version: 66.13
glider: 223
mission: 5
dive: 657
start: 11 30 118 18 58 42
data:
$ID,223
$MISSION,5
$DIVE,657
$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,33
$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,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
$GPS1,301118,184100,-7403.8301,-11259.8945,27,0.8,27,53.6,0.4,308.3,10,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-64.6
$GPS2,301118,185811,-7403.6582,-11300.0400,2,0.9,3,53.6,0.2,6.3,9,7.1
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,73.8,17826,-20.3,-10.000,-22.71,1648
$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,-1.06,-107.1,208,2312,1157,1069,0.0,0.0,0,126,0.00,0.00,-108.60,0.002,16390,0.000,0.000,210,2311,2995,3000,2991,0,0,0,0,0,0,14.94,13.53,14.97
$GC,129,-1.06,-107.1,211,2311,3002,2992,2.8,-2.4,4,146,11.57,2.58,0.00,0.000,2308,0.418,0.097,2519,3718,2996,3002,2990,0,0,0,0,0,0,14.07,14.51,14.51
$PING,10.6,11.9,9000.0,0.00,0.00
$PING,21.8,23.1,9000.0,0.00,0.00
$GC,275,-1.06,-107.1,2518,3719,3007,2985,27.9,-15.0,25,281,0.00,2.45,0.00,0.000,1030,0.000,0.044,2519,2283,2997,3008,2986,0,0,0,0,0,0,14.76,14.69,14.78
$PING,34.9,37.8,37.6,1.07,1.00
$PING,46.6,49.3,49.6,1.05,1.00
$GC,632,-1.06,-107.1,2519,2283,3010,2984,78.6,-14.5,40,637,0.00,2.47,0.00,0.000,516,0.000,0.069,2519,903,2996,3010,2983,0,0,0,0,0,0,15.11,14.31,15.11
$GC,672,-1.06,-107.1,2519,904,3009,2984,84.5,-14.5,46,678,0.00,2.55,0.00,0.000,1030,0.000,0.066,2509,2299,2996,3010,2983,0,0,0,0,0,0,14.46,14.38,14.53
$GC,1022,-1.06,-107.1,2510,2300,3013,2984,139.3,-15.6,60,1028,0.00,2.70,0.00,0.000,260,0.000,0.107,2498,3711,2996,3010,2982,0,0,0,0,0,0,15.14,14.00,15.16
$GC,1057,-1.06,-107.1,2497,3710,3010,2983,145.0,-16.9,65,1064,0.10,2.47,0.00,0.000,3078,0.274,0.043,2522,2286,2996,3011,2982,0,0,0,0,0,0,13.98,14.53,14.17
$GC,1414,-1.06,-107.1,2523,2287,3012,2984,190.4,-12.0,80,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2285,2996,3012,2981,0,0,0,0,0,0,15.11,15.14,15.13
$GC,1779,-1.06,-107.1,2523,2286,3013,2983,238.4,-13.4,88,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2286,2999,3015,2983,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2115,-1.06,-107.1,2522,2286,3013,2982,287.3,-14.4,94,2120,0.00,2.50,0.00,0.000,516,0.000,0.067,2522,912,3000,3012,2988,0,0,0,0,0,0,14.92,14.30,14.95
$GC,2149,-1.06,-107.1,2523,913,3014,2981,292.1,-13.7,99,2155,0.00,2.55,0.00,0.000,1030,0.000,0.063,2513,2305,2997,3012,2982,0,0,0,0,0,0,14.38,14.31,14.45
$GC,2506,-1.06,-107.1,2514,2306,3012,2981,337.8,-12.6,108,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2305,2996,3012,2981,0,0,0,0,0,0,15.12,15.15,15.14
$GC,2842,-1.06,-107.1,2513,2306,3013,2982,376.8,-11.5,114,2848,0.00,2.58,0.00,0.000,516,0.000,0.067,2514,916,2996,3013,2980,0,0,0,0,0,0,15.13,13.97,15.15
$GC,2877,-1.06,-107.1,2513,917,3012,2981,381.0,-12.6,119,2883,0.00,2.55,0.00,0.000,1030,0.000,0.061,2507,2310,2997,3013,2981,0,0,0,0,0,0,14.35,14.27,14.42
$GC,3234,-1.06,-107.1,2503,2311,3013,2981,426.9,-13.0,128,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2310,2996,3013,2980,0,0,0,0,0,0,15.08,15.11,15.10
$GC,3570,-1.06,-107.1,2503,2310,3015,2981,470.3,-12.8,134,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2310,2996,3012,2980,0,0,0,0,0,0,15.07,15.09,15.09
$GC,3906,-1.06,-107.1,2502,2311,3013,2981,515.6,-13.6,140,3912,0.00,2.60,0.00,0.000,516,0.000,0.067,2503,908,2996,3013,2980,0,0,0,0,0,0,15.08,14.14,15.10
$GC,3941,-1.06,-107.1,2502,909,3013,2980,520.4,-13.9,145,3948,0.12,2.58,0.00,0.000,3078,0.266,0.063,2523,2304,2997,3015,2980,0,0,0,0,0,0,13.78,14.23,13.98
$PING,530.5,33.3,9000.0,-0.02,0.49
$PING,544.4,19.7,9000.0,-0.05,0.81
$PING,557.7,11.6,10.7,-0.80,0.98
$STATE,4298,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4298,begin apogee
$GC,4305,-0.23,0.0,2523,2063,3015,2979,562.5,-11.3,154,4427,0.95,0.10,118.90,2.935,10246,0.161,0.155,2799,2122,2559,2590,2528,0,0,0,0,0,0,14.09,13.63,12.38
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4428,begin climb
$GC,4431,1.06,107.1,2801,2123,2591,2528,562.4,0.0,156,4574,1.42,2.95,133.23,2.809,10756,0.170,0.075,3201,740,2121,2165,2077,0,0,0,0,0,0,13.64,12.74,11.41
$PING,552.0,11.8,9000.0,-0.63,0.83
$GC,4650,1.17,198.5,3201,741,2158,2070,557.0,4.3,190,4775,0.12,2.62,115.62,2.752,11302,0.081,0.050,3256,2093,1748,1802,1694,0,0,0,0,0,0,13.31,13.29,11.24
$PING,539.7,23.1,9000.0,-0.69,0.91
$GC,5141,1.17,198.5,3255,2094,1798,1682,509.0,10.9,218,5147,0.00,2.70,0.00,0.000,260,0.000,0.100,3256,3507,1738,1796,1681,0,0,0,0,0,0,14.76,14.26,14.78
$GC,5231,1.17,198.5,3255,3507,1795,1681,497.3,12.9,231,5238,0.00,2.40,0.00,0.000,1030,0.000,0.043,3264,2133,1738,1795,1681,0,0,0,0,0,0,14.59,14.54,14.63
$GC,5588,1.17,198.5,3265,2135,1795,1681,454.1,12.1,240,5595,0.00,2.62,0.00,0.000,516,0.000,0.084,3275,704,1736,1793,1680,0,0,0,0,0,0,15.08,14.47,15.10
$GC,5651,1.17,198.5,3275,706,1792,1679,446.5,12.0,249,5659,0.10,2.47,0.00,0.000,5126,0.241,0.057,3249,2105,1735,1792,1678,0,0,0,0,0,0,14.28,14.60,14.46
$GC,6037,1.17,198.5,3249,2105,1792,1678,402.1,11.6,262,6043,0.00,2.62,0.00,0.000,260,0.000,0.102,3249,3500,1734,1792,1677,0,0,0,0,0,0,15.09,14.42,15.14
$GC,6092,1.17,198.5,3248,3501,1792,1678,395.0,12.8,270,6099,0.00,2.45,0.00,0.000,1030,0.000,0.045,3256,2093,1734,1792,1677,0,0,0,0,0,0,14.66,14.59,14.70
$GC,6488,1.17,198.5,3255,2093,1792,1678,350.2,11.5,284,6493,0.00,2.55,0.00,0.000,516,0.000,0.086,3265,691,1734,1791,1677,0,0,0,0,0,0,15.02,14.47,15.04
$GC,6513,1.17,198.5,3264,691,1791,1677,347.1,11.0,288,6519,0.00,2.50,0.00,0.000,1030,0.000,0.060,3265,2097,1734,1791,1677,0,0,0,0,0,0,14.57,14.51,14.64
$GC,6877,1.17,198.5,3264,2097,1791,1677,304.6,12.0,298,6883,0.00,2.67,0.00,0.000,260,0.000,0.103,3265,3512,1734,1791,1677,0,0,0,0,0,0,15.12,14.36,15.14
$GC,6906,1.17,198.5,3266,3513,1793,1677,300.8,13.3,302,6911,0.00,2.45,0.00,0.000,1030,0.000,0.045,3275,2087,1734,1791,1677,0,0,0,0,0,0,14.74,14.63,14.79
$GC,7269,1.17,198.5,3274,2088,1790,1677,255.0,12.6,312,7275,0.00,2.70,0.00,0.000,260,0.000,0.099,3274,3506,1733,1791,1676,0,0,0,0,0,0,15.11,14.34,15.14
$GC,7298,1.17,198.5,3276,3507,1793,1677,251.3,13.1,316,7304,0.17,2.45,0.00,0.000,5126,0.284,0.045,3247,2084,1733,1791,1676,0,0,0,0,0,0,14.14,14.62,14.52
$GC,7665,1.17,198.5,3248,2084,1792,1677,212.2,10.6,326,7670,0.00,2.55,0.00,0.000,516,0.000,0.086,3255,694,1733,1790,1676,0,0,0,0,0,0,15.00,14.40,15.03
$GC,7718,1.17,198.5,3255,695,1788,1677,205.9,11.1,334,7724,0.00,2.53,0.00,0.000,1030,0.000,0.058,3255,2103,1732,1790,1675,0,0,0,0,0,0,14.52,14.44,14.58
$GC,8084,1.17,198.5,3256,2103,1792,1676,167.3,10.7,353,8090,0.00,2.65,0.00,0.000,260,0.000,0.101,3255,3515,1732,1789,1675,0,0,0,0,0,0,15.00,14.29,15.02
$GC,8151,1.17,198.5,3255,3516,1789,1675,159.0,12.0,363,8158,0.00,2.50,0.00,0.000,1030,0.000,0.046,3263,2094,1732,1790,1675,0,0,0,0,0,0,14.56,14.50,14.59
$GC,8502,1.17,198.5,3265,2094,1790,1683,119.7,11.1,377,8510,0.00,2.60,0.00,0.000,516,0.000,0.086,3274,702,1732,1789,1675,0,0,0,0,0,0,15.09,14.28,15.11
$GC,8543,1.17,198.5,3274,701,1789,1675,115.0,11.4,383,8550,0.10,2.50,0.00,0.000,5126,0.236,0.058,3248,2103,1730,1789,1671,0,0,0,0,0,0,14.02,14.42,14.19
$PING,85.1,88.4,9000.0,-0.15,0.99
$GC,8896,1.17,198.5,3246,2104,1789,1674,79.4,10.1,397,8902,0.00,2.65,0.00,0.000,260,0.000,0.100,3248,3513,1731,1789,1674,0,0,0,0,0,0,15.07,14.35,15.09
$PING,74.9,77.9,9000.0,-0.13,0.97
$GC,8942,1.17,198.5,3249,3514,1790,1675,74.1,11.0,404,8950,0.00,2.50,0.00,0.000,1030,0.000,0.045,3256,2094,1731,1789,1673,0,0,0,0,0,0,14.53,14.47,14.58
$PING,62.1,65.9,65.7,0.98,1.00
$PING,50.7,52.6,53.0,1.04,1.00
$PING,38.9,41.7,41.3,1.04,1.00
$GC,9289,1.17,198.5,3257,2093,1790,1675,38.9,10.5,417,9295,0.00,2.58,0.00,0.000,516,0.000,0.088,3261,689,1731,1788,1674,0,0,0,0,0,0,14.97,14.33,15.00
$GC,9315,1.17,198.5,3262,690,1790,1674,35.8,10.4,421,9322,0.00,2.55,0.00,0.000,1030,0.000,0.059,3262,2103,1731,1788,1674,0,0,0,0,0,0,14.47,14.40,14.53
$PING,27.0,28.0,28.4,1.04,1.00
$PING,15.2,15.5,15.3,1.11,1.00
$FREEZE,8.82,-1.389,-1.872,2,1,0
$FREEZE,5.92,-1.343,-1.869,2,1,0
$FREEZE,2.76,-1.329,-1.866,2,1,0
$FREEZE,-0.19,-1.354,-0.987,2,1,0
$STATE,9651,end climb,FINISH_DEPTH_REACHED
$STATE,9651,begin subsurface finish
$FINISH1,-0.2,1.014571,0
$GC,9658,0.00,0.0,3261,2104,1788,1673,-0.2,10.8,436,9728,1.23,2.62,-60.53,0.003,20740,0.112,0.112,2869,3506,2562,2604,2520,0,0,0,0,0,0,14.33,12.80,14.42
$FINISH2,-0.3
$STATE,9728,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9728,begin surface
$RAFOS_CLK,360
$RAFOS,2,1543612402,21.233334,21.222778,65,56,56,55,53,53,457,145,124,178,197,155
$RAFOS,1,1543612023,21.133333,21.117500,121,66,59,58,55,54,566,185,207,125,153,174
$RAFOS,0,1543611701,21.032778,21.028055,99,65,62,55,54,54,409,232,210,180,221,131
$RAFOS_FIX,-7404.158203,-11251.062500,301118,212144,3,95,0.56
$IRIDIUM_FIX,-7405.46,-11306.76,301118,152729
$TT8_MAMPS,0.038948,0.253162
$HUMID,50.23
$INTERNAL_PRESSURE,8.20929
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,15.2,15.3
$ALTIM_BOTTOM_PING,557.7,10.7
$24V_AH,11.24,220.966
$10V_AH,11.46,0.000
$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,15.900,95.425,367.750,0.000,0.000,0.000,0.000,652.350,22.500,0.000,4.899,0.000,8009.613,614.728,1609.828,528.883,0.000,1690.125,0.000,646.079,720.000,159.575,0.000
$DEVICE_MAMPS,417.690,154.530,2934.540,0.000,0.000,0.000,0.000,218.790,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9761.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.806,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,16771,447
$CAP_FILE_SIZE,88866,0
$CFSIZE,1024409600,944734208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.3
$CURRENT,0.329,83.80,1
$GPS,301118,211544,-7404.158,-11251.062,0,4095.0,0,53.6,0.0,0.0,0,0.0