
glider: 223
mission: 5
dive: 619
start: 11 25 118 0 47 3
data:
$ID,223
$MISSION,5
$DIVE,619
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,720
$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,240
$T_MISSION,2000
$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,3
$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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,251118,003600,-7404.0894,-11226.2500,21,0.7,21,53.2,0.2,35.0,11,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-64.6
$GPS2,251118,004630,-7404.1128,-11226.8398,2,0.7,4,53.3,1.1,264.2,10,3.5
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,24.1,959,-43.7,-10.000,-45.00,362
$D_GRID,720
$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,13,-2.01,-23.5,211,2315,1382,1283,0.0,0.0,0,103,0.00,0.00,-88.93,0.002,16390,0.000,0.000,211,2314,2878,2880,2877,0,0,0,0,0,0,14.92,12.79,14.93
$GC,106,-2.01,-23.5,211,2315,2880,2875,1.6,-1.3,3,122,9.48,2.60,0.00,0.000,2308,0.408,0.093,2139,3718,2879,2881,2877,0,0,0,0,0,0,14.04,14.48,14.33
$PING,10.5,12.2,9000.0,0.00,0.00
$PING,21.1,22.8,9000.0,0.00,0.00
$GC,218,-2.01,-23.5,2138,3717,2880,2876,28.3,-25.5,20,225,0.00,2.47,0.00,0.000,1030,0.000,0.041,2139,2301,2878,2882,2875,0,0,0,0,0,0,14.60,14.55,14.64
$PING,31.6,34.4,34.2,1.05,1.00
$GC,576,-2.01,-23.5,2139,2301,2885,2873,117.9,-26.1,35,582,0.00,2.53,0.00,0.000,516,0.000,0.065,2139,894,2878,2885,2872,0,0,0,0,0,0,14.93,14.35,14.95
$GC,673,-2.01,-23.5,2139,894,2885,2871,143.3,-25.2,49,681,0.00,2.60,0.00,0.000,1030,0.000,0.067,2129,2304,2878,2885,2872,0,0,0,0,0,0,14.42,14.33,14.49
$GC,1027,-2.01,-23.5,2128,2305,2889,2872,231.1,-24.8,61,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2304,2878,2886,2871,0,0,0,0,0,0,14.94,14.97,14.97
$GC,1360,-2.01,-23.5,2130,2309,2888,2872,310.9,-23.5,67,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2304,2878,2886,2871,0,0,0,0,0,0,14.93,14.96,14.96
$GC,1696,-2.01,-23.5,2128,2305,2886,2871,388.4,-23.0,73,1703,0.00,2.58,0.00,0.000,516,0.000,0.062,2129,895,2879,2887,2871,0,0,0,0,0,0,14.92,14.25,14.95
$GC,1772,-2.01,-23.5,2128,895,2885,2871,406.3,-23.0,84,1779,0.12,2.60,0.00,0.000,3078,0.340,0.064,2143,2309,2878,2887,2870,0,0,0,0,0,0,13.67,14.26,13.87
$GC,2144,-2.01,-23.5,2142,2310,2887,2871,487.2,-21.7,95,2150,0.00,2.58,0.00,0.000,516,0.000,0.064,2143,893,2878,2887,2870,0,0,0,0,0,0,14.92,14.27,14.94
$GC,2199,-2.01,-23.5,2144,894,2889,2871,499.1,-21.3,103,2206,0.00,2.60,0.00,0.000,1030,0.000,0.065,2134,2303,2878,2887,2870,0,0,0,0,0,0,14.33,14.23,14.40
$GC,2595,-2.01,-23.5,2136,2304,2889,2871,582.2,-21.1,117,2601,0.00,2.55,0.00,0.000,516,0.000,0.063,2135,897,2879,2887,2872,0,0,0,0,0,0,14.91,14.27,14.93
$GC,2683,-2.01,-23.5,2136,903,2889,2871,601.6,-21.3,130,2691,0.00,2.60,0.00,0.000,1030,0.000,0.066,2124,2306,2878,2886,2870,0,0,0,0,0,0,14.31,14.22,14.38
$GC,3044,-2.01,-23.5,2124,2307,2888,2871,675.2,-20.5,139,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2306,2879,2888,2870,0,0,0,0,0,0,14.91,14.93,14.92
$STATE,3319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3319,begin apogee
$GC,3325,-0.23,0.0,2126,2053,2890,2871,729.4,-19.2,144,3357,2.62,0.12,27.02,2.951,10246,0.323,0.147,2724,2133,2782,2803,2762,0,0,0,0,0,0,13.93,14.35,13.00
$STATE,3358,end apogee,CONTROL_FINISHED_OK
$STATE,3358,begin climb
$GC,3361,2.01,23.5,2725,2134,2806,2763,729.4,0.0,144,3398,2.35,0.00,28.92,2.960,10502,0.146,0.000,3443,2133,2684,2707,2662,0,0,0,0,0,0,14.35,13.82,12.71
$GC,3750,2.07,72.2,3442,2131,2706,2658,738.3,-3.8,158,3812,0.00,2.67,57.75,3.042,8996,0.000,0.094,3443,3501,2486,2511,2462,0,0,0,0,0,0,15.02,14.12,12.65
$GC,4041,2.07,72.2,3444,3501,2503,2458,716.3,12.0,200,4048,0.00,2.40,0.00,0.000,1030,0.000,0.041,3453,2120,2480,2502,2458,0,0,0,0,0,0,14.66,14.62,14.70
$GC,4414,2.07,72.2,3451,2120,2500,2455,677.1,10.5,211,4419,0.00,2.55,0.00,0.000,260,0.000,0.099,3453,3494,2477,2500,2454,0,0,0,0,0,0,15.01,14.52,15.03
$GC,4511,2.07,72.2,3454,3495,2501,2455,666.0,11.5,225,4518,0.00,2.42,0.00,0.000,1030,0.000,0.042,3463,2101,2476,2499,2454,0,0,0,0,0,0,14.68,14.63,14.72
$GC,4862,2.07,72.2,3464,2102,2499,2455,629.4,10.4,233,4868,0.00,2.60,0.00,0.000,260,0.000,0.095,3463,3501,2475,2498,2453,0,0,0,0,0,0,15.02,14.49,15.04
$GC,4930,2.07,72.2,3464,3501,2500,2455,621.3,11.8,243,4937,0.00,2.45,0.00,0.000,1030,0.000,0.043,3474,2090,2476,2498,2454,0,0,0,0,0,0,14.66,14.60,14.69
$GC,5310,2.07,72.2,3473,2091,2501,2454,580.5,10.6,255,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2090,2475,2498,2453,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5646,2.07,72.2,3473,2090,2498,2454,546.3,10.0,261,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2090,2475,2498,2453,0,0,0,0,0,0,15.01,15.04,15.04
$GC,5982,2.09,72.2,3475,2091,2500,2454,514.6,9.2,267,5982,0.00,0.00,0.00,0.000,70,0.000,0.000,3474,2090,2475,2498,2453,0,0,0,0,0,0,15.00,15.03,15.02
$GC,6317,2.11,72.2,3475,2091,2500,2453,485.0,8.7,273,6317,0.00,0.00,0.00,0.000,70,0.000,0.000,3474,2090,2475,2498,2453,0,0,0,0,0,0,15.11,15.14,15.14
$GC,6653,2.15,72.2,3473,2091,2497,2453,457.3,8.1,279,6659,0.00,2.58,0.00,0.000,580,0.000,0.078,3484,701,2475,2498,2452,0,0,0,0,0,0,15.11,14.33,15.14
$GC,6702,2.16,79.5,3484,702,2497,2453,453.5,7.9,286,6715,0.00,2.47,7.32,2.439,9254,0.000,0.054,3484,2095,2455,2478,2433,0,0,0,0,0,0,14.52,14.46,13.31
$GC,7103,2.19,79.5,3484,2095,2477,2433,419.4,8.6,301,7109,0.00,2.53,0.00,0.000,580,0.000,0.076,3494,701,2455,2477,2433,0,0,0,0,0,0,15.08,14.50,15.11
$GC,7143,2.22,79.5,3493,701,2476,2433,415.8,8.7,307,7149,0.00,2.50,0.00,0.000,1094,0.000,0.054,3494,2102,2454,2477,2432,0,0,0,0,0,0,14.58,14.52,14.64
$GC,7493,2.22,86.7,3495,2102,2476,2433,387.4,8.0,315,7503,0.00,0.00,9.27,2.533,8230,0.000,0.000,3494,2102,2429,2451,2408,0,0,0,0,0,0,15.11,14.59,13.31
$GC,7829,2.24,86.7,3495,2102,2451,2406,357.1,9.3,321,7830,0.00,0.00,0.00,0.000,70,0.000,0.000,3494,2102,2427,2449,2405,0,0,0,0,0,0,15.09,15.12,15.11
$GC,8165,2.24,86.7,3495,2102,2450,2406,323.4,10.1,327,8171,0.00,2.62,0.00,0.000,260,0.000,0.094,3494,3502,2426,2448,2405,0,0,0,0,0,0,15.08,14.42,15.11
$GC,8277,2.24,86.7,3494,3503,2447,2406,311.7,10.3,343,8283,0.00,2.47,0.00,0.000,1030,0.000,0.040,3504,2081,2426,2447,2405,0,0,0,0,0,0,14.62,14.58,14.65
$GC,8671,2.26,86.7,3506,2082,2450,2406,276.4,8.9,357,8672,0.00,0.00,0.00,0.000,70,0.000,0.000,3505,2081,2426,2448,2405,0,0,0,0,0,0,15.07,15.09,15.09
$GC,9005,2.30,86.7,3504,2082,2447,2405,247.9,8.2,363,9011,0.00,2.53,0.00,0.000,580,0.000,0.076,3515,708,2426,2447,2405,0,0,0,0,0,0,15.09,14.32,15.11
$GC,9147,2.31,96.5,3517,709,2449,2405,236.9,7.2,383,9166,0.00,2.45,12.85,2.528,9254,0.000,0.052,3516,2106,2385,2407,2364,0,0,0,0,0,0,14.66,14.54,13.33
$GC,9511,2.33,96.5,3517,2107,2407,2363,204.5,9.2,393,9517,0.00,2.60,0.00,0.000,324,0.000,0.095,3515,3505,2383,2405,2362,0,0,0,0,0,0,15.06,14.48,15.09
$GC,9642,2.33,96.5,3515,3506,2404,2363,191.7,9.9,412,9650,0.00,2.45,0.00,0.000,1030,0.000,0.040,3526,2086,2383,2405,2362,0,0,0,0,0,0,14.64,14.58,14.67
$GC,9985,2.35,96.5,3528,2091,2406,2362,160.1,8.9,425,9992,0.00,2.67,0.00,0.000,324,0.000,0.093,3526,3511,2382,2404,2361,0,0,0,0,0,0,15.11,14.36,15.14
$GC,10055,2.37,96.5,3528,3511,2406,2363,153.6,9.2,435,10061,0.00,2.45,0.00,0.000,1094,0.000,0.041,3537,2104,2383,2404,2362,0,0,0,0,0,0,14.60,14.56,14.64
$GC,10407,2.39,96.5,3538,2105,2406,2362,121.8,8.8,449,10413,0.00,2.55,0.00,0.000,580,0.000,0.077,3548,697,2382,2404,2361,0,0,0,0,0,0,15.09,14.40,15.11
$GC,10482,2.41,96.5,3547,698,2403,2361,114.9,9.1,460,10489,0.00,2.53,0.00,0.000,1094,0.000,0.057,3548,2098,2382,2404,2361,0,0,0,0,0,0,14.50,14.43,14.55
$PING,104.1,108.4,108.5,1.03,1.00
$PING,93.8,98.7,98.3,1.03,1.00
$PING,83.2,86.8,87.1,1.04,1.00
$GC,10827,2.43,96.5,3547,2099,2403,2362,83.9,8.9,473,10837,0.00,2.60,0.00,0.000,324,0.000,0.094,3548,3501,2382,2404,2361,0,0,0,0,0,0,15.09,14.26,15.11
$GC,10906,2.44,96.5,3549,3506,2405,2362,76.3,9.4,484,10913,0.00,2.45,0.00,0.000,1094,0.000,0.041,3559,2094,2381,2403,2360,0,0,0,0,0,0,14.55,14.50,14.59
$PING,73.1,76.5,76.3,1.07,1.00
$PING,61.0,63.3,63.4,1.06,1.00
$PING,50.9,53.4,53.2,1.04,1.00
$GC,11252,2.46,96.5,3558,2095,2403,2361,45.7,9.3,497,11257,0.00,2.53,0.00,0.000,580,0.000,0.078,3570,706,2382,2403,2361,0,0,0,0,0,0,15.08,14.35,15.11
$PING,40.5,41.5,41.8,1.06,1.00
$PING,30.2,30.5,30.4,1.11,1.00
$PING,20.1,20.1,20.0,1.05,1.00
$GC,11487,2.46,96.5,3569,706,2402,2361,20.6,9.5,531,11495,0.00,2.53,0.00,0.000,1030,0.000,0.056,3570,2109,2381,2402,2361,0,0,0,0,0,0,14.46,14.38,14.51
$PING,9.4,9.4,9.3,1.02,1.00
$FREEZE,9.43,-1.704,-1.875,2,1,0
$FREEZE,6.87,-1.704,-1.873,2,1,0
$FREEZE,4.38,-1.703,-1.871,2,1,0
$FREEZE,1.94,-1.699,-1.869,2,1,0
$STATE,11694,end climb,SURFACE_DEPTH_REACHED
$STATE,11694,begin surface coast
$FREEZE,-0.17,-1.700,-1.867,2,1,0
$FINISH,-0.2,1.027395
$STATE,11722,end surface coast,CONTROL_FINISHED_OK
$STATE,11722,begin surface
$SM_CCo,11744,176.70,0.229,0,0,1354,350.04
$SM_GC,0.70,10.02,0.35,176.70,0.074,0.102,0.229,213,2299,1354,-8.01,-0.74,350.04,0,0,0,0,0,0,14.47,14.48,14.34
$RAFOS_CLK,446
$RAFOS,2,1543115603,3.233333,3.223056,149,59,59,58,54,54,401,188,118,151,217,201
$RAFOS,1,1543115267,3.133333,3.129722,170,56,55,54,53,51,337,169,130,142,199,223
$RAFOS,0,1543114873,3.032778,3.020278,142,65,62,58,55,52,516,203,219,165,174,190
$RAFOS_FIX,-7406.296875,-11222.351562,251118,030344,2,156,0.55
$IRIDIUM_FIX,-7405.97,-11242.02,241118,210703
$TT8_MAMPS,0.040446,0.152796
$HUMID,47.55
$INTERNAL_PRESSURE,8.0921
$TCM_TEMP,11.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.4,9.3
$24V_AH,12.65,209.008
$10V_AH,12.60,0.000
$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,24.600,87.150,143.150,176.700,0.000,0.000,0.000,335.700,30.750,0.000,8.536,0.000,10046.060,546.098,1531.675,441.405,0.000,1333.985,0.000,778.700,720.000,224.283,0.000
$DEVICE_MAMPS,407.745,146.880,3041.640,228.735,0.000,0.000,0.000,196.605,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11744.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.194,0.000,0.000,0.000
$MEM,281272
$DATA_FILE_SIZE,13403,541
$CAP_FILE_SIZE,101589,0
$CFSIZE,1024409600,948584448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.5
$GPS,251118,040655,-7404.076,-11225.788,35,0.7,35,53.2,0.2,305.8,12,3.2