version: 66.13
glider: 223
mission: 5
dive: 920
start: 2 11 119 4 54 3
data:
$ID,223
$MISSION,5
$DIVE,920
$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,0
$EXEC_DT,0
$EXEC_T,10029665
$EXEC_N,0
$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,24
$R_STBD_OVSHOOT,16
$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
$GPS1,110219,044500,-7407.1953,-11317.5010,22,0.9,22,53.9,1.9,259.0,8,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-66.4
$GPS2,110219,045330,-7407.2119,-11317.6494,2,0.9,3,53.9,0.8,227.5,8,8.0
$SPEED_LIMITS,0.100,0.239
$TGT_NAME,hold0
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,26.1,27421,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,11,-1.06,-107.1,220,2305,1172,1090,0.0,0.0,0,110,0.00,0.00,-98.35,0.002,16390,0.000,0.000,219,2304,3012,3018,3007,0,0,0,0,0,0,11.48,10.77,11.50
$PING,10.8,13.0,9000.0,0.00,0.00
$GC,114,-1.06,-107.1,220,2305,3020,3008,1.9,-1.6,3,138,17.75,3.47,0.00,0.000,2308,0.412,0.093,2514,3713,3013,3020,3007,0,0,0,0,0,0,11.15,11.26,11.33
$GC,240,-1.06,-107.1,2516,3714,3026,3003,31.1,-17.2,21,245,0.00,3.22,0.00,0.000,1030,0.000,0.037,2514,2286,3013,3024,3002,0,0,0,0,0,0,11.40,11.35,11.41
$PING,42.2,45.9,9000.0,0.00,0.00
$GC,587,-1.06,-107.1,2516,2286,3027,3001,85.8,-15.5,35,593,0.00,3.28,0.00,0.000,516,0.000,0.062,2514,898,3013,3026,3000,0,0,0,0,0,0,11.50,11.31,11.52
$GC,678,-1.06,-107.1,2515,899,3028,3001,100.5,-15.3,48,685,0.00,3.28,0.00,0.000,1030,0.000,0.059,2503,2299,3013,3026,3000,0,0,0,0,0,0,11.36,11.28,11.38
$GC,1039,-1.06,-107.1,2503,2300,3026,3002,157.2,-15.9,63,1044,0.00,3.33,0.00,0.000,516,0.000,0.060,2505,896,3012,3027,2998,0,0,0,0,0,0,11.50,11.32,11.52
$GC,1072,-1.06,-107.1,2505,896,3029,3000,163.1,-16.3,68,1078,0.20,3.33,0.00,0.000,3078,0.263,0.060,2523,2305,3013,3027,2999,0,0,0,0,0,0,11.22,11.33,11.38
$GC,1456,-1.06,-107.1,2522,2305,3027,2999,219.8,-14.5,82,1463,0.00,3.38,0.00,0.000,516,0.000,0.063,2523,894,3013,3028,2998,0,0,0,0,0,0,11.51,11.31,11.52
$GC,1541,-1.06,-107.1,2524,894,3029,2999,232.3,-14.5,94,1547,0.00,3.33,0.00,0.000,1030,0.000,0.058,2514,2303,3013,3028,2998,0,0,0,0,0,0,11.37,11.29,11.38
$GC,1904,-1.06,-107.1,2515,2304,3025,2998,284.8,-14.5,104,1910,0.00,3.35,0.00,0.000,516,0.000,0.061,2514,895,3013,3028,2998,0,0,0,0,0,0,11.52,11.32,11.53
$GC,1953,-1.06,-107.1,2513,895,3028,2998,291.9,-14.3,111,1960,0.00,3.30,0.00,0.000,1030,0.000,0.057,2503,2304,3012,3028,2997,0,0,0,0,0,0,11.41,11.33,11.42
$GC,2296,-1.06,-107.1,2505,2304,3030,2998,340.3,-14.1,118,2303,0.00,3.50,0.00,0.000,260,0.000,0.099,2492,3716,3012,3028,2997,0,0,0,0,0,0,11.52,11.31,11.53
$GC,2359,-1.06,-107.1,2491,3718,3028,2998,350.0,-14.8,127,2366,0.20,3.25,0.00,0.000,3078,0.259,0.039,2524,2296,3013,3029,2997,0,0,0,0,0,0,11.24,11.38,11.39
$GC,2748,-1.06,-107.1,2524,2296,3031,2998,400.4,-12.8,140,2753,0.00,3.35,0.00,0.000,516,0.000,0.063,2523,892,3012,3030,2995,0,0,0,0,0,0,11.51,11.32,11.52
$GC,2823,-1.06,-107.1,2523,892,3029,2997,411.3,-13.7,151,2828,0.00,3.30,0.00,0.000,1030,0.000,0.058,2514,2302,3012,3029,2996,0,0,0,0,0,0,11.41,11.33,11.43
$GC,3195,-1.06,-107.1,2515,2302,3032,2997,461.1,-13.3,162,3201,0.00,3.53,0.00,0.000,260,0.000,0.099,2503,3720,3013,3030,2996,0,0,0,0,0,0,11.50,11.31,11.52
$GC,3250,-1.06,-107.1,2502,3721,3029,2995,469.0,-14.4,170,3256,0.00,3.22,0.00,0.000,1030,0.000,0.038,2503,2300,3012,3030,2995,0,0,0,0,0,0,11.43,11.38,11.43
$PING,484.4,28.4,9000.0,0.00,0.00
$PING,499.4,15.8,9000.0,-0.05,0.85
$GC,3645,-1.06,-107.1,2504,2298,3035,2995,518.2,-12.1,184,3650,0.00,3.53,0.00,0.000,260,0.000,0.100,2495,3713,3013,3032,2995,0,0,0,0,0,0,11.51,11.31,11.50
$GC,3776,-1.06,-107.1,2497,3714,3034,2994,518.2,-0.0,203,3782,0.17,3.22,0.00,0.000,3110,0.189,0.038,2526,2265,3013,3032,2994,0,0,0,0,0,0,11.27,11.38,11.39
$STATE,3793,end dive,NO_VERTICAL_VELOCITY
$STATE,3793,begin apogee
$GC,3802,-0.23,0.0,2528,2103,3034,2994,518.3,0.0,206,3966,1.20,0.00,160.12,2.752,10246,0.149,0.000,2795,2103,2574,2605,2543,0,0,0,0,0,0,11.30,11.20,10.34
$STATE,3966,end apogee,CONTROL_FINISHED_OK
$STATE,3967,begin climb
$GC,3970,1.06,107.1,2797,2103,2607,2544,518.2,0.0,209,4149,1.75,3.62,162.40,2.665,10500,0.135,0.093,3200,3520,2137,2175,2100,0,0,0,0,0,0,11.19,11.19,10.36
$PING,507.8,13.3,9000.0,-0.67,0.96
$GC,4254,1.06,107.1,3199,3522,2172,2093,500.5,9.7,250,4260,0.00,3.22,0.00,0.000,1030,0.000,0.038,3209,2110,2131,2171,2091,0,0,0,0,0,0,11.36,11.29,11.37
$PING,497.3,30.7,9000.0,-1.26,0.56
$GC,4643,1.06,107.1,3208,2110,2164,2085,464.0,9.7,263,4649,0.00,3.55,0.00,0.000,260,0.000,0.090,3209,3520,2125,2165,2085,0,0,0,0,0,0,11.47,11.29,11.49
$GC,4691,1.06,107.1,3210,3521,2167,2093,458.7,10.5,270,4698,0.00,3.30,0.00,0.000,1030,0.000,0.040,3219,2094,2125,2165,2086,0,0,0,0,0,0,11.38,11.32,11.40
$GC,5034,1.06,107.1,3220,2095,2165,2085,425.7,9.5,277,5040,0.00,3.55,0.00,0.000,260,0.000,0.093,3219,3515,2124,2163,2085,0,0,0,0,0,0,11.49,11.29,11.50
$GC,5111,1.06,107.1,3220,3516,2165,2085,418.2,9.8,288,5117,0.00,3.30,0.00,0.000,1030,0.000,0.040,3228,2090,2123,2163,2084,0,0,0,0,0,0,11.39,11.33,11.41
$GC,5482,1.09,107.1,3228,2090,2160,2085,386.0,8.5,299,5489,0.00,3.47,0.00,0.000,324,0.000,0.090,3228,3516,2122,2160,2084,0,0,0,0,0,0,11.50,11.29,11.52
$GC,5538,1.10,107.1,3228,3516,2159,2085,380.7,9.4,307,5544,0.00,3.28,0.00,0.000,1094,0.000,0.040,3239,2090,2122,2160,2084,0,0,0,0,0,0,11.39,11.34,11.41
$GC,5930,1.10,107.1,3240,2090,2160,2084,343.2,9.8,321,5936,0.00,3.55,0.00,0.000,260,0.000,0.092,3240,3516,2121,2159,2084,0,0,0,0,0,0,11.50,11.30,11.52
$GC,5993,1.10,107.1,3240,3517,2160,2085,336.1,11.7,330,5999,0.00,3.25,0.00,0.000,1030,0.000,0.040,3250,2098,2121,2159,2084,0,0,0,0,0,0,11.39,11.33,11.41
$GC,6378,1.10,107.1,3251,2098,2160,2085,297.8,9.8,343,6384,0.00,3.53,0.00,0.000,260,0.000,0.094,3250,3513,2121,2158,2084,0,0,0,0,0,0,11.51,11.30,11.52
$GC,6421,1.10,107.1,3250,3511,2158,2084,293.2,11.2,349,6426,0.20,3.25,0.00,0.000,5126,0.249,0.041,3229,2092,2120,2157,2084,0,0,0,0,0,0,11.24,11.35,11.39
$GC,6770,1.12,107.1,3230,2092,2160,2084,261.8,9.0,357,6776,0.00,3.55,0.00,0.000,324,0.000,0.091,3229,3515,2120,2157,2083,0,0,0,0,0,0,11.52,11.30,11.53
$GC,6847,1.12,107.1,3228,3515,2157,2084,254.0,10.0,368,6853,0.00,3.25,0.00,0.000,1030,0.000,0.039,3237,2096,2120,2157,2083,0,0,0,0,0,0,11.41,11.36,11.43
$GC,7218,1.13,107.1,3236,2096,2157,2081,219.0,9.4,379,7224,0.00,3.40,0.00,0.000,580,0.000,0.081,3247,694,2120,2157,2083,0,0,0,0,0,0,11.52,11.31,11.53
$GC,7267,1.15,107.1,3247,695,2155,2084,214.5,9.2,386,7275,0.00,3.28,0.00,0.000,1094,0.000,0.053,3247,2115,2119,2156,2083,0,0,0,0,0,0,11.40,11.33,11.43
$GC,7614,1.17,107.1,3246,2115,2155,2083,183.2,9.0,396,7620,0.00,3.45,0.00,0.000,324,0.000,0.096,3248,3508,2119,2156,2083,0,0,0,0,0,0,11.54,11.31,11.52
$GC,7682,1.17,107.1,3246,3508,2155,2083,176.0,10.4,406,7688,0.00,3.22,0.00,0.000,1030,0.000,0.041,3257,2095,2119,2155,2083,0,0,0,0,0,0,11.42,11.36,11.43
$GC,8033,1.20,107.1,3259,2096,2157,2084,145.8,8.5,420,8033,0.00,0.00,0.00,0.000,70,0.000,0.000,3258,2095,2119,2155,2083,0,0,0,0,0,0,11.52,11.54,11.53
$GC,8369,1.21,107.1,3259,2096,2157,2084,115.1,9.2,432,8370,0.00,0.00,0.00,0.000,70,0.000,0.000,3258,2095,2119,2155,2083,0,0,0,0,0,0,11.52,11.54,11.53
$GC,8705,1.25,140.3,3257,2096,2154,2084,87.8,7.9,444,8734,0.00,3.47,23.85,0.459,8740,0.000,0.079,3268,691,2000,2036,1964,0,0,0,0,0,0,11.52,11.31,11.12
$GC,8825,1.25,140.3,3268,692,2032,1962,76.4,10.2,461,8830,0.00,3.25,0.00,0.000,1030,0.000,0.050,3269,2101,1999,2038,1961,0,0,0,0,0,0,11.41,11.33,11.43
$PING,71.6,74.1,9000.0,-0.12,0.93
$PING,60.0,62.2,9000.0,-0.09,0.92
$PING,47.7,49.7,49.7,1.02,1.00
$GC,9186,1.25,140.3,3269,2102,2032,1959,39.7,9.8,476,9187,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2101,1997,2036,1958,0,0,0,0,0,0,11.51,11.53,11.53
$PING,36.8,37.8,38.0,1.05,1.00
$PING,25.2,25.8,25.7,1.06,1.00
$PING,13.1,13.1,13.1,1.04,1.00
$FREEZE,9.37,-0.481,-1.841,2,1,0
$FREEZE,8.66,-0.481,-1.841,2,1,0
$GC,9522,1.32,189.9,3268,2102,2029,1958,13.1,6.9,488,9574,0.00,3.55,39.75,0.239,8484,0.000,0.094,3268,3512,1796,1839,1753,0,0,0,0,0,0,11.51,11.27,11.21
$FREEZE,6.78,-0.500,-1.840,2,1,0
$FREEZE,5.91,-0.500,-1.839,2,1,0
$FREEZE,5.31,-0.500,-1.839,2,1,0
$FREEZE,4.65,-0.494,-1.838,2,1,0
$GC,9602,1.32,189.9,3268,3512,1839,1752,4.6,10.7,500,9608,0.00,3.22,0.00,0.000,1030,0.000,0.039,3279,2093,1795,1839,1751,0,0,0,0,0,0,11.40,11.35,11.42
$FREEZE,2.96,-0.494,-1.837,2,1,0
$FREEZE,2.24,-0.494,-1.836,2,1,0
$FREEZE,1.46,-0.504,-1.836,2,1,0
$STATE,9626,end climb,SURFACE_DEPTH_REACHED
$STATE,9626,begin surface coast
$FREEZE,-0.09,-0.671,-1.844,2,1,0
$FINISH,-0.1,1.027034
$STATE,9654,end surface coast,CONTROL_FINISHED_OK
$STATE,9654,begin surface
$SM_CCo,9680,128.75,0.204,0,0,1147,350.04
$SM_GC,1.06,11.55,0.52,128.75,0.047,0.079,0.204,220,2297,1147,-8.23,-0.45,350.04,0,0,0,0,0,0,11.36,11.33,11.22
$RAFOS_CLK,370
$RAFOS,2,1549865595,6.233333,6.220833,80,61,59,59,55,55,517,177,214,158,118,194
$RAFOS,1,1549865256,6.133333,6.126667,58,57,56,53,52,52,197,210,123,162,148,171
$RAFOS,0,1549864863,6.032778,6.017500,63,58,55,55,54,50,194,162,120,138,213,171
$RAFOS_FIX,-7405.287109,-11250.261719,110219,060628,1,2,2.92
$IRIDIUM_FIX,-7409.86,-11312.95,110219,022224
$TT8_MAMPS,0.048685,0.293608
$HUMID,49.88
$INTERNAL_PRESSURE,8.08233
$TCM_TEMP,12.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,13.1,13.1
$24V_AH,10.34,303.218
$10V_AH,10.30,0.000
$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,33.025,135.525,386.125,128.750,0.000,0.000,0.000,280.875,22.500,0.000,5.103,0.000,7817.024,732.783,1359.956,418.193,0.000,1465.808,0.000,727.522,720.000,161.039,0.000
$DEVICE_MAMPS,411.570,100.215,2752.470,204.255,0.000,0.000,0.000,221.085,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9679.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.838,0.000,0.000,0.000
$MEM,279956
$DATA_FILE_SIZE,16767,505
$CAP_FILE_SIZE,91235,0
$CFSIZE,1024409600,915570688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$CURRENT,0.116,21.38,1
$GPS,110219,073901,-7406.284,-11312.937,26,0.6,43,53.8,0.5,216.3,12,2.1