version: 66.13
glider: 223
mission: 5
dive: 729
start: 12 13 118 17 41 8
data:
$ID,223
$MISSION,5
$DIVE,729
$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,5
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,131218,173330,-7408.8726,-11305.7783,20,0.8,20,53.8,0.4,41.7,10,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-65.4
$GPS2,131218,174035,-7408.8354,-11305.8145,2,0.8,3,53.8,0.0,0.0,10,7.3
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,218.3,3332,-34.2,-10.000,-35.93,578
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-1.60,-37.5,209,2323,1153,1075,0.0,0.0,0,105,0.00,0.00,-89.55,0.002,16390,0.000,0.000,210,2323,2713,2716,2710,0,0,0,0,0,0,14.99,12.93,15.00
$GC,109,-1.60,-37.5,209,2323,2716,2711,1.4,-1.0,3,125,10.43,2.60,0.00,0.000,2564,0.413,0.066,2346,884,2714,2718,2710,0,0,0,0,0,0,14.15,14.60,14.63
$PING,10.3,11.9,9000.0,0.00,0.00
$GC,221,-1.60,-37.5,2347,884,2721,2710,15.6,-15.4,20,228,0.00,2.58,0.00,0.000,1030,0.000,0.062,2337,2303,2714,2719,2709,0,0,0,0,0,0,14.57,14.49,14.62
$PING,23.1,24.4,9000.0,0.00,0.00
$GC,581,-1.60,-37.5,2338,2304,2725,2705,69.8,-15.0,35,586,0.00,2.55,0.00,0.000,516,0.000,0.066,2337,888,2713,2723,2703,0,0,0,0,0,0,15.16,14.34,15.19
$GC,656,-1.60,-37.5,2337,889,2723,2705,82.1,-16.0,46,663,0.00,2.55,0.00,0.000,1030,0.000,0.060,2326,2312,2713,2723,2703,0,0,0,0,0,0,14.56,14.41,14.61
$GC,999,-1.60,-37.5,2325,2313,2724,2703,132.4,-13.9,59,1005,0.00,2.58,0.00,0.000,516,0.000,0.064,2326,886,2713,2724,2702,0,0,0,0,0,0,14.90,14.26,14.92
$GC,1236,-1.60,-37.5,2327,887,2727,2703,167.1,-14.5,93,1243,0.15,2.58,0.00,0.000,3078,0.329,0.057,2347,2301,2713,2725,2701,0,0,0,0,0,0,13.69,14.27,13.95
$GC,1616,-1.60,-37.5,2347,2302,2725,2701,213.5,-11.8,106,1621,0.00,2.58,0.00,0.000,516,0.000,0.064,2347,885,2713,2726,2700,0,0,0,0,0,0,14.85,14.19,14.87
$GC,1720,-1.60,-37.5,2348,886,2728,2700,226.8,-13.2,121,1728,0.00,2.60,0.00,0.000,1030,0.000,0.060,2338,2301,2713,2726,2700,0,0,0,0,0,0,14.45,14.19,14.50
$GC,2063,-1.60,-37.5,2340,2302,2728,2701,270.3,-12.6,128,2069,0.00,2.60,0.00,0.000,516,0.000,0.064,2338,896,2713,2726,2700,0,0,0,0,0,0,15.14,14.06,15.16
$GC,2273,-1.60,-37.5,2340,897,2728,2700,295.6,-11.1,158,2279,0.00,2.58,0.00,0.000,1030,0.000,0.058,2328,2306,2713,2726,2700,0,0,0,0,0,0,14.28,14.20,14.33
$GC,2624,-1.60,-37.5,2327,2307,2727,2700,335.7,-11.7,166,2629,0.00,2.67,0.00,0.000,260,0.000,0.098,2317,3719,2712,2726,2699,0,0,0,0,0,0,14.85,14.08,14.88
$GC,2728,-1.60,-37.5,2318,3720,2729,2700,348.3,-11.9,181,2736,0.15,2.53,0.00,0.000,3078,0.324,0.040,2349,2270,2713,2727,2699,0,0,0,0,0,0,13.60,14.35,13.87
$GC,3072,-1.60,-37.5,2350,2271,2729,2700,384.2,-10.5,188,3077,0.00,2.47,0.00,0.000,516,0.000,0.063,2349,916,2713,2727,2699,0,0,0,0,0,0,14.85,14.12,14.87
$GC,3141,-1.60,-37.5,2348,916,2727,2700,391.7,-10.9,198,3147,0.00,2.58,0.00,0.000,1030,0.000,0.060,2340,2309,2713,2727,2699,0,0,0,0,0,0,14.22,14.14,14.28
$GC,3520,-1.60,-37.5,2340,2310,2728,2700,429.9,-10.2,210,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2309,2713,2728,2699,0,0,0,0,0,0,14.85,14.88,14.87
$GC,3855,-1.60,-37.5,2341,2309,2729,2701,461.5,-9.2,216,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2310,2713,2727,2699,0,0,0,0,0,0,14.84,14.87,14.86
$GC,4191,-1.60,-37.5,2342,2310,2729,2700,491.4,-8.8,222,4197,0.00,2.60,0.00,0.000,516,0.000,0.063,2340,896,2712,2727,2698,0,0,0,0,0,0,15.17,13.97,15.19
$GC,4239,-1.60,-37.5,2342,897,2729,2700,495.8,-9.1,229,4248,0.00,2.60,0.00,0.000,1030,0.000,0.058,2330,2300,2713,2728,2699,0,0,0,0,0,0,14.17,14.10,14.23
$GC,4583,-1.60,-37.5,2331,2301,2729,2700,526.6,-9.0,236,4589,0.00,2.70,0.00,0.000,260,0.000,0.097,2319,3715,2713,2727,2699,0,0,0,0,0,0,15.17,14.02,15.19
$GC,4611,-1.60,-37.5,2318,3716,2727,2699,529.1,-9.3,240,4617,0.10,2.50,0.00,0.000,3078,0.330,0.041,2350,2288,2713,2728,2699,0,0,0,0,0,0,13.59,14.28,14.04
$GC,4975,-1.60,-37.5,2349,2287,2728,2699,559.5,-8.2,250,4981,0.00,2.50,0.00,0.000,516,0.000,0.062,2350,920,2713,2728,2698,0,0,0,0,0,0,15.17,14.03,15.19
$GC,5038,-1.60,-37.5,2351,921,2730,2699,564.9,-8.7,259,5044,0.00,2.58,0.00,0.000,1030,0.000,0.060,2341,2309,2713,2728,2698,0,0,0,0,0,0,14.17,14.09,14.23
$GC,5423,-1.60,-37.5,2341,2309,2728,2699,599.2,-8.9,272,5429,0.00,2.58,0.00,0.000,516,0.000,0.061,2341,925,2713,2728,2699,0,0,0,0,0,0,15.17,13.93,15.19
$GC,5507,-1.60,-37.5,2341,925,2728,2699,606.2,-8.2,284,5513,0.00,2.53,0.00,0.000,1030,0.000,0.059,2331,2301,2714,2729,2699,0,0,0,0,0,0,14.16,14.10,14.23
$GC,5871,-1.60,-37.5,2330,2302,2729,2699,636.2,-8.2,294,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2301,2713,2729,2698,0,0,0,0,0,0,15.17,15.20,15.19
$GC,6207,-1.62,-52.3,2330,2302,2728,2699,661.2,-7.4,300,6213,0.00,2.55,0.00,0.000,548,0.000,0.063,2331,912,2713,2728,2699,0,0,0,0,0,0,15.16,14.00,15.19
$GC,6277,-1.64,-64.9,2330,912,2728,2699,666.5,-7.8,310,6283,0.00,2.58,0.00,0.000,1062,0.000,0.059,2320,2301,2714,2729,2699,0,0,0,0,0,0,14.13,14.06,14.19
$GC,6655,-1.66,-81.5,2321,2302,2731,2699,694.1,-7.1,322,6661,0.00,2.58,0.00,0.000,548,0.000,0.060,2320,923,2714,2729,2699,0,0,0,0,0,0,15.17,13.90,15.19
$GC,6844,-1.67,-96.1,2321,924,2731,2700,707.8,-7.4,349,6850,0.00,2.55,0.00,0.000,1062,0.000,0.058,2309,2301,2714,2729,2699,0,0,0,0,0,0,14.15,14.08,14.20
$PING,710.5,38.6,9000.0,0.03,0.79
$PING,723.2,24.0,9000.0,0.01,0.22
$PING,735.7,10.2,10.1,-1.13,1.00
$GC,7218,-1.69,-107.1,2310,2302,2729,2699,735.7,-7.4,360,7219,0.00,0.00,0.00,0.000,38,0.000,0.000,2309,2301,2714,2729,2699,0,0,0,0,0,0,14.82,14.85,14.84
$STATE,7268,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7268,begin apogee
$GC,7275,-0.23,0.0,2309,2075,2729,2699,740.0,-7.5,361,7330,2.03,0.03,44.30,3.020,10246,0.298,0.148,2794,2100,2558,2586,2530,0,0,0,0,0,0,14.07,13.98,12.99
$STATE,7330,end apogee,CONTROL_FINISHED_OK
$STATE,7330,begin climb
$GC,7333,1.69,107.1,2795,2101,2588,2531,741.8,0.0,362,7472,2.03,0.00,134.45,3.033,10246,0.126,0.000,3417,2102,2123,2155,2092,0,0,0,0,0,0,14.20,12.78,11.81
$PING,722.7,22.0,23.2,-1.00,0.97
$PING,711.3,35.0,34.5,-1.02,1.00
$GC,7776,1.69,107.1,3415,2101,2145,2080,665.2,20.6,370,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2101,2112,2145,2079,0,0,0,0,0,0,14.68,14.71,14.70
$GC,8112,1.69,107.1,3416,2101,2142,2077,595.9,20.4,376,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2101,2110,2143,2077,0,0,0,0,0,0,15.00,15.02,15.02
$GC,8448,1.69,107.1,3416,2101,2140,2075,527.2,20.6,382,8448,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2101,2108,2141,2075,0,0,0,0,0,0,15.00,15.03,15.03
$GC,8784,1.69,107.1,3418,2102,2141,2075,459.9,20.2,388,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2101,2106,2139,2074,0,0,0,0,0,0,14.98,15.04,15.01
$GC,9120,1.69,107.1,3418,2102,2140,2074,394.4,19.4,394,9125,0.00,2.47,0.00,0.000,516,0.000,0.076,3427,731,2105,2137,2074,0,0,0,0,0,0,14.97,14.50,15.01
$GC,9147,1.69,107.1,3428,731,2139,2075,389.0,19.3,398,9153,0.00,2.45,0.00,0.000,1030,0.000,0.054,3427,2109,2102,2131,2074,0,0,0,0,0,0,14.62,14.54,14.66
$GC,9514,1.69,107.1,3428,2109,2139,2074,319.1,19.2,408,9519,0.00,2.60,0.00,0.000,260,0.000,0.093,3427,3512,2105,2137,2074,0,0,0,0,0,0,14.97,14.39,15.00
$GC,9581,1.69,107.1,3428,3512,2139,2075,304.6,20.7,418,9587,0.00,2.40,0.00,0.000,1030,0.000,0.041,3437,2134,2104,2136,2073,0,0,0,0,0,0,14.62,14.57,14.66
$GC,9963,1.69,107.1,3438,2135,2138,2074,235.3,18.0,430,9968,0.00,2.58,0.00,0.000,260,0.000,0.094,3437,3514,2104,2136,2073,0,0,0,0,0,0,14.95,14.44,14.98
$GC,10009,1.69,107.1,3436,3514,2136,2073,226.1,18.6,437,10018,0.12,2.47,0.00,0.000,5126,0.355,0.042,3420,2094,2104,2136,2073,0,0,0,0,0,0,13.99,14.54,14.26
$PING,177.0,183.7,9000.0,-0.29,1.00
$GC,10352,1.69,107.1,3421,2095,2137,2073,168.2,16.1,447,10358,0.00,2.58,0.00,0.000,516,0.000,0.080,3429,701,2104,2135,2073,0,0,0,0,0,0,15.04,14.36,15.06
$GC,10394,1.69,107.1,3428,701,2134,2073,161.1,16.8,453,10401,0.00,2.53,0.00,0.000,1030,0.000,0.057,3429,2107,2103,2134,2073,0,0,0,0,0,0,14.54,14.48,14.59
$PING,153.8,159.2,9000.0,-0.25,0.96
$GC,10747,1.69,107.1,3428,2108,2134,2072,102.3,16.7,467,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2108,2100,2134,2067,0,0,0,0,0,0,15.04,15.07,15.06
$PING,84.0,87.4,87.3,1.03,1.00
$PING,56.8,58.7,58.9,1.03,1.00
$GC,11083,1.69,107.1,3428,2106,2133,2073,48.0,15.7,479,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2108,2102,2133,2072,0,0,0,0,0,0,15.05,15.07,15.07
$PING,43.6,44.9,44.9,1.05,1.00
$PING,30.3,31.1,31.1,1.04,1.00
$PING,16.6,16.7,16.8,1.04,1.00
$FREEZE,8.11,-1.005,-1.865,2,1,0
$FREEZE,3.52,-0.985,-1.861,2,1,0
$FREEZE,-0.06,-0.978,-1.859,2,1,0
$STATE,11388,end climb,SURFACE_DEPTH_REACHED
$STATE,11388,begin surface coast
$FREEZE,-0.10,-1.060,-0.935,2,1,0
$FINISH,-0.1,1.013809
$STATE,11413,end surface coast,FINISH_DEPTH_REACHED
$STATE,11413,begin surface
$SM_CCo,11434,162.62,0.227,0,0,1132,350.04
$SM_GC,0.73,9.48,0.38,162.62,0.065,0.103,0.227,211,2313,1132,-8.25,-0.40,350.04,0,0,0,0,0,0,14.62,14.51,14.38
$RAFOS_CLK,443
$RAFOS,2,1544724816,18.233334,18.226667,148,63,59,58,56,55,413,180,228,168,211,193
$RAFOS,1,1544724424,18.133333,18.117777,144,59,57,53,52,51,555,193,226,160,177,209
$RAFOS,0,1544724060,18.032778,18.016666,113,61,54,53,53,50,639,153,200,211,168,222
$RAFOS_FIX,-7407.607910,-11259.630859,131218,181832,3,135,1.80
$IRIDIUM_FIX,-7409.86,-11312.95,131218,140148
$TT8_MAMPS,0.040446,0.193991
$HUMID,48.30
$INTERNAL_PRESSURE,8.10186
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,16.6,16.8
$ALTIM_BOTTOM_PING,735.7,10.1
$24V_AH,11.81,242.165
$10V_AH,12.06,0.000
$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,24.475,87.650,178.750,162.625,0.000,0.000,0.000,233.025,31.000,0.000,5.212,0.000,9759.141,502.557,1446.429,324.866,0.000,1221.813,0.000,706.429,720.000,220.888,0.000
$DEVICE_MAMPS,413.100,148.410,3033.225,227.205,0.000,0.000,0.000,178.245,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4027.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.491,0.000,0.000,0.000
$MEM,279896
$DATA_FILE_SIZE,16744,491
$CAP_FILE_SIZE,96064,0
$CFSIZE,1024409600,936738816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.6
$CURRENT,0.026,10.54,1
$GPS,131218,205530,-7408.759,-11309.593,23,0.9,23,53.8,0.2,167.7,10,4.1