version: 66.13
glider: 223
mission: 5
dive: 170
start: 2 18 118 5 58 9
data:
$ID,223
$MISSION,5
$DIVE,170
$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,280
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,180218,055602,-7413.4292,-11213.7256,0,1001.0,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,349.21
$_SM_ANGLEo,-1.9
$GPS2,180218,055602,-7413.4292,-11213.7256,0,1001.0,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,313.3,4529,-21.2,-9.429,-23.61,1459
$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,-1.07,-89.4,2804,2269,2829,2767,0.0,0.0,0,12,0.00,0.08,-1.33,0.074,16390,0.000,0.975,2802,2307,3163,3190,3137,0,0,0,0,0,0,15.09,13.52,15.07
$GC,13,-1.07,-89.4,2802,2307,3190,3138,0.0,0.0,0,20,1.02,2.42,0.00,0.000,4612,0.096,0.082,2450,909,3164,3190,3138,0,0,0,0,0,0,14.82,14.78,14.88
$GC,139,-1.07,-89.4,2451,910,3192,3139,364.4,-13.5,25,147,0.00,2.50,0.00,0.000,1030,0.000,0.076,2439,2303,3162,3190,3135,0,0,0,0,0,0,14.87,14.78,14.91
$GC,444,-1.07,-89.4,2438,2304,3190,3139,407.1,-14.1,56,450,0.00,2.53,0.00,0.000,516,0.000,0.083,2439,907,3164,3190,3138,0,0,0,0,0,0,15.10,14.74,15.13
$GC,499,-1.07,-89.4,2440,913,3190,3139,415.1,-14.6,67,506,0.00,2.50,0.00,0.000,1030,0.000,0.075,2428,2301,3164,3190,3138,0,0,0,0,0,0,14.85,14.78,14.90
$GC,804,-1.07,-89.4,2427,2301,3189,3139,459.9,-14.6,98,811,0.00,2.53,0.00,0.000,516,0.000,0.080,2428,878,3164,3190,3138,0,0,0,0,0,0,15.10,14.78,15.13
$GC,835,-1.07,-89.4,2429,879,3192,3139,464.5,-15.4,104,841,0.12,2.55,0.00,0.000,3078,0.286,0.074,2449,2300,3164,3190,3138,0,0,0,0,0,0,14.58,14.77,14.90
$GC,1145,-1.07,-89.4,2448,2300,3193,3138,505.6,-13.0,136,1151,0.00,2.47,0.00,0.000,516,0.000,0.079,2449,899,3163,3189,3137,0,0,0,0,0,0,15.08,14.77,15.10
$GC,1205,-1.07,-89.4,2450,899,3192,3138,513.5,-13.3,148,1211,0.00,2.53,0.00,0.000,1030,0.000,0.073,2440,2304,3164,3190,3138,0,0,0,0,0,0,14.85,14.77,14.88
$GC,1515,-1.07,-89.4,2441,2306,3192,3138,555.2,-13.5,180,1521,0.00,2.53,0.00,0.000,516,0.000,0.081,2440,904,3163,3190,3137,0,0,0,0,0,0,15.10,14.74,15.12
$GC,1545,-1.07,-89.4,2444,905,3192,3138,559.3,-13.2,186,1551,0.00,2.53,0.00,0.000,1030,0.000,0.076,2429,2310,3163,3190,3137,0,0,0,0,0,0,14.85,14.78,14.89
$GC,1856,-1.07,-89.4,2428,2310,3189,3138,601.7,-13.7,218,1861,0.00,2.47,0.00,0.000,516,0.000,0.081,2429,906,3167,3198,3137,0,0,0,0,0,0,15.04,14.78,15.07
$GC,1935,-1.07,-89.4,2428,907,3189,3136,612.7,-13.4,234,1941,0.10,2.50,0.00,0.000,3078,0.291,0.073,2456,2303,3163,3190,3137,0,0,0,0,0,0,14.59,14.78,14.85
$GC,2247,-1.07,-89.4,2457,2304,3193,3137,649.2,-11.9,266,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2303,3163,3190,3136,0,0,0,0,0,0,15.05,15.07,15.07
$GC,2546,-1.07,-89.4,2457,2304,3192,3138,684.8,-11.7,296,2551,0.00,2.50,0.00,0.000,516,0.000,0.079,2455,916,3163,3190,3136,0,0,0,0,0,0,15.11,14.76,15.14
$GC,2641,-1.07,-89.4,2457,917,3192,3137,696.4,-12.4,315,2648,0.00,2.42,0.00,0.000,1030,0.000,0.070,2447,2304,3163,3190,3136,0,0,0,0,0,0,14.93,14.81,14.96
$GC,2947,-1.07,-89.4,2448,2305,3191,3138,733.0,-12.1,328,2952,0.00,2.55,0.00,0.000,260,0.000,0.107,2436,3719,3162,3189,3135,0,0,0,0,0,0,15.07,14.78,15.10
$GC,3021,-1.07,-89.4,2436,3720,3189,3136,743.2,-13.3,343,3027,0.00,2.42,0.00,0.000,1030,0.000,0.047,2432,2299,3162,3189,3135,0,0,0,0,0,0,14.89,14.85,14.92
$GC,3396,-1.07,-89.4,2437,2298,3191,3136,786.3,-11.5,358,3402,0.00,2.50,0.00,0.000,516,0.000,0.080,2436,903,3160,3189,3132,0,0,0,0,0,0,15.13,14.75,15.15
$GC,3586,-1.07,-89.4,2438,903,3191,3136,809.5,-12.1,396,3592,0.00,2.50,0.00,0.000,1030,0.000,0.071,2426,2306,3162,3189,3136,0,0,0,0,0,0,14.86,14.79,14.90
$GC,3966,-1.07,-89.4,2427,2308,3191,3136,855.3,-11.7,412,3972,0.00,2.53,0.00,0.000,516,0.000,0.080,2426,905,3162,3189,3136,0,0,0,0,0,0,15.13,14.76,15.16
$GC,4026,-1.07,-89.4,2426,905,3189,3136,862.2,-11.0,424,4032,0.15,2.47,0.00,0.000,3078,0.327,0.076,2449,2311,3163,3190,3136,0,0,0,0,0,0,14.59,14.81,14.87
$PING,872.1,32.1,9000.0,0.00,0.00
$PING,878.4,25.3,9000.0,0.00,0.00
$PING,885.0,15.5,9000.0,-1.28,0.99
$PING,891.9,12.0,11.0,-0.98,0.93
$STATE,4326,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4326,begin apogee
$PING,896.7,22.2,9000.0,0.50,0.32
$GC,4329,-0.23,0.0,2450,2058,3189,3136,894.8,-11.2,439,4573,1.00,0.10,240.32,1.337,10246,0.247,0.161,2721,2120,2783,2817,2750,0,0,0,0,0,0,14.62,14.03,13.57
$STATE,4574,end apogee,CONTROL_FINISHED_OK
$STATE,4574,begin climb
$PING,884.3,18.0,9000.0,0.24,0.08
$PING,878.0,29.0,9000.0,-0.26,0.20
$GC,4576,1.07,89.4,2720,2121,2813,2747,896.4,0.0,447,4823,1.40,2.72,233.95,1.301,10756,0.149,0.091,3148,726,2415,2450,2380,0,0,0,0,0,0,14.01,13.59,13.15
$PING,871.6,31.6,33.0,-1.07,0.89
$GC,4933,1.07,89.4,3149,727,2444,2378,865.7,10.9,517,4941,0.00,2.55,0.00,0.000,1030,0.000,0.062,3148,2093,2409,2442,2377,0,0,0,0,0,0,14.04,13.99,14.07
$GC,5306,1.07,89.4,3149,2093,2440,2374,824.6,11.1,531,5311,0.00,2.62,0.00,0.000,260,0.000,0.099,3148,3521,2405,2438,2373,0,0,0,0,0,0,14.69,14.45,14.71
$GC,5381,1.07,89.4,3148,3521,2436,2374,815.4,12.9,546,5387,0.00,2.45,0.00,0.000,1030,0.000,0.049,3158,2125,2404,2436,2373,0,0,0,0,0,0,14.65,14.53,14.67
$GC,5756,1.07,89.4,3158,2125,2435,2372,773.4,11.3,561,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2125,2403,2435,2372,0,0,0,0,0,0,14.93,14.97,14.96
$GC,6116,1.07,89.4,3160,2126,2436,2372,731.2,11.7,573,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2125,2402,2434,2371,0,0,0,0,0,0,15.01,15.04,15.04
$GC,6476,1.07,89.4,3158,2126,2434,2371,689.2,11.7,591,6481,0.00,2.50,0.00,0.000,260,0.000,0.099,3158,3512,2401,2433,2370,0,0,0,0,0,0,15.05,14.76,15.07
$GC,6551,1.07,89.4,3159,3511,2435,2370,679.9,12.6,606,6558,0.00,2.45,0.00,0.000,1030,0.000,0.049,3169,2093,2401,2433,2370,0,0,0,0,0,0,14.92,14.80,14.95
$GC,6856,1.07,89.4,3170,2093,2435,2371,645.2,11.4,637,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2093,2401,2433,2370,0,0,0,0,0,0,15.07,15.11,15.10
$GC,7156,1.07,89.4,3170,2093,2435,2371,611.3,11.3,667,7162,0.00,2.60,0.00,0.000,260,0.000,0.099,3169,3511,2401,2432,2370,0,0,0,0,0,0,15.09,14.77,15.11
$GC,7216,1.07,89.4,3170,3512,2434,2371,604.0,12.3,679,7222,0.12,2.45,0.00,0.000,5126,0.278,0.049,3146,2088,2401,2432,2370,0,0,0,0,0,0,14.62,14.83,14.78
$GC,7526,1.07,89.4,3150,2088,2432,2370,572.8,10.1,711,7532,0.00,2.58,0.00,0.000,260,0.000,0.098,3145,3516,2401,2432,2370,0,0,0,0,0,0,15.08,14.78,15.09
$GC,7556,1.07,89.4,3145,3516,2432,2370,569.5,11.3,717,7563,0.00,2.45,0.00,0.000,1030,0.000,0.050,3154,2094,2401,2432,2370,0,0,0,0,0,0,14.88,14.83,14.90
$GC,7868,1.07,89.4,3155,2095,2434,2370,537.1,10.3,749,7874,0.00,2.58,0.00,0.000,260,0.000,0.099,3154,3520,2400,2431,2369,0,0,0,0,0,0,15.05,14.78,15.08
$GC,7933,1.07,89.4,3154,3520,2432,2370,529.6,11.5,762,7940,0.00,2.47,0.00,0.000,1030,0.000,0.050,3165,2083,2400,2431,2370,0,0,0,0,0,0,14.88,14.83,14.94
$GC,8238,1.07,89.4,3166,2084,2433,2372,498.1,10.3,793,8244,0.00,2.58,0.00,0.000,260,0.000,0.098,3165,3512,2400,2431,2369,0,0,0,0,0,0,15.11,14.79,15.14
$GC,8299,1.07,89.4,3166,3514,2433,2370,491.1,11.7,805,8306,0.00,2.45,0.00,0.000,1030,0.000,0.050,3175,2091,2399,2430,2368,0,0,0,0,0,0,14.88,14.84,14.92
$GC,8610,1.07,89.4,3174,2091,2430,2370,458.3,10.2,837,8616,0.00,2.58,0.00,0.000,260,0.000,0.096,3175,3522,2397,2430,2365,0,0,0,0,0,0,15.11,14.80,15.14
$GC,8650,1.07,89.4,3174,3521,2430,2370,453.7,11.2,845,8657,0.15,2.45,0.00,0.000,5126,0.267,0.048,3146,2099,2400,2431,2369,0,0,0,0,0,0,14.61,14.84,14.78
$GC,8961,1.07,89.4,3145,2099,2430,2370,425.1,9.0,877,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2098,2399,2430,2369,0,0,0,0,0,0,15.12,15.15,15.14
$PING,410.0,77.4,9000.0,-0.10,1.00
$GC,9262,1.09,89.4,3146,2099,2430,2370,398.5,8.8,907,9262,0.00,0.00,0.00,0.000,70,0.000,0.000,3146,2098,2397,2425,2369,0,0,0,0,0,0,15.12,15.16,15.15
$PING,397.6,64.3,9000.0,-0.08,0.91
$PING,391.6,58.2,58.1,1.05,1.00
$PING,385.5,51.7,51.7,1.04,1.00
$PING,379.4,47.5,47.1,0.88,0.98
$GC,9562,1.11,89.4,3144,2099,2432,2370,372.5,8.5,937,9568,0.00,2.55,0.00,0.000,324,0.000,0.099,3146,3515,2399,2430,2369,0,0,0,0,0,0,15.13,14.81,15.16
$PING,367.0,36.8,37.0,0.81,1.00
$GC,9632,1.11,89.4,3147,3516,2431,2371,366.0,9.1,951,9638,0.00,2.45,0.00,0.000,1030,0.000,0.049,3155,2094,2399,2430,2369,0,0,0,0,0,0,14.90,14.85,14.94
$PING,360.9,30.3,30.7,0.92,1.00
$PING,354.7,23.2,23.3,1.12,1.00
$PING,348.5,16.7,16.5,1.11,1.00
$PING,342.0,9.9,9.9,1.05,1.00
$GC,9942,1.14,119.1,3154,2094,2429,2370,339.8,7.3,983,9961,0.00,0.00,17.00,2.520,8482,0.000,0.000,3155,2094,2342,2373,2311,0,0,0,0,0,0,15.14,28.83,15.16
$STATE,9961,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9961,begin subsurface finish
$FINISH1,338.7,1.027444,3
$GC,9965,0.00,2.8,3155,2095,2373,2311,338.7,7.3,986,9976,1.23,2.62,-1.67,0.071,20740,0.222,0.123,2806,3506,2792,2821,2764,0,0,0,0,0,0,14.61,13.83,14.72
$FINISH2,337.7
$STATE,9977,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9977,begin surface
$RAFOS_CLK,367
$RAFOS,2,1518934383,6.233333,6.217500,104,56,55,54,52,52,586,164,213,177,121,152
$RAFOS,1,1518934022,6.133333,6.117222,93,65,57,50,48,48,575,198,210,111,166,154
$RAFOS,0,1518933663,6.032778,6.017500,75,58,54,52,52,52,520,176,206,158,217,188
$RAFOS_FIX,-7413.522461,-11213.756836,180218,060628,3,91,0.15
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.040446,0.418691
$HUMID,50.11
$INTERNAL_PRESSURE,8.25812
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,342.0,9.9
$ALTIM_BOTTOM_PING,891.9,11.0
$24V_AH,13.15,70.846
$10V_AH,12.75,0.000
$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,5.300,100.750,491.275,0.000,0.000,0.000,0.000,0.000,41.500,0.000,0.000,0.000,7341.211,572.797,2047.188,99.782,0.000,1328.100,0.000,1413.786,720.000,293.861,0.000
$DEVICE_MAMPS,326.655,975.375,2519.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9995.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.261,0.000,0.000,0.000
$MEM,280072
$DATA_FILE_SIZE,33351,988
$CAP_FILE_SIZE,118892,0
$CFSIZE,1024409600,1000161280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.4
$GPS,180218,061528,-7413.522,-11213.757,0,4090.7,0,53.3,0.0,0.0,0,0.0