version: 66.13
glider: 223
mission: 5
dive: 815
start: 1 4 119 14 29 41
data:
$ID,223
$MISSION,5
$DIVE,815
$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,33
$R_STBD_OVSHOOT,35
$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
$GPS1,040119,141830,-7405.0698,-11305.7676,30,0.8,30,53.7,0.2,303.1,10,3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-67.1
$GPS2,040119,142909,-7404.9941,-11305.9316,2,0.7,3,53.7,0.4,35.3,12,9.9
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,57.8,20891,-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,-107.1,208,2323,1175,1087,0.0,0.0,0,117,0.00,0.00,-103.57,0.002,16390,0.000,0.000,207,2323,3012,3017,3008,0,0,0,0,0,0,14.87,12.74,14.85
$GC,121,-1.06,-107.1,208,2328,3017,3009,1.3,-0.9,3,137,11.12,2.60,0.00,0.000,2564,0.402,0.066,2525,898,3013,3019,3008,0,0,0,0,0,0,14.15,14.40,14.53
$PING,10.4,11.8,9000.0,0.00,0.00
$GC,214,-1.06,-107.1,2524,898,3021,3008,19.1,-15.2,17,220,0.00,2.53,0.00,0.000,1030,0.000,0.061,2516,2292,3010,3016,3005,0,0,0,0,0,0,14.54,14.39,14.58
$PING,21.2,22.3,9000.0,0.00,0.00
$PING,45.4,48.4,48.3,1.05,1.00
$PING,68.8,72.8,72.9,1.06,1.00
$GC,568,-1.06,-107.1,2517,2294,3027,3002,68.8,-13.7,31,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2292,3013,3026,3001,0,0,0,0,0,0,14.78,14.81,14.80
$GC,900,-1.06,-107.1,2516,2292,3027,3000,115.9,-14.1,43,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2292,3013,3027,3000,0,0,0,0,0,0,14.75,14.78,14.77
$GC,1237,-1.06,-107.1,2516,2292,3027,3000,162.4,-13.7,55,1242,0.00,2.72,0.00,0.000,260,0.000,0.104,2505,3719,3013,3027,2999,0,0,0,0,0,0,14.73,14.13,14.76
$GC,1263,-1.06,-107.1,2505,3720,3028,2999,166.5,-14.9,59,1269,0.00,2.55,0.00,0.000,1030,0.000,0.041,2505,2286,3013,3028,2998,0,0,0,0,0,0,14.26,14.21,14.30
$GC,1630,-1.06,-107.1,2505,2286,3030,3000,218.7,-14.4,73,1636,0.00,2.53,0.00,0.000,516,0.000,0.063,2505,899,3013,3028,2998,0,0,0,0,0,0,14.90,14.15,14.92
$GC,1733,-1.06,-107.1,2506,900,3031,2999,234.5,-14.5,88,1741,0.17,2.60,0.00,0.000,3078,0.282,0.060,2529,2335,3013,3028,2999,0,0,0,0,0,0,13.83,14.20,14.19
$GC,2076,-1.06,-107.1,2529,2335,3028,3003,278.8,-13.0,95,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2335,3013,3029,2998,0,0,0,0,0,0,14.87,14.90,14.89
$GC,2412,-1.06,-107.1,2531,2336,3030,2998,321.7,-12.7,101,2419,0.00,2.60,0.00,0.000,516,0.000,0.061,2530,908,3013,3029,2997,0,0,0,0,0,0,14.87,14.09,14.88
$GC,2497,-1.06,-107.1,2529,908,3032,2997,332.6,-13.1,113,2503,0.00,2.53,0.00,0.000,1030,0.000,0.060,2521,2311,3013,3029,2997,0,0,0,0,0,0,14.39,14.25,14.45
$GC,2861,-1.06,-107.1,2522,2312,3031,2998,379.2,-12.6,123,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2311,3013,3029,2997,0,0,0,0,0,0,14.71,14.74,14.73
$GC,3197,-1.06,-107.1,2522,2312,3031,2997,421.9,-12.7,129,3203,0.00,2.58,0.00,0.000,516,0.000,0.062,2521,901,3012,3029,2996,0,0,0,0,0,0,14.71,14.11,14.73
$GC,3238,-1.06,-107.1,2520,901,3029,2996,427.4,-12.7,135,3244,0.00,2.58,0.00,0.000,1030,0.000,0.059,2511,2299,3012,3029,2996,0,0,0,0,0,0,14.19,14.12,14.25
$GC,3588,-1.06,-107.1,2512,2300,3031,2997,470.8,-12.2,143,3594,0.00,2.58,0.00,0.000,516,0.000,0.063,2511,895,3016,3037,2996,0,0,0,0,0,0,14.87,14.04,14.89
$GC,3623,-1.06,-107.1,2510,895,3029,2997,475.1,-12.6,148,3629,0.00,2.60,0.00,0.000,1030,0.000,0.060,2500,2299,3012,3029,2996,0,0,0,0,0,0,14.20,14.11,14.24
$GC,3980,-1.06,-107.1,2501,2305,3032,2997,520.9,-12.9,157,3987,0.00,2.70,0.00,0.000,260,0.000,0.103,2490,3712,3012,3029,2995,0,0,0,0,0,0,14.88,14.08,14.90
$GC,4008,-1.06,-107.1,2491,3713,3032,2996,524.8,-13.7,161,4015,0.12,2.53,0.00,0.000,3078,0.268,0.041,2526,2275,3012,3030,2995,0,0,0,0,0,0,13.72,14.28,14.09
$PING,548.0,41.4,9000.0,-0.04,0.41
$PING,561.3,28.4,9000.0,-0.08,0.93
$GC,4375,-1.06,-107.1,2526,2276,3030,2996,568.0,-11.9,171,4380,0.00,2.78,0.00,0.000,260,0.000,0.103,2517,3713,3012,3029,2995,0,0,0,0,0,0,14.85,14.07,14.87
$PING,571.5,17.2,17.5,-1.02,1.00
$GC,4435,-1.06,-107.1,2517,3714,3030,2996,576.1,-12.9,180,4442,0.00,2.50,0.00,0.000,1030,0.000,0.041,2517,2302,3012,3030,2995,0,0,0,0,0,0,14.31,14.28,14.34
$STATE,4460,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4460,begin apogee
$GC,4468,-0.23,0.0,2517,2066,3030,2995,579.5,-12.3,184,4589,1.08,0.10,117.30,2.926,10246,0.225,0.149,2797,2126,2574,2605,2543,0,0,0,0,0,0,13.96,13.38,12.31
$STATE,4589,end apogee,CONTROL_FINISHED_OK
$STATE,4589,begin climb
$PING,579.5,15.9,9000.0,-0.71,0.88
$GC,4593,1.06,107.1,2799,2127,2605,2544,583.8,0.0,186,4735,1.45,0.00,138.55,2.804,10246,0.128,0.000,3211,2126,2136,2175,2098,0,0,0,0,0,0,13.36,12.51,11.48
$PING,569.1,23.6,9000.0,-0.60,0.62
$PING,557.5,37.6,36.8,-1.00,0.98
$GC,5024,1.06,107.1,3212,2127,2168,2084,545.9,10.3,194,5029,0.00,2.85,0.00,0.000,260,0.000,0.096,3210,3497,2124,2166,2083,0,0,0,0,0,0,13.48,13.12,13.50
$GC,5101,1.06,107.1,3210,3498,2164,2084,537.2,11.4,205,5107,0.00,2.62,0.00,0.000,1030,0.000,0.041,3220,2136,2124,2165,2083,0,0,0,0,0,0,13.33,13.29,13.38
$GC,5473,1.06,107.1,3220,2137,2161,2082,497.4,10.8,216,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2135,2121,2162,2081,0,0,0,0,0,0,14.20,14.21,14.22
$GC,5809,1.06,107.1,3221,2137,2161,2081,462.1,10.4,222,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2136,2120,2160,2080,0,0,0,0,0,0,14.62,14.64,14.64
$GC,6145,1.06,107.1,3220,2137,2158,2081,427.7,10.2,228,6150,0.00,2.67,0.00,0.000,516,0.000,0.081,3231,696,2119,2158,2081,0,0,0,0,0,0,14.77,14.32,14.79
$GC,6172,1.06,107.1,3232,696,2160,2081,424.7,10.5,232,6177,0.00,2.47,0.00,0.000,1030,0.000,0.054,3231,2100,2118,2157,2080,0,0,0,0,0,0,14.55,14.42,14.62
$GC,6536,1.06,107.1,3232,2101,2158,2081,384.9,11.1,242,6541,0.00,2.65,0.00,0.000,260,0.000,0.095,3231,3517,2118,2157,2080,0,0,0,0,0,0,14.92,14.35,14.94
$GC,6605,1.06,107.1,3230,3518,2157,2081,376.8,11.6,252,6612,0.10,2.53,0.00,0.000,5126,0.252,0.043,3214,2090,2118,2157,2080,0,0,0,0,0,0,14.08,14.43,14.27
$GC,6987,1.06,107.1,3215,2090,2155,2080,337.1,10.4,264,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2090,2118,2156,2080,0,0,0,0,0,0,14.90,14.92,14.92
$GC,7320,1.06,107.1,3216,2090,2155,2080,304.0,9.7,270,7325,0.00,2.67,0.00,0.000,260,0.000,0.093,3215,3512,2117,2155,2080,0,0,0,0,0,0,14.91,14.33,14.93
$GC,7361,1.06,107.1,3217,3513,2157,2081,299.8,10.3,276,7368,0.00,2.53,0.00,0.000,1030,0.000,0.041,3224,2088,2116,2153,2080,0,0,0,0,0,0,14.47,14.42,14.51
$GC,7712,1.06,107.1,3224,2089,2154,2080,265.5,9.8,284,7718,0.00,2.72,0.00,0.000,260,0.000,0.096,3224,3512,2117,2154,2080,0,0,0,0,0,0,14.77,14.30,14.80
$GC,7747,1.06,107.1,3225,3512,2156,2081,261.9,10.2,289,7753,0.00,2.47,0.00,0.000,1030,0.000,0.043,3234,2097,2116,2154,2079,0,0,0,0,0,0,14.57,14.47,14.64
$GC,8104,1.07,107.1,3233,2097,2153,2080,228.1,9.2,298,8105,0.00,0.00,0.00,0.000,70,0.000,0.000,3234,2097,2119,2158,2080,0,0,0,0,0,0,14.91,14.94,14.93
$GC,8440,1.09,107.1,3234,2095,2153,2080,197.4,9.1,304,8445,0.00,2.70,0.00,0.000,324,0.000,0.098,3233,3514,2120,2161,2079,0,0,0,0,0,0,14.90,14.26,14.92
$GC,8530,1.09,107.1,3233,3514,2153,2080,188.1,10.4,317,8537,0.00,2.55,0.00,0.000,1030,0.000,0.041,3245,2089,2115,2152,2079,0,0,0,0,0,0,14.41,14.35,14.57
$GC,8891,1.10,107.1,3246,2090,2154,2080,153.8,9.4,332,8891,0.00,0.00,0.00,0.000,70,0.000,0.000,3245,2090,2115,2151,2079,0,0,0,0,0,0,14.86,14.90,14.89
$GC,9224,1.12,107.1,3244,2090,2151,2080,122.8,9.0,344,9229,0.00,2.70,0.00,0.000,324,0.000,0.095,3245,3508,2115,2151,2079,0,0,0,0,0,0,14.90,14.24,14.92
$GC,9293,1.12,107.1,3243,3507,2150,2080,115.7,10.3,354,9299,0.00,2.53,0.00,0.000,1030,0.000,0.041,3255,2062,2115,2151,2079,0,0,0,0,0,0,14.50,14.37,14.54
$PING,95.8,99.2,9000.0,-0.15,0.98
$PING,85.2,88.2,9000.0,-0.12,0.97
$GC,9647,1.13,107.1,3255,2063,2151,2080,82.7,9.3,368,9647,0.00,0.00,0.00,0.000,70,0.000,0.000,3255,2062,2115,2151,2079,0,0,0,0,0,0,14.88,14.90,14.90
$PING,75.2,78.0,78.0,1.03,1.00
$PING,63.3,66.4,66.4,0.99,1.00
$GC,9980,1.16,107.1,3255,2062,2152,2080,53.5,8.8,380,9980,0.00,0.00,0.00,0.000,70,0.000,0.000,3255,2062,2115,2151,2079,0,0,0,0,0,0,14.89,14.92,14.92
$PING,50.9,52.6,52.9,1.04,1.00
$PING,29.0,30.3,30.2,1.05,1.00
$GC,10316,1.16,107.1,3256,2063,2153,2080,20.7,9.9,392,10322,0.00,2.78,0.00,0.000,260,0.000,0.096,3255,3510,2115,2151,2079,0,0,0,0,0,0,14.89,14.21,14.91
$PING,18.4,18.7,19.0,1.04,1.00
$GC,10372,1.16,107.1,3256,3511,2152,2080,14.4,11.2,400,10377,0.00,2.47,0.00,0.000,1030,0.000,0.041,3266,2096,2115,2151,2079,0,0,0,0,0,0,14.49,14.38,14.54
$FREEZE,8.74,0.218,-1.868,2,1,0
$FREEZE,5.99,0.224,-1.866,2,1,0
$FREEZE,3.33,0.285,-1.863,2,1,0
$FREEZE,0.68,0.328,-1.861,2,1,0
$STATE,10508,end climb,SURFACE_DEPTH_REACHED
$STATE,10508,begin surface coast
$FREEZE,-0.21,0.308,-1.124,2,1,0
$FINISH,-0.2,1.016616
$STATE,10536,end surface coast,CONTROL_FINISHED_OK
$STATE,10536,begin surface
$SM_CCo,10558,179.32,0.226,0,0,1146,350.04
$SM_GC,0.70,9.12,0.40,179.32,0.067,0.082,0.226,211,2309,1146,-8.24,-0.54,350.04,0,0,0,0,0,0,14.40,14.35,14.31
$RAFOS_CLK,402
$RAFOS,2,1546614815,15.233334,15.226389,75,56,55,55,54,54,403,192,118,169,211,477
$RAFOS,1,1546614423,15.133333,15.117500,123,68,57,56,53,52,568,205,130,171,188,157
$RAFOS,0,1546614087,15.032778,15.024167,124,66,61,54,51,49,487,212,190,158,135,106
$RAFOS_FIX,-7405.236816,-11256.809570,040119,151512,3,107,1.69
$IRIDIUM_FIX,-7406.27,-11259.54,040119,142216
$TT8_MAMPS,0.038948,0.244923
$HUMID,49.09
$INTERNAL_PRESSURE,8.10186
$TCM_TEMP,12.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.4,19.0
$ALTIM_BOTTOM_PING,571.5,17.5
$24V_AH,11.48,265.892
$10V_AH,11.71,0.000
$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,23.175,84.225,255.850,179.325,0.000,0.000,0.000,365.875,24.500,0.000,5.250,0.000,9028.296,663.915,1303.642,386.464,0.000,1386.969,0.000,592.378,720.000,171.267,0.000
$DEVICE_MAMPS,402.390,149.175,2926.125,226.440,0.000,0.000,0.000,182.835,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10535.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.450,0.000,0.000,0.000
$MEM,279916
$DATA_FILE_SIZE,13461,409
$CAP_FILE_SIZE,89624,0
$CFSIZE,1024409600,927465472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.4
$CURRENT,0.068,328.69,1
$GPS,040119,172939,-7404.971,-11302.022,19,0.8,19,53.6,0.3,278.7,11,6.6