version: 66.13
glider: 223
mission: 5
dive: 569
start: 10 23 118 2 9 57
data:
$ID,223
$MISSION,5
$DIVE,569
$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,360
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,2
$EXEC_DT,0
$EXEC_T,10029665
$EXEC_N,6
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,54
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,900
$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,0
$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,10
$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
$GPS1,231018,001040,-7406.7397,-11228.2930,0,3135.0,0,53.2,0.0,0.0,0,0.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,11.81
$_SM_ANGLEo,-7.9
$GPS2,231018,001040,-7406.7397,-11228.2930,0,3135.0,0,53.2,0.0,0.0,0,0.0
$SPEED_LIMITS,0.092,0.233
$TGT_NAME,hold5
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,325.1,5343,-18.9,-9.167,-21.50,1798
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-0.99,-107.1,2799,2275,2783,2715,0.0,0.0,0,29,0.00,0.05,-15.15,0.015,16390,0.000,1.341,2799,2297,3221,3248,3195,0,0,0,0,1,0,15.04,12.66,15.00
$PING,14.6,15.7,9000.0,0.00,0.00
$GC,32,-0.99,-107.1,2799,2298,3248,3195,0.0,0.0,0,38,0.95,2.42,0.00,0.000,4612,0.076,0.066,2464,916,3221,3248,3195,0,0,0,0,0,0,14.52,14.32,14.62
$PING,24.7,26.1,9000.0,0.00,0.00
$PING,35.3,37.6,37.5,1.06,1.00
$GC,246,-0.99,-107.1,2463,917,3249,3195,52.3,-18.5,31,254,0.00,2.55,0.00,0.000,1030,0.000,0.069,2454,2305,3220,3248,3193,0,0,0,0,0,0,14.45,14.38,14.52
$GC,592,-0.99,-107.1,2455,2306,3250,3193,115.9,-18.6,44,597,0.00,2.53,0.00,0.000,516,0.000,0.070,2454,910,3219,3247,3192,0,0,0,0,0,0,15.13,14.39,15.15
$GC,666,-0.99,-107.1,2455,911,3250,3193,130.8,-19.5,55,676,0.12,2.55,0.00,0.000,3078,0.265,0.070,2473,2303,3220,3248,3192,0,0,0,0,0,0,13.95,14.35,14.14
$GC,1012,-0.99,-107.1,2474,2304,3250,3193,191.0,-17.2,68,1017,0.00,2.50,0.00,0.000,516,0.000,0.068,2473,915,3220,3248,3192,0,0,0,0,0,0,15.13,14.39,15.15
$GC,1079,-0.99,-107.1,2473,915,3248,3192,203.1,-17.3,78,1086,0.00,2.55,0.00,0.000,1030,0.000,0.067,2465,2310,3220,3249,3191,0,0,0,0,0,0,14.45,14.36,14.51
$GC,1458,-0.99,-107.1,2466,2310,3250,3192,269.7,-17.7,90,1465,0.00,2.55,0.00,0.000,516,0.000,0.068,2465,916,3219,3247,3191,0,0,0,0,0,0,15.16,14.31,15.19
$GC,1514,-0.99,-107.1,2460,917,3248,3192,279.8,-18.2,98,1521,0.00,2.53,0.00,0.000,1030,0.000,0.067,2454,2300,3219,3248,3191,0,0,0,0,0,0,14.43,14.35,14.51
$GC,1906,-0.99,-107.1,2455,2299,3248,3192,351.5,-18.2,112,1912,0.00,2.50,0.00,0.000,516,0.000,0.069,2455,907,3219,3248,3191,0,0,0,0,0,0,15.00,14.35,15.03
$GC,1954,-0.99,-107.1,2454,908,3248,3192,360.6,-18.4,119,1964,0.12,2.58,0.00,0.000,3078,0.262,0.070,2474,2310,3219,3248,3191,0,0,0,0,0,0,13.93,14.33,14.12
$GC,2298,-0.99,-107.1,2473,2310,3247,3192,415.1,-15.5,126,2304,0.00,2.50,0.00,0.000,516,0.000,0.067,2474,924,3219,3248,3191,0,0,0,0,0,0,15.01,14.35,15.02
$GC,2346,-0.99,-107.1,2474,919,3248,3192,422.8,-15.8,133,2355,0.00,2.53,0.00,0.000,1030,0.000,0.068,2466,2300,3218,3246,3191,0,0,0,0,0,0,14.42,14.33,14.49
$GC,2690,-0.99,-107.1,2464,2300,3248,3192,477.1,-15.8,140,2696,0.00,2.53,0.00,0.000,516,0.000,0.067,2466,916,3219,3248,3191,0,0,0,0,0,0,15.15,14.28,15.17
$GC,2752,-0.99,-107.1,2465,917,3248,3192,487.3,-16.4,149,2760,0.00,2.53,0.00,0.000,1030,0.000,0.066,2455,2302,3219,3248,3191,0,0,0,0,0,0,14.43,14.34,14.50
$GC,3138,-0.99,-107.1,2455,2303,3248,3191,552.3,-17.1,162,3145,0.00,2.53,0.00,0.000,516,0.000,0.068,2455,922,3219,3248,3191,0,0,0,0,0,0,15.12,14.26,15.15
$GC,3194,-0.99,-107.1,2456,923,3250,3192,561.9,-16.8,170,3200,0.12,2.55,0.00,0.000,3078,0.262,0.068,2475,2309,3219,3248,3191,0,0,0,0,0,0,13.90,14.30,14.08
$GC,3585,-0.99,-107.1,2473,2309,3248,3192,621.7,-14.9,184,3592,0.00,2.55,0.00,0.000,516,0.000,0.066,2475,917,3219,3248,3191,0,0,0,0,0,0,15.14,14.25,15.16
$GC,3662,-0.99,-107.1,2475,919,3250,3192,633.2,-14.7,195,3670,0.00,2.53,0.00,0.000,1030,0.000,0.067,2467,2302,3219,3248,3191,0,0,0,0,0,0,14.31,14.21,14.36
$GC,4036,-0.99,-107.1,2468,2303,3250,3194,687.3,-14.6,206,4041,0.00,2.53,0.00,0.000,516,0.000,0.067,2467,909,3219,3248,3191,0,0,0,0,0,0,15.13,14.33,15.15
$GC,4103,-0.99,-107.1,2467,910,3248,3192,698.2,-15.5,216,4110,0.00,2.58,0.00,0.000,1030,0.000,0.068,2457,2310,3219,3248,3191,0,0,0,0,0,0,14.40,14.31,14.46
$GC,4482,-0.99,-107.1,2456,2310,3246,3192,758.1,-15.8,228,4488,0.00,2.55,0.00,0.000,516,0.000,0.067,2457,919,3219,3248,3191,0,0,0,0,0,0,15.14,14.23,15.17
$PING,760.3,108.6,9000.0,0.11,0.99
$GC,4559,-0.99,-107.1,2456,920,3248,3192,770.4,-15.7,239,4565,0.15,2.55,0.00,0.000,3078,0.286,0.067,2475,2333,3219,3248,3191,0,0,0,0,0,0,13.97,14.33,14.30
$GC,4930,-0.99,-107.1,2474,2334,3248,3192,824.4,-14.5,250,4936,0.00,2.60,0.00,0.000,516,0.000,0.067,2474,911,3219,3248,3191,0,0,0,0,0,0,15.14,14.24,15.16
$PING,826.9,39.9,9000.0,0.04,0.21
$GC,4992,-0.99,-107.1,2475,911,3248,3192,833.7,-14.7,259,4999,0.00,2.55,0.00,0.000,1030,0.000,0.068,2475,2299,3220,3249,3191,0,0,0,0,0,0,14.38,14.29,14.45
$PING,837.8,27.4,27.9,-1.04,1.00
$PING,848.8,15.7,15.5,-1.10,1.00
$STATE,5151,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5151,begin apogee
$GC,5157,-0.23,0.0,2474,2065,3249,3192,856.9,-14.4,268,5285,0.95,0.10,124.90,3.093,10246,0.219,0.158,2724,2123,2781,2814,2748,0,0,0,0,0,0,14.00,13.54,12.09
$STATE,5286,end apogee,CONTROL_FINISHED_OK
$STATE,5286,begin climb
$GC,5289,0.99,107.1,2724,2123,2814,2749,861.0,0.0,270,5441,1.38,2.95,143.95,3.069,10500,0.129,0.097,3122,3500,2345,2386,2305,0,0,0,0,0,0,13.61,12.43,11.31
$GC,5504,1.06,159.0,3121,3504,2381,2301,854.2,6.2,290,5581,0.00,2.62,70.35,3.014,9254,0.000,0.044,3124,2136,2134,2188,2080,0,0,0,0,0,0,13.38,13.34,11.41
$PING,848.2,12.5,14.5,-1.22,0.94
$PING,833.5,18.5,9000.0,-0.29,0.69
$PING,819.1,24.0,9000.0,-0.40,1.00
$GC,5938,1.06,159.0,3124,2136,2182,2068,819.1,8.7,310,5944,0.00,2.65,0.00,0.000,516,0.000,0.085,3124,691,2123,2180,2067,0,0,0,0,0,0,14.79,14.40,14.82
$GC,5966,1.09,159.0,3125,692,2181,2068,817.0,7.4,314,5972,0.00,2.50,0.00,0.000,1094,0.000,0.057,3124,2093,2123,2179,2067,0,0,0,0,0,0,14.54,14.47,14.59
$GC,6330,1.14,195.7,3125,2094,2179,2065,791.2,7.1,324,6379,0.15,2.70,41.85,3.000,10532,0.120,0.103,3179,3526,1982,2041,1924,0,0,0,0,0,0,14.78,14.33,12.88
$GC,6456,1.14,195.7,3180,3527,2039,1923,777.9,11.6,342,6462,0.00,2.53,0.00,0.000,1030,0.000,0.045,3182,2092,1979,2036,1922,0,0,0,0,0,0,14.62,14.57,14.64
$GC,6834,1.14,195.7,3183,2093,2036,1918,739.2,10.2,354,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2093,1975,2035,1916,0,0,0,0,0,0,15.06,15.09,15.08
$GC,7170,1.14,195.7,3183,2093,2035,1916,703.2,10.9,360,7176,0.00,2.60,0.00,0.000,260,0.000,0.101,3182,3507,1974,2033,1915,0,0,0,0,0,0,15.09,14.60,15.11
$GC,7205,1.14,195.7,3182,3508,2033,1916,698.9,12.3,365,7212,0.00,2.45,0.00,0.000,1030,0.000,0.045,3184,2092,1974,2033,1915,0,0,0,0,0,0,14.76,14.71,14.81
$GC,7562,1.14,195.7,3186,2096,2034,1915,660.2,10.5,374,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2095,1972,2031,1914,0,0,0,0,0,0,15.16,15.19,15.19
$GC,7898,1.14,195.7,3184,2096,2031,1914,627.6,9.7,380,7904,0.00,2.67,0.00,0.000,260,0.000,0.102,3185,3514,1972,2031,1913,0,0,0,0,0,0,15.17,14.50,15.19
$GC,7919,1.14,195.7,3185,3516,2030,1914,625.4,10.0,383,7925,0.00,2.45,0.00,0.000,1030,0.000,0.046,3185,2104,1972,2031,1913,0,0,0,0,0,0,14.73,14.68,14.81
$GC,8290,1.14,195.7,3186,2105,2033,1914,588.6,10.0,394,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2104,1971,2030,1913,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8626,1.14,195.7,3187,2104,2030,1914,554.1,10.2,400,8632,0.00,2.55,0.00,0.000,516,0.000,0.088,3185,700,1971,2030,1913,0,0,0,0,0,0,15.08,14.54,15.11
$GC,8660,1.14,195.7,3184,700,2029,1913,550.6,9.9,405,8668,0.00,2.47,0.00,0.000,1030,0.000,0.057,3185,2105,1968,2029,1908,0,0,0,0,0,0,14.65,14.59,14.72
$GC,9018,1.14,195.7,3186,2111,2032,1914,514.7,10.0,414,9024,0.00,2.62,0.00,0.000,260,0.000,0.102,3185,3508,1975,2037,1913,0,0,0,0,0,0,15.17,14.43,15.19
$GC,9074,1.14,195.7,3186,3508,2031,1913,508.5,11.1,422,9080,0.00,2.45,0.00,0.000,1030,0.000,0.045,3185,2099,1970,2029,1912,0,0,0,0,0,0,14.69,14.63,14.74
$GC,9466,1.14,195.7,3184,2100,2029,1913,471.1,9.5,436,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2100,1970,2029,1912,0,0,0,0,0,0,15.17,15.20,15.19
$GC,9802,1.14,195.7,3185,2100,2031,1913,439.4,9.3,442,9808,0.00,2.65,0.00,0.000,260,0.000,0.100,3185,3505,1970,2029,1911,0,0,0,0,0,0,15.19,14.42,15.22
$GC,9852,1.14,195.7,3184,3505,2029,1913,434.5,10.1,449,9859,0.00,2.42,0.00,0.000,1030,0.000,0.044,3185,2087,1970,2028,1912,0,0,0,0,0,0,14.79,14.69,14.84
$GC,10195,1.14,195.7,3186,2088,2031,1912,403.0,9.1,456,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2087,1970,2029,1911,0,0,0,0,0,0,15.07,15.09,15.09
$GC,10531,1.14,195.7,3186,2088,2030,1912,371.4,9.2,462,10536,0.00,2.65,0.00,0.000,260,0.000,0.101,3185,3516,1969,2028,1911,0,0,0,0,0,0,15.07,14.45,15.09
$GC,10613,1.14,195.7,3185,3516,2028,1912,362.5,10.5,474,10620,0.00,2.47,0.00,0.000,1030,0.000,0.044,3185,2094,1969,2028,1911,0,0,0,0,0,0,14.64,14.59,14.70
$GC,10979,1.14,195.7,3186,2095,2030,1912,329.1,9.2,484,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2094,1969,2028,1911,0,0,0,0,0,0,15.05,15.09,15.08
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$PING,61.8,64.3,9000.0,-0.06,0.99
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$STATE,14699,end climb,FINISH_DEPTH_REACHED
$STATE,14699,begin subsurface finish
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$FINISH2,8.0
$STATE,14745,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14745,begin surface
$RAFOS_CLK,554
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$RAFOS,0,1540274485,6.032778,6.023611,131,61,60,60,58,57,455,215,182,650,662,201
$RAFOS,2,1540264405,3.233333,3.223611,111,61,58,54,53,53,392,194,168,154,214,204
$RAFOS,1,1540264069,3.133333,3.130278,165,57,55,55,53,52,328,148,228,130,216,196
$RAFOS,0,1540263678,3.032778,3.021667,137,53,52,52,51,51,493,179,206,148,226,111
$RAFOS_FIX,-7404.704102,-11227.328125,231018,060604,2,144,0.18
$IRIDIUM_FIX,-7401.82,-11218.56,160718,232131
$TT8_MAMPS,0.042693,0.247919
$HUMID,49.84
$INTERNAL_PRESSURE,8.21906
$TCM_TEMP,12.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,27.5,28.2
$ALTIM_BOTTOM_PING,848.8,15.5
$24V_AH,11.31,198.322
$10V_AH,11.52,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,5.250,153.875,418.100,0.000,0.000,0.000,0.000,0.000,34.500,0.000,0.000,0.000,12468.922,661.728,1488.461,233.922,0.000,1244.255,0.000,954.936,1440.000,247.112,0.000
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.027,0.000,0.000,0.000
$MEM,280760
$DATA_FILE_SIZE,16743,666
$CAP_FILE_SIZE,120861,0
$CFSIZE,1024409600,953565184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1450.0
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