version: 66.13
glider: 222
mission: 8
dive: 84
start: 2 5 118 0 47 49
data:
$ID,222
$MISSION,8
$DIVE,84
$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,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,330
$T_MISSION,360
$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,0.15000001
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53445
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00177
$HD_B,0.0133
$HD_C,9.9999997e-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,300
$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,210
$PITCH_MAX,3890
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031257649
$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,230
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,30
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2715
$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,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$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,-170.62135
$PRESSURE_SLOPE,0.00010921927
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,10
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,8
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,4
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.3499999
$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,0.0044060913
$SEABIRD_T_H,0.00063889573
$SEABIRD_T_I,2.5185698e-05
$SEABIRD_T_J,3.0510489e-06
$SEABIRD_C_G,-9.8844519
$SEABIRD_C_H,1.1298814
$SEABIRD_C_I,-0.0013862044
$SEABIRD_C_J,0.00017915672
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,050218,001456,-7420.0273,-11228.5332,0,4132.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,341.01
$_SM_ANGLEo,2.3
$GPS2,050218,001456,-7420.0273,-11228.5332,0,4132.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.616,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,308.0,15583,-16.7,-10.000,-24.48,2160
$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,-0.94,-146.0,2701,2515,2815,2603,0.0,0.0,0,11,0.00,0.00,-2.10,0.046,16390,0.000,0.000,2701,2514,3330,3461,3200,0,0,0,0,0,0,15.07,13.79,15.08
$PING,341.3,8.6,9000.0,0.00,0.00
$GC,12,-0.94,-146.0,2701,2514,3460,3198,0.0,0.0,0,19,0.93,2.28,0.00,0.000,4356,0.116,0.151,2392,3753,3327,3453,3202,0,0,0,0,0,0,14.85,14.80,14.92
$GC,243,-0.94,-146.0,2393,3753,3439,3215,368.8,-12.7,46,249,0.00,2.28,0.00,0.000,1030,0.000,0.098,2392,2492,3327,3439,3215,0,0,0,0,0,0,14.88,14.83,14.92
$GC,553,-0.94,-146.0,2393,2491,3438,3216,407.5,-12.5,78,559,0.00,2.42,0.00,0.000,260,0.000,0.151,2384,3752,3326,3437,3215,0,0,0,0,0,0,15.09,14.78,15.11
$GC,647,-0.94,-146.0,2384,3754,3436,3218,420.2,-13.5,97,656,0.00,2.25,0.00,0.000,1030,0.000,0.099,2384,2497,3326,3435,3217,0,0,0,0,0,0,14.91,14.83,14.94
$GC,953,-0.94,-146.0,2384,2497,3436,3217,458.9,-12.7,128,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2497,3326,3435,3217,0,0,0,0,0,0,15.09,15.12,15.11
$GC,1254,-0.94,-146.0,2384,2497,3435,3218,496.3,-12.2,158,1259,0.00,2.38,0.00,0.000,260,0.000,0.153,2375,3755,3325,3434,3217,0,0,0,0,0,0,15.07,14.81,15.10
$GC,1337,-0.94,-146.0,2375,3755,3434,3219,507.5,-13.2,175,1345,0.00,2.28,0.00,0.000,1030,0.000,0.099,2375,2488,3326,3434,3218,0,0,0,0,0,0,14.90,14.83,14.93
$GC,1643,-0.94,-146.0,2375,2489,3434,3219,546.3,-12.5,206,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2488,3325,3433,3218,0,0,0,0,0,0,15.09,15.13,15.12
$GC,1944,-0.94,-146.0,2375,2489,3434,3219,583.5,-12.3,236,1949,0.00,2.38,0.00,0.000,260,0.000,0.151,2366,3755,3325,3433,3218,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1993,-0.94,-146.0,2366,3756,3433,3219,590.1,-13.2,246,1999,0.10,2.28,0.00,0.000,3078,0.265,0.099,2392,2490,3325,3432,3218,0,0,0,0,0,0,14.71,14.84,14.85
$GC,2303,-0.94,-146.0,2392,2491,3432,3219,625.6,-11.4,278,2309,0.00,2.40,0.00,0.000,260,0.000,0.151,2384,3748,3325,3432,3218,0,0,0,0,0,0,15.10,14.78,15.12
$GC,2373,-0.94,-146.0,2384,3747,3433,3219,634.1,-12.2,292,2379,0.00,2.25,0.00,0.000,1030,0.000,0.098,2384,2493,3325,3432,3218,0,0,0,0,0,0,14.90,14.84,14.93
$GC,2683,-0.94,-146.0,2384,2494,3433,3219,671.1,-12.0,324,2689,0.00,2.42,0.00,0.000,260,0.000,0.151,2376,3757,3324,3432,3217,0,0,0,0,0,0,15.09,14.78,15.12
$GC,2729,-0.94,-146.0,2376,3758,3432,3220,676.8,-13.0,333,2736,0.00,2.22,0.00,0.000,1030,0.000,0.099,2375,2494,3325,3432,3219,0,0,0,0,0,0,14.96,14.86,14.99
$GC,3044,-0.94,-146.0,2376,2494,3432,3219,715.7,-12.3,357,3050,0.00,2.38,0.00,0.000,260,0.000,0.152,2367,3754,3325,3431,3219,0,0,0,0,0,0,15.07,14.81,15.09
$GC,3079,-0.94,-146.0,2366,3754,3432,3219,720.5,-13.3,364,3086,0.10,2.28,0.00,0.000,3078,0.277,0.099,2393,2493,3325,3431,3219,0,0,0,0,0,0,14.71,14.85,14.86
$GC,3464,-0.94,-146.0,2393,2493,3433,3220,764.3,-11.1,381,3472,0.00,2.40,0.00,0.000,260,0.000,0.151,2384,3748,3325,3432,3219,0,0,0,0,0,0,15.11,14.80,15.14
$GC,3540,-0.94,-146.0,2384,3749,3432,3220,773.6,-12.2,396,3547,0.00,2.25,0.00,0.000,1030,0.000,0.098,2385,2495,3325,3431,3219,0,0,0,0,0,0,14.92,14.85,14.96
$GC,3917,-0.94,-146.0,2385,2496,3432,3221,816.5,-11.3,411,3922,0.00,2.38,0.00,0.000,260,0.000,0.151,2376,3761,3325,3431,3220,0,0,0,0,0,0,15.09,14.82,15.11
$GC,3955,-0.94,-146.0,2376,3762,3431,3221,821.2,-12.0,419,3962,0.00,2.28,0.00,0.000,1030,0.000,0.099,2376,2494,3324,3430,3219,0,0,0,0,0,0,14.93,14.87,14.95
$GC,4336,-0.94,-146.0,2376,2495,3431,3221,864.8,-11.5,435,4342,0.00,2.38,0.00,0.000,260,0.000,0.151,2367,3760,3326,3432,3220,0,0,0,0,0,0,15.11,14.82,15.13
$GC,4410,-0.94,-146.0,2367,3760,3431,3221,874.2,-12.8,450,4418,0.10,2.28,0.00,0.000,3078,0.282,0.099,2393,2495,3325,3431,3220,0,0,0,0,0,0,14.72,14.87,14.88
$GC,4787,-0.94,-146.0,2393,2496,3432,3220,915.0,-10.5,465,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3325,3431,3220,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5147,-0.94,-146.0,2393,2497,3432,3221,951.6,-9.7,477,5154,0.00,2.40,0.00,0.000,260,0.000,0.152,2384,3752,3325,3431,3220,0,0,0,0,0,0,15.13,14.81,15.16
$GC,5228,-0.94,-146.0,2384,3752,3432,3221,960.9,-11.2,493,5235,0.00,2.25,0.00,0.000,1030,0.000,0.098,2385,2498,3325,3431,3220,0,0,0,0,0,0,14.94,14.87,14.97
$PING,984.6,69.2,9000.0,0.00,0.00
$STATE,5508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5508,begin apogee
$PING,992.2,22.1,9000.0,0.06,0.44
$GC,5511,-0.23,0.0,2382,2184,3432,3221,991.0,-10.7,504,5674,0.88,0.05,160.38,3.102,10246,0.239,0.257,2622,2198,2713,2764,2663,0,0,0,0,0,0,14.76,13.41,12.38
$STATE,5675,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$PING,983.8,14.1,9000.0,-1.93,0.09
$GC,5676,0.94,146.0,2623,2199,2764,2662,994.2,0.0,509,5860,1.30,3.00,171.32,3.104,10756,0.145,0.130,3004,789,2115,2150,2081,0,0,0,0,0,0,13.50,13.28,12.22
$GC,5908,0.94,146.0,3005,789,2147,2076,971.0,14.1,554,5916,0.00,2.85,0.00,0.000,1030,0.000,0.113,3004,2208,2110,2146,2075,0,0,0,0,0,0,13.82,13.75,13.85
$GC,6285,0.94,146.0,3004,2208,2144,2065,916.2,14.6,569,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2208,2104,2143,2065,0,0,0,0,0,0,14.65,14.68,14.68
$GC,6645,0.94,146.0,3005,2208,2143,2063,864.3,14.3,581,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2208,2102,2142,2063,0,0,0,0,0,0,14.86,14.89,14.89
$GC,7005,0.94,146.0,3004,2209,2143,2062,813.1,14.1,593,7006,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2208,2101,2142,2061,0,0,0,0,0,0,14.97,15.00,15.00
$GC,7366,0.94,146.0,3006,2209,2143,2061,762.9,14.0,605,7371,0.00,2.62,0.00,0.000,516,0.000,0.130,3015,782,2101,2142,2061,0,0,0,0,0,0,15.00,14.76,15.03
$GC,7385,0.94,146.0,3015,782,2143,2061,760.1,14.0,609,7391,0.00,2.62,0.00,0.000,1030,0.000,0.115,3014,2203,2101,2142,2061,0,0,0,0,0,0,14.85,14.77,14.89
$GC,7755,0.94,146.0,3015,2204,2143,2061,706.7,14.4,623,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,2100,2142,2059,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8115,0.94,146.0,3015,2204,2142,2060,656.4,13.8,655,8121,0.00,2.65,0.00,0.000,516,0.000,0.130,3025,789,2100,2142,2059,0,0,0,0,0,0,15.08,14.78,15.11
$GC,8150,0.94,146.0,3025,789,2143,2059,651.5,14.4,662,8158,0.00,2.62,0.00,0.000,1030,0.000,0.115,3025,2210,2100,2142,2059,0,0,0,0,0,0,14.88,14.80,14.92
$GC,8455,0.94,146.0,3025,2211,2142,2058,606.6,14.7,693,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2210,2100,2142,2058,0,0,0,0,0,0,15.08,15.11,15.11
$GC,8755,0.94,146.0,3025,2210,2143,2056,564.0,13.9,723,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2210,2100,2142,2058,0,0,0,0,0,0,15.09,15.12,15.12
$GC,9055,0.94,146.0,3025,2211,2142,2058,521.7,13.9,753,9061,0.00,2.65,0.00,0.000,516,0.000,0.129,3035,795,2099,2142,2057,0,0,0,0,0,0,15.10,14.83,15.13
$GC,9075,0.94,146.0,3036,793,2143,2057,518.9,13.7,757,9081,0.10,2.60,0.00,0.000,5126,0.241,0.114,3007,2206,2099,2141,2057,0,0,0,0,0,0,14.74,14.81,14.89
$GC,9386,0.94,146.0,3008,2207,2141,2058,478.1,13.1,789,9391,0.00,2.65,0.00,0.000,260,0.000,0.145,3008,3623,2099,2141,2057,0,0,0,0,0,0,15.07,14.83,15.10
$GC,9435,0.94,146.0,3008,3624,2142,2058,470.9,14.6,799,9442,0.00,2.58,0.00,0.000,1030,0.000,0.103,3017,2206,2099,2141,2057,0,0,0,0,0,0,14.90,14.83,14.94
$GC,9745,0.94,146.0,3017,2205,2142,2058,429.4,13.4,831,9751,0.00,2.67,0.00,0.000,516,0.000,0.134,3028,778,2098,2141,2056,0,0,0,0,0,0,15.11,14.81,15.13
$GC,9795,0.94,146.0,3028,779,2142,2058,422.6,13.8,841,9801,0.00,2.65,0.00,0.000,1030,0.000,0.117,3028,2210,2099,2141,2057,0,0,0,0,0,0,14.90,14.81,14.93
$PING,394.0,46.8,9000.0,-0.05,0.94
$PING,386.0,39.0,9000.0,-0.05,0.94
$GC,10105,0.94,146.0,3028,2210,2142,2056,380.7,13.4,873,10111,0.00,2.67,0.00,0.000,260,0.000,0.145,3028,3615,2098,2141,2056,0,0,0,0,0,0,15.11,14.81,15.13
$PING,377.7,31.0,31.0,0.97,1.00
$GC,10135,0.94,146.0,3027,3616,2143,2057,376.3,15.0,879,10142,0.12,2.60,0.00,0.000,5126,0.252,0.103,3004,2188,2098,2141,2056,0,0,0,0,0,0,14.76,14.83,14.88
$PING,368.8,22.4,22.4,0.97,1.00
$PING,360.3,14.0,14.1,0.98,1.00
$STATE,10304,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10304,begin subsurface finish
$FINISH1,355.6,1.027417,4
$GC,10308,0.01,4.2,3005,2204,2142,2056,355.6,11.8,897,10320,1.02,2.67,-2.15,0.054,20996,0.217,0.156,2717,785,2716,2831,2601,0,0,0,0,0,0,14.76,13.77,14.89
$FINISH2,354.7
$STATE,10321,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10321,begin surface
$RAFOS_CLK,367
$RAFOS,2,1517800384,3.233333,3.217778,115,65,60,57,54,52,614,215,171,138,227,160
$RAFOS,1,1517800024,3.133333,3.117778,119,65,59,57,53,53,569,199,213,121,182,167
$RAFOS,0,1517799664,3.032778,3.017778,164,65,65,62,58,52,558,208,115,191,138,219
$RAFOS_FIX,-7419.754395,-11226.020508,050218,030316,3,133,0.12
$IRIDIUM_FIX,-7410.06,-11230.52,040218,063513
$TT8_MAMPS,0.041944,0.296604
$HUMID,47.40
$INTERNAL_PRESSURE,7.61906
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,360.3,14.1
$24V_AH,12.22,42.370
$10V_AH,12.41,0.000
$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,4.650,92.475,331.700,0.000,0.000,0.000,0.000,0.000,36.750,0.000,0.000,0.000,8009.315,442.111,1875.783,68.322,0.000,1120.766,0.000,1288.029,720.000,260.423,0.000
$DEVICE_MAMPS,282.285,265.455,3103.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10334.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.026,0.000,0.000,0.000
$MEM,279976
$DATA_FILE_SIZE,30032,899
$CAP_FILE_SIZE,110346,0
$CFSIZE,1024409600,1009876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,050218,031616,-7419.754,-11226.021,0,4132.7,0,53.5,0.0,0.0,0,0.0