version: 66.13
glider: 223
mission: 5
dive: 145
start: 2 15 118 4 49 17
data:
$ID,223
$MISSION,5
$DIVE,145
$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,400
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$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,20
$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,15
$R_STBD_OVSHOOT,19
$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,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$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
$GPS1,150218,031408,-7411.6450,-11214.1426,0,3105.0,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,930.57
$_SM_ANGLEo,1.2
$GPS2,150218,031408,-7411.6450,-11214.1426,0,3105.0,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11213.500
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,122.8,4836,-19.8,-9.429,-22.27,1677
$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,-1.03,-102.7,2808,2301,2883,2821,0.0,0.0,0,10,0.00,0.00,-0.82,0.112,16390,0.000,0.000,2808,2301,3224,3255,3193,0,0,0,0,0,0,14.16,13.08,14.16
$GC,12,-1.03,-102.7,2808,2302,3255,3195,0.0,0.0,0,18,1.05,2.65,0.00,0.000,4356,0.086,0.092,2463,3721,3225,3255,3195,0,0,0,0,0,0,14.00,13.95,14.04
$GC,32,-1.03,-102.7,2464,3722,3256,3196,930.2,3.5,4,38,0.00,2.72,0.00,0.000,1030,0.000,0.080,2462,2298,3224,3254,3195,0,0,0,0,0,0,14.06,13.97,14.09
$GC,403,-1.08,-146.0,2462,2298,3254,3195,929.2,0.2,18,404,0.00,0.00,0.00,0.000,38,0.000,0.000,2464,2297,3224,3254,3195,0,0,0,0,0,0,14.71,14.74,14.73
$GC,762,-1.08,-146.0,2463,2298,3254,3196,929.2,0.0,30,768,0.00,2.70,0.00,0.000,516,0.000,0.121,2463,879,3224,3254,3194,0,0,0,0,0,0,14.91,14.57,14.93
$GC,777,-1.08,-146.0,2463,879,3254,3195,929.2,6.5,33,783,0.00,2.53,0.00,0.000,1030,0.000,0.051,2462,2320,3224,3254,3195,0,0,0,0,0,0,14.73,14.69,14.76
$GC,1153,-1.08,-146.0,2461,2325,3254,3196,928.1,0.3,48,1153,0.00,0.00,0.00,0.000,38,0.000,0.000,2462,2324,3224,3253,3195,0,0,0,0,0,0,15.00,15.03,15.02
$GC,1513,-1.08,-146.0,2461,2327,3253,3196,927.4,0.1,60,1514,0.00,0.00,0.00,0.000,38,0.000,0.000,2462,2326,3224,3253,3195,0,0,0,0,0,0,15.05,15.08,15.08
$GC,1872,-1.08,-146.0,2462,2327,3252,3195,927.3,0.2,72,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2326,3222,3251,3194,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2233,-1.08,-146.0,2463,2328,3254,3195,927.2,0.0,84,2239,0.00,2.67,0.00,0.000,548,0.000,0.119,2462,875,3223,3252,3194,0,0,0,0,0,0,15.11,14.78,15.14
$GC,2463,-1.08,-146.0,2462,876,3251,3195,927.5,1.3,130,2469,0.00,2.45,0.00,0.000,1062,0.000,0.046,2459,2294,3223,3252,3194,0,0,0,0,0,0,14.90,14.83,14.93
$GC,2833,-1.08,-146.0,2460,2299,3254,3195,927.3,-0.0,144,2840,0.00,2.60,0.00,0.000,548,0.000,0.112,2459,881,3222,3252,3193,0,0,0,0,0,0,15.12,14.79,15.15
$GC,3064,-1.08,-146.0,2459,882,3252,3194,927.5,0.1,190,3070,0.00,2.45,0.00,0.000,1062,0.000,0.047,2452,2303,3222,3252,3193,0,0,0,0,0,0,14.92,14.88,14.95
$GC,3435,-1.08,-146.0,2453,2307,3253,3193,927.2,0.1,204,3441,0.00,2.62,0.00,0.000,548,0.000,0.116,2451,879,3222,3251,3193,0,0,0,0,0,0,15.14,14.80,15.16
$GC,3665,-1.08,-146.0,2453,880,3253,3194,927.2,0.0,250,3671,0.00,2.47,0.00,0.000,1062,0.000,0.050,2451,2314,3222,3251,3193,0,0,0,0,0,0,14.93,14.87,14.95
$GC,4035,-1.08,-146.0,2452,2318,3252,3194,927.0,-0.0,264,4043,0.00,2.67,0.00,0.000,548,0.000,0.123,2450,879,3222,3250,3195,0,0,0,0,0,0,15.14,14.79,15.17
$GC,4267,-1.08,-146.0,2452,880,3253,3193,927.1,0.0,310,4273,0.00,2.45,0.00,0.000,1062,0.000,0.049,2451,2302,3221,3251,3192,0,0,0,0,0,0,14.93,14.89,14.96
$GC,4637,-1.08,-146.0,2450,2307,3250,3193,926.2,0.6,324,4638,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2306,3221,3250,3193,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4997,-1.08,-146.0,2452,2311,3250,3195,923.5,0.9,336,5003,0.00,2.65,0.00,0.000,548,0.000,0.113,2451,885,3220,3248,3193,0,0,0,0,0,0,15.14,14.78,15.16
$GC,5227,-1.08,-146.0,2452,885,3250,3193,921.3,1.0,382,5233,0.00,2.45,0.00,0.000,1062,0.000,0.047,2450,2311,3220,3249,3192,0,0,0,0,0,0,14.92,14.88,14.96
$GC,5597,-1.08,-146.0,2451,2316,3249,3194,919.0,0.0,396,5603,0.00,2.65,0.00,0.000,516,0.000,0.107,2450,880,3220,3248,3192,0,0,0,0,0,0,15.14,14.78,15.16
$GC,5827,-1.08,-146.0,2452,881,3251,3193,919.0,-0.0,442,5833,0.00,2.45,0.00,0.000,1062,0.000,0.046,2449,2302,3220,3248,3192,0,0,0,0,0,0,14.92,14.86,14.95
$GC,6197,-1.08,-146.0,2448,2303,3248,3193,919.0,-0.0,456,6203,0.00,2.60,0.00,0.000,548,0.000,0.108,2449,880,3220,3248,3192,0,0,0,0,0,0,15.14,14.81,15.17
$GC,6427,-1.08,-146.0,2449,881,3248,3192,919.1,-0.0,502,6435,0.00,2.45,0.00,0.000,1062,0.000,0.047,2449,2307,3219,3248,3191,0,0,0,0,0,0,14.92,14.86,14.95
$GC,6799,-1.08,-146.0,2450,2308,3250,3192,919.0,0.0,516,6805,0.00,2.60,0.00,0.000,548,0.000,0.108,2449,884,3220,3249,3191,0,0,0,0,0,0,15.14,14.81,15.16
$GC,7029,-1.08,-146.0,2449,881,3248,3192,919.5,-0.1,562,7036,0.00,2.47,0.00,0.000,1062,0.000,0.050,2449,2307,3220,3249,3191,0,0,0,0,0,0,14.91,14.84,14.95
$GC,7400,-1.08,-146.0,2449,2307,3250,3192,919.0,-0.0,576,7406,0.00,2.60,0.00,0.000,548,0.000,0.104,2449,877,3220,3249,3191,0,0,0,0,0,0,15.14,14.81,15.16
$GC,7630,-1.08,-146.0,2450,879,3250,3192,919.0,-0.0,622,7636,0.00,2.47,0.00,0.000,1062,0.000,0.052,2449,2299,3219,3248,3191,0,0,0,0,0,0,14.91,14.84,14.93
$GC,8000,-1.08,-146.0,2449,2299,3248,3191,919.0,-0.0,636,8008,0.00,2.58,0.00,0.000,548,0.000,0.106,2449,881,3220,3249,3191,0,0,0,0,0,0,15.14,14.81,15.17
$GC,8232,-1.08,-146.0,2449,882,3245,3191,919.0,0.0,682,8238,0.00,2.47,0.00,0.000,1062,0.000,0.050,2449,2303,3219,3248,3191,0,0,0,0,0,0,14.88,14.83,14.90
$GC,8602,-1.08,-146.0,2449,2307,3248,3191,919.0,-0.0,696,8610,0.00,2.60,0.00,0.000,548,0.000,0.103,2449,878,3219,3248,3191,0,0,0,0,0,0,15.15,14.81,15.17
$GC,8834,-1.08,-146.0,2449,884,3249,3191,919.0,0.0,742,8840,0.00,2.50,0.00,0.000,1062,0.000,0.052,2449,2310,3219,3248,3191,0,0,0,0,0,0,14.90,14.85,14.94
$GC,9204,-1.08,-146.0,2450,2310,3250,3191,919.2,0.0,756,9212,0.00,2.60,0.00,0.000,548,0.000,0.105,2449,882,3220,3249,3191,0,0,0,0,0,0,15.14,14.79,15.16
$GC,9436,-1.08,-146.0,2449,883,3248,3191,919.0,-0.0,802,9442,0.00,2.45,0.00,0.000,1062,0.000,0.045,2449,2309,3219,3248,3190,0,0,0,0,0,0,14.90,14.85,14.94
$GC,9806,-1.08,-146.0,2450,2310,3250,3191,919.2,-0.1,816,9814,0.00,2.60,0.00,0.000,548,0.000,0.101,2449,874,3219,3248,3190,0,0,0,0,0,0,15.14,14.80,15.16
$GC,10038,-1.08,-146.0,2450,875,3250,3191,919.0,0.0,862,10044,0.00,2.50,0.00,0.000,1062,0.000,0.052,2449,2311,3219,3248,3190,0,0,0,0,0,0,14.90,14.84,14.99
$GC,10408,-1.08,-146.0,2456,2311,3250,3191,919.7,0.0,876,10414,0.00,2.58,0.00,0.000,548,0.000,0.099,2449,882,3219,3249,3190,0,0,0,0,0,0,15.14,14.80,15.16
$GC,10638,-1.08,-146.0,2450,883,3250,3191,919.0,0.0,922,10644,0.00,2.50,0.00,0.000,1062,0.000,0.056,2449,2309,3218,3248,3189,0,0,0,0,0,0,14.90,14.83,14.93
$GC,11008,-1.08,-146.0,2449,2310,3248,3190,919.6,0.0,936,11014,0.00,2.60,0.00,0.000,548,0.000,0.102,2449,874,3219,3249,3189,0,0,0,0,0,0,15.14,14.80,15.17
$GC,11238,-1.08,-146.0,2448,874,3248,3190,919.0,0.0,982,11245,0.00,2.50,0.00,0.000,1062,0.000,0.050,2449,2311,3218,3248,3189,0,0,0,0,0,0,14.92,14.84,14.94
$GC,11609,-1.08,-146.0,2450,2312,3250,3190,918.9,0.0,996,11615,0.00,2.60,0.00,0.000,548,0.000,0.099,2449,874,3219,3249,3189,0,0,0,0,0,0,15.13,14.79,15.15
$STATE,11703,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11703,begin apogee
$PING,919.3,36.4,9000.0,0.00,0.00
$GC,11708,-0.23,0.0,2449,2114,3248,3190,918.9,-0.0,1015,11998,0.93,0.05,286.67,1.304,10246,0.169,0.236,2727,2092,2784,2816,2753,0,0,0,0,0,0,14.74,13.94,13.47
$STATE,11999,end apogee,CONTROL_FINISHED_OK
$STATE,11999,begin climb
$GC,12001,1.08,146.0,2729,2092,2816,2750,918.7,0.0,1024,12318,1.33,2.88,305.10,1.414,11012,0.109,0.116,3156,684,2183,2225,2142,0,0,0,0,0,0,13.99,13.52,13.02
$STATE,12462,end climb,NO_VERTICAL_VELOCITY
$STATE,12462,begin subsurface finish
$FINISH1,917.6,1.027682,-9
$GC,12468,-0.01,-9.2,3156,2112,2215,2134,917.6,0.1,1115,12478,1.38,2.85,-1.48,0.076,20996,0.254,0.133,2813,688,2839,2868,2811,0,0,0,0,0,0,13.93,13.14,14.05
$FINISH2,918.2
$STATE,12479,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12479,begin surface
$RAFOS_CLK,455
$RAFOS,2,1518675184,6.233333,6.217778,108,63,63,59,54,53,588,219,173,192,153,117
$RAFOS,1,1518674823,6.133333,6.117500,78,60,55,52,51,51,576,119,219,195,175,205
$RAFOS,0,1518674463,6.032778,6.017500,117,64,63,59,55,52,514,230,163,206,136,187
$RAFOS_FIX,-7412.600098,-11212.117188,150218,060628,3,101,0.19
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.046438,0.286118
$HUMID,45.23
$INTERNAL_PRESSURE,8.28742
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,13.02,63.389
$10V_AH,12.71,0.000
$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,4.675,103.050,591.775,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,0.000,9731.853,658.107,2089.196,76.770,0.000,1492.613,0.000,1591.949,720.000,4.341,0.000
$DEVICE_MAMPS,253.980,236.385,1413.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12489.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.810,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,36716,1117
$CAP_FILE_SIZE,106534,9
$CFSIZE,1024409600,1002815488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,150218,061528,-7412.600,-11212.117,0,4101.0,0,53.3,0.0,0.0,0,0.0