version: 66.13
glider: 222
mission: 8
dive: 123
start: 2 9 118 19 4 45
data:
$ID,222
$MISSION,8
$DIVE,123
$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,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,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
$GPS1,090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,359.72
$_SM_ANGLEo,2.8
$GPS2,090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,304.4,9786,-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,-146.0,2716,2511,2832,2615,0.0,0.0,0,11,0.00,0.00,-2.00,0.047,16390,0.000,0.000,2716,2511,3329,3467,3191,0,0,0,0,0,0,15.07,13.58,15.07
$PING,360.0,6.2,9000.0,0.00,0.00
$GC,12,-0.94,-146.0,2717,2511,3466,3194,0.0,0.0,0,19,0.98,2.30,0.00,0.000,4356,0.113,0.151,2394,3751,3330,3461,3199,0,0,0,0,0,0,14.81,14.75,14.88
$GC,63,-0.94,-146.0,2394,3752,3453,3207,364.3,-9.7,10,69,0.00,2.28,0.00,0.000,1030,0.000,0.099,2393,2491,3329,3451,3208,0,0,0,0,0,0,14.83,14.76,14.86
$GC,373,-0.94,-146.0,2394,2492,3448,3211,400.5,-12.1,42,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2491,3329,3448,3210,0,0,0,0,0,0,15.09,15.11,15.11
$GC,673,-0.94,-146.0,2394,2491,3447,3211,437.1,-12.1,72,679,0.00,2.42,0.00,0.000,260,0.000,0.151,2385,3750,3328,3445,3211,0,0,0,0,0,0,15.09,14.72,15.11
$GC,707,-0.94,-146.0,2385,3750,3445,3214,441.6,-12.5,79,715,0.00,2.28,0.00,0.000,1030,0.000,0.098,2385,2489,3328,3444,3213,0,0,0,0,0,0,14.85,14.78,14.91
$GC,1014,-0.94,-146.0,2385,2489,3444,3214,478.0,-11.6,110,1019,0.00,2.55,0.00,0.000,516,0.000,0.116,2385,1087,3326,3443,3210,0,0,0,0,0,0,15.06,14.77,15.08
$GC,1043,-0.94,-146.0,2385,1086,3443,3214,481.7,-12.4,116,1049,0.00,2.65,0.00,0.000,1030,0.000,0.125,2376,2512,3327,3442,3213,0,0,0,0,0,0,14.90,14.73,14.95
$GC,1353,-0.94,-146.0,2376,2512,3442,3215,521.4,-12.8,148,1360,0.00,2.35,0.00,0.000,260,0.000,0.151,2366,3741,3328,3442,3214,0,0,0,0,0,0,15.09,14.69,15.11
$GC,1389,-0.94,-146.0,2367,3742,3442,3214,526.2,-13.9,155,1396,0.10,2.25,0.00,0.000,3078,0.266,0.098,2393,2492,3328,3441,3215,0,0,0,0,0,0,14.64,14.81,14.80
$GC,1694,-0.94,-146.0,2392,2488,3441,3214,561.7,-11.4,186,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2499,3327,3441,3214,0,0,0,0,0,0,15.09,15.11,15.11
$GC,1994,-0.94,-146.0,2393,2494,3440,3214,595.5,-11.0,216,2000,0.00,2.42,0.00,0.000,260,0.000,0.152,2384,3754,3326,3439,3214,0,0,0,0,0,0,15.09,14.71,15.12
$GC,2024,-0.94,-146.0,2385,3754,3440,3215,598.9,-12.1,222,2030,0.00,2.28,0.00,0.000,1030,0.000,0.099,2384,2494,3330,3446,3214,0,0,0,0,0,0,14.88,14.81,14.92
$GC,2334,-0.94,-146.0,2385,2494,3440,3215,634.4,-11.7,254,2340,0.00,2.42,0.00,0.000,260,0.000,0.152,2376,3755,3326,3439,3214,0,0,0,0,0,0,15.09,14.73,15.11
$GC,2359,-0.94,-146.0,2376,3755,3439,3212,637.5,-12.8,259,2366,0.00,2.28,0.00,0.000,1030,0.000,0.100,2376,2498,3327,3439,3215,0,0,0,0,0,0,14.87,14.80,14.91
$GC,2664,-0.94,-146.0,2376,2498,3439,3214,674.7,-12.2,290,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2498,3326,3439,3214,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2964,-0.94,-146.0,2376,2498,3440,3215,711.5,-12.3,314,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2498,3327,3439,3215,0,0,0,0,0,0,15.10,15.13,15.12
$GC,3324,-0.94,-146.0,2376,2499,3439,3216,753.0,-11.0,326,3330,0.00,2.42,0.00,0.000,260,0.000,0.152,2366,3757,3326,3438,3215,0,0,0,0,0,0,15.11,14.73,15.14
$GC,3399,-0.94,-146.0,2367,3757,3438,3216,761.7,-12.2,341,3406,0.10,2.28,0.00,0.000,3078,0.272,0.098,2393,2494,3326,3438,3215,0,0,0,0,0,0,14.63,14.81,14.79
$GC,3776,-0.94,-146.0,2393,2494,3438,3215,801.6,-10.2,356,3781,0.00,2.55,0.00,0.000,516,0.000,0.115,2393,1085,3326,3437,3215,0,0,0,0,0,0,15.07,14.78,15.09
$GC,3795,-0.94,-146.0,2393,1085,3439,3215,803.5,-9.1,360,3801,0.00,2.67,0.00,0.000,1030,0.000,0.123,2384,2509,3326,3437,3215,0,0,0,0,0,0,14.96,14.74,14.98
$GC,4165,-0.94,-146.0,2384,2510,3438,3216,841.5,-9.9,374,4171,0.00,2.38,0.00,0.000,260,0.000,0.149,2376,3756,3326,3437,3215,0,0,0,0,0,0,15.11,14.73,15.14
$PING,846.9,41.0,9000.0,0.00,0.00
$GC,4230,-0.94,-146.0,2376,3756,3438,3216,848.5,-11.0,387,4236,0.00,2.28,0.00,0.000,1030,0.000,0.099,2376,2495,3326,3437,3216,0,0,0,0,0,0,14.87,14.81,14.92
$PING,857.6,28.1,9000.0,0.06,0.85
$PING,866.7,19.3,18.9,-1.09,0.99
$PING,876.7,10.7,10.5,-0.91,1.00
$STATE,4525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4525,begin apogee
$PING,881.3,16.2,9000.0,-0.32,0.29
$GC,4528,-0.23,0.0,2376,2183,3438,3217,879.7,-10.8,401,5109,0.93,0.05,574.90,1.176,10246,0.245,0.255,2627,2199,2716,2772,2660,0,0,0,0,0,0,14.66,13.63,13.18
$STATE,5110,end apogee,CONTROL_FINISHED_OK
$STATE,5110,begin climb
$PING,873.3,11.6,9000.0,0.61,0.69
$PING,864.8,17.2,9000.0,-0.07,0.03
$PING,856.7,19.5,9000.0,-0.48,0.95
$PING,848.5,18.6,9000.0,-0.08,0.36
$PING,840.1,18.1,9000.0,0.08,0.97
$GC,5111,0.94,146.0,2624,2200,2770,2659,882.7,0.0,420,5580,1.27,2.85,454.27,1.338,10756,0.137,0.125,3007,791,2116,2150,2083,0,0,0,0,0,0,13.69,13.54,13.10
$GC,5633,0.94,146.0,3006,791,2142,2076,823.9,14.7,521,5642,0.00,2.83,0.00,0.000,1030,0.000,0.112,3006,2211,2108,2141,2076,0,0,0,0,0,0,13.94,13.86,13.97
$GC,6000,0.94,146.0,3006,2211,2141,2069,769.6,15.1,534,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2211,2104,2140,2069,0,0,0,0,0,0,14.68,14.71,14.71
$GC,6360,0.94,146.0,3006,2211,2141,2067,716.2,14.9,546,6366,0.00,2.65,0.00,0.000,516,0.000,0.127,3016,792,2103,2139,2067,0,0,0,0,0,0,14.88,14.62,14.90
$GC,6380,0.94,146.0,3017,793,2140,2068,713.0,14.3,550,6387,0.00,2.65,0.00,0.000,1030,0.000,0.113,3016,2209,2102,2138,2067,0,0,0,0,0,0,14.72,14.63,14.76
$GC,6751,0.94,146.0,3017,2210,2139,2068,657.0,15.2,582,6758,0.00,2.67,0.00,0.000,516,0.000,0.127,3026,791,2103,2139,2067,0,0,0,0,0,0,15.00,14.69,15.02
$GC,6778,0.94,146.0,3027,792,2139,2067,653.1,14.6,587,6785,0.00,2.60,0.00,0.000,1030,0.000,0.114,3026,2215,2102,2138,2066,0,0,0,0,0,0,14.85,14.72,14.88
$GC,7082,0.94,146.0,3027,2217,2139,2068,606.8,14.9,618,7083,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2215,2102,2138,2067,0,0,0,0,0,0,15.02,15.05,15.05
$GC,7382,0.94,146.0,3027,2216,2139,2067,562.4,14.5,648,7388,0.00,2.67,0.00,0.000,516,0.000,0.128,3037,791,2102,2138,2066,0,0,0,0,0,0,15.04,14.73,15.07
$GC,7427,0.94,146.0,3038,790,2139,2066,555.9,14.4,657,7436,0.12,2.62,0.00,0.000,5126,0.228,0.113,3001,2212,2102,2138,2066,0,0,0,0,0,0,14.67,14.77,14.81
$GC,7732,0.94,146.0,3002,2212,2139,2066,516.9,12.6,688,7738,0.00,2.65,0.00,0.000,260,0.000,0.144,3002,3622,2102,2138,2066,0,0,0,0,0,0,15.07,14.76,15.09
$GC,7772,0.94,146.0,3002,3622,2139,2066,511.5,13.9,696,7779,0.00,2.60,0.00,0.000,1030,0.000,0.103,3011,2197,2102,2138,2066,0,0,0,0,0,0,14.85,14.79,14.90
$GC,8083,0.94,146.0,3012,2196,2139,2067,471.0,12.9,728,8089,0.00,2.65,0.00,0.000,516,0.000,0.131,3022,782,2102,2138,2066,0,0,0,0,0,0,15.08,14.75,15.11
$GC,8113,0.94,146.0,3022,783,2140,2067,467.1,13.3,734,8121,0.00,2.62,0.00,0.000,1030,0.000,0.116,3022,2196,2102,2138,2066,0,0,0,0,0,0,14.86,14.76,14.91
$GC,8426,0.94,146.0,3023,2197,2139,2066,424.9,13.7,766,8432,0.00,2.62,0.00,0.000,516,0.000,0.131,3032,776,2102,2138,2066,0,0,0,0,0,0,15.05,14.78,15.08
$GC,8446,0.94,146.0,3033,776,2139,2066,422.0,13.5,770,8453,0.10,2.65,0.00,0.000,5126,0.236,0.116,3004,2207,2102,2138,2066,0,0,0,0,0,0,14.68,14.78,14.83
$GC,8757,0.94,146.0,3005,2207,2139,2066,382.6,12.3,802,8764,0.00,2.70,0.00,0.000,260,0.000,0.146,3004,3616,2102,2138,2066,0,0,0,0,0,0,15.09,14.74,15.11
$GC,8792,0.94,146.0,3008,3618,2139,2067,377.8,13.7,809,8800,0.00,2.60,0.00,0.000,1030,0.000,0.103,3014,2191,2102,2138,2066,0,0,0,0,0,0,14.87,14.79,14.92
$PING,372.0,38.7,9000.0,-0.04,1.00
$PING,363.2,27.3,9000.0,-0.03,0.68
$PING,354.2,16.7,16.5,1.24,1.00
$STATE,9056,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9056,begin subsurface finish
$FINISH1,344.0,1.027451,2
$GC,9060,0.00,2.5,3015,2189,2139,2066,344.0,12.5,836,9069,1.10,0.00,-2.25,0.041,20486,0.210,0.000,2701,2187,2714,2824,2604,0,0,0,0,0,0,14.72,13.63,14.93
$FINISH2,343.0
$STATE,9070,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9070,begin surface
$RAFOS_CLK,326
$RAFOS,2,1518210787,21.233334,21.218611,142,61,60,58,56,54,572,166,197,184,212,140
$RAFOS,1,1518210427,21.133333,21.118610,93,69,62,58,56,56,549,194,146,125,214,170
$RAFOS,0,1518210067,21.032778,21.018612,104,69,60,58,56,51,504,175,205,147,215,228
$RAFOS_FIX,-7414.640625,-11217.150391,090218,212144,3,113,0.26
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041195,0.277879
$HUMID,48.07
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,354.2,16.5
$ALTIM_BOTTOM_PING,876.7,10.5
$24V_AH,13.10,56.678
$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,4.700,89.600,1029.175,0.000,0.000,0.000,0.000,0.000,30.250,0.000,0.000,0.000,6329.536,1026.795,1718.508,76.604,0.000,1731.678,0.000,1199.805,720.000,212.860,0.000
$DEVICE_MAMPS,272.340,254.745,1337.985,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.177,0.000,0.000,0.000
$MEM,280100
$DATA_FILE_SIZE,29983,837
$CAP_FILE_SIZE,100248,0
$CFSIZE,1024409600,1005568000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.3
$GPS,090218,211544,-7414.641,-11217.150,0,4113.0,0,53.5,0.0,0.0,0,0.0