version: 66.13
glider: 223
mission: 5
dive: 737
start: 12 14 118 16 17 10
data:
$ID,223
$MISSION,5
$DIVE,737
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,141218,161038,-7407.1323,-11322.9102,20,1.0,20,53.9,0.3,347.7,8,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-63.5
$GPS2,141218,161635,-7407.0840,-11322.8994,3,0.9,5,53.9,0.3,94.7,9,6.5
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,59.7,29986,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-1.06,-107.1,211,2289,1179,1056,0.0,0.0,0,119,0.00,0.00,-104.22,0.002,16390,0.000,0.000,209,2288,2997,3004,2991,0,0,0,0,0,0,14.98,12.89,14.99
$GC,123,-1.06,-107.1,209,2289,3004,2992,1.4,-1.0,3,139,11.23,2.67,0.00,0.000,2308,0.411,0.093,2515,3709,2998,3005,2991,0,0,0,0,0,0,14.16,14.56,14.58
$PING,10.2,11.4,9000.0,0.00,0.00
$PING,21.2,22.8,9000.0,0.00,0.00
$PING,31.6,33.7,33.6,1.04,1.00
$GC,292,-1.06,-107.1,2514,3710,3011,2987,30.7,-15.0,28,299,0.00,2.47,0.00,0.000,1030,0.000,0.041,2515,2283,2998,3011,2986,0,0,0,0,0,0,14.62,14.59,14.65
$PING,42.4,45.9,45.7,1.09,1.00
$GC,649,-1.06,-107.1,2515,2284,3015,2986,84.2,-14.8,43,655,0.00,2.70,0.00,0.000,260,0.000,0.103,2504,3704,2999,3013,2985,0,0,0,0,0,0,15.17,14.21,15.19
$GC,698,-1.06,-107.1,2503,3704,3013,2985,92.2,-16.9,50,705,0.00,2.47,0.00,0.000,1030,0.000,0.042,2503,2293,2998,3013,2984,0,0,0,0,0,0,14.52,14.49,14.55
$GC,1041,-1.06,-107.1,2505,2293,3016,2985,143.0,-14.1,63,1047,0.00,2.55,0.00,0.000,516,0.000,0.067,2504,911,2999,3014,2984,0,0,0,0,0,0,15.16,14.14,15.19
$GC,1090,-1.06,-107.1,2503,911,3014,2984,150.4,-15.3,70,1097,0.12,2.55,0.00,0.000,3078,0.259,0.063,2536,2295,2999,3014,2984,0,0,0,0,0,0,13.84,14.23,14.21
$PING,162.7,40.3,9000.0,0.01,0.01
$PING,174.2,31.8,9000.0,-0.08,0.72
$PING,185.3,23.2,9000.0,-0.76,1.00
$PING,196.5,13.8,13.9,-0.81,1.00
$GC,1434,-1.06,-107.1,2536,2295,3014,2984,196.5,-13.3,83,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2295,2999,3015,2983,0,0,0,0,0,0,14.86,14.89,14.88
$PING,207.9,12.2,9000.0,-0.48,0.85
$STATE,1514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1514,begin apogee
$GC,1522,-0.23,0.0,2536,2059,3014,2984,207.9,-13.6,85,1633,0.98,0.10,106.68,2.570,10246,0.223,0.160,2793,2122,2558,2589,2528,0,0,0,0,0,0,13.95,13.89,12.82
$STATE,1633,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1637,1.06,107.1,2794,2122,2590,2528,214.4,0.0,87,1763,1.38,0.00,120.07,2.453,10758,0.136,0.000,3207,2122,2122,2160,2084,0,0,0,0,0,0,13.86,12.82,11.95
$GC,2098,1.08,107.1,3205,2122,2148,2069,181.7,8.8,119,2104,0.00,2.60,0.00,0.000,324,0.000,0.099,3205,3502,2108,2148,2068,0,0,0,0,0,0,14.74,14.33,14.77
$GC,2161,1.08,107.1,3206,3501,2149,2069,175.5,10.0,128,2167,0.00,2.42,0.00,0.000,1030,0.000,0.043,3213,2118,2108,2148,2068,0,0,0,0,0,0,14.59,14.54,14.62
$GC,2518,1.11,107.1,3214,2118,2144,2068,144.0,8.7,143,2519,0.00,0.00,0.00,0.000,70,0.000,0.000,3214,2117,2109,2151,2067,0,0,0,0,0,0,15.03,15.06,15.06
$PING,141.6,147.4,9000.0,-2.16,0.98
$PING,119.0,125.1,9000.0,-1.44,0.85
$GC,2854,1.12,107.1,3215,2119,2144,2067,113.7,9.3,155,2855,0.00,0.00,0.00,0.000,70,0.000,0.000,3214,2118,2104,2142,2066,0,0,0,0,0,0,15.09,15.11,15.11
$PING,98.5,104.1,104.2,1.01,1.00
$PING,88.3,92.3,92.7,1.06,1.00
$GC,3190,1.14,107.1,3214,2119,2141,2067,83.3,9.1,167,3196,0.00,2.60,0.00,0.000,324,0.000,0.100,3214,3502,2103,2141,2066,0,0,0,0,0,0,15.05,14.45,15.07
$PING,77.9,81.3,81.1,1.11,1.00
$GC,3253,1.15,107.1,3215,3503,2143,2066,77.3,9.3,176,3259,0.00,2.45,0.00,0.000,1094,0.000,0.043,3223,2102,2103,2141,2066,0,0,0,0,0,0,14.62,14.57,14.66
$PING,66.6,69.2,69.2,1.06,1.00
$PING,55.7,58.1,58.0,1.04,1.00
$GC,3613,1.19,107.1,3223,2103,2140,2067,48.9,8.0,191,3613,0.00,0.00,0.00,0.000,70,0.000,0.000,3223,2102,2103,2140,2066,0,0,0,0,0,0,15.02,15.05,15.05
$PING,44.2,46.0,46.1,1.03,1.00
$PING,32.1,33.3,33.3,1.05,1.00
$PING,20.2,20.7,20.7,1.06,1.00
$GC,3949,1.22,107.1,3225,2103,2141,2066,20.2,8.5,203,3955,0.12,2.58,0.00,0.000,2628,0.132,0.082,3281,706,2102,2139,2066,0,0,0,0,0,0,14.62,14.40,14.64
$PING,9.6,9.7,9.6,1.04,1.00
$FREEZE,9.55,-0.995,-1.866,2,1,0
$FREEZE,8.88,-0.995,-1.866,2,1,0
$FREEZE,7.95,-0.995,-1.865,2,1,0
$FREEZE,7.13,-0.995,-1.864,2,1,0
$FREEZE,6.33,-0.995,-1.864,2,1,0
$FREEZE,5.55,-0.989,-1.863,2,1,0
$GC,4087,1.22,107.1,3282,707,2139,2066,5.5,11.8,223,4093,0.00,2.47,0.00,0.000,1030,0.000,0.057,3281,2094,2101,2137,2066,0,0,0,0,0,0,14.53,14.46,14.58
$FREEZE,4.03,-0.989,-1.862,2,1,0
$FREEZE,3.31,-0.989,-1.861,2,1,0
$FREEZE,2.62,-0.972,-1.860,2,1,0
$FREEZE,-0.03,-0.957,-1.858,2,1,0
$STATE,4140,end climb,SURFACE_DEPTH_REACHED
$STATE,4140,begin surface coast
$FREEZE,-0.14,-0.978,-1.746,2,1,0
$FINISH,-0.1,1.025650
$STATE,4168,end surface coast,CONTROL_FINISHED_OK
$STATE,4168,begin surface
$SM_CCo,4189,165.77,0.233,0,0,1131,350.04
$SM_GC,0.73,9.15,0.38,165.77,0.076,0.083,0.233,212,2305,1131,-8.24,-0.71,350.04,0,0,0,0,0,0,14.62,14.59,14.35
$RAFOS_CLK,163
$RAFOS_FIX,-7407.313477,-11323.350586,141218,171732,0,1,0.12
$IRIDIUM_FIX,-7413.93,-11512.49,141218,144434
$TT8_MAMPS,0.039697,0.381241
$HUMID,47.87
$INTERNAL_PRESSURE,8.0921
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.6,9.6
$ALTIM_BOTTOM_PING,196.5,13.9
$24V_AH,11.95,243.731
$10V_AH,12.05,0.000
$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,22.975,31.375,226.750,165.775,0.000,0.000,0.000,162.450,9.250,0.000,9.497,0.000,3257.691,440.257,793.011,238.596,0.000,905.058,0.000,336.611,0.000,65.480,0.000
$DEVICE_MAMPS,410.805,159.885,2569.635,232.560,0.000,0.000,0.000,166.005,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2568.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.983,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,6820,229
$CAP_FILE_SIZE,48295,0
$CFSIZE,1024409600,936001536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.1
$CURRENT,0.079,357.18,1
$GPS,141218,173042,-7407.126,-11321.466,14,1.2,16,53.9,0.3,0.0,6,9.8