version: 66.13
glider: 223
mission: 5
dive: 98
start: 2 8 118 20 9 10
data:
$ID,223
$MISSION,5
$DIVE,98
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,15
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,15
$SURFACE_URGENCY_TRY,15
$SURFACE_URGENCY_FORCE,30
$T_DIVE,350
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.15000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53553
$MASS_COMP,0
$NAV_MODE,0
$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,1
$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,10
$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,2800
$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,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2782
$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
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,400
$LOITER_D_NO_PUMP,400
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$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,10
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,8
$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
$GPS1,080218,181424,-7412.5337,-11211.2285,0,4114.3,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,342.91
$_SM_ANGLEo,0.9
$GPS2,080218,181424,-7412.5337,-11211.2285,0,4114.3,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,inside0
$TGT_LATLONG,-7420.000,-11215.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,134.4,13956,-16.5,-9.429,-19.22,2384
$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,9,-0.93,-146.0,2802,2319,2823,2757,0.0,0.0,0,12,0.00,0.00,-2.12,0.044,16390,0.000,0.000,2803,2318,3392,3420,3364,0,0,0,0,0,0,15.07,13.75,15.07
$GC,13,-0.93,-146.0,2804,2318,3421,3366,0.0,0.0,0,15,0.95,0.00,0.00,0.000,4102,0.124,0.000,2495,2319,3391,3419,3364,0,0,0,0,0,0,14.83,14.97,14.95
$PING,352.0,18.2,9000.0,0.00,0.00
$PING,360.4,26.7,9000.0,0.00,0.00
$GC,309,-0.93,-146.0,2495,2320,3418,3365,375.7,-11.5,30,315,0.00,2.60,0.00,0.000,516,0.000,0.089,2494,887,3390,3417,3364,0,0,0,0,0,0,15.09,14.81,15.11
$GC,354,-0.93,-146.0,2494,887,3417,3365,381.1,-12.1,39,361,0.00,2.53,0.00,0.000,1030,0.000,0.080,2489,2292,3390,3417,3364,0,0,0,0,0,0,14.90,14.83,14.93
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$GC,1260,-0.93,-146.0,2488,2293,3416,3364,486.8,-11.2,130,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2292,3390,3416,3364,0,0,0,0,0,0,15.07,15.11,15.09
$GC,1559,-0.93,-146.0,2490,2293,3418,3364,520.5,-11.1,160,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2292,3389,3415,3363,0,0,0,0,0,0,15.10,15.14,15.13
$GC,1859,-0.93,-146.0,2488,2292,3416,3364,553.8,-11.4,190,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2292,3390,3417,3363,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2159,-0.93,-146.0,2490,2293,3418,3364,587.3,-11.2,220,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2292,3389,3416,3363,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2460,-0.93,-146.0,2490,2293,3418,3363,620.6,-11.2,250,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2292,3389,3416,3363,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2759,-0.93,-146.0,2488,2292,3416,3364,653.5,-10.8,280,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2292,3390,3417,3363,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3059,-0.93,-146.0,2488,2293,3416,3364,685.1,-10.4,310,3065,0.00,2.62,0.00,0.000,260,0.000,0.116,2479,3718,3389,3416,3362,0,0,0,0,0,0,15.11,14.83,15.14
$GC,3095,-0.93,-146.0,2480,3719,3418,3364,689.0,-11.4,317,3103,0.00,2.40,0.00,0.000,1030,0.000,0.054,2479,2289,3389,3415,3363,0,0,0,0,0,0,14.99,14.91,15.00
$GC,3409,-0.93,-146.0,2481,2289,3418,3364,724.1,-11.1,335,3415,0.00,2.50,0.00,0.000,516,0.000,0.088,2479,896,3389,3416,3363,0,0,0,0,0,0,15.11,14.82,15.14
$GC,3439,-0.93,-146.0,2480,896,3418,3364,727.4,-11.1,341,3446,0.00,2.55,0.00,0.000,1030,0.000,0.083,2476,2309,3389,3416,3363,0,0,0,0,0,0,14.92,14.84,14.95
$GC,3830,-0.93,-146.0,2477,2310,3418,3364,772.2,-10.9,359,3837,0.00,2.58,0.00,0.000,260,0.000,0.112,2468,3718,3389,3415,3363,0,0,0,0,0,0,15.11,14.81,15.14
$GC,3867,-0.93,-146.0,2469,3718,3417,3364,776.8,-13.1,366,3873,0.15,2.40,0.00,0.000,3078,0.263,0.052,2503,2283,3389,3416,3363,0,0,0,0,0,0,14.73,14.91,14.93
$GC,4252,-0.93,-146.0,2503,2283,3418,3364,817.0,-10.0,383,4258,0.00,2.47,0.00,0.000,516,0.000,0.086,2502,901,3389,3415,3363,0,0,0,0,0,0,15.11,14.82,15.14
$GC,4301,-0.93,-146.0,2503,903,3417,3363,821.9,-9.8,393,4312,0.00,2.53,0.00,0.000,1030,0.000,0.082,2502,2304,3389,3415,3363,0,0,0,0,0,0,14.92,14.84,14.94
$GC,4676,-0.93,-146.0,2503,2305,3417,3364,857.4,-10.1,407,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2304,3390,3416,3365,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5036,-0.93,-146.0,2502,2305,3414,3363,891.3,-10.0,419,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2304,3389,3415,3363,0,0,0,0,0,0,15.12,15.15,15.14
$PING,903.0,27.5,9000.0,0.01,0.33
$PING,913.3,20.1,9000.0,-0.01,0.19
$PING,922.0,18.0,9000.0,-0.51,0.94
$GC,5396,-0.93,-146.0,2502,2304,3416,3363,927.8,-9.6,431,5402,0.00,2.60,0.00,0.000,260,0.000,0.116,2494,3722,3388,3415,3362,0,0,0,0,0,0,15.12,14.83,15.15
$PING,930.3,12.4,9000.0,-0.45,0.93
$GC,5430,-0.93,-146.0,2496,3723,3417,3364,931.4,-10.3,438,5437,0.00,2.42,0.00,0.000,1030,0.000,0.051,2494,2296,3389,3415,3363,0,0,0,0,0,0,14.96,14.92,14.98
$STATE,5724,end dive,NO_VERTICAL_VELOCITY
$STATE,5725,begin apogee
$GC,5728,-0.23,0.0,2496,2062,3417,3362,936.2,0.0,452,6130,0.75,0.10,397.90,1.294,10246,0.139,0.164,2730,2120,2781,2816,2747,0,0,0,0,0,0,14.85,13.74,13.26
$STATE,6131,end apogee,CONTROL_FINISHED_OK
$STATE,6131,begin climb
$PING,928.3,17.0,9000.0,-0.54,0.63
$PING,919.9,19.6,9000.0,-0.58,0.77
$PING,903.7,26.9,9000.0,-0.41,0.99
$GC,6132,0.93,146.0,2731,2120,2811,2744,936.5,0.0,465,6501,1.23,2.78,356.15,1.470,11012,0.134,0.100,3097,3502,2183,2225,2141,0,0,0,0,0,0,13.74,13.40,12.95
$GC,6674,0.93,146.0,3095,3502,2214,2132,872.4,15.6,572,6682,0.00,2.50,0.00,0.000,1030,0.000,0.050,3107,2130,2172,2214,2131,0,0,0,0,0,0,14.09,14.04,14.12
$GC,7040,0.93,146.0,3105,2128,2208,2130,820.6,13.8,585,7046,0.00,2.67,0.00,0.000,516,0.000,0.103,3117,685,2168,2208,2129,0,0,0,0,0,0,14.66,14.42,14.68
$GC,7065,0.93,146.0,3116,685,2209,2128,817.1,13.8,590,7073,0.00,2.55,0.00,0.000,1030,0.000,0.069,3117,2092,2168,2208,2128,0,0,0,0,0,0,14.52,14.46,14.54
$GC,7430,0.93,146.0,3118,2093,2208,2129,771.8,12.5,603,7437,0.00,2.58,0.00,0.000,260,0.000,0.104,3117,3512,2167,2207,2128,0,0,0,0,0,0,14.86,14.62,14.88
$GC,7506,0.93,146.0,3116,3514,2207,2129,761.3,14.2,618,7513,0.00,2.47,0.00,0.000,1030,0.000,0.054,3127,2097,2167,2207,2128,0,0,0,0,0,0,14.71,14.65,14.73
$GC,7882,0.93,146.0,3127,2098,2205,2130,709.4,13.2,633,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2097,2166,2205,2128,0,0,0,0,0,0,14.97,15.00,15.00
$GC,8243,0.93,146.0,3128,2098,2207,2129,660.8,14.6,663,8248,0.00,2.58,0.00,0.000,260,0.000,0.104,3127,3516,2168,2209,2128,0,0,0,0,0,0,14.99,14.77,15.02
$GC,8291,0.93,146.0,3128,3516,2206,2128,652.8,15.7,673,8299,0.12,2.45,0.00,0.000,5126,0.262,0.054,3104,2098,2165,2204,2127,0,0,0,0,0,0,14.67,14.81,14.81
$GC,8603,0.93,146.0,3104,2100,2206,2127,613.5,12.1,705,8609,0.00,2.60,0.00,0.000,260,0.000,0.103,3103,3513,2165,2204,2127,0,0,0,0,0,0,15.04,14.78,15.07
$GC,8633,0.93,146.0,3104,3514,2206,2128,609.6,13.4,711,8640,0.00,2.45,0.00,0.000,1030,0.000,0.055,3112,2092,2165,2204,2127,0,0,0,0,0,0,14.88,14.83,14.91
$GC,8944,0.93,146.0,3113,2092,2205,2128,570.8,12.6,743,8950,0.00,2.62,0.00,0.000,260,0.000,0.104,3112,3517,2165,2204,2127,0,0,0,0,0,0,15.05,14.80,15.08
$GC,8974,0.93,146.0,3112,3517,2203,2128,566.6,14.2,749,8981,0.00,2.45,0.00,0.000,1030,0.000,0.054,3123,2097,2165,2203,2127,0,0,0,0,0,0,14.90,14.83,14.91
$GC,9285,0.93,146.0,3122,2097,2203,2127,525.1,13.3,781,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2097,2165,2203,2127,0,0,0,0,0,0,15.07,15.09,15.09
$GC,9586,0.93,146.0,3124,2098,2205,2128,486.2,13.1,811,9591,0.00,2.55,0.00,0.000,260,0.000,0.103,3123,3512,2164,2201,2127,0,0,0,0,0,0,15.05,14.81,15.07
$GC,9646,0.93,146.0,3124,3512,2205,2129,477.6,14.5,823,9651,0.15,2.40,0.00,0.000,5126,0.291,0.052,3100,2087,2165,2203,2127,0,0,0,0,0,0,14.71,14.84,14.91
$GC,9955,0.93,146.0,3100,2088,2202,2126,440.4,11.9,855,9961,0.00,2.55,0.00,0.000,516,0.000,0.104,3109,692,2164,2203,2126,0,0,0,0,0,0,15.09,14.81,15.11
$GC,9980,0.93,146.0,3110,692,2204,2127,437.4,11.6,860,9987,0.00,2.50,0.00,0.000,1030,0.000,0.070,3109,2110,2164,2202,2126,0,0,0,0,0,0,14.94,14.85,14.94
$PING,419.1,71.5,9000.0,-0.10,0.99
$PING,410.8,62.8,9000.0,-0.08,0.96
$PING,402.4,54.0,54.0,1.04,1.00
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$PING,394.2,45.8,45.7,1.02,1.00
$GC,10365,0.93,146.0,3107,3511,2202,2126,391.0,12.8,907,10371,0.00,2.42,0.00,0.000,1030,0.000,0.054,3119,2101,2164,2202,2126,0,0,0,0,0,0,14.92,14.88,14.95
$PING,385.0,35.8,36.0,1.04,1.00
$PING,376.7,27.1,27.1,1.07,1.00
$PING,368.4,18.4,18.4,1.05,1.00
$PING,360.1,9.4,9.5,1.06,1.00
$STATE,10625,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10625,begin subsurface finish
$FINISH1,360.1,1.027482,1
$GC,10628,0.00,0.9,3119,2102,2208,2126,360.1,12.0,934,10640,1.10,2.60,-2.25,0.051,20996,0.222,0.129,2802,689,2799,2831,2768,0,0,0,0,0,0,14.75,13.79,14.87
$FINISH2,358.9
$STATE,10641,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10641,begin surface
$RAFOS_CLK,387
$RAFOS,2,1518124385,21.233334,21.218056,105,60,59,56,55,55,599,215,191,108,179,143
$RAFOS,1,1518124050,21.133333,21.125000,150,65,63,58,57,55,439,136,209,192,170,118
$RAFOS,0,1518123669,21.033333,21.019167,134,69,57,54,54,53,502,209,218,199,184,174
$RAFOS_FIX,-7413.958008,-11209.995117,080218,212144,3,130,0.25
$IRIDIUM_FIX,-7410.50,-11205.65,080218,140223
$TT8_MAMPS,0.038948,0.285369
$HUMID,48.81
$INTERNAL_PRESSURE,8.23859
$TCM_TEMP,12.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,360.1,9.5
$24V_AH,12.95,47.265
$10V_AH,12.56,0.000
$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,4.450,79.300,754.050,0.000,0.000,0.000,0.000,0.000,33.250,0.000,0.000,0.000,7954.635,771.906,1918.031,76.596,0.000,1514.480,0.000,1340.282,720.000,234.796,0.000
$DEVICE_MAMPS,291.465,163.710,1469.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10659.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.191,0.000,0.000,0.000
$MEM,280256
$DATA_FILE_SIZE,33376,936
$CAP_FILE_SIZE,109112,0
$CFSIZE,1024409600,1008173056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,080218,211544,-7413.958,-11209.995,0,4129.7,0,53.4,0.0,0.0,0,0.0