version: 66.13
glider: 223
mission: 5
dive: 811
start: 1 4 119 3 17 38
data:
$ID,223
$MISSION,5
$DIVE,811
$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,3
$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,35
$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,2575
$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
$GPS1,040119,030722,-7406.6431,-11316.2500,3,1.1,5,53.8,0.3,92.2,5,7.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-65.0
$GPS2,040119,031703,-7406.6255,-11316.5498,3,1.2,5,53.8,1.0,301.1,4,6.8
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,42.4,26656,-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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,13,-1.06,-107.1,209,2320,1170,1089,0.0,0.0,0,118,0.00,0.00,-104.07,0.002,16390,0.000,0.000,210,2319,3010,3015,3006,0,0,0,0,0,0,14.88,12.79,14.87
$GC,122,-1.06,-107.1,210,2319,3017,3007,1.3,-0.9,3,138,11.20,2.60,0.00,0.000,2564,0.406,0.070,2527,899,3012,3018,3006,0,0,0,0,0,0,14.15,14.47,14.54
$PING,10.9,11.9,9000.0,0.00,0.00
$PING,21.0,22.1,9000.0,0.00,0.00
$GC,252,-1.06,-107.1,2529,901,3022,3004,24.1,-14.4,22,259,0.00,2.55,0.00,0.000,1030,0.000,0.065,2519,2298,3012,3021,3003,0,0,0,0,0,0,14.47,14.33,14.52
$PING,32.8,34.9,34.7,1.05,1.00
$PING,43.9,47.0,47.0,1.09,1.00
$PING,56.4,60.7,60.7,1.10,1.00
$GC,595,-1.06,-107.1,2520,2298,3026,2999,72.3,-14.2,35,600,0.00,2.55,0.00,0.000,516,0.000,0.065,2519,897,3011,3024,2999,0,0,0,0,0,0,14.89,14.26,14.91
$GC,620,-1.06,-107.1,2518,897,3024,2999,76.7,-15.6,39,626,0.00,2.55,0.00,0.000,1030,0.000,0.061,2509,2307,3011,3024,2999,0,0,0,0,0,0,14.43,14.28,14.50
$GC,987,-1.06,-107.1,2508,2308,3024,2998,133.2,-14.8,55,992,0.00,2.58,0.00,0.000,516,0.000,0.065,2509,895,3011,3025,2998,0,0,0,0,0,0,14.93,14.21,14.95
$GC,1069,-1.06,-107.1,2510,896,3028,2998,145.5,-14.6,67,1075,0.15,2.55,0.00,0.000,3078,0.295,0.061,2527,2305,3011,3025,2998,0,0,0,0,0,0,13.90,14.28,14.22
$GC,1436,-1.06,-107.1,2528,2306,3029,2998,193.8,-13.5,83,1441,0.00,2.58,0.00,0.000,516,0.000,0.064,2527,895,3011,3026,2996,0,0,0,0,0,0,14.88,14.18,14.90
$GC,1503,-1.06,-107.1,2528,896,3028,2997,203.6,-14.1,93,1509,0.00,2.60,0.00,0.000,1030,0.000,0.060,2518,2334,3011,3026,2996,0,0,0,0,0,0,14.20,14.04,14.24
$GC,1882,-1.06,-107.1,2519,2335,3029,2997,252.9,-13.0,105,1888,0.00,2.62,0.00,0.000,260,0.000,0.105,2508,3711,3009,3022,2996,0,0,0,0,0,0,14.73,14.07,14.76
$GC,1937,-1.06,-107.1,2507,3711,3027,2996,260.7,-14.5,113,1943,0.00,2.47,0.00,0.000,1030,0.000,0.042,2507,2278,3011,3027,2995,0,0,0,0,0,0,14.49,14.40,14.52
$GC,2332,-1.06,-107.1,2507,2278,3027,2996,314.6,-13.7,127,2337,0.00,2.50,0.00,0.000,516,0.000,0.063,2509,905,3011,3026,2996,0,0,0,0,0,0,14.90,14.16,14.92
$GC,2413,-1.06,-107.1,2507,905,3027,2995,326.3,-13.8,139,2419,0.12,2.60,0.00,0.000,3078,0.264,0.060,2527,2306,3011,3027,2995,0,0,0,0,0,0,13.83,14.13,14.04
$GC,2781,-1.06,-107.1,2528,2312,3029,2996,372.8,-12.8,149,2787,0.00,2.58,0.00,0.000,516,0.000,0.064,2527,899,3011,3028,2994,0,0,0,0,0,0,14.73,14.14,14.76
$GC,2828,-1.06,-107.1,2531,900,3028,2995,379.3,-12.5,156,2835,0.00,2.55,0.00,0.000,1030,0.000,0.058,2519,2306,3011,3028,2995,0,0,0,0,0,0,14.39,14.22,14.45
$GC,3171,-1.06,-107.1,2520,2307,3027,2996,423.6,-13.1,163,3177,0.00,2.67,0.00,0.000,260,0.000,0.104,2508,3711,3011,3028,2995,0,0,0,0,0,0,14.88,14.12,14.90
$GC,3200,-1.06,-107.1,2507,3711,3028,2995,427.0,-12.2,167,3205,0.00,2.47,0.00,0.000,1030,0.000,0.041,2508,2290,3011,3028,2994,0,0,0,0,0,0,14.50,14.42,14.52
$PING,437.4,36.7,9000.0,-0.04,0.65
$PING,452.1,22.0,9000.0,-0.08,0.88
$PING,467.2,7.7,7.6,-0.98,1.00
$STATE,3504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3504,begin apogee
$GC,3513,-0.23,0.0,2509,2056,3030,2994,467.2,-13.3,176,3630,1.10,0.12,113.12,2.821,10246,0.230,0.139,2791,2131,2575,2606,2544,0,0,0,0,0,0,13.95,13.54,12.50
$STATE,3631,end apogee,CONTROL_FINISHED_OK
$STATE,3631,begin climb
$GC,3634,1.06,107.1,2793,2132,2608,2545,472.3,0.0,178,3771,1.42,0.00,132.85,2.687,10758,0.129,0.000,3208,2131,2138,2176,2100,0,0,0,0,0,0,13.47,12.55,11.54
$PING,460.2,18.2,15.6,-0.94,0.91
$PING,448.8,37.7,9000.0,-1.64,1.00
$GC,4068,1.06,107.1,3207,2132,2167,2087,437.7,10.0,200,4073,0.00,2.80,0.00,0.000,260,0.000,0.094,3208,3494,2126,2167,2086,0,0,0,0,0,0,13.54,13.19,13.56
$GC,4166,1.06,107.1,3209,3495,2168,2087,427.3,10.5,214,4171,0.00,2.55,0.00,0.000,1030,0.000,0.041,3217,2130,2125,2166,2085,0,0,0,0,0,0,13.56,13.47,13.59
$GC,4516,1.06,107.1,3218,2131,2165,2083,392.3,9.7,222,4521,0.00,2.65,0.00,0.000,260,0.000,0.095,3217,3501,2124,2164,2084,0,0,0,0,0,0,14.41,14.00,14.43
$GC,4564,1.09,107.1,3217,3501,2163,2085,388.0,8.3,229,4572,0.00,2.50,0.00,0.000,1094,0.000,0.041,3227,2091,2123,2163,2084,0,0,0,0,0,0,14.28,14.19,14.34
$GC,4908,1.09,107.1,3229,2092,2165,2084,357.6,10.0,236,4913,0.00,2.65,0.00,0.000,260,0.000,0.096,3227,3496,2121,2160,2083,0,0,0,0,0,0,14.76,14.32,14.78
$GC,4977,1.09,107.1,3228,3497,2162,2084,349.8,11.3,246,4983,0.00,2.45,0.00,0.000,1030,0.000,0.044,3238,2086,2121,2160,2083,0,0,0,0,0,0,14.58,14.47,14.63
$GC,5356,1.09,107.1,3236,2085,2159,2084,310.3,10.5,258,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2086,2121,2159,2084,0,0,0,0,0,0,14.83,14.85,14.85
$GC,5692,1.09,107.1,3237,2086,2158,2083,274.4,10.6,264,5697,0.00,2.60,0.00,0.000,260,0.000,0.096,3238,3499,2120,2158,2083,0,0,0,0,0,0,14.83,14.32,14.85
$GC,5726,1.09,107.1,3237,3499,2158,2083,270.4,11.6,269,5733,0.00,2.47,0.00,0.000,1030,0.000,0.043,3248,2091,2120,2158,2083,0,0,0,0,0,0,14.51,14.45,14.55
$GC,6083,1.09,107.1,3249,2091,2159,2084,231.2,11.0,278,6089,0.00,2.55,0.00,0.000,516,0.000,0.083,3258,701,2120,2157,2083,0,0,0,0,0,0,14.91,14.33,14.94
$GC,6111,1.09,107.1,3258,702,2156,2083,228.1,11.2,282,6118,0.12,2.50,0.00,0.000,5126,0.258,0.057,3220,2097,2120,2157,2083,0,0,0,0,0,0,14.09,14.38,14.46
$GC,6479,1.10,107.1,3221,2098,2158,2084,193.2,9.5,293,6485,0.00,2.65,0.00,0.000,324,0.000,0.097,3219,3510,2119,2156,2083,0,0,0,0,0,0,14.81,14.33,14.84
$GC,6576,1.10,107.1,3221,3511,2158,2084,182.8,10.5,307,6581,0.00,2.47,0.00,0.000,1030,0.000,0.042,3228,2096,2119,2156,2083,0,0,0,0,0,0,14.59,14.50,14.64
$GC,6925,1.13,107.1,3228,2096,2155,2083,152.7,8.4,321,6926,0.00,0.00,0.00,0.000,70,0.000,0.000,3228,2095,2118,2155,2082,0,0,0,0,0,0,14.91,14.94,14.94
$PING,135.4,141.1,9000.0,-0.36,0.99
$GC,7262,1.16,107.1,3229,2096,2158,2083,123.2,8.6,333,7268,0.00,2.67,0.00,0.000,324,0.000,0.096,3227,3506,2118,2155,2082,0,0,0,0,0,0,14.79,14.24,14.81
$PING,112.6,116.7,9000.0,-0.28,0.92
$GC,7412,1.16,107.1,3229,3507,2157,2083,108.4,10.1,354,7417,0.00,2.45,0.00,0.000,1030,0.000,0.041,3238,2087,2118,2155,2082,0,0,0,0,0,0,14.57,14.47,14.62
$PING,101.6,105.6,105.4,1.05,1.00
$PING,79.2,82.9,82.9,1.01,1.00
$GC,7770,1.20,107.1,3237,2087,2154,2082,79.2,8.3,369,7776,0.00,2.70,0.00,0.000,324,0.000,0.096,3238,3518,2118,2154,2082,0,0,0,0,0,0,14.78,14.26,14.81
$GC,7817,1.21,107.1,3239,3518,2156,2083,74.3,9.5,376,7824,0.00,2.47,0.00,0.000,1094,0.000,0.044,3248,2097,2118,2154,2082,0,0,0,0,0,0,14.53,14.40,14.58
$PING,68.9,72.1,72.2,1.02,1.00
$PING,57.0,58.9,59.0,1.08,1.00
$PING,44.8,46.2,46.1,1.07,1.00
$GC,8164,1.23,107.1,3250,2098,2156,2082,44.8,8.6,389,8165,0.00,0.00,0.00,0.000,70,0.000,0.000,3248,2097,2117,2154,2081,0,0,0,0,0,0,14.78,14.81,14.81
$PING,33.3,34.6,34.5,1.03,1.00
$PING,21.3,21.8,21.9,1.04,1.00
$GC,8496,1.25,107.1,3247,2097,2153,2082,15.9,9.2,401,8502,0.00,2.70,0.00,0.000,324,0.000,0.099,3249,3513,2118,2154,2082,0,0,0,0,0,0,14.90,14.23,14.92
$PING,10.9,11.2,11.1,1.05,1.00
$GC,8552,1.25,107.1,3251,3514,2156,2082,10.2,10.3,409,8558,0.00,2.50,0.00,0.000,1030,0.000,0.041,3259,2082,2117,2153,2082,0,0,0,0,0,0,14.48,14.37,14.50
$FREEZE,8.84,-0.512,-1.864,2,1,0
$FREEZE,8.19,-0.512,-1.864,2,1,0
$FREEZE,7.66,-0.510,-1.863,2,1,0
$FREEZE,5.00,-0.509,-1.861,2,1,0
$FREEZE,2.38,-0.508,-1.859,2,1,0
$FREEZE,-0.22,-0.528,-1.857,2,1,0
$STATE,8661,end climb,SURFACE_DEPTH_REACHED
$STATE,8661,begin surface coast
$FREEZE,-0.17,-0.540,-1.322,2,1,0
$FINISH,-0.2,1.019522
$STATE,8689,end surface coast,CONTROL_FINISHED_OK
$STATE,8689,begin surface
$SM_CCo,8711,181.00,0.225,0,0,1145,350.04
$SM_GC,0.72,9.12,0.43,181.00,0.071,0.079,0.225,213,2313,1145,-8.23,-0.48,350.04,0,0,0,0,0,0,14.45,14.39,14.32
$RAFOS_CLK,328
$RAFOS_FIX,-7406.524414,-11317.699219,040119,050559,0,1,0.07
$IRIDIUM_FIX,-7410.67,-11305.70,040119,031103
$TT8_MAMPS,0.041195,0.2247
$HUMID,48.38
$INTERNAL_PRESSURE,8.10186
$TCM_TEMP,12.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.9,11.1
$ALTIM_BOTTOM_PING,467.2,7.6
$24V_AH,11.54,264.771
$10V_AH,11.49,0.000
$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,23.250,88.250,245.975,181.000,0.000,0.000,0.000,314.625,19.750,0.000,7.380,0.000,7236.778,639.178,1245.662,362.409,0.000,1324.453,0.000,603.245,0.000,137.094,0.000
$DEVICE_MAMPS,406.215,139.230,2820.555,224.910,0.000,0.000,0.000,185.895,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8719.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.756,0.000,0.000,0.000
$MEM,279960
$DATA_FILE_SIZE,13455,417
$CAP_FILE_SIZE,82302,0
$CFSIZE,1024409600,927858688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.6
$CURRENT,0.142,338.34,1
$GPS,040119,054700,-7405.888,-11313.724,31,0.8,31,53.8,0.8,359.0,9,3.1