version: 66.13
glider: 223
mission: 5
dive: 102
start: 2 9 118 5 1 33
data:
$ID,223
$MISSION,5
$DIVE,102
$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,42
$R_STBD_OVSHOOT,17
$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
$GPS1,090218,045937,-7416.6470,-11210.0186,0,1001.0,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,376.84
$_SM_ANGLEo,2.1
$GPS2,090218,045937,-7416.6470,-11210.0186,0,1001.0,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7412.500,-11213.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,295.6,7826,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-0.93,-146.0,2805,2279,2830,2770,0.0,0.0,0,11,0.00,0.00,-2.03,0.046,16390,0.000,0.000,2804,2278,3395,3418,3372,0,0,0,0,0,0,15.09,13.80,15.09
$PING,376.9,7.9,9000.0,0.00,0.00
$GC,12,-0.93,-146.0,2805,2278,3419,3374,0.0,0.0,0,19,0.93,2.38,0.00,0.000,4612,0.127,0.087,2498,906,3395,3418,3373,0,0,0,0,0,0,14.85,14.84,14.92
$GC,83,-0.93,-146.0,2499,907,3419,3374,383.4,-10.8,14,89,0.00,2.50,0.00,0.000,1030,0.000,0.082,2489,2304,3397,3417,3377,0,0,0,0,0,0,14.88,14.81,14.92
$PING,385.6,16.9,9000.0,0.00,0.00
$PING,393.9,25.1,25.2,1.01,1.00
$GC,393,-0.93,-146.0,2488,2304,3418,3372,420.1,-12.0,46,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2304,3394,3418,3371,0,0,0,0,0,0,15.10,15.13,15.12
$GC,693,-0.93,-146.0,2488,2304,3417,3371,456.3,-11.8,76,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2303,3394,3418,3370,0,0,0,0,0,0,15.10,15.13,15.13
$GC,993,-0.93,-146.0,2488,2304,3418,3370,492.2,-11.9,106,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2303,3394,3418,3370,0,0,0,0,0,0,15.10,15.14,15.13
$GC,1293,-0.93,-146.0,2488,2304,3418,3370,528.2,-12.0,136,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2304,3393,3418,3369,0,0,0,0,0,0,15.07,15.11,15.10
$GC,1593,-0.93,-146.0,2490,2304,3420,3369,563.3,-11.7,166,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2304,3394,3420,3368,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1893,-0.93,-146.0,2490,2304,3420,3368,597.8,-11.7,196,1899,0.00,2.53,0.00,0.000,516,0.000,0.086,2489,901,3393,3418,3368,0,0,0,0,0,0,15.11,14.81,15.14
$GC,1933,-0.93,-146.0,2488,902,3418,3368,602.6,-11.8,204,1939,0.00,2.53,0.00,0.000,1030,0.000,0.078,2479,2313,3392,3418,3367,0,0,0,0,0,0,14.88,14.81,14.91
$GC,2243,-0.93,-146.0,2478,2313,3418,3368,639.1,-11.9,236,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2312,3393,3418,3368,0,0,0,0,0,0,15.10,15.14,15.13
$GC,2543,-0.93,-146.0,2480,2310,3420,3368,674.8,-11.7,266,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2313,3393,3418,3368,0,0,0,0,0,0,15.11,15.13,15.13
$GC,2863,-0.93,-146.0,2478,2313,3418,3368,711.1,-11.3,292,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2313,3393,3418,3368,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3223,-0.93,-146.0,2478,2313,3418,3369,752.7,-11.5,304,3223,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2313,3392,3418,3367,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3584,-0.93,-146.0,2480,2314,3420,3369,793.2,-11.4,316,3589,0.00,2.50,0.00,0.000,516,0.000,0.086,2478,900,3392,3418,3367,0,0,0,0,0,0,15.12,14.85,15.15
$GC,3623,-0.93,-146.0,2479,900,3419,3368,797.8,-11.5,324,3629,0.00,2.47,0.00,0.000,1030,0.000,0.081,2476,2305,3392,3418,3367,0,0,0,0,0,0,14.98,14.88,15.01
$GC,4003,-0.93,-146.0,2476,2306,3418,3368,840.2,-11.5,340,4009,0.00,2.58,0.00,0.000,260,0.000,0.113,2471,3711,3392,3418,3367,0,0,0,0,0,0,15.12,14.81,15.14
$GC,4073,-0.93,-146.0,2470,3711,3418,3368,848.7,-12.0,354,4079,0.00,2.40,0.00,0.000,1030,0.000,0.050,2470,2301,3392,3418,3367,0,0,0,0,0,0,14.93,14.87,14.96
$PING,885.9,24.4,9000.0,0.01,0.19
$GC,4453,-0.93,-146.0,2472,2302,3418,3368,892.5,-11.2,370,4459,0.12,2.53,0.00,0.000,2564,0.288,0.086,2497,899,3392,3418,3367,0,0,0,0,0,0,14.76,14.81,14.95
$PING,894.1,16.0,9000.0,-0.01,0.33
$GC,4483,-0.93,-146.0,2497,900,3420,3368,895.8,-12.2,376,4489,0.00,2.53,0.00,0.000,1030,0.000,0.080,2489,2306,3392,3418,3367,0,0,0,0,0,0,14.88,14.83,14.92
$PING,904.8,6.5,6.3,-0.94,1.00
$STATE,4573,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4573,begin apogee
$GC,4577,-0.23,0.0,2489,2067,3418,3368,904.8,-10.1,384,4829,0.85,0.10,244.55,2.154,10246,0.224,0.158,2727,2125,2782,2819,2746,0,0,0,0,1,0,14.76,13.44,12.47
$STATE,4830,end apogee,CONTROL_FINISHED_OK
$STATE,4830,begin climb
$PING,897.0,24.4,9000.0,-1.18,0.53
$GC,4832,0.93,146.0,2729,2126,2822,2747,908.8,0.0,392,5215,1.27,0.00,376.70,1.498,10758,0.134,0.000,3095,2126,2187,2230,2145,0,0,0,0,0,0,13.46,13.48,12.93
$GC,5563,0.93,146.0,3097,2126,2216,2132,828.7,12.7,427,5569,0.00,2.62,0.00,0.000,260,0.000,0.099,3094,3504,2173,2215,2131,0,0,0,0,0,0,14.50,14.27,14.53
$GC,5613,0.93,146.0,3097,3508,2216,2132,821.7,14.1,437,5620,0.00,2.47,0.00,0.000,1030,0.000,0.051,3106,2112,2173,2215,2131,0,0,0,0,0,0,14.41,14.36,14.44
$GC,5985,0.93,146.0,3106,2111,2212,2131,775.0,12.4,451,5990,0.00,2.55,0.00,0.000,260,0.000,0.100,3106,3508,2171,2212,2130,0,0,0,0,0,0,14.82,14.59,14.85
$GC,6009,0.93,146.0,3108,3511,2214,2131,771.5,13.8,456,6017,0.00,2.47,0.00,0.000,1030,0.000,0.054,3116,2091,2171,2212,2131,0,0,0,0,0,0,14.68,14.63,14.71
$GC,6376,0.93,146.0,3116,2092,2209,2131,724.0,13.0,469,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2091,2170,2210,2130,0,0,0,0,0,0,14.92,14.95,14.94
$GC,6734,0.93,146.0,3117,2092,2210,2131,676.2,13.5,491,6740,0.00,2.60,0.00,0.000,260,0.000,0.102,3116,3507,2169,2208,2130,0,0,0,0,0,0,15.02,14.76,15.04
$GC,6779,0.93,146.0,3117,3506,2210,2131,669.5,15.0,500,6786,0.00,2.42,0.00,0.000,1030,0.000,0.053,3126,2096,2169,2208,2130,0,0,0,0,0,0,14.85,14.81,14.88
$GC,7084,0.93,146.0,3126,2096,2208,2131,627.2,14.0,531,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2095,2169,2208,2130,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7384,0.93,146.0,3127,2096,2205,2130,587.1,13.1,561,7391,0.00,2.58,0.00,0.000,260,0.000,0.101,3127,3504,2168,2207,2130,0,0,0,0,0,0,15.07,14.81,15.09
$GC,7420,0.93,146.0,3127,3505,2210,2130,581.9,14.6,568,7429,0.12,2.42,0.00,0.000,5126,0.259,0.053,3102,2095,2168,2207,2130,0,0,0,0,0,0,14.73,14.85,14.85
$GC,7725,0.93,146.0,3101,2096,2207,2131,545.4,11.7,599,7731,0.00,2.58,0.00,0.000,260,0.000,0.099,3101,3507,2168,2207,2129,0,0,0,0,0,0,15.07,14.80,15.10
$GC,7760,0.93,146.0,3103,3508,2209,2130,540.9,13.1,606,7767,0.00,2.42,0.00,0.000,1030,0.000,0.053,3110,2094,2168,2207,2129,0,0,0,0,0,0,14.92,14.86,14.95
$GC,8065,0.93,146.0,3112,2095,2208,2130,503.6,12.5,637,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2094,2167,2206,2129,0,0,0,0,0,0,15.08,15.10,15.11
$GC,8365,0.93,146.0,3112,2095,2208,2130,467.1,12.2,667,8371,0.00,2.53,0.00,0.000,260,0.000,0.100,3110,3504,2167,2205,2129,0,0,0,0,0,0,15.09,14.83,15.11
$GC,8395,0.93,146.0,3110,3505,2206,2129,463.2,13.5,673,8403,0.00,2.40,0.00,0.000,1030,0.000,0.052,3121,2099,2167,2206,2129,0,0,0,0,0,0,14.88,14.85,14.94
$PING,454.2,96.2,9000.0,-0.18,0.97
$PING,428.6,69.1,9000.0,-0.13,0.82
$GC,8707,0.93,146.0,3122,2100,2207,2130,425.0,12.0,705,8714,0.00,2.55,0.00,0.000,516,0.000,0.102,3130,703,2167,2205,2129,0,0,0,0,0,0,15.10,14.84,15.12
$GC,8733,0.93,146.0,3130,701,2204,2129,421.8,12.1,710,8741,0.10,2.45,0.00,0.000,5126,0.255,0.070,3101,2100,2167,2205,2129,0,0,0,0,0,0,14.76,14.87,14.88
$PING,420.0,60.3,60.2,1.05,1.00
$PING,411.9,51.4,51.6,1.05,1.00
$PING,402.9,42.0,41.9,1.08,1.00
$PING,394.0,32.6,32.6,1.06,1.00
$GC,9038,0.93,146.0,3102,2101,2207,2129,387.6,10.8,741,9045,0.00,2.55,0.00,0.000,260,0.000,0.101,3101,3510,2166,2205,2128,0,0,0,0,0,0,15.10,14.85,15.13
$PING,385.7,23.9,23.9,1.05,1.00
$GC,9094,0.93,146.0,3100,3509,2204,2130,380.9,12.2,752,9101,0.00,2.42,0.00,0.000,1030,0.000,0.053,3110,2094,2167,2205,2129,0,0,0,0,0,0,14.94,14.89,14.97
$PING,376.9,14.6,14.6,1.05,1.00
$STATE,9178,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9178,begin subsurface finish
$FINISH1,371.4,1.027477,1
$GC,9181,0.00,1.2,3111,2095,2207,2129,371.4,11.1,761,9193,1.05,2.58,-2.20,0.054,20996,0.216,0.127,2809,688,2796,2828,2764,0,0,0,0,0,0,14.76,13.81,14.91
$FINISH2,370.4
$STATE,9193,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9193,begin surface
$RAFOS_CLK,330
$RAFOS,2,1518156796,6.233333,6.221111,66,60,59,56,55,49,216,543,201,180,147,552
$RAFOS,1,1518156436,6.133333,6.121111,119,66,56,56,54,53,517,200,209,191,171,131
$RAFOS,0,1518156075,6.033333,6.020833,91,63,54,53,51,51,478,212,161,133,151,187
$RAFOS_FIX,-7417.399414,-11210.290039,090218,060604,2,105,0.34
$IRIDIUM_FIX,-7410.50,-11205.65,080218,140223
$TT8_MAMPS,0.038199,0.287616
$HUMID,49.68
$INTERNAL_PRESSURE,8.24835
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,376.9,14.6
$ALTIM_BOTTOM_PING,904.8,6.3
$24V_AH,12.47,48.532
$10V_AH,12.42,0.000
$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,4.450,70.125,621.250,0.000,0.000,0.000,0.000,0.000,29.500,0.000,0.000,0.000,6887.807,710.348,1601.494,64.944,0.000,1290.064,0.000,1095.273,720.000,208.147,0.000
$DEVICE_MAMPS,287.640,158.355,2154.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.027,0.000,0.000,0.000
$MEM,280256
$DATA_FILE_SIZE,26704,763
$CAP_FILE_SIZE,94348,0
$CFSIZE,1024409600,1007812608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1457.6
$GPS,090218,060904,-7417.399,-11210.290,0,3105.0,0,53.4,0.0,0.0,0,0.0