version: 66.13
glider: 223
mission: 5
dive: 731
start: 12 14 118 0 32 54
data:
$ID,223
$MISSION,5
$DIVE,731
$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,40
$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
$GPS1,141218,002530,-7408.7231,-11311.7041,26,0.7,26,53.8,0.1,0.0,11,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-67.2
$GPS2,141218,003222,-7408.7295,-11311.7471,2,0.7,4,53.8,0.2,213.8,12,3.7
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,W1
$TGT_LATLONG,-7407.500,-11325.000
$TGT_RADIUS,1200.000
$MHEAD_RNG_PITCHd_Wd,236.7,7089,-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,13,-1.06,-107.1,211,2309,1173,1060,0.0,0.0,0,116,0.00,0.00,-101.62,0.002,16390,0.000,0.000,211,2309,2997,3004,2991,0,0,0,0,0,0,14.99,12.90,14.99
$GC,120,-1.06,-107.1,211,2309,3004,2991,1.4,-1.0,3,136,11.30,2.58,0.00,0.000,2564,0.413,0.070,2527,893,2998,3005,2991,0,0,0,0,0,0,14.16,14.57,14.57
$PING,10.4,11.2,9000.0,0.00,0.00
$PING,20.6,21.9,9000.0,0.00,0.00
$PING,31.1,33.1,33.1,1.06,1.00
$GC,310,-1.06,-107.1,2528,895,3008,2990,33.2,-15.3,31,316,0.00,2.58,0.00,0.000,1030,0.000,0.063,2518,2305,2997,3007,2988,0,0,0,0,0,0,14.49,14.42,14.53
$PING,41.5,43.8,43.8,1.05,1.00
$PING,54.0,56.9,56.8,1.04,1.00
$GC,677,-1.06,-107.1,2520,2306,3013,2986,87.0,-14.7,47,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2304,2998,3011,2986,0,0,0,0,0,0,15.16,15.18,15.18
$GC,1010,-1.06,-107.1,2517,2305,3011,2985,135.8,-14.5,59,1016,0.00,2.60,0.00,0.000,516,0.000,0.067,2518,902,2998,3012,2984,0,0,0,0,0,0,15.17,14.07,15.20
$GC,1045,-1.06,-107.1,2518,903,3012,2985,141.1,-15.1,64,1051,0.00,2.58,0.00,0.000,1030,0.000,0.062,2508,2299,2998,3012,2984,0,0,0,0,0,0,14.26,14.19,14.33
$GC,1405,-1.06,-107.1,2508,2301,3012,2984,193.7,-14.4,79,1410,0.00,2.55,0.00,0.000,516,0.000,0.065,2508,905,2998,3012,2984,0,0,0,0,0,0,15.15,14.11,15.16
$GC,1458,-1.06,-107.1,2506,905,3013,2984,201.8,-14.3,87,1464,0.00,2.60,0.00,0.000,1030,0.000,0.063,2498,2307,2998,3013,2984,0,0,0,0,0,0,14.23,14.14,14.28
$GC,1854,-1.06,-107.1,2498,2308,3012,2984,257.1,-14.0,101,1860,0.12,2.72,0.00,0.000,2308,0.305,0.103,2517,3725,2998,3013,2983,0,0,0,0,0,0,13.83,14.02,13.95
$GC,1922,-1.06,-107.1,2518,3726,3014,2984,267.4,-14.5,111,1928,0.00,2.53,0.00,0.000,1030,0.000,0.043,2517,2283,2997,3013,2982,0,0,0,0,0,0,14.50,14.42,14.53
$GC,2300,-1.06,-107.1,2518,2283,3016,2984,318.7,-13.5,123,2306,0.00,2.78,0.00,0.000,260,0.000,0.106,2506,3715,2998,3014,2983,0,0,0,0,0,0,15.17,14.01,15.19
$GC,2384,-1.06,-107.1,2507,3716,3016,2983,331.0,-14.9,135,2391,0.00,2.50,0.00,0.000,1030,0.000,0.042,2506,2297,2998,3014,2982,0,0,0,0,0,0,14.33,14.29,14.36
$GC,2748,-1.06,-107.1,2507,2297,3016,2983,379.1,-13.0,145,2755,0.00,2.58,0.00,0.000,516,0.000,0.066,2506,910,2998,3014,2982,0,0,0,0,0,0,15.17,13.91,15.19
$GC,2790,-1.06,-107.1,2508,911,3017,2983,384.7,-13.4,151,2796,0.12,2.58,0.00,0.000,3078,0.261,0.062,2526,2301,2998,3014,2982,0,0,0,0,0,0,13.66,14.07,13.87
$GC,3140,-1.06,-107.1,2525,2301,3014,2983,426.6,-11.9,159,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2301,2998,3014,2982,0,0,0,0,0,0,15.17,15.19,15.19
$GC,3476,-1.06,-107.1,2527,2302,3017,2983,466.3,-11.7,165,3482,0.00,2.58,0.00,0.000,516,0.000,0.064,2526,899,2998,3015,2982,0,0,0,0,0,0,15.16,13.90,15.19
$GC,3532,-1.06,-107.1,2525,898,3014,2982,473.1,-12.1,173,3539,0.00,2.60,0.00,0.000,1030,0.000,0.061,2517,2302,2998,3015,2982,0,0,0,0,0,0,14.10,14.02,14.16
$GC,3924,-1.06,-107.1,2517,2302,3015,2983,519.2,-11.7,187,3930,0.00,2.60,0.00,0.000,516,0.000,0.063,2517,911,2998,3015,2982,0,0,0,0,0,0,15.16,13.86,15.19
$PING,523.4,49.5,9000.0,-0.00,0.00
$GC,3980,-1.06,-107.1,2518,911,3017,2983,526.0,-12.2,195,3986,0.00,2.60,0.00,0.000,1030,0.000,0.061,2507,2309,2998,3015,2981,0,0,0,0,0,0,14.10,14.02,14.16
$PING,539.1,26.9,9000.0,-0.04,0.50
$PING,552.1,12.0,9000.0,-1.32,1.00
$GC,4375,-1.06,-107.1,2506,2309,3016,2982,562.3,-7.8,209,4381,0.00,2.58,0.00,0.000,548,0.000,0.063,2507,906,2999,3017,2981,0,0,0,0,0,0,15.14,13.97,15.16
$STATE,4517,end dive,NO_VERTICAL_VELOCITY
$STATE,4517,begin apogee
$GC,4526,-0.23,0.0,2508,2118,3019,2982,562.3,0.0,230,4646,1.00,0.00,117.18,2.926,10246,0.138,0.000,2802,2117,2558,2589,2528,0,0,0,0,0,0,14.03,13.64,12.47
$STATE,4646,end apogee,CONTROL_FINISHED_OK
$STATE,4646,begin climb
$GC,4650,1.06,107.1,2802,2118,2591,2529,562.3,0.0,232,4794,1.38,3.03,135.80,2.795,10500,0.131,0.096,3209,3504,2119,2162,2077,0,0,0,0,0,0,13.63,12.38,11.44
$PING,552.2,14.4,13.1,-1.05,0.97
$GC,4835,1.06,107.1,3210,3504,2160,2076,549.8,11.3,261,4842,0.00,2.75,0.00,0.000,1030,0.000,0.043,3219,2115,2116,2158,2074,0,0,0,0,0,0,12.97,12.95,13.03
$GC,5186,1.06,107.1,3218,2116,2151,2065,512.2,10.6,269,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2115,2108,2151,2065,0,0,0,0,0,0,14.68,14.71,14.71
$GC,5522,1.06,107.1,3218,2116,2148,2064,477.4,10.4,275,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2115,2105,2148,2063,0,0,0,0,0,0,14.98,15.01,15.01
$GC,5858,1.06,107.1,3218,2116,2145,2063,440.5,11.1,281,5864,0.00,2.55,0.00,0.000,516,0.000,0.082,3229,696,2104,2146,2062,0,0,0,0,0,0,15.00,14.53,15.02
$GC,5899,1.06,107.1,3230,696,2146,2064,435.7,11.5,287,5905,0.00,2.50,0.00,0.000,1030,0.000,0.055,3229,2108,2103,2145,2062,0,0,0,0,0,0,14.64,14.57,14.70
$GC,6249,1.06,107.1,3230,2108,2145,2064,397.1,10.9,295,6255,0.00,2.62,0.00,0.000,516,0.000,0.082,3239,691,2102,2143,2062,0,0,0,0,0,0,15.09,14.44,15.11
$GC,6284,1.06,107.1,3240,692,2144,2064,393.2,10.9,300,6292,0.10,2.53,0.00,0.000,5126,0.237,0.057,3212,2111,2102,2142,2062,0,0,0,0,0,0,14.26,14.54,14.43
$GC,6642,1.06,107.1,3213,2112,2141,2063,357.0,10.1,309,6649,0.00,2.60,0.00,0.000,260,0.000,0.100,3212,3513,2101,2141,2062,0,0,0,0,0,0,14.96,14.45,14.99
$GC,6676,1.06,107.1,3213,3513,2144,2063,353.2,11.3,314,6682,0.00,2.50,0.00,0.000,1030,0.000,0.044,3221,2084,2101,2141,2062,0,0,0,0,0,0,14.63,14.57,14.68
$GC,7033,1.06,107.1,3220,2084,2141,2063,316.8,10.0,323,7040,0.00,2.72,0.00,0.000,260,0.000,0.098,3220,3516,2101,2141,2062,0,0,0,0,0,0,15.09,14.35,15.11
$GC,7061,1.06,107.1,3220,3517,2141,2062,313.8,10.8,327,7067,0.00,2.50,0.00,0.000,1030,0.000,0.045,3229,2088,2105,2149,2062,0,0,0,0,0,0,14.60,14.54,14.64
$GC,7426,1.06,107.1,3232,2089,2142,2063,275.0,10.5,337,7432,0.00,2.67,0.00,0.000,260,0.000,0.099,3230,3509,2101,2140,2062,0,0,0,0,0,0,14.94,14.40,14.97
$GC,7495,1.06,107.1,3230,3509,2140,2062,267.3,11.3,347,7502,0.10,2.47,0.00,0.000,5126,0.259,0.043,3202,2095,2102,2140,2064,0,0,0,0,0,0,14.14,14.52,14.52
$GC,7877,1.08,107.1,3204,2096,2141,2062,233.0,8.9,359,7877,0.00,0.00,0.00,0.000,70,0.000,0.000,3203,2095,2099,2139,2059,0,0,0,0,0,0,15.05,15.07,15.07
$PING,204.2,41.2,9000.0,-0.08,0.99
$GC,8209,1.12,140.1,3202,2095,2138,2062,205.8,7.9,365,8245,0.00,2.72,31.33,2.541,8484,0.000,0.099,3202,3512,1986,2026,1946,0,0,0,0,0,0,15.07,14.41,13.28
$GC,8300,1.12,140.1,3203,3513,2027,1944,197.6,10.0,378,8306,0.00,2.47,0.00,0.000,1030,0.000,0.043,3209,2099,1984,2025,1943,0,0,0,0,0,0,14.59,14.53,14.60
$GC,8660,1.12,140.1,3211,2099,2024,1940,163.9,9.6,393,8666,0.00,2.65,0.00,0.000,260,0.000,0.099,3209,3517,1980,2022,1939,0,0,0,0,0,0,15.07,14.47,15.09
$GC,8742,1.12,140.1,3208,3517,2022,1940,155.1,10.5,405,8749,0.00,2.50,0.00,0.000,1030,0.000,0.043,3219,2090,1980,2022,1939,0,0,0,0,0,0,14.67,14.63,14.71
$PING,149.6,155.3,9000.0,-0.25,0.54
$GC,9109,1.12,140.1,3218,2090,2021,1938,120.5,9.5,421,9115,0.00,2.67,0.00,0.000,260,0.000,0.098,3218,3517,1980,2022,1938,0,0,0,0,0,0,15.04,14.45,15.07
$PING,117.9,122.3,9000.0,-1.07,0.63
$GC,9177,1.12,140.1,3219,3518,2021,1938,113.6,10.2,431,9183,0.00,2.50,0.00,0.000,1030,0.000,0.044,3228,2090,1979,2021,1938,0,0,0,0,0,0,14.62,14.57,14.66
$PING,96.9,100.3,100.4,1.04,1.00
$PING,86.1,89.3,89.2,1.04,1.00
$GC,9530,1.12,140.1,3226,2090,2020,1937,80.4,10.0,445,9536,0.00,2.62,0.00,0.000,260,0.000,0.096,3229,3520,1979,2021,1937,0,0,0,0,0,0,15.00,14.36,15.02
$GC,9571,1.12,140.1,3228,3521,2020,1937,75.7,11.3,451,9576,0.00,2.47,0.00,0.000,1030,0.000,0.044,3238,2089,1978,2021,1936,0,0,0,0,0,0,14.71,14.61,14.76
$PING,53.7,57.6,57.5,0.99,1.00
$PING,42.7,44.5,45.4,1.02,1.00
$GC,9923,1.12,140.1,3240,2090,2021,1937,40.1,9.6,465,9928,0.00,2.67,0.00,0.000,260,0.000,0.098,3238,3510,1977,2019,1936,0,0,0,0,0,0,15.05,14.38,15.08
$PING,32.5,33.3,33.1,1.15,1.00
$GC,10018,1.12,140.1,3240,3510,2022,1937,30.3,9.9,479,10024,0.00,2.50,0.00,0.000,1030,0.000,0.043,3249,2089,1978,2020,1936,0,0,0,0,0,0,14.55,14.50,14.59
$PING,21.6,22.4,22.2,1.05,1.00
$PING,10.4,10.7,10.7,1.03,1.00
$FREEZE,7.68,-0.982,-1.865,2,1,0
$FREEZE,4.83,-0.974,-1.863,2,1,0
$FREEZE,1.82,-0.982,-1.861,2,1,0
$STATE,10309,end climb,SURFACE_DEPTH_REACHED
$STATE,10312,begin surface coast
$FREEZE,-0.06,-1.003,-1.861,2,1,0
$FINISH,-0.1,1.027283
$STATE,10338,end surface coast,CONTROL_FINISHED_OK
$STATE,10338,begin surface
$SM_CCo,10360,143.65,0.228,0,0,1130,350.04
$SM_GC,0.85,8.93,0.40,143.65,0.062,0.080,0.228,210,2307,1130,-8.25,-0.65,350.04,0,0,0,0,0,0,14.60,14.54,14.38
$RAFOS_CLK,400
$RAFOS,2,1544757184,3.233333,3.217778,130,58,58,58,54,52,610,201,221,172,403,743
$RAFOS,1,1544756846,3.133333,3.123889,100,64,59,54,54,50,454,158,201,210,178,142
$RAFOS,0,1544756482,3.032778,3.022778,105,67,61,60,59,58,537,175,134,203,154,219
$RAFOS_FIX,-7409.830566,-11309.274414,141218,030316,3,112,0.24
$IRIDIUM_FIX,-7407.96,-11309.85,131218,205836
$TT8_MAMPS,0.040446,0.210469
$HUMID,48.97
$INTERNAL_PRESSURE,8.10186
$TCM_TEMP,12.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,10.4,10.7
$24V_AH,11.44,242.606
$10V_AH,11.66,0.000
$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,23.050,103.975,284.300,143.650,0.000,0.000,0.000,215.000,24.000,0.000,6.048,0.000,8632.824,552.757,1413.766,324.201,0.000,1302.207,0.000,708.540,720.000,165.702,0.000
$DEVICE_MAMPS,413.100,105.570,2926.125,227.970,0.000,0.000,0.000,175.950,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5726.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.674,0.000,0.000,0.000
$MEM,280012
$DATA_FILE_SIZE,16740,492
$CAP_FILE_SIZE,92727,0
$CFSIZE,1024409600,936542208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.8
$CURRENT,0.001,27.63,1
$GPS,141218,032848,-7408.398,-11316.149,8,1.5,10,53.9,0.2,215.1,5,8.2