version: 66.13
glider: 222
mission: 8
dive: 85
start: 2 5 118 3 41 43
data:
$ID,222
$MISSION,8
$DIVE,85
$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
$GPS1,050218,031616,-7419.7544,-11226.0205,0,4132.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,354.63
$_SM_ANGLEo,3.0
$GPS2,050218,031616,-7419.7544,-11226.0205,0,4132.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.616,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,303.3,15095,-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,-146.0,2718,2512,2830,2602,0.0,0.0,0,11,0.00,0.00,-2.03,0.046,16390,0.000,0.000,2717,2512,3325,3461,3189,0,0,0,0,0,0,15.08,13.76,15.08
$PING,355.0,10.0,9000.0,0.00,0.00
$GC,12,-0.94,-146.0,2718,2512,3459,3193,0.0,0.0,0,19,0.98,2.28,0.00,0.000,4356,0.120,0.150,2397,3752,3324,3452,3197,0,0,0,0,0,0,14.83,14.78,14.91
$GC,123,-0.94,-146.0,2398,3753,3441,3208,366.4,-12.5,22,129,0.00,2.28,0.00,0.000,1030,0.000,0.100,2397,2493,3324,3439,3209,0,0,0,0,0,0,14.90,14.83,14.93
$GC,432,-0.94,-146.0,2398,2493,3438,3210,404.8,-12.3,54,439,0.00,2.42,0.00,0.000,260,0.000,0.153,2389,3754,3323,3437,3210,0,0,0,0,0,0,15.09,14.78,15.12
$GC,462,-0.94,-146.0,2389,3754,3436,3212,408.8,-13.9,60,469,0.00,2.28,0.00,0.000,1030,0.000,0.101,2388,2491,3323,3435,3212,0,0,0,0,0,0,14.92,14.85,14.95
$GC,772,-0.94,-146.0,2389,2491,3436,3213,447.9,-12.8,92,780,0.00,2.42,0.00,0.000,260,0.000,0.152,2380,3751,3323,3434,3213,0,0,0,0,0,0,15.10,14.78,15.12
$GC,818,-0.94,-146.0,2380,3752,3434,3214,454.1,-13.5,101,827,0.00,2.28,0.00,0.000,1030,0.000,0.100,2379,2492,3323,3433,3214,0,0,0,0,0,0,14.92,14.85,14.96
$GC,1125,-0.94,-146.0,2381,2493,3433,3215,492.5,-12.1,132,1130,0.00,2.38,0.00,0.000,260,0.000,0.151,2372,3753,3323,3432,3214,0,0,0,0,0,0,15.07,14.81,15.09
$GC,1149,-0.94,-146.0,2372,3753,3432,3214,495.7,-12.3,137,1157,0.00,2.28,0.00,0.000,1030,0.000,0.100,2371,2487,3323,3432,3214,0,0,0,0,0,0,14.92,14.85,14.97
$GC,1454,-0.94,-146.0,2376,2488,3432,3215,534.3,-12.9,168,1460,0.00,2.42,0.00,0.000,260,0.000,0.151,2362,3754,3322,3431,3213,0,0,0,0,0,0,15.09,14.79,15.12
$GC,1499,-0.94,-146.0,2363,3754,3432,3214,540.4,-13.8,177,1507,0.12,2.28,0.00,0.000,3078,0.275,0.100,2395,2492,3322,3431,3214,0,0,0,0,0,0,14.71,14.85,14.85
$GC,1804,-0.94,-146.0,2395,2493,3432,3215,575.5,-11.4,208,1810,0.00,2.42,0.00,0.000,260,0.000,0.152,2386,3758,3322,3430,3214,0,0,0,0,0,0,15.09,14.78,15.12
$GC,1844,-0.94,-146.0,2386,3758,3431,3214,580.3,-12.4,216,1850,0.00,2.28,0.00,0.000,1030,0.000,0.101,2386,2498,3322,3430,3214,0,0,0,0,0,0,14.91,14.84,14.94
$GC,2154,-0.94,-146.0,2387,2498,3430,3214,616.5,-11.7,248,2160,0.00,2.40,0.00,0.000,260,0.000,0.153,2378,3749,3322,3430,3214,0,0,0,0,0,0,15.09,14.78,15.12
$GC,2179,-0.94,-146.0,2378,3749,3431,3213,619.7,-12.2,253,2188,0.00,2.28,0.00,0.000,1030,0.000,0.100,2378,2487,3322,3430,3215,0,0,0,0,0,0,14.91,14.85,14.95
$GC,2484,-0.94,-146.0,2379,2485,3430,3216,657.6,-12.4,284,2490,0.00,2.42,0.00,0.000,260,0.000,0.151,2370,3752,3322,3430,3215,0,0,0,0,0,0,15.09,14.78,15.12
$GC,2544,-0.94,-146.0,2370,3753,3431,3214,665.5,-13.2,296,2550,0.00,2.28,0.00,0.000,1030,0.000,0.099,2370,2488,3321,3429,3214,0,0,0,0,0,0,14.91,14.85,14.95
$GC,2864,-0.94,-146.0,2370,2489,3430,3216,704.8,-12.2,327,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2488,3322,3429,3215,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3224,-0.94,-146.0,2370,2489,3430,3216,748.4,-12.3,339,3230,0.00,2.42,0.00,0.000,260,0.000,0.151,2361,3756,3322,3429,3215,0,0,0,0,0,0,15.11,14.80,15.14
$GC,3289,-0.94,-146.0,2361,3756,3430,3216,757.0,-13.2,352,3295,0.12,2.28,0.00,0.000,3078,0.285,0.099,2393,2494,3322,3429,3215,0,0,0,0,0,0,14.71,14.86,14.86
$GC,3674,-0.94,-146.0,2393,2493,3430,3215,799.3,-10.9,369,3681,0.00,2.40,0.00,0.000,260,0.000,0.151,2385,3747,3322,3429,3215,0,0,0,0,0,0,15.12,14.81,15.14
$GC,3745,-0.94,-146.0,2385,3747,3430,3215,807.5,-12.0,383,3751,0.00,2.25,0.00,0.000,1030,0.000,0.099,2385,2497,3322,3429,3215,0,0,0,0,0,0,14.92,14.86,14.96
$GC,4126,-0.94,-146.0,2385,2497,3430,3215,849.5,-10.9,399,4131,0.00,2.35,0.00,0.000,260,0.000,0.152,2376,3753,3322,3429,3215,0,0,0,0,0,0,15.11,14.82,15.14
$GC,4180,-0.94,-146.0,2376,3753,3430,3216,856.0,-11.9,410,4187,0.00,2.25,0.00,0.000,1030,0.000,0.099,2376,2498,3322,3429,3215,0,0,0,0,0,0,14.92,14.86,14.97
$GC,4545,-0.94,-146.0,2376,2499,3430,3214,897.4,-11.2,423,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2498,3322,3429,3216,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4905,-0.94,-146.0,2376,2498,3430,3216,937.9,-11.2,435,4911,0.00,2.38,0.00,0.000,260,0.000,0.151,2367,3746,3322,3429,3216,0,0,0,0,0,0,15.14,14.81,15.16
$GC,4985,-0.94,-146.0,2367,3747,3429,3217,947.4,-12.1,451,4993,0.10,2.25,0.00,0.000,3078,0.285,0.097,2393,2489,3322,3429,3216,0,0,0,0,0,0,14.73,14.88,14.88
$GC,5358,-0.94,-146.0,2393,2490,3430,3216,985.8,-10.0,465,5364,0.00,2.38,0.00,0.000,260,0.000,0.151,2385,3756,3322,3429,3216,0,0,0,0,0,0,15.10,14.83,15.13
$STATE,5396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5396,begin apogee
$PING,992.1,31.3,9000.0,0.00,0.00
$GC,5402,-0.23,0.0,2385,2188,3430,3217,990.9,-10.7,473,5564,0.88,0.05,159.60,3.102,10246,0.241,0.258,2622,2200,2714,2765,2663,0,0,0,0,0,0,14.76,13.41,12.38
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$PING,983.7,20.3,9000.0,0.03,0.74
$GC,5566,0.94,146.0,2623,2200,2765,2662,994.2,0.0,478,5748,1.30,2.97,171.48,3.104,10756,0.142,0.132,3004,789,2117,2147,2088,0,0,0,0,0,0,13.49,13.28,12.23
$GC,5782,0.94,146.0,3004,790,2146,2079,972.9,14.1,520,5788,0.00,2.83,0.00,0.000,1030,0.000,0.113,3004,2209,2111,2146,2077,0,0,0,0,0,0,13.78,13.66,13.80
$GC,6172,0.94,146.0,3004,2209,2144,2067,916.1,14.8,538,6173,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2208,2104,2143,2066,0,0,0,0,0,0,14.66,14.69,14.69
$GC,6532,0.94,146.0,3004,2208,2143,2064,864.6,13.9,550,6538,0.00,2.67,0.00,0.000,516,0.000,0.130,3014,781,2103,2142,2065,0,0,0,0,0,0,14.87,14.61,14.90
$GC,6582,0.94,146.0,3015,780,2143,2064,857.2,14.4,560,6588,0.00,2.67,0.00,0.000,1030,0.000,0.116,3014,2207,2103,2142,2064,0,0,0,0,0,0,14.71,14.63,14.74
$GC,6952,0.94,146.0,3015,2207,2143,2063,803.5,14.5,574,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2207,2102,2142,2063,0,0,0,0,0,0,14.97,15.00,15.00
$GC,7312,0.94,146.0,3015,2207,2142,2062,751.3,14.6,586,7318,0.00,2.62,0.00,0.000,516,0.000,0.129,3025,782,2102,2142,2062,0,0,0,0,0,0,15.03,14.76,15.06
$GC,7377,0.94,146.0,3025,782,2142,2062,741.7,14.9,599,7383,0.00,2.62,0.00,0.000,1030,0.000,0.115,3025,2199,2101,2141,2061,0,0,0,0,0,0,14.85,14.77,14.89
$GC,7742,0.94,146.0,3025,2200,2142,2062,687.6,14.6,620,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,2101,2141,2061,0,0,0,0,0,0,15.07,15.09,15.09
$GC,8042,0.94,146.0,3025,2200,2142,2061,643.8,14.7,650,8048,0.00,2.65,0.00,0.000,516,0.000,0.131,3035,785,2101,2141,2061,0,0,0,0,0,0,15.08,14.80,15.11
$GC,8067,0.94,146.0,3038,785,2142,2061,640.2,14.5,655,8075,0.12,2.62,0.00,0.000,5126,0.246,0.114,3001,2207,2101,2141,2061,0,0,0,0,0,0,14.73,14.81,14.87
$GC,8372,0.94,146.0,3001,2207,2142,2060,599.9,12.5,686,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2207,2101,2142,2060,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8673,0.94,146.0,3001,2207,2142,2060,561.1,12.8,716,8678,0.00,2.62,0.00,0.000,516,0.000,0.132,3013,786,2100,2141,2060,0,0,0,0,0,0,15.06,14.83,15.09
$GC,8697,0.94,146.0,3011,786,2142,2059,557.8,12.7,721,8705,0.00,2.62,0.00,0.000,1030,0.000,0.116,3010,2207,2100,2141,2059,0,0,0,0,0,0,14.90,14.83,14.95
$GC,9003,0.94,146.0,3011,2207,2142,2060,517.2,13.4,752,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2207,2100,2141,2059,0,0,0,0,0,0,15.06,15.09,15.09
$GC,9302,0.94,146.0,3011,2208,2142,2060,477.5,13.2,782,9308,0.00,2.62,0.00,0.000,516,0.000,0.130,3021,776,2100,2141,2059,0,0,0,0,0,0,15.10,14.82,15.12
$GC,9322,0.94,146.0,3021,776,2142,2058,474.8,13.3,786,9332,0.00,2.65,0.00,0.000,1030,0.000,0.116,3021,2210,2102,2141,2063,0,0,0,0,0,0,14.91,14.82,14.95
$PING,448.7,109.1,9000.0,-0.15,0.98
$PING,439.5,100.0,9000.0,-0.16,0.99
$GC,9636,0.94,146.0,3022,2210,2141,2059,432.8,13.6,818,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2210,2099,2141,2058,0,0,0,0,0,0,15.09,15.13,15.12
$PING,396.0,53.9,54.0,1.05,1.00
$GC,9936,0.94,146.0,3022,2210,2142,2057,393.4,12.9,848,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2210,2099,2141,2058,0,0,0,0,0,0,15.10,15.14,15.13
$PING,387.1,44.3,44.4,1.06,1.00
$PING,377.9,34.7,34.6,1.06,1.00
$PING,368.9,25.4,25.4,1.03,1.00
$PING,360.0,16.1,16.1,1.04,1.00
$GC,10236,0.94,146.0,3021,2210,2142,2057,354.8,12.9,878,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2210,2099,2141,2057,0,0,0,0,0,0,15.11,15.14,15.16
$STATE,10245,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10245,begin subsurface finish
$FINISH1,353.6,1.027417,4
$GC,10248,0.01,4.2,3022,2210,2141,2058,353.6,12.8,879,10257,1.12,0.00,-2.22,0.041,20486,0.219,0.000,2704,2210,2715,2830,2600,0,0,0,0,0,0,14.78,13.80,14.97
$FINISH2,352.5
$STATE,10258,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10258,begin surface
$RAFOS_CLK,368
$RAFOS,2,1517811185,6.233333,6.218056,66,65,64,60,57,54,599,184,199,172,227,217
$RAFOS,1,1517810825,6.133333,6.118055,143,78,55,54,53,52,554,178,143,190,155,377
$RAFOS,0,1517810465,6.032778,6.018055,146,62,56,55,54,51,546,218,185,205,114,138
$RAFOS_FIX,-7417.589355,-11227.559570,050218,060628,3,118,0.38
$IRIDIUM_FIX,-7410.06,-11230.52,040218,063513
$TT8_MAMPS,0.040446,0.282373
$HUMID,48.07
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,360.0,16.1
$24V_AH,12.23,42.713
$10V_AH,12.42,0.000
$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,4.750,96.650,331.075,0.000,0.000,0.000,0.000,0.000,36.250,0.000,0.000,0.000,7966.655,455.751,1843.569,69.085,0.000,1126.848,0.000,1261.091,720.000,256.003,0.000
$DEVICE_MAMPS,284.580,257.805,3103.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10272.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.096,0.000,0.000,0.000
$MEM,280020
$DATA_FILE_SIZE,30071,880
$CAP_FILE_SIZE,110446,0
$CFSIZE,1024409600,1009778688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.8
$GPS,050218,061528,-7417.589,-11227.560,0,4118.3,0,53.5,0.0,0.0,0,0.0