version: 66.13
glider: 223
mission: 5
dive: 173
start: 2 18 118 15 19 3
data:
$ID,223
$MISSION,5
$DIVE,173
$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,43
$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
$GPS1,180218,150848,-7411.5762,-11216.4863,0,2002.0,0,53.3,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,279.97
$_SM_ANGLEo,-1.9
$GPS2,180218,150848,-7411.5762,-11216.4863,0,2002.0,0,53.3,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11212.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,7.6,2193,-40.6,-9.429,-42.07,402
$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,-1.88,-24.6,2809,2279,2809,2753,0.0,0.0,0,10,0.00,0.00,-0.50,0.199,16390,0.000,0.000,2803,2278,2899,2927,2871,0,0,0,0,0,0,15.05,13.44,15.01
$GC,11,-1.88,-24.6,2803,2279,2928,2873,0.0,0.0,0,19,1.77,2.40,0.00,0.000,4612,0.081,0.083,2177,895,2900,2927,2873,0,0,0,0,0,0,14.81,14.75,14.94
$GC,243,-1.88,-24.6,2177,897,2925,2877,313.6,-15.6,46,249,0.08,2.53,0.00,0.000,3078,0.354,0.073,2193,2304,2900,2925,2876,0,0,0,0,0,0,14.44,14.69,14.79
$GC,553,-1.88,-24.6,2193,2305,2924,2877,358.4,-14.3,78,559,0.00,2.50,0.00,0.000,516,0.000,0.080,2195,899,2900,2925,2876,0,0,0,0,0,0,15.09,14.73,15.11
$GC,783,-1.88,-24.6,2197,900,2927,2877,391.2,-13.3,124,789,0.00,2.50,0.00,0.000,1030,0.000,0.071,2187,2299,2903,2925,2882,0,0,0,0,0,0,14.77,14.70,14.81
$GC,1093,-1.88,-24.6,2189,2300,2927,2877,429.3,-11.9,156,1099,0.00,2.53,0.00,0.000,516,0.000,0.079,2187,900,2900,2925,2876,0,0,0,0,0,0,15.09,14.71,15.12
$GC,1323,-1.88,-24.6,2188,901,2927,2877,457.6,-12.4,202,1332,0.00,2.53,0.00,0.000,1030,0.000,0.072,2177,2308,2900,2925,2876,0,0,0,0,0,0,14.81,14.73,14.85
$GC,1636,-1.88,-24.6,2176,2309,2924,2876,493.9,-10.7,234,1642,0.00,2.47,0.00,0.000,516,0.000,0.076,2177,906,2900,2924,2876,0,0,0,0,0,0,15.09,14.75,15.12
$GC,1711,-1.88,-24.6,2176,907,2924,2876,502.8,-12.0,249,1719,0.12,2.50,0.00,0.000,3078,0.347,0.073,2193,2299,2900,2924,2876,0,0,0,0,0,0,14.43,14.75,14.66
$GC,2016,-1.88,-24.6,2193,2300,2924,2877,535.5,-10.7,280,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2299,2900,2924,2876,0,0,0,0,0,0,15.09,15.12,15.12
$GC,2316,-1.88,-24.6,2193,2300,2924,2876,567.1,-10.5,310,2322,0.00,2.50,0.00,0.000,516,0.000,0.076,2194,880,2899,2923,2876,0,0,0,0,0,0,15.10,14.74,15.12
$GC,2461,-1.88,-24.6,2194,880,2925,2876,582.2,-10.3,339,2468,0.00,2.55,0.00,0.000,1030,0.000,0.070,2184,2310,2899,2923,2876,0,0,0,0,0,0,14.82,14.74,14.86
$GC,2766,-1.88,-24.6,2184,2310,2923,2875,612.5,-9.8,370,2773,0.00,2.53,0.00,0.000,516,0.000,0.078,2185,902,2899,2923,2876,0,0,0,0,0,0,15.10,14.71,15.12
$GC,2992,-1.88,-24.6,2185,903,2925,2877,635.4,-9.5,415,2999,0.00,2.50,0.00,0.000,1030,0.000,0.069,2174,2304,2899,2923,2876,0,0,0,0,0,0,14.74,14.67,14.78
$GC,3297,-1.88,-24.6,2173,2305,2923,2877,662.6,-8.8,446,3303,0.00,2.50,0.00,0.000,516,0.000,0.075,2174,882,2898,2923,2874,0,0,0,0,0,0,15.11,14.71,15.13
$GC,3377,-1.88,-24.6,2174,883,2925,2877,670.0,-9.3,462,3384,0.10,2.55,0.00,0.000,3078,0.330,0.073,2196,2306,2899,2923,2876,0,0,0,0,0,0,14.43,14.72,14.78
$GC,3689,-1.88,-24.6,2197,2307,2925,2876,695.8,-8.3,494,3694,0.00,2.55,0.00,0.000,260,0.000,0.100,2187,3728,2899,2923,2876,0,0,0,0,0,0,15.05,14.73,15.07
$GC,3809,-1.88,-24.6,2187,3729,2922,2877,705.9,-9.1,518,3814,0.00,2.40,0.00,0.000,1030,0.000,0.045,2187,2300,2899,2923,2876,0,0,0,0,0,0,14.92,14.85,14.95
$GC,4200,-1.88,-24.6,2187,2301,2923,2877,738.4,-8.1,536,4205,0.00,2.55,0.00,0.000,260,0.000,0.099,2177,3721,2899,2923,2876,0,0,0,0,0,0,15.05,14.76,15.08
$GC,4219,-1.88,-32.6,2176,3721,2922,2877,740.0,-7.4,540,4225,0.00,2.42,0.00,0.000,1062,0.000,0.047,2178,2273,2899,2923,2876,0,0,0,0,0,0,14.92,14.83,14.95
$GC,4589,-1.90,-44.7,2178,2274,2925,2877,764.6,-6.3,554,4595,0.00,2.60,0.00,0.000,292,0.000,0.099,2166,3716,2899,2923,2876,0,0,0,0,0,0,15.10,14.75,15.12
$GC,4794,-1.91,-54.6,2166,3717,2923,2877,778.5,-6.9,595,4801,0.00,2.42,0.00,0.000,1062,0.000,0.044,2167,2290,2899,2922,2876,0,0,0,0,0,0,14.86,14.83,14.90
$GC,5159,-1.93,-69.4,2168,2291,2925,2877,801.7,-5.6,608,5165,0.00,2.42,0.00,0.000,548,0.000,0.074,2167,903,2900,2923,2877,0,0,0,0,0,0,15.11,14.76,15.14
$GC,5215,-1.94,-80.8,2168,904,2925,2877,804.8,-6.5,619,5221,0.00,2.47,0.00,0.000,1062,0.000,0.072,2156,2311,2899,2923,2876,0,0,0,0,0,0,14.90,14.78,14.93
$GC,5580,-1.96,-96.9,2156,2311,2923,2877,823.9,-5.3,632,5585,0.00,2.50,0.00,0.000,548,0.000,0.076,2156,892,2899,2923,2876,0,0,0,0,0,0,15.06,14.76,15.08
$GC,5629,-1.98,-113.2,2157,893,2925,2879,826.6,-5.3,642,5635,0.00,2.53,0.00,0.000,1062,0.000,0.070,2146,2308,2899,2923,2876,0,0,0,0,0,0,14.81,14.76,14.87
$GC,6000,-2.01,-133.1,2147,2309,2923,2877,843.2,-4.3,656,6005,0.00,2.47,0.00,0.000,548,0.000,0.075,2146,902,2899,2923,2876,0,0,0,0,0,0,15.05,14.76,15.08
$GC,6055,-2.02,-146.0,2146,903,2925,2877,845.6,-4.3,667,6062,0.00,2.47,0.00,0.000,1062,0.000,0.071,2135,2315,2899,2922,2876,0,0,0,0,0,0,14.90,14.78,14.93
$GC,6420,-2.02,-146.0,2136,2316,2925,2877,860.5,-4.1,680,6425,0.00,2.50,0.00,0.000,548,0.000,0.073,2135,895,2899,2923,2876,0,0,0,0,0,0,15.11,14.77,15.14
$GC,6500,-2.02,-146.0,2136,896,2924,2878,863.8,-4.0,696,6505,0.00,2.50,0.00,0.000,1062,0.000,0.069,2125,2301,2900,2923,2877,0,0,0,0,0,0,14.83,14.76,14.95
$GC,6871,-2.02,-146.0,2123,2301,2921,2877,876.9,-3.1,710,6876,0.00,2.45,0.00,0.000,548,0.000,0.074,2124,905,2899,2923,2875,0,0,0,0,0,0,15.07,14.75,15.09
$GC,6960,-2.02,-146.0,2126,906,2925,2877,880.0,-3.9,728,6966,0.17,2.50,0.00,0.000,3110,0.381,0.071,2145,2306,2899,2922,2877,0,0,0,0,0,0,14.44,14.76,14.79
$GC,7351,-2.02,-146.0,2146,2307,2925,2878,894.8,-3.5,746,7352,0.00,0.00,0.00,0.000,38,0.000,0.000,2145,2306,2898,2923,2873,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7710,-2.02,-146.0,2144,2306,2922,2878,907.9,-3.9,758,7716,0.00,2.53,0.00,0.000,292,0.000,0.098,2137,3725,2899,2923,2876,0,0,0,0,0,0,15.12,14.76,15.15
$GC,7940,-2.02,-146.0,2136,3725,2928,2877,918.3,-4.9,804,7946,0.00,2.45,0.00,0.000,1062,0.000,0.044,2137,2285,2900,2923,2877,0,0,0,0,0,0,14.88,14.83,14.90
$GC,8310,-2.02,-146.0,2138,2286,2925,2878,936.3,-5.5,818,8316,0.00,2.58,0.00,0.000,292,0.000,0.099,2133,3712,2900,2923,2877,0,0,0,0,0,0,15.12,14.76,15.14
$GC,8540,-2.02,-146.0,2126,3716,2922,2877,945.2,-3.9,864,8546,0.00,2.42,0.00,0.000,1062,0.000,0.043,2128,2283,2900,2923,2877,0,0,0,0,0,0,14.88,14.83,14.92
$GC,8911,-2.02,-146.0,2129,2284,2925,2877,960.7,-4.1,878,8916,0.00,2.42,0.00,0.000,548,0.000,0.075,2128,899,2901,2926,2877,0,0,0,0,0,0,15.11,14.76,15.13
$GC,9131,-2.02,-146.0,2127,900,2923,2877,967.9,-3.0,922,9136,0.17,2.47,0.00,0.000,3110,0.377,0.067,2148,2313,2900,2924,2877,0,0,0,0,0,0,14.42,14.80,14.78
$GC,9511,-2.02,-146.0,2149,2314,2925,2877,977.5,-1.9,938,9516,0.00,2.50,0.00,0.000,548,0.000,0.076,2149,895,2900,2923,2877,0,0,0,0,0,0,15.14,14.75,15.16
$PING,979.0,35.4,9000.0,0.00,0.00
$PING,985.1,32.5,9000.0,0.00,0.00
$GC,9740,-2.02,-146.0,2149,896,2923,2878,986.4,-5.2,984,9746,0.00,2.53,0.00,0.000,1062,0.000,0.068,2141,2312,2900,2923,2877,0,0,0,0,0,0,14.83,14.76,14.87
$STATE,9839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9839,begin apogee
$GC,9843,-0.23,0.0,2141,2072,2923,2878,990.6,-3.5,989,9896,2.40,0.08,48.78,1.919,10246,0.327,0.187,2722,2118,2783,2813,2753,0,0,0,0,0,0,14.46,14.42,13.86
$STATE,9897,end apogee,CONTROL_FINISHED_OK
$STATE,9897,begin climb
$PING,990.9,26.5,9000.0,-0.75,0.96
$PING,984.4,46.4,9000.0,-2.25,0.63
$PING,977.8,39.1,9000.0,-0.96,0.39
$PING,965.0,26.0,25.9,1.05,1.00
$GC,9899,2.02,146.0,2724,2119,2812,2752,991.6,0.0,990,10159,2.35,0.00,251.85,1.452,10498,0.151,0.000,3442,2118,2303,2333,2274,0,0,0,0,0,0,14.42,28.83,14.50
$STATE,10159,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10159,begin subsurface finish
$FINISH1,944.9,1.027726,-11
$GC,10163,-0.01,-11.4,3442,2119,2332,2271,944.9,27.9,1037,10179,2.78,2.75,-6.78,0.031,20740,0.325,0.124,2801,3510,2852,2879,2825,0,0,0,0,1,0,13.60,12.95,13.81
$FINISH2,939.6
$STATE,10179,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10179,begin surface
$RAFOS_CLK,376
$RAFOS,0,1518976863,18.032778,18.017500,125,64,62,60,56,51,509,205,232,178,162,130
$RAFOS,2,1518966784,15.233334,15.217778,147,58,57,54,53,52,568,194,213,170,181,139
$RAFOS_FIX,-7411.843262,-11216.528320,180218,151512,2,140,1.29
$IRIDIUM_FIX,-7412.42,-11208.63,140218,203555
$TT8_MAMPS,0.048685,0.262899
$HUMID,45.15
$INTERNAL_PRESSURE,8.30695
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,965.0,25.9
$24V_AH,12.95,71.469
$10V_AH,13.11,0.000
$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,9.950,100.050,300.625,0.000,0.000,0.000,0.000,0.000,29.250,0.000,0.000,0.000,7714.855,382.181,2076.542,96.459,0.000,1163.496,0.000,1485.470,480.000,207.223,0.000
$DEVICE_MAMPS,380.970,187.425,1918.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.331,0.000,0.000,0.000
$MEM,280048
$DATA_FILE_SIZE,36648,1040
$CAP_FILE_SIZE,113785,0
$CFSIZE,1024409600,999768064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1459.5
$GPS,180218,151512,-7411.843,-11216.528,0,3140.5,0,53.3,0.0,0.0,0,0.0