version: 66.13
glider: 222
mission: 8
dive: 103
start: 2 7 118 13 41 51
data:
$ID,222
$MISSION,8
$DIVE,103
$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,10
$D_FINISH,400
$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,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,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,5
$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,17
$R_STBD_OVSHOOT,13
$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,7
$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
$GPS1,070218,121600,-7412.2861,-11226.7715,0,4125.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,397.19
$_SM_ANGLEo,2.4
$GPS2,070218,121600,-7412.2861,-11226.7715,0,4125.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11228.500
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,139.9,3740,-20.9,-10.000,-27.90,1574
$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,-1.08,-105.2,2701,2511,2844,2618,0.0,0.0,0,11,0.00,0.00,-1.35,0.069,16390,0.000,0.000,2700,2510,3158,3290,3027,0,0,0,0,0,0,15.07,13.62,15.07
$GC,12,-1.08,-105.2,2701,2511,3290,3029,0.0,0.0,0,14,1.08,0.00,0.00,0.000,4102,0.106,0.000,2346,2510,3158,3289,3028,0,0,0,0,0,0,14.85,14.98,14.95
$GC,310,-1.08,-105.2,2347,2510,3278,3039,433.2,-13.3,30,311,0.00,0.00,0.00,0.000,6,0.000,0.000,2346,2510,3158,3277,3040,0,0,0,0,0,0,15.07,15.09,15.09
$GC,609,-1.08,-105.2,2346,2514,3276,3042,472.9,-13.1,60,615,0.00,2.38,0.00,0.000,260,0.000,0.147,2337,3755,3158,3275,3041,0,0,0,0,0,0,15.10,14.76,15.13
$GC,634,-1.08,-105.2,2337,3756,3274,3043,476.3,-13.7,65,643,0.00,2.28,0.00,0.000,1030,0.000,0.096,2337,2487,3158,3273,3043,0,0,0,0,0,0,14.90,14.83,14.94
$GC,939,-1.08,-105.2,2337,2487,3274,3043,516.9,-13.0,96,945,0.00,2.42,0.00,0.000,260,0.000,0.147,2328,3754,3158,3273,3043,0,0,0,0,0,0,15.10,14.75,15.12
$GC,980,-1.08,-105.2,2328,3754,3273,3045,522.5,-14.2,104,985,0.00,2.22,0.00,0.000,1030,0.000,0.096,2327,2491,3157,3271,3044,0,0,0,0,0,0,14.95,14.85,14.98
$GC,1289,-1.08,-105.2,2328,2494,3272,3046,565.6,-13.9,136,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2493,3158,3272,3045,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1590,-1.08,-105.2,2328,2494,3272,3046,605.3,-13.1,166,1595,0.00,2.38,0.00,0.000,260,0.000,0.147,2318,3763,3158,3271,3045,0,0,0,0,0,0,15.10,14.77,15.13
$GC,1644,-1.08,-105.2,2318,3764,3271,3047,612.8,-14.2,177,1653,0.12,2.28,0.00,0.000,3078,0.303,0.096,2348,2499,3158,3271,3046,0,0,0,0,0,0,14.62,14.83,14.79
$GC,1949,-1.08,-105.2,2348,2500,3271,3047,649.2,-11.7,208,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2499,3158,3271,3046,0,0,0,0,0,0,15.10,15.13,15.13
$GC,2250,-1.08,-105.2,2348,2500,3271,3048,684.1,-11.7,238,2255,0.00,2.35,0.00,0.000,260,0.000,0.151,2341,3748,3159,3271,3047,0,0,0,0,0,0,15.07,14.76,15.09
$GC,2289,-1.08,-105.2,2341,3749,3272,3047,689.1,-12.8,246,2295,0.00,2.28,0.00,0.000,1030,0.000,0.097,2341,2488,3159,3271,3047,0,0,0,0,0,0,14.90,14.82,14.93
$GC,2599,-1.08,-105.2,2341,2488,3272,3048,725.9,-11.8,264,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2488,3160,3271,3049,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2960,-1.08,-105.2,2341,2489,3271,3050,767.0,-11.1,276,2965,0.00,2.42,0.00,0.000,260,0.000,0.147,2332,3756,3159,3270,3049,0,0,0,0,0,0,15.12,14.76,15.14
$GC,3054,-1.08,-105.2,2332,3756,3271,3050,778.1,-12.1,295,3060,0.00,2.28,0.00,0.000,1030,0.000,0.096,2332,2491,3160,3271,3049,0,0,0,0,0,0,14.90,14.83,14.93
$GC,3441,-1.08,-105.2,2332,2492,3271,3050,823.6,-11.7,312,3446,0.00,2.38,0.00,0.000,260,0.000,0.147,2322,3756,3160,3271,3049,0,0,0,0,0,0,15.08,14.78,15.11
$GC,3509,-1.08,-105.2,2322,3757,3271,3050,832.5,-12.8,326,3515,0.00,2.28,0.00,0.000,1030,0.000,0.097,2323,2494,3160,3271,3049,0,0,0,0,0,0,14.90,14.83,14.93
$GC,3890,-1.08,-105.2,2323,2494,3272,3049,879.0,-12.3,342,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2494,3160,3271,3049,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4250,-1.08,-105.2,2323,2494,3272,3049,923.0,-12.4,354,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2494,3160,3271,3049,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4610,-1.08,-105.2,2323,2495,3271,3050,965.7,-11.6,366,4616,0.15,2.40,0.00,0.000,2308,0.330,0.147,2344,3751,3160,3271,3049,0,0,0,0,0,0,14.64,14.77,14.91
$GC,4675,-1.08,-105.2,2344,3752,3270,3050,972.9,-11.3,379,4681,0.00,2.25,0.00,0.000,1030,0.000,0.096,2344,2498,3160,3271,3049,0,0,0,0,0,0,14.91,14.83,14.95
$STATE,4848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4849,begin apogee
$PING,993.3,15.7,9000.0,0.00,0.00
$GC,4852,-0.23,0.0,2345,2183,3272,3048,991.6,-10.5,389,5097,1.05,0.05,235.95,1.750,10246,0.256,0.263,2622,2198,2716,2781,2651,0,0,0,0,1,0,14.67,13.65,12.61
$STATE,5098,end apogee,CONTROL_FINISHED_OK
$STATE,5098,begin climb
$PING,984.9,14.5,9000.0,0.00,0.00
$PING,976.4,24.6,9000.0,-0.54,0.66
$PING,967.6,13.9,9000.0,0.04,0.00
$GC,5099,1.08,105.2,2624,2198,2783,2651,996.7,0.0,397,5424,1.45,2.75,313.65,1.535,10756,0.137,0.125,3057,788,2285,2328,2242,0,0,0,0,0,0,13.72,13.50,13.05
$GC,5468,1.08,105.2,3057,789,2321,2238,954.7,15.9,469,5475,0.00,2.80,0.00,0.000,1030,0.000,0.111,3057,2215,2278,2320,2236,0,0,0,0,0,0,13.93,13.81,13.95
$GC,5860,1.08,105.2,3057,2216,2319,2228,891.7,16.0,487,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2215,2273,2319,2227,0,0,0,0,0,0,14.66,14.68,14.69
$GC,6220,1.08,105.2,3058,2215,2319,2224,835.3,15.6,499,6225,0.00,2.65,0.00,0.000,516,0.000,0.126,3068,789,2270,2317,2224,0,0,0,0,0,0,14.86,14.61,14.90
$GC,6269,1.08,105.2,3068,790,2317,2225,827.3,15.8,509,6279,0.00,2.65,0.00,0.000,1030,0.000,0.112,3068,2210,2270,2316,2225,0,0,0,0,0,0,14.71,14.62,14.74
$GC,6644,1.08,105.2,3068,2210,2317,2223,767.0,16.3,523,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2210,2269,2316,2222,0,0,0,0,0,0,14.96,14.99,14.99
$GC,7004,1.08,105.2,3069,2210,2317,2222,711.6,15.1,535,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2210,2268,2316,2221,0,0,0,0,0,0,15.01,15.04,15.04
$GC,7363,1.08,105.2,3069,2210,2316,2221,657.1,15.3,565,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2209,2268,2315,2221,0,0,0,0,0,0,15.03,15.07,15.07
$GC,7663,1.08,105.2,3068,2211,2316,2222,611.2,15.4,595,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2209,2267,2315,2220,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7964,1.08,105.2,3068,2210,2310,2220,565.9,14.9,625,7969,0.00,2.60,0.00,0.000,516,0.000,0.125,3079,791,2267,2315,2220,0,0,0,0,0,0,15.05,14.79,15.08
$GC,8002,1.08,105.2,3079,791,2316,2220,559.8,15.4,633,8009,0.10,2.60,0.00,0.000,5126,0.276,0.111,3053,2204,2267,2314,2220,0,0,0,0,0,0,14.65,14.78,14.81
$GC,8313,1.08,105.2,3053,2205,2316,2220,515.7,13.7,665,8319,0.00,2.67,0.00,0.000,260,0.000,0.141,3053,3616,2266,2314,2219,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8373,1.08,105.2,3054,3616,2315,2220,506.6,15.5,677,8380,0.00,2.58,0.00,0.000,1030,0.000,0.100,3062,2196,2267,2315,2219,0,0,0,0,0,0,14.88,14.81,14.92
$GC,8684,1.08,105.2,3063,2194,2315,2220,463.3,13.7,709,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2194,2266,2314,2219,0,0,0,0,0,0,15.09,15.12,15.12
$GC,8985,1.08,105.2,3063,2195,2315,2220,422.9,13.0,739,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2194,2266,2314,2219,0,0,0,0,0,0,15.07,15.09,15.09
$FREEZE,399.64,-1.314,-2.177,2,2,0
$STATE,9163,end climb,FINISH_DEPTH_REACHED
$STATE,9163,begin subsurface finish
$FINISH1,399.6,1.027505,-0
$GC,9167,-0.00,-0.3,3063,2194,2315,2218,399.6,12.9,757,9180,1.30,2.72,-1.50,0.076,20740,0.243,0.168,2703,3613,2729,2826,2633,0,0,0,0,0,0,14.69,13.63,14.85
$FINISH2,398.4
$STATE,9180,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9180,begin surface
$RAFOS_CLK,334
$RAFOS,2,1518016384,15.233334,15.217778,112,56,55,53,52,51,595,146,163,220,119,191
$RAFOS,1,1518016023,15.133333,15.117500,64,59,57,56,53,53,198,174,208,149,185,555
$RAFOS,0,1518015670,15.032778,15.019444,117,76,60,55,55,53,507,205,163,218,172,232
$RAFOS_FIX,-7413.930176,-11225.535156,070218,151512,2,114,0.29
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041195,0.291361
$HUMID,48.42
$INTERNAL_PRESSURE,7.63859
$TCM_TEMP,13.90
$XPDR_PINGS,1
$24V_AH,12.61,49.179
$10V_AH,12.58,0.000
$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,5.250,57.850,549.600,0.000,0.000,0.000,0.000,0.000,32.750,0.000,0.000,0.000,7045.107,553.724,1600.203,68.814,0.000,1159.898,0.000,1088.921,720.000,232.245,0.000
$DEVICE_MAMPS,329.715,263.160,1750.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9197.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.019,0.000,0.000,0.000
$MEM,280100
$DATA_FILE_SIZE,26708,759
$CAP_FILE_SIZE,91941,0
$CFSIZE,1024409600,1007632384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1459.1
$GPS,070218,151512,-7413.930,-11225.535,0,3114.5,0,53.5,0.0,0.0,0,0.0