version: 66.13
glider: 223
mission: 5
dive: 146
start: 2 15 118 8 19 19
data:
$ID,223
$MISSION,5
$DIVE,146
$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,17
$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,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
$GPS1,150218,061528,-7412.6001,-11212.1172,0,4101.0,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,918.00
$_SM_ANGLEo,6.1
$GPS2,150218,061528,-7412.6001,-11212.1172,0,4101.0,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11213.500
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,139.5,3134,-30.4,-9.429,-32.28,710
$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,-1.43,-43.5,2813,2311,2869,2812,0.0,0.0,0,9,0.00,0.00,-0.35,0.265,16390,0.000,0.000,2813,2308,2986,3018,2954,0,0,0,0,0,0,14.46,13.24,14.41
$GC,11,-1.43,-43.5,2815,2312,3020,2955,0.0,0.0,0,17,1.52,2.58,0.00,0.000,4356,0.129,0.092,2341,3716,2989,3024,2954,0,0,0,0,0,0,14.21,14.21,14.28
$GC,21,-1.43,-43.5,2341,3716,3017,2955,918.5,-8.5,2,29,0.00,2.60,0.00,0.000,1030,0.000,0.057,2341,2289,2986,3018,2954,0,0,0,0,0,0,14.31,14.25,14.35
$GC,403,-1.51,-108.6,2342,2289,3019,2953,917.9,0.0,18,410,0.00,2.62,0.00,0.000,548,0.000,0.104,2341,888,2986,3018,2954,0,0,0,0,0,0,14.83,14.53,14.85
$GC,635,-1.56,-146.0,2341,885,3018,2954,917.9,-0.0,64,641,0.12,2.45,0.00,0.000,5158,0.137,0.051,2283,2301,2985,3017,2954,0,0,0,0,0,0,14.71,14.69,14.78
$GC,1005,-1.56,-146.0,2282,2302,3019,2954,918.1,-0.2,78,1011,0.00,2.58,0.00,0.000,548,0.000,0.100,2283,888,2985,3017,2953,0,0,0,0,0,0,15.01,14.72,15.03
$GC,1235,-1.56,-146.0,2282,888,3017,2954,917.9,0.1,124,1241,0.00,2.50,0.00,0.000,1062,0.000,0.053,2283,2310,2985,3018,2953,0,0,0,0,0,0,14.84,14.78,14.87
$GC,1605,-1.56,-146.0,2284,2311,3018,2953,918.1,0.0,138,1612,0.00,2.58,0.00,0.000,548,0.000,0.099,2282,888,2985,3018,2952,0,0,0,0,0,0,15.08,14.76,15.09
$GC,1836,-1.56,-146.0,2284,888,3018,2953,917.8,0.0,184,1842,0.00,2.47,0.00,0.000,1062,0.000,0.050,2276,2310,2985,3018,2952,0,0,0,0,0,0,14.88,14.83,14.92
$GC,2206,-1.56,-146.0,2277,2310,3020,2952,917.9,0.0,198,2212,0.00,2.58,0.00,0.000,548,0.000,0.099,2275,882,2984,3018,2951,0,0,0,0,0,0,15.11,14.81,15.13
$GC,2436,-1.56,-146.0,2275,883,3018,2951,917.8,0.0,244,2443,0.00,2.47,0.00,0.000,1062,0.000,0.047,2271,2311,2984,3018,2950,0,0,0,0,0,0,14.91,14.85,14.95
$GC,2808,-1.56,-146.0,2271,2311,3017,2950,918.6,-0.0,258,2813,0.00,2.58,0.00,0.000,548,0.000,0.099,2271,884,2984,3018,2950,0,0,0,0,0,0,15.12,14.82,15.14
$GC,3037,-1.56,-146.0,2272,885,3020,2951,917.9,0.0,304,3045,0.00,2.45,0.00,0.000,1062,0.000,0.049,2269,2308,2983,3018,2949,0,0,0,0,0,0,14.92,14.86,14.94
$GC,3409,-1.56,-146.0,2268,2309,3017,2950,918.3,0.0,318,3415,0.12,2.58,0.00,0.000,2596,0.256,0.101,2298,882,2983,3017,2949,0,0,0,0,0,0,14.74,14.81,14.92
$GC,3639,-1.56,-146.0,2299,882,3020,2950,917.8,-0.0,364,3645,0.00,2.47,0.00,0.000,1062,0.000,0.052,2298,2302,2983,3018,2949,0,0,0,0,0,0,14.90,14.84,14.92
$GC,4009,-1.56,-146.0,2299,2303,3019,2949,917.8,0.0,378,4015,0.00,2.58,0.00,0.000,548,0.000,0.101,2297,882,2983,3018,2948,0,0,0,0,0,0,15.11,14.81,15.14
$GC,4239,-1.56,-146.0,2297,882,3017,2949,917.8,-0.0,424,4245,0.00,2.47,0.00,0.000,1062,0.000,0.050,2289,2308,2984,3020,2948,0,0,0,0,0,0,14.90,14.85,14.94
$GC,4609,-1.56,-146.0,2288,2309,3017,2949,917.8,0.0,438,4615,0.00,2.58,0.00,0.000,548,0.000,0.098,2289,881,2982,3017,2948,0,0,0,0,0,0,15.12,14.81,15.14
$GC,4840,-1.56,-146.0,2288,880,3016,2949,917.8,-0.0,484,4845,0.00,2.47,0.00,0.000,1062,0.000,0.047,2282,2308,2983,3018,2948,0,0,0,0,0,0,14.90,14.85,14.94
$GC,5209,-1.56,-146.0,2282,2309,3017,2948,917.7,0.0,498,5215,0.00,2.62,0.00,0.000,516,0.000,0.100,2282,881,2982,3017,2948,0,0,0,0,0,0,15.14,14.80,15.16
$GC,5440,-1.56,-146.0,2281,881,3016,2948,917.7,0.0,544,5445,0.00,2.47,0.00,0.000,1062,0.000,0.049,2277,2305,2982,3017,2948,0,0,0,0,0,0,14.91,14.86,14.95
$GC,5810,-1.56,-146.0,2278,2307,3019,2949,917.7,0.0,558,5815,0.00,2.55,0.00,0.000,548,0.000,0.095,2277,885,2981,3016,2947,0,0,0,0,0,0,15.15,14.82,15.17
$GC,6039,-1.56,-146.0,2276,886,3016,2948,917.7,0.0,604,6045,0.00,2.45,0.00,0.000,1062,0.000,0.046,2270,2305,2980,3017,2943,0,0,0,0,0,0,14.92,14.88,14.96
$GC,6410,-1.56,-146.0,2270,2306,3019,2948,917.7,0.0,618,6415,0.00,2.55,0.00,0.000,548,0.000,0.096,2269,884,2982,3016,2948,0,0,0,0,0,0,15.16,14.82,15.18
$GC,6639,-1.56,-146.0,2271,885,3018,2948,917.7,-0.1,664,6646,0.10,2.47,0.00,0.000,3110,0.224,0.050,2299,2308,2981,3016,2947,0,0,0,0,0,0,14.71,14.86,14.83
$GC,7010,-1.56,-146.0,2300,2309,3018,2948,917.6,0.0,678,7016,0.00,2.58,0.00,0.000,548,0.000,0.101,2299,885,2981,3016,2947,0,0,0,0,0,0,15.15,14.81,15.18
$GC,7240,-1.56,-146.0,2300,886,3018,2948,917.6,0.0,724,7246,0.00,2.47,0.00,0.000,1062,0.000,0.051,2297,2309,2979,3011,2947,0,0,0,0,0,0,14.92,14.85,14.95
$GC,7610,-1.56,-146.0,2299,2310,3018,2948,917.6,0.0,738,7616,0.00,2.58,0.00,0.000,548,0.000,0.096,2297,880,2981,3016,2946,0,0,0,0,0,0,15.15,14.82,15.17
$GC,7840,-1.56,-146.0,2298,880,3018,2948,917.6,0.0,784,7846,0.00,2.47,0.00,0.000,1062,0.000,0.047,2290,2311,2981,3016,2947,0,0,0,0,0,0,14.92,14.86,14.96
$GC,8210,-1.56,-146.0,2290,2310,3016,2947,917.6,0.0,798,8216,0.00,2.58,0.00,0.000,548,0.000,0.099,2290,885,2981,3016,2947,0,0,0,0,0,0,15.16,14.81,15.16
$GC,8440,-1.56,-146.0,2291,886,3018,2952,917.6,-0.0,844,8447,0.00,2.45,0.00,0.000,1062,0.000,0.047,2282,2301,2981,3016,2947,0,0,0,0,0,0,14.92,14.86,14.95
$GC,8811,-1.56,-146.0,2284,2302,3018,2947,917.6,0.0,858,8817,0.00,2.55,0.00,0.000,548,0.000,0.100,2282,886,2981,3016,2947,0,0,0,0,0,0,15.16,14.81,15.19
$GC,8937,-1.56,-146.0,2282,887,3016,2947,917.6,-0.1,883,8942,0.00,2.42,0.00,0.000,1062,0.000,0.047,2281,2312,2981,3016,2947,0,0,0,0,0,0,14.99,14.89,15.01
$GC,9321,-1.56,-146.0,2278,2316,3015,2947,917.6,-0.0,900,9327,0.00,2.58,0.00,0.000,548,0.000,0.095,2279,883,2981,3017,2946,0,0,0,0,0,0,15.16,14.78,15.18
$GC,9376,-1.56,-146.0,2281,883,3017,2947,917.6,-0.1,911,9383,0.00,2.45,0.00,0.000,1062,0.000,0.044,2271,2310,2981,3016,2946,0,0,0,0,0,0,14.92,14.86,14.95
$GC,9741,-1.56,-146.0,2271,2310,3015,2947,917.5,0.0,924,9747,0.00,2.58,0.00,0.000,548,0.000,0.098,2271,880,2981,3016,2946,0,0,0,0,0,0,15.16,14.81,15.18
$GC,9751,-1.56,-146.0,2272,880,3017,2947,917.5,-0.3,926,9759,0.00,2.47,0.00,0.000,1062,0.000,0.050,2271,2308,2980,3015,2946,0,0,0,0,0,0,14.92,14.85,14.95
$GC,10133,-1.56,-146.0,2272,2309,3017,2947,917.5,0.0,942,10141,0.00,2.55,0.00,0.000,548,0.000,0.096,2271,888,2980,3015,2946,0,0,0,0,0,0,15.16,14.81,15.19
$GC,10365,-1.56,-146.0,2273,889,3017,2947,917.5,-0.0,988,10371,0.00,2.47,0.00,0.000,1062,0.000,0.054,2267,2305,2980,3015,2946,0,0,0,0,0,0,14.90,14.85,14.94
$GC,10735,-1.56,-146.0,2270,2308,3017,2947,917.5,0.0,1002,10741,0.00,2.55,0.00,0.000,548,0.000,0.098,2269,888,2980,3015,2946,0,0,0,0,0,0,15.15,14.81,15.18
$GC,10965,-1.56,-146.0,2270,889,3017,2947,917.5,-0.0,1048,10971,0.12,2.47,0.00,0.000,3110,0.218,0.049,2298,2311,2980,3015,2946,0,0,0,0,0,0,14.69,14.85,14.82
$GC,11336,-1.56,-146.0,2299,2312,3017,2947,917.5,0.0,1062,11341,0.00,2.58,0.00,0.000,548,0.000,0.099,2298,887,2980,3015,2946,0,0,0,0,0,0,15.15,14.80,15.18
$GC,11566,-1.56,-146.0,2299,887,3017,2947,917.5,-0.0,1108,11571,0.00,2.45,0.00,0.000,1062,0.000,0.048,2300,2305,2980,3014,2946,0,0,0,0,0,0,14.91,14.85,14.95
$STATE,11724,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11724,begin apogee
$GC,11728,-0.23,0.0,2299,2077,3017,2947,917.6,0.0,1115,11838,1.40,0.00,107.15,1.520,10246,0.163,0.000,2726,2076,2783,2819,2748,0,0,0,0,0,0,14.76,14.35,13.81
$STATE,11839,end apogee,CONTROL_FINISHED_OK
$STATE,11839,begin climb
$GC,11841,1.56,146.0,2728,2076,2817,2746,917.8,0.0,1118,12060,1.80,0.00,213.55,1.454,10754,0.120,0.000,3295,2076,2362,2394,2330,0,0,0,0,0,0,14.29,28.83,14.36
$STATE,12060,end climb,NO_VERTICAL_VELOCITY
$STATE,12061,begin subsurface finish
$FINISH1,916.9,1.027731,-12
$GC,12064,-0.01,-11.7,3298,2076,2390,2326,916.9,0.0,1146,12074,1.95,0.00,-6.65,0.031,20486,0.235,0.000,2800,2076,2856,2887,2825,0,0,0,0,1,0,13.71,13.06,13.90
$FINISH2,916.9
$STATE,12074,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12074,begin surface
$RAFOS_CLK,434
$RAFOS,2,1518685987,9.233334,9.218611,106,63,61,60,57,55,568,193,158,204,111,180
$RAFOS,1,1518685621,9.133333,9.116944,100,60,56,56,53,51,585,195,211,183,139,112
$RAFOS,0,1518685266,9.032778,9.018333,110,67,60,59,53,52,501,201,226,191,173,152
$RAFOS_FIX,-7413.187988,-11212.215820,150218,090940,3,105,0.10
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.04494,0.706307
$HUMID,45.31
$INTERNAL_PRESSURE,8.30695
$TCM_TEMP,12.90
$XPDR_PINGS,1
$24V_AH,13.06,63.574
$10V_AH,13.02,0.000
$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,7.150,109.325,320.700,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,0.000,9455.701,459.252,2156.228,81.181,0.000,1279.933,0.000,1632.693,720.000,4.561,0.000
$DEVICE_MAMPS,256.275,104.040,1520.055,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12085.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.855,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,36608,1146
$CAP_FILE_SIZE,113100,16
$CFSIZE,1024409600,1002700800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1465.5
$GPS,150218,091440,-7413.188,-11212.216,0,4105.3,0,53.3,0.0,0.0,0,0.0