version: 66.13
glider: 223
mission: 5
dive: 247
start: 2 28 118 12 38 33
data:
$ID,223
$MISSION,5
$DIVE,247
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$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,0.059999999
$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,3
$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,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$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,32
$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,1.5
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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
$GPS1,280218,122930,-7408.7671,-11249.2568,34,0.9,34,53.7,0.5,9.0,8,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-51.5
$GPS2,280218,123805,-7408.6357,-11249.1445,2,0.9,4,53.6,0.5,13.2,11,3.8
$SPEED_LIMITS,0.094,0.270
$TGT_NAME,WM0
$TGT_LATLONG,-7408.900,-11254.810
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,206.7,2907,-32.4,-9.429,-34.26,622
$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,9,-1.52,-38.1,214,2310,1387,1280,0.0,0.0,0,114,0.00,0.00,-99.75,0.002,16390,0.000,0.000,215,2310,2938,2937,2939,0,0,0,0,0,0,14.79,13.11,14.84
$GC,116,-1.59,-94.8,216,2311,2939,2940,1.0,-0.1,10,148,9.50,2.62,-14.62,0.008,18980,0.384,0.103,2285,889,3169,3183,3156,0,0,0,0,0,0,14.23,13.27,14.62
$PING,12.8,13.8,9000.0,0.00,0.00
$PING,19.5,20.6,9000.0,0.00,0.00
$PING,26.2,27.5,27.5,1.02,1.00
$GC,273,-1.59,-94.8,2284,891,3184,3157,26.2,-22.4,41,281,0.00,2.58,0.00,0.000,1030,0.000,0.073,2276,2314,3170,3184,3156,0,0,0,0,0,0,14.69,14.57,14.73
$GC,579,-1.59,-94.8,2277,2314,3186,3156,100.7,-24.6,72,584,0.00,2.58,0.00,0.000,516,0.000,0.080,2276,886,3169,3184,3155,0,0,0,0,0,0,14.94,14.58,14.97
$GC,638,-1.59,-94.8,2277,887,3186,3156,115.6,-24.5,84,644,0.00,2.55,0.00,0.000,1030,0.000,0.075,2266,2309,3169,3184,3155,0,0,0,0,0,0,14.74,14.62,14.80
$GC,948,-1.59,-94.8,2267,2311,3186,3156,190.8,-23.6,116,954,0.00,2.55,0.00,0.000,516,0.000,0.078,2265,886,3169,3184,3155,0,0,0,0,0,0,15.04,14.61,15.07
$GC,973,-1.59,-94.8,2267,886,3186,3156,196.6,-23.6,121,981,0.17,2.55,0.00,0.000,3078,0.351,0.073,2287,2312,3169,3184,3155,0,0,0,0,0,0,14.27,14.63,14.64
$GC,1278,-1.59,-94.8,2288,2313,3186,3155,264.0,-21.9,152,1284,0.00,2.55,0.00,0.000,516,0.000,0.078,2288,888,3169,3184,3155,0,0,0,0,0,0,15.07,14.62,15.09
$GC,1409,-1.59,-94.8,2287,888,3183,3155,293.8,-22.9,178,1414,0.00,2.55,0.00,0.000,1030,0.000,0.073,2278,2315,3168,3184,3153,0,0,0,0,0,0,14.80,14.66,14.84
$GC,1719,-1.59,-94.8,2278,2316,3183,3155,363.9,-22.6,196,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2315,3169,3184,3155,0,0,0,0,0,0,15.02,15.04,15.04
$GC,2018,-1.59,-94.8,2278,2316,3184,3155,429.4,-22.5,211,2024,0.00,2.53,0.00,0.000,516,0.000,0.076,2278,895,3169,3184,3155,0,0,0,0,0,0,15.09,14.64,15.11
$GC,2093,-1.59,-94.8,2279,896,3186,3155,445.8,-21.9,226,2100,0.00,2.53,0.00,0.000,1030,0.000,0.072,2268,2314,3169,3184,3154,0,0,0,0,0,0,14.81,14.67,14.85
$GC,2419,-1.59,-94.8,2270,2314,3182,3155,516.9,-21.4,242,2420,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2314,3169,3184,3155,0,0,0,0,0,0,15.04,15.07,15.06
$GC,2779,-1.59,-94.8,2269,2314,3186,3156,589.4,-19.9,254,2784,0.00,2.55,0.00,0.000,516,0.000,0.077,2268,888,3170,3185,3155,0,0,0,0,0,0,15.04,14.64,15.07
$GC,2833,-1.59,-94.8,2267,889,3183,3155,601.0,-20.7,265,2842,0.10,2.55,0.00,0.000,3078,0.330,0.073,2279,2301,3169,3184,3154,0,0,0,0,0,0,14.28,14.64,14.77
$GC,3199,-1.59,-94.8,2279,2301,3184,3155,675.1,-20.2,278,3205,0.00,2.53,0.00,0.000,516,0.000,0.077,2279,889,3169,3184,3154,0,0,0,0,0,0,15.11,14.64,15.14
$GC,3254,-1.59,-94.8,2279,890,3185,3155,686.4,-20.0,289,3262,0.00,2.53,0.00,0.000,1030,0.000,0.070,2270,2314,3170,3185,3155,0,0,0,0,0,0,14.82,14.68,14.87
$PING,749.8,41.8,9000.0,0.02,0.90
$PING,756.1,25.5,9000.0,0.01,0.15
$GC,3620,-1.59,-94.8,2272,2315,3187,3155,755.5,-19.0,302,3627,0.00,2.53,0.00,0.000,516,0.000,0.075,2270,898,3170,3185,3155,0,0,0,0,0,0,15.12,14.64,15.15
$PING,762.8,16.9,9000.0,-1.89,0.96
$PING,769.4,12.0,11.4,-1.01,0.98
$STATE,3701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3701,begin apogee
$GC,3707,-0.23,0.0,2264,2118,3187,3155,771.3,-18.9,318,3816,1.88,0.00,105.93,3.074,10246,0.301,0.000,2726,2117,2780,2809,2751,0,0,0,0,0,0,14.34,13.81,12.73
$STATE,3817,end apogee,CONTROL_FINISHED_OK
$STATE,3817,begin climb
$PING,768.0,15.3,9000.0,-0.62,0.76
$GC,3819,1.59,94.8,2727,2118,2811,2752,776.7,0.0,321,3943,2.00,2.83,114.68,3.014,10500,0.151,0.093,3306,3514,2394,2427,2361,0,0,0,0,0,0,13.75,13.11,12.26
$PING,761.5,27.7,9000.0,-1.95,0.99
$PING,755.1,29.5,31.3,-1.10,0.84
$GC,4022,1.59,94.8,3313,3514,2420,2358,753.2,18.8,360,4028,0.00,2.60,0.00,0.000,1030,0.000,0.047,3317,2098,2387,2418,2357,0,0,0,0,0,0,13.88,13.80,13.90
$GC,4402,1.59,94.8,3317,2098,2413,2352,687.8,17.4,376,4408,0.00,2.60,0.00,0.000,516,0.000,0.091,3328,692,2380,2410,2350,0,0,0,0,0,0,14.69,14.35,14.71
$GC,4428,1.59,94.8,3327,693,2413,2352,683.4,16.7,381,4435,0.00,2.55,0.00,0.000,1030,0.000,0.061,3328,2101,2380,2409,2351,0,0,0,0,0,0,14.45,14.40,14.50
$GC,4794,1.59,94.8,3327,2101,2407,2350,620.6,17.3,394,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2098,2378,2407,2350,0,0,0,0,0,0,14.94,14.97,14.96
$GC,5154,1.59,94.8,3327,2101,2405,2350,559.5,17.0,406,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2100,2377,2405,2349,0,0,0,0,0,0,15.02,15.05,15.06
$GC,5514,1.59,94.8,3329,2101,2406,2349,499.9,16.2,418,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2101,2377,2406,2349,0,0,0,0,0,0,15.07,15.10,15.10
$GC,5814,1.59,94.8,3326,2102,2403,2349,451.9,16.1,433,5819,0.00,2.55,0.00,0.000,260,0.000,0.096,3328,3517,2376,2404,2348,0,0,0,0,0,0,15.01,14.70,15.06
$GC,5838,1.59,94.8,3329,3518,2406,2349,447.4,17.7,438,5845,0.00,2.47,0.00,0.000,1030,0.000,0.050,3338,2097,2374,2404,2344,0,0,0,0,0,0,14.90,14.73,14.93
$GC,6154,1.59,94.8,3339,2098,2405,2348,394.8,16.7,456,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2097,2376,2404,2348,0,0,0,0,0,0,15.10,15.13,15.13
$GC,6454,1.59,94.8,3339,2097,2405,2349,348.5,15.6,471,6460,0.00,2.58,0.00,0.000,260,0.000,0.095,3339,3520,2375,2403,2348,0,0,0,0,0,0,15.11,14.70,15.12
$GC,6479,1.59,94.8,3339,3521,2405,2355,344.4,16.2,476,6485,0.15,2.47,0.00,0.000,5126,0.337,0.048,3314,2089,2376,2403,2349,0,0,0,0,0,0,14.36,14.76,14.60
$GC,6795,1.59,94.8,3314,2089,2402,2349,300.9,13.4,494,6801,0.00,2.50,0.00,0.000,516,0.000,0.091,3323,696,2376,2402,2350,0,0,0,0,0,0,15.12,14.70,15.15
$GC,6856,1.59,94.8,3323,695,2402,2348,293.0,12.8,506,6862,0.00,2.45,0.00,0.000,1030,0.000,0.061,3323,2116,2375,2402,2348,0,0,0,0,0,0,14.89,14.78,14.93
$GC,7166,1.59,94.8,3323,2117,2402,2349,252.3,13.2,538,7173,0.00,2.58,0.00,0.000,516,0.000,0.090,3334,690,2375,2402,2348,0,0,0,0,0,0,15.11,14.69,15.14
$GC,7212,1.59,94.8,3333,690,2402,2348,246.0,13.9,547,7219,0.00,2.47,0.00,0.000,1030,0.000,0.061,3333,2120,2375,2402,2348,0,0,0,0,0,0,14.88,14.76,14.92
$GC,7517,1.59,94.8,3333,2121,2401,2348,204.9,13.1,578,7523,0.00,2.58,0.00,0.000,516,0.000,0.090,3345,689,2374,2402,2347,0,0,0,0,0,0,15.11,14.69,15.13
$GC,7553,1.59,94.8,3346,690,2404,2349,200.4,12.5,585,7560,0.17,2.47,0.00,0.000,5126,0.343,0.061,3310,2124,2375,2402,2348,0,0,0,0,0,0,14.36,14.74,14.76
$PING,180.5,187.0,9000.0,-0.27,1.00
$PING,167.2,173.3,9000.0,-0.26,0.99
$GC,7858,1.59,94.8,3312,2125,2403,2348,166.1,11.2,616,7863,0.00,2.58,0.00,0.000,516,0.000,0.091,3320,696,2374,2401,2347,0,0,0,0,0,0,15.11,14.68,15.14
$GC,7948,1.59,94.8,3321,697,2403,2348,155.7,11.7,634,7954,0.00,2.45,0.00,0.000,1030,0.000,0.061,3319,2110,2374,2401,2347,0,0,0,0,0,0,14.88,14.76,14.92
$PING,148.5,153.9,153.9,1.03,1.00
$PING,141.3,146.5,146.5,1.03,1.00
$PING,134.3,139.3,139.3,1.03,1.00
$PING,127.1,131.7,131.7,1.04,1.00
$PING,120.0,124.1,124.1,1.07,1.00
$GC,8259,1.59,94.8,3320,2111,2404,2348,118.8,11.8,666,8265,0.00,2.55,0.00,0.000,516,0.000,0.090,3330,697,2374,2401,2347,0,0,0,0,0,0,15.10,14.66,15.14
$PING,113.4,117.3,117.2,1.05,1.00
$GC,8314,1.59,94.8,3331,698,2403,2348,112.2,12.0,677,8321,0.00,2.47,0.00,0.000,1030,0.000,0.061,3330,2099,2374,2401,2347,0,0,0,0,0,0,14.88,14.71,14.92
$PING,107.0,110.5,110.5,1.04,1.00
$PING,100.1,103.4,103.4,1.05,1.00
$PING,93.3,96.7,96.6,1.01,1.00
$PING,86.5,89.3,89.4,1.03,1.00
$GC,8619,1.59,94.8,3331,2100,2402,2347,77.2,11.6,708,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2099,2373,2401,2346,0,0,0,0,0,0,15.09,15.11,15.11
$PING,66.2,68.2,68.2,1.05,1.00
$PING,59.9,61.5,61.6,1.05,1.00
$PING,53.4,55.1,55.0,1.03,1.00
$PING,46.3,47.7,47.7,1.02,1.00
$GC,8919,1.59,94.8,3330,2100,2400,2347,40.6,11.2,738,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2099,2373,2401,2346,0,0,0,0,0,0,15.08,15.11,15.11
$PING,39.6,40.3,40.4,1.06,1.00
$PING,33.3,33.8,33.8,1.07,1.00
$PING,26.2,26.5,26.5,1.03,1.00
$PING,20.1,20.1,20.1,1.04,1.00
$PING,14.0,14.4,14.3,1.00,1.00
$FREEZE,9.56,-1.814,-1.868,2,1,0
$STATE,9198,end climb,FINISH_DEPTH_REACHED
$STATE,9198,begin subsurface finish
$FINISH1,9.6,1.027308,10
$GC,9202,0.01,9.8,3332,2100,2403,2347,9.6,11.1,766,9219,1.98,2.62,-10.45,0.010,20740,0.278,0.123,2801,3506,2745,2776,2715,0,0,0,0,0,0,14.40,13.14,14.76
$FINISH2,8.6
$STATE,9220,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9220,begin surface
$RAFOS_CLK,336
$RAFOS,1,1519830422,15.133333,15.117222,120,64,62,58,57,54,560,209,221,191,158,167
$RAFOS,0,1519830062,15.032778,15.017222,127,61,58,56,55,53,610,224,212,170,184,156
$RAFOS_FIX,-7407.877441,-11252.566406,280218,151548,2,124,0.25
$IRIDIUM_FIX,-7408.47,-11245.06,280218,072958
$TT8_MAMPS,0.041195,0.228445
$HUMID,48.58
$INTERNAL_PRESSURE,8.21906
$TCM_TEMP,12.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.0,14.3
$ALTIM_BOTTOM_PING,769.4,11.4
$24V_AH,12.26,98.265
$10V_AH,12.48,0.000
$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,15.950,88.825,220.600,0.000,0.000,0.000,0.000,369.925,50.750,0.000,6.111,0.000,7058.171,442.625,2037.303,191.021,0.000,1410.647,0.000,1104.240,480.000,362.108,0.000
$DEVICE_MAMPS,384.030,123.165,3073.770,0.000,0.000,0.000,0.000,209.610,420.000,0.000,10.490,0.000,2.310,13.820,34.790,52.770,0.000,10.900,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9238.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.445,0.000,0.000,0.000
$MEM,280544
$DATA_FILE_SIZE,26745,769
$CAP_FILE_SIZE,114619,0
$CFSIZE,1024409600,990904320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$GPS,280218,150848,-7407.877,-11252.566,0,3123.5,0,53.6,0.0,0.0,0,0.0