version: 66.13
glider: 223
mission: 5
dive: 813
start: 1 4 119 8 36 17
data:
$ID,223
$MISSION,5
$DIVE,813
$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,32
$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
$GPS1,040119,082730,-7405.4102,-11311.1396,16,0.9,16,53.7,0.2,0.0,9,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-65.9
$GPS2,040119,083545,-7405.3521,-11311.3174,2,1.0,3,53.7,0.8,308.5,9,8.8
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,74.5,23681,-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,12,-1.06,-107.1,212,2319,1173,1089,0.0,0.0,0,118,0.00,0.00,-104.38,0.002,16390,0.000,0.000,210,2318,3011,3016,3007,0,0,0,0,0,0,14.87,12.77,14.86
$GC,122,-1.06,-107.1,210,2320,3017,3008,1.2,-0.9,3,138,11.20,2.60,0.00,0.000,2564,0.405,0.065,2528,895,3012,3018,3007,0,0,0,0,0,0,14.14,14.46,14.53
$PING,10.0,10.9,9000.0,0.00,0.00
$PING,20.6,21.6,9000.0,0.00,0.00
$GC,298,-1.06,-107.1,2527,896,3022,3005,31.6,-13.5,29,305,0.00,2.60,0.00,0.000,1030,0.000,0.063,2519,2299,3012,3023,3001,0,0,0,0,0,0,14.40,14.32,14.58
$PING,41.5,44.4,44.3,1.07,1.00
$PING,53.2,57.7,57.6,1.10,1.00
$GC,651,-1.06,-107.1,2521,2300,3027,3001,79.2,-13.1,43,656,0.00,2.55,0.00,0.000,516,0.000,0.066,2519,895,3012,3025,3000,0,0,0,0,0,0,14.91,14.23,14.95
$GC,718,-1.06,-107.1,2519,895,3026,3000,89.2,-13.2,53,725,0.00,2.62,0.00,0.000,1030,0.000,0.063,2509,2302,3013,3026,3000,0,0,0,0,0,0,14.29,14.22,14.35
$GC,1068,-1.06,-107.1,2509,2302,3026,3000,137.0,-14.0,67,1074,0.00,2.58,0.00,0.000,516,0.000,0.065,2509,886,3013,3027,2999,0,0,0,0,0,0,14.93,14.19,14.96
$GC,1104,-1.06,-107.1,2510,887,3028,3000,142.2,-14.7,72,1110,0.00,2.62,0.00,0.000,1030,0.000,0.063,2503,2311,3012,3027,2998,0,0,0,0,0,0,14.35,14.20,14.39
$GC,1463,-1.06,-107.1,2504,2312,3029,3000,192.8,-14.1,87,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2311,3013,3027,2999,0,0,0,0,0,0,14.88,14.90,14.90
$GC,1797,-1.06,-107.1,2501,2311,3026,2999,240.6,-14.4,94,1802,0.00,2.60,0.00,0.000,516,0.000,0.064,2502,891,3012,3028,2997,0,0,0,0,0,0,14.91,14.15,14.93
$GC,1831,-1.06,-107.1,2503,891,3031,2999,245.9,-14.8,99,1838,0.17,2.60,0.00,0.000,3078,0.286,0.060,2528,2323,3013,3028,2998,0,0,0,0,0,0,13.85,14.20,14.19
$GC,2191,-1.06,-107.1,2529,2324,3030,2998,292.4,-13.0,108,2196,0.00,2.62,0.00,0.000,516,0.000,0.064,2527,886,3012,3028,2997,0,0,0,0,0,0,14.90,14.16,14.92
$GC,2245,-1.06,-107.1,2527,887,3028,2997,299.8,-13.3,116,2250,0.00,2.60,0.00,0.000,1030,0.000,0.060,2519,2309,3012,3028,2997,0,0,0,0,0,0,14.42,14.27,14.47
$GC,2641,-1.06,-107.1,2521,2310,3030,2997,351.2,-12.9,130,2646,0.00,2.60,0.00,0.000,516,0.000,0.065,2519,891,3013,3029,2997,0,0,0,0,0,0,14.73,14.14,14.76
$GC,2708,-1.06,-107.1,2520,892,3031,2997,360.9,-13.4,140,2715,0.00,2.60,0.00,0.000,1030,0.000,0.060,2508,2330,3012,3029,2996,0,0,0,0,0,0,14.37,14.20,14.43
$GC,3086,-1.06,-107.1,2511,2331,3030,2997,410.5,-12.8,152,3092,0.00,2.65,0.00,0.000,260,0.000,0.104,2497,3710,3012,3028,2996,0,0,0,0,0,0,14.87,14.07,14.90
$GC,3149,-1.06,-107.1,2495,3710,3027,2996,418.9,-13.3,161,3156,0.15,2.47,0.00,0.000,3078,0.280,0.041,2527,2274,3011,3026,2996,0,0,0,0,0,0,13.83,14.38,14.14
$PING,467.3,45.2,9000.0,-0.01,0.19
$GC,3538,-1.06,-107.1,2527,2274,3032,2996,467.3,-12.6,174,3543,0.00,2.50,0.00,0.000,516,0.000,0.065,2527,906,3012,3030,2995,0,0,0,0,0,0,14.72,14.09,14.75
$GC,3577,-1.06,-107.1,2528,907,3031,2996,472.7,-12.9,180,3583,0.00,2.60,0.00,0.000,1030,0.000,0.061,2518,2307,3012,3030,2995,0,0,0,0,0,0,14.19,14.12,14.25
$PING,481.3,30.9,9000.0,-0.05,0.74
$PING,495.0,15.9,16.1,-1.05,1.00
$STATE,3812,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3812,begin apogee
$PING,504.0,10.9,9.7,-0.90,0.97
$GC,3820,-0.23,0.0,2518,2070,3030,2995,501.4,-12.1,186,3940,1.05,0.08,115.53,2.857,10246,0.225,0.174,2790,2112,2576,2612,2541,0,0,0,0,0,0,13.94,13.45,12.43
$STATE,3940,end apogee,CONTROL_FINISHED_OK
$STATE,3941,begin climb
$GC,3944,1.06,107.1,2790,2112,2604,2543,505.1,0.0,188,4091,1.45,2.92,134.95,2.720,10756,0.132,0.075,3220,740,2137,2175,2099,0,0,0,0,0,0,13.40,12.55,11.52
$PING,493.4,21.3,19.4,-0.83,0.85
$GC,4125,1.06,107.1,3220,742,2172,2094,492.6,11.2,216,4131,0.00,2.75,0.00,0.000,1030,0.000,0.051,3219,2099,2129,2166,2093,0,0,0,0,0,0,12.86,12.76,12.90
$GC,4490,1.06,107.1,3219,2099,2164,2084,456.7,10.0,226,4495,0.00,2.90,0.00,0.000,260,0.000,0.096,3219,3516,2124,2165,2084,0,0,0,0,0,0,13.68,13.30,13.71
$GC,4574,1.06,107.1,3218,3516,2163,2084,446.7,12.1,238,4579,0.00,2.58,0.00,0.000,1030,0.000,0.042,3229,2134,2124,2164,2084,0,0,0,0,0,0,13.66,13.57,13.70
$GC,4938,1.06,107.1,3230,2134,2162,2083,406.9,10.6,248,4943,0.00,2.72,0.00,0.000,516,0.000,0.082,3239,699,2121,2160,2082,0,0,0,0,0,0,14.47,14.04,14.50
$GC,4972,1.06,107.1,3240,699,2161,2083,403.4,10.0,253,4979,0.00,2.55,0.00,0.000,1030,0.000,0.055,3239,2117,2120,2159,2082,0,0,0,0,0,0,14.30,14.16,14.35
$GC,5329,1.06,107.1,3240,2117,2160,2082,364.5,11.0,262,5335,0.00,2.62,0.00,0.000,260,0.000,0.097,3240,3502,2120,2158,2082,0,0,0,0,0,0,14.85,14.23,14.87
$GC,5399,1.06,107.1,3240,3503,2160,2083,356.3,12.3,272,5405,0.10,2.50,0.00,0.000,5126,0.256,0.044,3212,2086,2120,2158,2082,0,0,0,0,0,0,14.10,14.41,14.45
$GC,5780,1.08,107.1,3213,2083,2160,2082,320.7,9.0,284,5781,0.00,0.00,0.00,0.000,70,0.000,0.000,3212,2086,2119,2157,2081,0,0,0,0,0,0,14.90,14.92,14.92
$GC,6114,1.09,107.1,3211,2086,2156,2081,290.2,9.2,290,6119,0.00,2.70,0.00,0.000,324,0.000,0.097,3216,3506,2118,2157,2080,0,0,0,0,0,0,14.82,14.35,14.85
$GC,6204,1.09,107.1,3211,3507,2156,2081,281.0,9.9,303,6210,0.00,2.50,0.00,0.000,1030,0.000,0.041,3220,2086,2119,2157,2081,0,0,0,0,0,0,14.50,14.45,14.54
$GC,6562,1.09,107.1,3221,2087,2158,2081,247.7,9.6,312,6567,0.00,2.55,0.00,0.000,516,0.000,0.081,3230,702,2118,2155,2081,0,0,0,0,0,0,14.81,14.26,14.83
$GC,6624,1.09,107.1,3231,702,2156,2082,241.1,10.5,321,6631,0.00,2.53,0.00,0.000,1030,0.000,0.055,3229,2106,2117,2154,2080,0,0,0,0,0,0,14.45,14.37,14.50
$GC,7010,1.09,107.1,3231,2107,2154,2082,201.6,10.2,334,7015,0.00,2.62,0.00,0.000,260,0.000,0.097,3230,3507,2117,2154,2081,0,0,0,0,0,0,14.80,14.30,14.81
$GC,7142,1.09,107.1,3231,3508,2156,2081,187.1,10.9,353,7150,0.00,2.45,0.00,0.000,1030,0.000,0.041,3240,2095,2118,2155,2081,0,0,0,0,0,0,14.48,14.38,14.53
$PING,169.8,176.0,9000.0,-0.49,1.00
$GC,7489,1.11,107.1,3241,2097,2156,2081,154.2,9.2,366,7494,0.00,2.58,0.00,0.000,580,0.000,0.083,3250,700,2116,2153,2080,0,0,0,0,0,0,14.87,14.28,14.90
$GC,7521,1.11,107.1,3251,701,2154,2089,150.8,9.7,371,7527,0.00,2.53,0.00,0.000,1030,0.000,0.057,3250,2101,2115,2152,2078,0,0,0,0,0,0,14.41,14.34,14.46
$PING,115.4,119.6,9000.0,-0.34,0.77
$GC,7882,1.11,107.1,3251,2102,2154,2081,115.4,10.3,386,7887,0.00,2.65,0.00,0.000,260,0.000,0.097,3250,3513,2116,2152,2080,0,0,0,0,0,0,14.78,14.23,14.81
$GC,7984,1.11,107.1,3249,3514,2151,2081,103.3,11.4,401,7992,0.10,2.53,0.00,0.000,5126,0.250,0.043,3228,2094,2119,2152,2087,0,0,0,0,0,0,14.02,14.35,14.38
$PING,94.5,98.1,98.1,1.04,1.00
$PING,82.1,85.3,85.3,1.03,1.00
$PING,71.7,74.4,74.5,1.04,1.00
$GC,8331,1.14,107.1,3229,2095,2154,2081,72.5,8.5,414,8338,0.00,2.70,0.00,0.000,324,0.000,0.096,3228,3506,2116,2152,2080,0,0,0,0,0,0,14.88,14.25,14.90
$GC,8414,1.14,107.1,3229,3507,2154,2081,63.9,10.2,426,8420,0.00,2.47,0.00,0.000,1030,0.000,0.042,3236,2093,2116,2152,2080,0,0,0,0,0,0,14.52,14.40,14.57
$PING,61.2,63.3,63.3,1.06,1.00
$PING,50.2,51.8,51.8,1.05,1.00
$PING,39.4,40.5,40.5,1.04,1.00
$PING,29.0,29.9,29.9,1.03,1.00
$GC,8778,1.16,107.1,3237,2094,2154,2082,29.5,8.8,442,8786,0.00,2.58,0.00,0.000,580,0.000,0.083,3246,698,2116,2152,2080,0,0,0,0,0,0,14.90,14.23,14.92
$GC,8862,1.19,107.1,3246,699,2150,2081,22.2,8.4,454,8868,0.00,2.55,0.00,0.000,1094,0.000,0.057,3246,2107,2114,2148,2080,0,0,0,0,0,0,14.42,14.23,14.48
$PING,17.6,18.3,18.3,1.02,1.00
$FREEZE,8.07,0.100,-1.866,2,1,0
$PING,5.6,6.0,6.0,1.02,1.00
$FREEZE,5.63,0.097,-1.865,2,1,0
$FREEZE,3.26,0.099,-1.863,2,1,0
$FREEZE,0.83,0.099,-1.861,2,1,0
$STATE,9111,end climb,SURFACE_DEPTH_REACHED
$STATE,9114,begin surface coast
$FREEZE,-0.20,0.086,-0.925,2,1,0
$FINISH,-0.2,1.013679
$STATE,9139,end surface coast,CONTROL_FINISHED_OK
$STATE,9139,begin surface
$SM_CCo,9162,182.05,0.226,0,0,1147,350.04
$SM_GC,0.65,9.23,0.38,182.05,0.081,0.089,0.226,210,2311,1147,-8.25,-0.40,350.04,0,0,0,0,0,0,14.41,14.35,14.31
$RAFOS_CLK,346
$RAFOS,2,1546593184,9.233334,9.217778,152,62,55,54,54,52,582,214,223,204,191,157
$RAFOS,1,1546592827,9.133333,9.118611,127,71,62,60,57,54,553,182,215,173,195,151
$RAFOS,0,1546592463,9.032778,9.017500,116,56,54,52,50,50,631,194,185,167,108,142
$RAFOS_FIX,-7404.785645,-11301.550781,040119,090940,3,132,2.17
$IRIDIUM_FIX,-7406.55,-11317.07,040119,055043
$TT8_MAMPS,0.039697,0.350532
$HUMID,48.77
$INTERNAL_PRESSURE,8.10186
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,5.6,6.0
$ALTIM_BOTTOM_PING,495.0,16.1
$24V_AH,11.52,265.317
$10V_AH,11.44,0.000
$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,23.450,99.700,250.475,182.050,0.000,0.000,0.000,274.700,21.250,0.000,4.816,0.000,7521.160,650.573,1301.421,372.240,0.000,1339.763,0.000,673.953,720.000,147.780,0.000
$DEVICE_MAMPS,405.450,174.420,2856.510,226.440,0.000,0.000,0.000,184.365,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.667,0.000,0.000,0.000
$MEM,279876
$DATA_FILE_SIZE,16733,467
$CAP_FILE_SIZE,87184,0
$CFSIZE,1024409600,927645696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.4
$CURRENT,0.141,340.43,1
$GPS,040119,111256,-7405.195,-11308.729,14,1.2,15,53.7,0.1,0.0,5,7.5