version: 66.13
glider: 222
mission: 8
dive: 115
start: 2 8 118 22 24 16
data:
$ID,222
$MISSION,8
$DIVE,115
$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,280
$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,16
$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,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
$GPS1,080218,211544,-7424.5693,-11236.2100,0,4132.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,322.45
$_SM_ANGLEo,1.6
$GPS2,080218,211544,-7424.5693,-11236.2100,0,4132.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,316.2,25496,-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,-146.0,2712,2508,2732,2535,0.0,0.0,0,12,0.00,0.00,-2.42,0.039,16390,0.000,0.000,2712,2508,3328,3467,3189,0,0,0,0,0,0,15.07,13.57,15.07
$GC,13,-0.94,-146.0,2713,2508,3466,3192,0.0,0.0,0,20,0.95,2.35,0.00,0.000,4356,0.112,0.153,2397,3756,3328,3461,3196,0,0,0,0,0,0,14.81,14.73,14.88
$GC,78,-0.94,-146.0,2397,3756,3451,3208,328.8,-10.7,13,87,0.00,2.30,0.00,0.000,1030,0.000,0.102,2397,2487,3328,3450,3206,0,0,0,0,0,0,14.85,14.79,14.90
$PING,331.7,10.2,9000.0,0.00,0.00
$PING,340.2,17.5,9000.0,0.00,0.00
$PING,348.9,24.7,24.8,0.85,1.00
$GC,384,-0.94,-146.0,2397,2487,3448,3208,366.1,-12.5,44,390,0.00,2.58,0.00,0.000,516,0.000,0.118,2397,1085,3327,3446,3209,0,0,0,0,0,0,15.06,14.77,15.09
$GC,418,-0.94,-146.0,2397,1086,3447,3210,370.6,-12.6,51,426,0.00,2.67,0.00,0.000,1030,0.000,0.126,2387,2503,3327,3446,3209,0,0,0,0,0,0,14.84,14.74,14.90
$GC,723,-0.94,-146.0,2387,2504,3446,3210,409.2,-12.4,82,729,0.00,2.40,0.00,0.000,260,0.000,0.149,2378,3752,3327,3444,3210,0,0,0,0,0,0,15.09,14.69,15.11
$GC,823,-0.94,-146.0,2379,3751,3443,3212,422.9,-13.6,102,829,0.00,2.28,0.00,0.000,1030,0.000,0.099,2378,2497,3327,3442,3213,0,0,0,0,0,0,14.83,14.76,14.87
$GC,1134,-0.94,-146.0,2378,2497,3442,3214,463.1,-12.5,134,1140,0.00,2.58,0.00,0.000,516,0.000,0.117,2378,1085,3326,3442,3211,0,0,0,0,0,0,15.06,14.76,15.09
$GC,1163,-0.94,-146.0,2378,1086,3442,3214,467.0,-12.8,140,1170,0.00,2.67,0.00,0.000,1030,0.000,0.125,2369,2499,3326,3441,3212,0,0,0,0,0,0,14.83,14.73,14.89
$GC,1473,-0.94,-146.0,2370,2499,3442,3213,507.1,-12.2,172,1480,0.00,2.40,0.00,0.000,260,0.000,0.151,2360,3749,3326,3440,3213,0,0,0,0,0,0,15.09,14.71,15.11
$GC,1545,-0.94,-146.0,2360,3750,3440,3214,516.7,-13.9,186,1550,0.17,2.25,0.00,0.000,3078,0.279,0.100,2398,2487,3326,3439,3214,0,0,0,0,0,0,14.65,14.83,14.88
$GC,1854,-0.94,-146.0,2398,2487,3439,3214,552.3,-11.4,218,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2486,3326,3439,3213,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2155,-0.94,-146.0,2398,2486,3439,3214,586.4,-11.2,248,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2486,3326,3439,3214,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2454,-0.94,-146.0,2399,2486,3439,3213,619.7,-11.0,278,2460,0.00,2.45,0.00,0.000,260,0.000,0.152,2389,3757,3326,3438,3214,0,0,0,0,0,0,15.09,14.76,15.11
$GC,2514,-0.94,-146.0,2389,3758,3438,3214,626.8,-12.0,290,2520,0.00,2.30,0.00,0.000,1030,0.000,0.099,2389,2490,3325,3437,3213,0,0,0,0,0,0,14.87,14.79,14.91
$GC,2824,-0.94,-146.0,2389,2491,3438,3215,661.8,-11.1,322,2830,0.00,2.45,0.00,0.000,260,0.000,0.152,2380,3757,3325,3437,3214,0,0,0,0,0,0,15.09,14.71,15.11
$GC,2849,-0.94,-146.0,2380,3758,3438,3215,664.8,-11.8,327,2856,0.00,2.30,0.00,0.000,1030,0.000,0.099,2380,2492,3325,3437,3214,0,0,0,0,0,0,14.87,14.80,14.90
$GC,3154,-0.94,-146.0,2381,2492,3438,3213,699.7,-11.3,358,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2492,3325,3437,3213,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3464,-0.94,-146.0,2381,2492,3439,3214,735.3,-11.6,369,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2492,3325,3437,3214,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3824,-0.94,-146.0,2381,2492,3438,3214,776.6,-11.3,381,3831,0.00,2.42,0.00,0.000,260,0.000,0.151,2371,3750,3325,3437,3214,0,0,0,0,0,0,15.11,14.72,15.14
$GC,3865,-0.94,-146.0,2372,3751,3438,3215,781.4,-11.8,389,3872,0.00,2.22,0.00,0.000,1030,0.000,0.098,2372,2490,3325,3437,3214,0,0,0,0,0,0,14.95,14.83,14.97
$GC,4246,-0.94,-146.0,2372,2490,3438,3216,825.3,-11.6,405,4247,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2490,3325,3437,3214,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4606,-0.94,-146.0,2372,2490,3438,3214,867.3,-11.7,417,4612,0.00,2.42,0.00,0.000,260,0.000,0.150,2362,3751,3325,3437,3214,0,0,0,0,0,0,15.12,14.73,15.14
$GC,4651,-0.94,-146.0,2362,3752,3438,3216,872.7,-12.6,426,4658,0.12,2.28,0.00,0.000,3078,0.265,0.096,2395,2490,3326,3437,3215,0,0,0,0,0,0,14.64,14.82,14.79
$GC,5027,-0.94,-146.0,2395,2490,3438,3215,911.5,-10.0,441,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2490,3326,3437,3215,0,0,0,0,0,0,15.12,15.14,15.14
$GC,5387,-0.94,-146.0,2395,2491,3438,3215,948.0,-10.2,453,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2490,3326,3437,3215,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5747,-0.94,-146.0,2396,2490,3438,3215,984.5,-10.1,465,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2490,3326,3437,3215,0,0,0,0,0,0,15.13,15.16,15.15
$STATE,5808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5808,begin apogee
$PING,992.5,22.8,9000.0,0.00,0.07
$GC,5811,-0.23,0.0,2396,2191,3438,3215,990.6,-10.1,467,6249,0.82,0.00,435.02,1.306,10246,0.230,0.000,2621,2190,2717,2772,2663,0,0,0,0,0,0,14.68,13.77,13.23
$STATE,6251,end apogee,CONTROL_FINISHED_OK
$STATE,6251,begin climb
$PING,984.0,18.0,9000.0,-0.01,0.50
$PING,975.9,12.1,9000.0,0.64,0.99
$PING,967.4,14.4,9000.0,0.21,0.35
$PING,959.3,13.1,9000.0,-0.06,0.18
$GC,6252,0.94,146.0,2622,2190,2770,2659,1000.6,0.0,481,6708,1.27,2.88,441.23,1.473,11012,0.135,0.125,3006,795,2116,2151,2082,0,0,0,0,0,0,13.73,13.58,13.07
$GC,6861,0.94,146.0,3007,796,2143,2077,929.7,14.4,602,6869,0.00,2.75,0.00,0.000,1030,0.000,0.112,3006,2207,2109,2142,2076,0,0,0,0,0,0,14.17,14.09,14.20
$GC,7247,0.94,146.0,3006,2207,2142,2072,872.5,14.7,619,7254,0.00,2.75,0.00,0.000,260,0.000,0.144,3006,3613,2106,2141,2071,0,0,0,0,0,0,14.79,14.47,14.81
$GC,7283,0.94,146.0,3006,3614,2143,2070,867.4,16.6,626,7290,0.00,2.62,0.00,0.000,1030,0.000,0.100,3016,2200,2106,2141,2071,0,0,0,0,0,0,14.61,14.54,14.64
$GC,7669,0.94,146.0,3016,2200,2142,2071,808.0,15.0,643,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2200,2106,2142,2070,0,0,0,0,0,0,14.94,14.97,14.99
$GC,8029,0.94,146.0,3017,2200,2143,2069,754.2,15.0,655,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,2105,2141,2069,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8389,0.94,146.0,3017,2200,2142,2069,700.8,14.6,667,8395,0.00,2.67,0.00,0.000,260,0.000,0.143,3016,3616,2105,2141,2069,0,0,0,0,0,0,15.05,14.76,15.08
$GC,8419,0.94,146.0,3017,3617,2142,2070,696.0,15.2,673,8425,0.00,2.55,0.00,0.000,1030,0.000,0.099,3027,2193,2105,2142,2069,0,0,0,0,0,0,14.91,14.79,14.95
$GC,8729,0.94,146.0,3028,2193,2142,2070,648.7,15.4,705,8735,0.00,2.65,0.00,0.000,516,0.000,0.130,3038,780,2105,2141,2069,0,0,0,0,0,0,15.07,14.75,15.09
$GC,8754,0.94,146.0,3038,780,2143,2069,644.8,14.9,710,8762,0.10,2.65,0.00,0.000,5126,0.239,0.115,3002,2212,2105,2141,2069,0,0,0,0,0,0,14.69,14.76,14.90
$GC,9059,0.94,146.0,3002,2213,2142,2070,602.4,13.8,741,9065,0.00,2.70,0.00,0.000,260,0.000,0.145,3002,3621,2105,2141,2069,0,0,0,0,0,0,15.07,14.74,15.09
$GC,9099,0.94,146.0,3002,3622,2142,2070,596.4,15.1,749,9105,0.00,2.60,0.00,0.000,1030,0.000,0.103,3012,2199,2105,2141,2069,0,0,0,0,0,0,14.86,14.78,14.91
$GC,9409,0.94,146.0,3012,2198,2141,2070,553.8,13.7,781,9410,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2197,2105,2142,2069,0,0,0,0,0,0,15.08,15.11,15.10
$GC,9709,0.94,146.0,3012,2197,2142,2069,512.7,13.7,811,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2197,2105,2141,2069,0,0,0,0,0,0,15.09,15.11,15.11
$GC,10009,0.94,146.0,3012,2198,2142,2070,472.6,13.1,841,10015,0.00,2.67,0.00,0.000,260,0.000,0.145,3012,3614,2105,2141,2069,0,0,0,0,0,0,15.09,14.78,15.11
$GC,10029,0.94,146.0,3012,3618,2142,2070,469.8,14.4,845,10035,0.00,2.60,0.00,0.000,1030,0.000,0.103,3022,2195,2105,2141,2069,0,0,0,0,0,0,14.88,14.80,14.90
$GC,10339,0.94,146.0,3022,2195,2142,2071,427.0,13.7,877,10345,0.00,2.65,0.00,0.000,516,0.000,0.131,3033,782,2105,2141,2069,0,0,0,0,0,0,15.09,14.76,15.11
$PING,425.6,64.4,9000.0,-0.09,1.00
$GC,10369,0.94,146.0,3033,783,2142,2070,422.8,13.6,883,10375,0.10,2.62,0.00,0.000,5126,0.238,0.115,3005,2200,2105,2141,2069,0,0,0,0,0,0,14.68,14.77,14.82
$PING,417.6,56.2,9000.0,-0.09,0.97
$PING,408.9,47.0,47.0,1.04,1.00
$PING,400.2,38.0,38.0,1.05,1.00
$PING,391.6,29.4,29.3,1.02,1.00
$GC,10679,0.94,146.0,3005,2200,2142,2070,384.3,12.2,915,10685,0.00,2.67,0.00,0.000,260,0.000,0.146,3005,3620,2105,2141,2069,0,0,0,0,0,0,15.10,14.77,15.12
$PING,383.0,20.6,20.6,1.01,1.00
$GC,10729,0.94,146.0,3005,3621,2142,2070,377.6,13.5,925,10735,0.00,2.60,0.00,0.000,1030,0.000,0.105,3014,2196,2105,2141,2069,0,0,0,0,0,0,14.88,14.80,14.92
$PING,373.8,11.6,11.6,0.99,1.00
$STATE,10798,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10798,begin subsurface finish
$FINISH1,368.8,1.027458,2
$GC,10801,0.00,2.1,3015,2195,2139,2069,368.8,12.5,933,10814,1.08,2.67,-2.10,0.054,20996,0.216,0.156,2716,783,2723,2834,2613,0,0,0,0,0,0,14.69,13.56,14.83
$FINISH2,367.7
$STATE,10815,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10815,begin surface
$RAFOS_CLK,387
$RAFOS,2,1518135182,0.233333,0.217222,57,55,54,53,51,49,186,204,216,195,121,148
$RAFOS,1,1518134824,0.133333,0.117778,59,59,57,56,55,54,146,213,118,196,170,179
$RAFOS,0,1518134463,0.032778,0.017500,60,57,55,53,52,52,201,168,146,212,134,190
$RAFOS_FIX,-7423.422363,-11236.671875,090218,010121,0,1,0.14
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041944,0.542276
$HUMID,47.59
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,373.8,11.6
$24V_AH,13.07,53.573
$10V_AH,12.49,0.000
$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,4.625,91.275,876.250,0.000,0.000,0.000,0.000,0.000,36.750,0.000,0.000,0.000,8011.614,877.119,1924.971,81.256,0.000,1640.722,0.000,1338.648,720.000,257.087,0.000
$DEVICE_MAMPS,279.225,156.060,1473.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10830.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.968,0.000,0.000,0.000
$MEM,280100
$DATA_FILE_SIZE,33354,935
$CAP_FILE_SIZE,112761,0
$CFSIZE,1024409600,1006403584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.9
$GPS,090218,012421,-7423.422,-11236.672,0,1001.0,0,53.5,0.0,0.0,0,0.0