version: 66.13
glider: 223
mission: 5
dive: 874
start: 1 28 119 15 48 49
data:
$ID,223
$MISSION,5
$DIVE,874
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,280119,154019,-7407.0913,-11316.7793,23,0.7,33,53.8,0.1,0.0,12,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.8
$GPS2,280119,154817,-7407.0952,-11316.7598,2,0.8,3,53.8,0.1,0.0,12,6.6
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,36.0,26932,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-1.06,-107.1,214,2308,1168,1094,0.0,0.0,0,114,0.00,0.00,-101.38,0.002,16390,0.000,0.000,216,2308,3010,3014,3007,0,0,0,0,0,0,11.44,10.73,11.46
$GC,118,-1.06,-107.1,216,2309,3015,3008,1.5,-1.0,3,141,17.35,3.55,0.00,0.000,2308,0.402,0.095,2515,3714,3011,3016,3007,0,0,0,0,0,0,11.11,11.23,11.31
$PING,22.3,24.0,9000.0,0.00,0.00
$PING,33.3,36.1,9000.0,0.00,0.00
$GC,280,-1.06,-107.1,2516,3715,3024,3003,35.6,-16.6,27,286,0.00,3.25,0.00,0.000,1030,0.000,0.037,2514,2280,3009,3022,2997,0,0,0,0,0,0,11.38,11.31,11.38
$PING,44.8,47.2,47.4,1.03,1.00
$GC,647,-1.06,-107.1,2516,2279,3026,3000,93.3,-15.5,43,653,0.00,3.22,0.00,0.000,516,0.000,0.063,2514,900,3009,3019,2999,0,0,0,0,0,0,11.46,11.28,11.48
$GC,790,-1.06,-107.1,2516,898,3026,3000,115.7,-15.5,63,795,0.00,3.40,0.00,0.000,1030,0.000,0.059,2504,2309,3011,3024,2999,0,0,0,0,0,0,11.37,11.29,11.38
$GC,1155,-1.06,-107.1,2503,2310,3024,2999,171.8,-15.5,79,1160,0.00,3.53,0.00,0.000,260,0.000,0.098,2493,3721,3011,3024,2998,0,0,0,0,0,0,11.46,11.27,11.49
$GC,1194,-1.06,-107.1,2492,3722,3024,2998,178.5,-16.2,85,1201,0.22,3.25,0.00,0.000,3078,0.260,0.038,2528,2293,3011,3025,2997,0,0,0,0,0,0,11.19,11.33,11.35
$GC,1549,-1.06,-107.1,2527,2292,3026,2997,226.0,-13.3,96,1554,0.00,3.33,0.00,0.000,516,0.000,0.063,2527,891,3010,3025,2996,0,0,0,0,0,0,11.46,11.29,11.48
$GC,1637,-1.06,-107.1,2532,892,3028,2997,239.1,-14.4,109,1644,0.00,3.40,0.00,0.000,1030,0.000,0.057,2518,2308,3011,3026,2996,0,0,0,0,0,0,11.37,11.30,11.39
$GC,1995,-1.06,-107.1,2518,2308,3025,2997,288.5,-13.7,118,2000,0.00,3.35,0.00,0.000,516,0.000,0.060,2519,898,3011,3026,2996,0,0,0,0,0,0,11.48,11.29,11.50
$GC,2071,-1.06,-107.1,2519,898,3026,2996,299.4,-13.9,129,2078,0.00,3.38,0.00,0.000,1030,0.000,0.058,2508,2310,3012,3029,2995,0,0,0,0,0,0,11.38,11.29,11.39
$GC,2444,-1.06,-107.1,2507,2312,3026,2996,351.9,-14.3,140,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2310,3011,3026,2996,0,0,0,0,0,0,11.47,11.47,11.49
$GC,2780,-1.06,-107.1,2509,2312,3028,2995,398.4,-13.9,146,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2311,3014,3033,2995,0,0,0,0,0,0,11.47,11.49,11.49
$GC,3116,-1.06,-107.1,2509,2311,3027,2995,445.6,-13.9,152,3121,0.00,3.38,0.00,0.000,516,0.000,0.062,2508,892,3011,3027,2995,0,0,0,0,0,0,11.47,11.29,11.48
$GC,3149,-1.06,-107.1,2507,893,3026,2995,450.7,-13.9,157,3156,0.00,3.35,0.00,0.000,1030,0.000,0.057,2501,2304,3010,3027,2994,0,0,0,0,0,0,11.38,11.31,11.39
$PING,476.4,44.3,9000.0,0.01,0.08
$PING,492.2,25.4,9000.0,-0.03,0.39
$GC,3507,-1.06,-107.1,2502,2304,3029,2996,500.0,-14.0,166,3512,0.00,3.50,0.00,0.000,260,0.000,0.099,2490,3718,3011,3027,2995,0,0,0,0,0,0,11.49,11.27,11.50
$PING,503.0,21.1,19.1,-0.89,0.94
$GC,3555,-1.06,-107.1,2489,3719,3027,2995,507.1,-14.6,173,3564,0.22,3.22,0.00,0.000,3078,0.259,0.039,2525,2296,3011,3027,2995,0,0,0,0,0,0,11.20,11.35,11.39
$STATE,3616,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3616,begin apogee
$GC,3625,-0.23,0.0,2525,2077,3028,2995,515.1,-13.0,175,3790,1.35,0.10,161.68,2.752,10246,0.220,0.135,2791,2121,2574,2605,2543,0,0,0,0,0,0,11.21,11.16,10.32
$STATE,3791,end apogee,CONTROL_FINISHED_OK
$STATE,3791,begin climb
$GC,3795,1.06,107.1,2791,2122,2605,2544,521.3,0.0,178,3964,1.80,0.00,164.62,2.673,10246,0.128,0.000,3206,2121,2138,2176,2101,0,0,0,0,0,0,11.19,11.17,10.33
$PING,504.7,20.6,9000.0,-0.38,1.00
$PING,494.3,30.8,30.7,-1.03,0.99
$GC,4295,1.07,107.1,3205,2121,2169,2089,484.2,9.1,187,4300,0.00,3.47,0.00,0.000,324,0.000,0.093,3206,3500,2128,2169,2088,0,0,0,0,0,0,11.44,11.24,11.46
$GC,4398,1.08,107.1,3206,3500,2169,2087,473.9,9.5,202,4405,0.00,3.17,0.00,0.000,1094,0.000,0.037,3213,2114,2127,2168,2086,0,0,0,0,0,0,11.36,11.29,11.38
$GC,4741,1.08,107.1,3212,2114,2165,2085,442.4,9.5,209,4747,0.00,3.50,0.00,0.000,260,0.000,0.092,3213,3505,2125,2165,2085,0,0,0,0,0,0,11.45,11.26,11.47
$GC,4775,1.08,107.1,3213,3505,2165,2085,438.8,10.6,214,4781,0.00,3.25,0.00,0.000,1030,0.000,0.040,3218,2098,2125,2165,2085,0,0,0,0,0,0,11.36,11.31,11.38
$GC,5132,1.10,107.1,3222,2099,2163,2085,405.0,9.3,223,5138,0.00,3.55,0.00,0.000,324,0.000,0.093,3222,3509,2123,2163,2084,0,0,0,0,0,0,11.48,11.26,11.49
$GC,5216,1.10,107.1,3221,3510,2163,2085,396.3,10.5,235,5222,0.00,3.25,0.00,0.000,1030,0.000,0.039,3231,2097,2123,2163,2084,0,0,0,0,0,0,11.37,11.31,11.39
$GC,5580,1.10,107.1,3230,2097,2161,2084,359.6,10.2,245,5587,0.00,3.53,0.00,0.000,260,0.000,0.092,3232,3500,2122,2161,2084,0,0,0,0,0,0,11.48,11.27,11.50
$GC,5657,1.10,107.1,3231,3499,2160,2084,351.2,11.1,256,5663,0.00,3.25,0.00,0.000,1030,0.000,0.039,3242,2096,2122,2161,2084,0,0,0,0,0,0,11.38,11.31,11.40
$GC,6028,1.10,107.1,3243,2097,2161,2084,313.7,9.9,267,6034,0.00,3.42,0.00,0.000,516,0.000,0.080,3252,686,2122,2160,2084,0,0,0,0,0,0,11.48,11.28,11.50
$GC,6070,1.10,107.1,3252,686,2159,2085,309.4,10.4,273,6078,0.15,3.25,0.00,0.000,5126,0.245,0.050,3228,2095,2121,2158,2084,0,0,0,0,0,0,11.21,11.31,11.31
$GC,6425,1.11,107.1,3227,2096,2158,2084,276.7,9.4,281,6431,0.00,3.53,0.00,0.000,324,0.000,0.092,3228,3516,2120,2158,2083,0,0,0,0,0,0,11.48,11.28,11.49
$GC,6507,1.11,107.1,3227,3517,2158,2084,268.3,9.7,293,6514,0.00,3.25,0.00,0.000,1030,0.000,0.038,3236,2096,2121,2158,2084,0,0,0,0,0,0,11.38,11.32,11.40
$GC,6873,1.12,107.1,3239,2096,2158,2084,234.6,9.5,303,6878,0.00,3.40,0.00,0.000,580,0.000,0.079,3246,691,2120,2158,2083,0,0,0,0,0,0,11.48,11.29,11.49
$GC,6907,1.14,107.1,3247,692,2159,2084,231.4,9.0,308,6912,0.00,3.28,0.00,0.000,1094,0.000,0.051,3246,2110,2120,2157,2083,0,0,0,0,0,0,11.41,11.31,11.40
$GC,7264,1.16,107.1,3245,2110,2157,2084,198.6,9.2,317,7270,0.00,3.45,0.00,0.000,324,0.000,0.093,3246,3509,2120,2157,2084,0,0,0,0,0,0,11.49,11.26,11.50
$GC,7354,1.16,107.1,3246,3510,2159,2084,189.4,10.3,330,7360,0.00,3.22,0.00,0.000,1030,0.000,0.038,3256,2098,2120,2157,2083,0,0,0,0,0,0,11.38,11.31,11.39
$GC,7715,1.18,107.1,3257,2100,2159,2084,156.1,9.0,345,7716,0.00,0.00,0.00,0.000,70,0.000,0.000,3256,2098,2120,2157,2083,0,0,0,0,0,0,11.48,11.50,11.50
$PING,128.3,132.7,9000.0,-0.29,1.00
$GC,8048,1.19,107.1,3256,2099,2156,2082,125.8,9.1,357,8054,0.00,3.53,0.00,0.000,324,0.000,0.091,3256,3514,2119,2156,2083,0,0,0,0,0,0,11.48,11.28,11.50
$GC,8082,1.19,107.1,3255,3515,2156,2084,122.5,9.6,362,8088,0.00,3.25,0.00,0.000,1030,0.000,0.038,3267,2094,2120,2157,2084,0,0,0,0,0,0,11.38,11.33,11.40
$PING,118.1,122.4,9000.0,-0.26,0.99
$PING,108.0,111.8,111.9,1.03,1.00
$PING,97.9,101.3,101.3,1.04,1.00
$GC,8440,1.22,107.1,3268,2095,2158,2084,90.5,8.8,377,8446,0.00,3.53,0.00,0.000,324,0.000,0.092,3267,3510,2119,2156,2083,0,0,0,0,0,0,11.48,11.28,11.50
$GC,8474,1.22,107.1,3268,3516,2157,2084,86.9,10.3,382,8480,0.00,3.25,0.00,0.000,1030,0.000,0.040,3278,2091,2120,2156,2085,0,0,0,0,0,0,11.37,11.31,11.39
$PING,77.3,80.3,80.2,1.03,1.00
$PING,64.9,67.3,67.4,1.03,1.00
$PING,54.8,56.6,56.6,1.06,1.00
$GC,8836,1.24,107.1,3277,2092,2156,2084,54.8,9.0,397,8842,0.00,3.40,0.00,0.000,580,0.000,0.079,3288,689,2118,2156,2080,0,0,0,0,0,0,11.48,11.29,11.49
$GC,8890,1.26,107.1,3287,689,2154,2084,49.5,8.9,405,8897,0.00,3.28,0.00,0.000,1094,0.000,0.050,3288,2101,2119,2155,2083,0,0,0,0,0,0,11.38,11.31,11.40
$PING,44.7,45.8,45.8,1.06,1.00
$PING,32.5,33.1,33.1,1.05,1.00
$PING,20.2,20.4,20.4,1.04,1.00
$GC,9255,1.28,107.1,3289,2102,2157,2084,17.7,8.8,421,9261,0.00,3.50,0.00,0.000,324,0.000,0.092,3288,3516,2118,2154,2083,0,0,0,0,0,0,11.49,11.29,11.50
$GC,9310,1.28,107.1,3289,3517,2157,2084,12.3,9.6,429,9317,0.00,3.25,0.00,0.000,1030,0.000,0.038,3298,2098,2119,2155,2083,0,0,0,0,0,0,11.38,11.33,11.40
$PING,9.8,9.9,9.8,1.03,1.00
$FREEZE,9.80,-0.032,-1.859,2,1,0
$FREEZE,7.33,0.011,-1.858,2,1,0
$FREEZE,4.70,0.084,-1.856,2,1,0
$FREEZE,1.95,0.161,-1.853,2,1,0
$STATE,9419,end climb,SURFACE_DEPTH_REACHED
$STATE,9419,begin surface coast
$FREEZE,-0.11,0.562,-1.848,2,1,0
$FINISH,-0.1,1.027033
$STATE,9447,end surface coast,CONTROL_FINISHED_OK
$STATE,9447,begin surface
$SM_CCo,9473,183.02,0.206,0,0,1147,350.04
$SM_GC,0.83,12.15,0.55,183.02,0.075,0.077,0.206,214,2314,1147,-8.24,-0.06,350.04,0,0,0,0,0,0,11.31,11.31,11.19
$RAFOS_CLK,362
$RAFOS,2,1548699190,18.233334,18.219444,153,60,57,53,53,53,551,227,167,205,149,130
$RAFOS,1,1548698826,18.133333,18.118334,98,70,60,60,59,57,557,174,191,163,232,211
$RAFOS,0,1548698462,18.032778,18.017221,100,59,59,59,55,53,637,205,215,135,191,154
$RAFOS_FIX,-7405.804688,-11304.958984,280119,181824,3,117,0.74
$IRIDIUM_FIX,-7407.14,-11317.07,280119,130651
$TT8_MAMPS,0.048685,0.212716
$HUMID,49.64
$INTERNAL_PRESSURE,8.11163
$TCM_TEMP,12.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,9.8,9.8
$ALTIM_BOTTOM_PING,503.0,19.1
$24V_AH,10.32,286.503
$10V_AH,10.47,0.000
$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,33.250,128.950,326.300,183.025,0.000,0.000,0.000,258.050,22.000,0.000,4.787,0.000,7749.834,767.889,1226.827,397.343,0.000,1405.321,0.000,631.581,720.000,157.923,0.000
$DEVICE_MAMPS,402.390,134.640,2751.705,205.785,0.000,0.000,0.000,227.205,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9426.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.906,0.000,0.000,0.000
$MEM,279908
$DATA_FILE_SIZE,13450,437
$CAP_FILE_SIZE,87631,0
$CFSIZE,1024409600,920682496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.070,8.46,1
$GPS,280119,183101,-7406.512,-11312.630,34,0.6,34,53.8,0.3,24.3,12,3.3