version: 66.13
glider: 223
mission: 5
dive: 640
start: 11 28 118 15 10 50
data:
$ID,223
$MISSION,5
$DIVE,640
$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,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,2
$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,2870
$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,39
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,900
$VBD_MAX,3960
$C_VBD,2560
$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
$GPS1,281118,145230,-7409.4697,-11250.4473,16,0.9,16,53.6,0.2,223.1,10,4.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-61.2
$GPS2,281118,151009,-7409.4624,-11250.9551,2,0.8,3,53.6,0.3,224.5,11,8.5
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,WMM0
$TGT_LATLONG,-7408.900,-11254.810
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,262.1,2211,-43.7,-10.000,-45.00,362
$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,-2.01,-23.5,209,2284,1154,1067,0.0,0.0,0,101,0.00,0.00,-87.88,0.002,16390,0.000,0.000,209,2284,2656,2660,2653,0,0,0,0,0,0,14.95,12.79,14.97
$GC,105,-2.01,-23.5,209,2284,2660,2653,1.5,-1.0,3,120,10.15,2.47,0.00,0.000,2564,0.423,0.061,2217,900,2657,2662,2653,0,0,0,0,0,0,13.98,14.45,14.27
$PING,10.3,11.2,9000.0,0.00,0.00
$PING,31.4,34.2,9000.0,0.00,0.00
$GC,350,-2.01,-23.5,2217,901,2664,2652,34.8,-15.6,39,356,0.00,2.58,0.00,0.000,1030,0.000,0.066,2209,2301,2657,2664,2651,0,0,0,0,0,0,14.49,14.42,14.55
$PING,42.8,45.2,45.6,1.05,1.00
$GC,717,-2.01,-23.5,2209,2301,2666,2648,86.7,-13.7,55,722,0.00,2.53,0.00,0.000,516,0.000,0.064,2209,900,2657,2667,2647,0,0,0,0,0,0,15.09,14.40,15.11
$GC,952,-2.01,-23.5,2208,901,2666,2647,120.9,-14.1,89,959,0.00,2.58,0.00,0.000,1030,0.000,0.063,2198,2302,2656,2667,2646,0,0,0,0,0,0,14.38,14.34,14.42
$GC,1302,-2.01,-23.5,2200,2304,2669,2647,170.3,-13.7,103,1308,0.00,2.58,0.00,0.000,516,0.000,0.063,2199,901,2656,2667,2646,0,0,0,0,0,0,15.14,14.03,15.16
$GC,1540,-2.01,-23.5,2198,901,2667,2646,203.0,-13.6,137,1547,0.15,2.58,0.00,0.000,3078,0.353,0.060,2218,2307,2657,2668,2646,0,0,0,0,0,0,13.63,14.32,13.90
$GC,1921,-2.01,-23.5,2218,2308,2671,2647,251.8,-12.6,149,1927,0.00,2.55,0.00,0.000,516,0.000,0.065,2218,902,2657,2669,2645,0,0,0,0,0,0,14.94,14.31,14.97
$GC,2059,-2.01,-23.5,2217,902,2669,2645,269.8,-12.8,169,2066,0.00,2.60,0.00,0.000,1030,0.000,0.064,2209,2310,2657,2669,2645,0,0,0,0,0,0,14.37,14.28,14.45
$GC,2424,-2.01,-23.5,2209,2311,2674,2645,315.9,-12.4,179,2429,0.00,2.67,0.00,0.000,260,0.000,0.099,2199,3722,2656,2669,2644,0,0,0,0,0,0,14.94,14.23,14.96
$GC,2542,-2.01,-23.5,2198,3722,2669,2644,332.2,-13.3,196,2548,0.00,2.50,0.00,0.000,1030,0.000,0.040,2198,2298,2657,2670,2644,0,0,0,0,0,0,14.16,14.13,14.17
$GC,2930,-2.01,-23.5,2198,2299,2669,2644,377.1,-11.6,209,2937,0.00,2.53,0.00,0.000,516,0.000,0.063,2199,896,2656,2670,2643,0,0,0,0,0,0,14.90,14.29,14.94
$GC,3166,-2.01,-23.5,2199,897,2670,2644,404.4,-11.7,243,3173,0.12,2.60,0.00,0.000,3078,0.355,0.060,2212,2309,2654,2670,2638,0,0,0,0,0,0,13.59,14.24,13.85
$GC,3548,-2.01,-23.5,2212,2310,2670,2644,445.3,-10.7,255,3553,0.00,2.55,0.00,0.000,516,0.000,0.063,2212,905,2656,2670,2643,0,0,0,0,0,0,14.91,14.26,14.93
$GC,3722,-2.01,-23.5,2213,904,2672,2644,463.5,-10.1,280,3727,0.00,2.53,0.00,0.000,1030,0.000,0.062,2204,2306,2656,2670,2643,0,0,0,0,0,0,14.38,14.24,14.43
$GC,4105,-2.01,-23.5,2205,2307,2672,2646,502.0,-10.2,293,4112,0.00,2.55,0.00,0.000,516,0.000,0.062,2204,899,2656,2670,2643,0,0,0,0,0,0,14.90,14.26,14.92
$GC,4244,-2.01,-23.5,2205,900,2672,2644,515.7,-9.4,313,4251,0.00,2.60,0.00,0.000,1030,0.000,0.061,2193,2311,2656,2670,2642,0,0,0,0,0,0,14.31,14.23,14.38
$GC,4609,-2.01,-23.5,2192,2311,2670,2643,547.8,-8.7,323,4615,0.00,2.60,0.00,0.000,516,0.000,0.062,2193,896,2657,2671,2643,0,0,0,0,0,0,15.05,14.16,15.09
$PING,548.8,41.5,9000.0,0.00,0.04
$PING,559.4,32.5,9000.0,-0.02,0.54
$GC,4846,-2.01,-23.5,2194,897,2673,2643,567.0,-9.4,357,4854,0.17,2.60,0.00,0.000,3078,0.350,0.060,2218,2307,2656,2671,2642,0,0,0,0,0,0,13.52,14.23,13.82
$PING,569.4,27.8,9000.0,-0.67,0.97
$PING,580.8,16.8,9000.0,-0.74,0.96
$PING,591.4,17.2,9000.0,-0.49,0.74
$PING,602.6,11.3,9000.0,-0.26,0.72
$GC,5227,-2.01,-23.5,2217,2308,2671,2643,602.6,-9.8,369,5233,0.00,2.58,0.00,0.000,516,0.000,0.061,2218,899,2656,2671,2642,0,0,0,0,0,0,14.90,14.25,14.91
$GC,5281,-2.01,-23.5,2217,900,2671,2643,607.8,-8.8,377,5289,0.00,2.58,0.00,0.000,1030,0.000,0.060,2209,2302,2656,2671,2642,0,0,0,0,0,0,14.30,14.22,14.33
$PING,614.6,6.2,9000.0,-0.47,1.00
$GC,5674,-2.06,-58.3,2211,2302,2677,2641,617.9,-0.1,391,5679,0.00,2.67,0.00,0.000,292,0.000,0.100,2198,3715,2657,2675,2640,0,0,0,0,0,0,15.07,14.14,15.09
$STATE,5796,end dive,NO_VERTICAL_VELOCITY
$STATE,5796,begin apogee
$GC,5806,-0.23,0.0,2200,2077,2676,2641,618.0,0.0,409,5838,2.40,0.05,28.58,2.938,10246,0.274,0.229,2790,2104,2559,2586,2533,0,0,0,0,0,0,13.97,14.27,13.04
$STATE,5839,end apogee,CONTROL_FINISHED_OK
$STATE,5839,begin climb
$GC,5842,2.06,58.3,2792,2105,2588,2534,618.0,0.0,409,5924,2.40,2.67,70.95,2.964,10756,0.143,0.077,3539,717,2320,2342,2298,0,0,0,0,0,0,14.33,13.84,12.43
$PING,606.8,13.0,9000.0,-0.48,0.68
$PING,596.1,18.9,9000.0,-0.68,0.98
$PING,584.8,30.7,29.8,-0.81,0.97
$GC,6156,2.06,58.3,3539,717,2335,2290,567.9,19.5,457,6162,0.00,2.50,0.00,0.000,1030,0.000,0.057,3539,2110,2312,2335,2289,0,0,0,0,0,0,14.57,14.51,14.62
$GC,6550,2.06,58.3,3538,2112,2334,2286,500.0,16.5,471,6559,0.00,2.53,0.00,0.000,516,0.000,0.077,3549,703,2310,2335,2285,0,0,0,0,0,0,15.09,14.52,15.11
$GC,6693,2.06,58.3,3551,704,2335,2286,475.5,17.1,491,6698,0.00,2.45,0.00,0.000,1030,0.000,0.056,3549,2110,2309,2333,2285,0,0,0,0,0,0,14.77,14.64,14.83
$GC,7054,2.06,58.3,3550,2111,2334,2285,415.4,16.4,501,7062,0.00,2.60,0.00,0.000,260,0.000,0.096,3549,3507,2308,2332,2284,0,0,0,0,0,0,15.11,14.45,15.15
$GC,7159,2.06,58.3,3549,3504,2331,2284,397.3,17.3,516,7167,0.00,2.40,0.00,0.000,1030,0.000,0.041,3558,2107,2307,2331,2284,0,0,0,0,0,0,14.66,14.62,14.70
$GC,7502,2.06,58.3,3560,2108,2333,2284,341.8,16.0,523,7509,0.00,2.62,0.00,0.000,260,0.000,0.093,3559,3512,2307,2331,2283,0,0,0,0,0,0,15.12,14.40,15.15
$GC,7517,2.06,58.3,3560,3513,2333,2284,339.5,15.9,525,7523,0.20,2.42,0.00,0.000,5126,0.379,0.043,3533,2082,2306,2330,2283,0,0,0,0,0,0,13.94,14.66,14.47
$GC,7897,2.06,58.3,3533,2082,2330,2283,283.9,14.6,537,7902,0.00,2.50,0.00,0.000,516,0.000,0.079,3542,698,2305,2330,2281,0,0,0,0,0,0,15.09,14.45,15.12
$GC,7915,2.06,58.3,3542,700,2332,2283,280.9,14.6,540,7922,0.00,2.50,0.00,0.000,1030,0.000,0.057,3541,2100,2306,2330,2282,0,0,0,0,0,0,14.55,14.48,14.61
$GC,8287,2.06,58.3,3542,2100,2330,2282,229.2,14.0,551,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,3540,2100,2305,2330,2281,0,0,0,0,0,0,15.11,15.14,15.14
$GC,8624,2.06,58.3,3541,2101,2333,2282,184.3,13.0,559,8629,0.00,2.60,0.00,0.000,260,0.000,0.096,3540,3509,2305,2330,2281,0,0,0,0,0,0,15.00,14.40,15.02
$GC,8700,2.06,58.3,3540,3510,2332,2284,173.3,14.1,570,8708,0.00,2.42,0.00,0.000,1030,0.000,0.041,3548,2098,2305,2330,2281,0,0,0,0,0,0,14.71,14.62,14.76
$PING,139.2,146.3,9000.0,-0.27,1.00
$PING,128.5,133.2,9000.0,-0.24,0.98
$GC,9046,2.06,58.3,3550,2094,2332,2282,128.5,12.9,583,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,3549,2093,2305,2330,2280,0,0,0,0,0,0,14.99,15.02,15.02
$PING,96.7,100.5,100.3,1.07,1.00
$PING,86.3,90.0,89.9,1.03,1.00
$GC,9379,2.06,58.3,3548,2093,2329,2281,86.3,12.4,595,9385,0.00,2.67,0.00,0.000,260,0.000,0.093,3547,3509,2305,2330,2280,0,0,0,0,0,0,14.98,14.38,15.00
$GC,9434,2.06,58.3,3546,3510,2329,2281,78.9,13.3,603,9441,0.00,2.47,0.00,0.000,1030,0.000,0.041,3556,2094,2304,2329,2280,0,0,0,0,0,0,14.56,14.51,14.61
$PING,76.3,79.8,79.8,1.02,1.00
$PING,64.9,68.2,68.2,1.02,1.00
$PING,54.2,56.5,56.6,1.05,1.00
$PING,43.4,44.8,44.9,1.09,1.00
$PING,32.9,34.0,33.9,1.06,1.00
$GC,9799,2.06,58.3,3557,2095,2331,2281,32.9,12.6,619,9805,0.00,2.55,0.00,0.000,516,0.000,0.079,3566,701,2304,2329,2280,0,0,0,0,0,0,14.97,14.38,15.00
$GC,9833,2.06,58.3,3566,702,2329,2280,28.5,12.9,624,9840,0.15,2.53,0.00,0.000,5126,0.356,0.057,3534,2102,2304,2329,2280,0,0,0,0,0,0,13.78,14.41,14.08
$PING,22.7,23.0,23.1,1.05,1.00
$PING,11.7,11.6,11.5,1.06,1.00
$FREEZE,8.54,-1.420,-1.868,2,1,0
$FREEZE,5.89,-1.416,-1.866,2,1,0
$FREEZE,2.72,-1.417,-1.864,2,1,0
$FREEZE,-0.05,-1.412,-1.862,2,1,0
$STATE,10079,end climb,SURFACE_DEPTH_REACHED
$STATE,10079,begin surface coast
$FREEZE,-0.11,-1.432,-1.464,2,1,0
$FINISH,-0.1,1.021594
$STATE,10104,end surface coast,FINISH_DEPTH_REACHED
$STATE,10104,begin surface
$SM_CCo,10125,199.95,0.227,0,0,1130,350.04
$SM_GC,0.83,9.93,0.38,199.95,0.076,0.086,0.227,212,2309,1130,-8.24,-0.54,350.04,0,0,0,0,0,0,14.56,14.57,14.34
$RAFOS_CLK,381
$RAFOS,2,1543417988,15.233334,15.218889,90,61,60,54,51,51,549,211,163,220,188,129
$RAFOS_FIX,-7407.723633,-11243.103516,281118,151512,1,2,17.06
$IRIDIUM_FIX,-7414.68,-11229.27,281118,101651
$TT8_MAMPS,0.038948,0.520555
$HUMID,46.53
$INTERNAL_PRESSURE,8.08233
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,11.7,11.5
$24V_AH,12.43,216.264
$10V_AH,12.54,0.000
$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,25.675,97.750,99.525,199.950,0.000,0.000,0.000,687.675,25.500,0.000,4.613,0.000,8342.814,530.549,1983.783,544.430,0.000,1722.001,0.000,912.585,240.000,181.947,0.000
$DEVICE_MAMPS,423.045,228.735,2963.610,227.205,0.000,0.000,0.000,218.025,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10140.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.925,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,20047,636
$CAP_FILE_SIZE,102324,0
$CFSIZE,1024409600,946323456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$CURRENT,0.093,274.71,1
$GPS,281118,180400,-7409.197,-11254.445,28,1.1,28,53.7,0.6,255.3,7,5.3