version: 66.13
glider: 222
mission: 8
dive: 125
start: 2 10 118 0 21 7
data:
$ID,222
$MISSION,8
$DIVE,125
$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,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$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,2
$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,3
$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,2
$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,20
$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
$GPS1,100218,001456,-7413.3760,-11217.7734,0,4128.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,358.08
$_SM_ANGLEo,3.8
$GPS2,100218,001456,-7413.3760,-11217.7734,0,4128.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out1
$TGT_LATLONG,-7409.000,-11226.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,267.7,9233,-16.7,-10.000,-24.48,2160
$D_GRID,980
$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,-146.0,2705,2485,2835,2614,0.0,0.0,0,12,0.00,0.05,-2.00,0.047,16390,0.000,1.450,2704,2501,3332,3468,3196,0,0,0,0,0,0,15.09,13.59,15.09
$GC,13,-0.94,-146.0,2704,2502,3466,3195,0.0,0.0,0,15,0.95,0.00,0.00,0.000,4102,0.119,0.000,2395,2501,3329,3464,3195,0,0,0,0,0,0,14.84,14.99,14.97
$PING,368.8,14.7,9000.0,0.00,0.00
$PING,378.5,24.3,9000.0,0.00,0.00
$GC,320,-0.94,-146.0,2396,2502,3450,3210,393.1,-12.1,16,325,0.00,2.58,0.00,0.000,516,0.000,0.116,2399,1085,3329,3449,3209,0,0,0,0,0,0,15.11,14.80,15.15
$GC,345,-0.94,-146.0,2396,1085,3450,3209,396.4,-12.8,21,351,0.00,2.65,0.00,0.000,1030,0.000,0.126,2385,2513,3328,3448,3209,0,0,0,0,0,0,14.95,14.79,14.99
$GC,662,-0.94,-146.0,2386,2513,3447,3211,437.0,-13.0,39,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2513,3328,3446,3210,0,0,0,0,0,0,15.09,15.12,15.11
$GC,960,-0.94,-146.0,2386,2514,3446,3211,475.7,-12.3,54,966,0.00,2.38,0.00,0.000,260,0.000,0.152,2377,3751,3328,3445,3211,0,0,0,0,0,0,15.13,14.76,15.15
$GC,980,-0.94,-146.0,2377,3752,3444,3214,478.3,-12.8,58,986,0.00,2.25,0.00,0.000,1030,0.000,0.098,2375,2500,3328,3443,3213,0,0,0,0,0,0,14.90,14.84,14.95
$GC,1311,-0.94,-146.0,2377,2500,3443,3213,520.7,-12.8,75,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2500,3327,3442,3213,0,0,0,0,0,0,15.12,15.15,15.14
$GC,1670,-0.94,-146.0,2377,2500,3442,3214,565.7,-12.4,87,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2500,3327,3442,3213,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2030,-0.94,-146.0,2377,2500,3442,3213,609.6,-12.1,99,2036,0.00,2.40,0.00,0.000,260,0.000,0.154,2368,3751,3329,3445,3213,0,0,0,0,0,0,15.14,14.76,15.16
$GC,2100,-0.94,-146.0,2369,3751,3440,3213,618.9,-13.3,113,2107,0.10,2.25,0.00,0.000,3078,0.257,0.098,2394,2496,3326,3439,3213,0,0,0,0,0,0,14.67,14.84,14.83
$GC,2481,-0.94,-146.0,2394,2496,3439,3214,662.8,-11.3,129,2482,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2497,3326,3439,3214,0,0,0,0,0,0,15.14,15.16,15.16
$GC,2841,-0.94,-146.0,2395,2496,3440,3214,700.9,-10.4,141,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2495,3326,3439,3214,0,0,0,0,0,0,15.14,15.17,15.16
$GC,3201,-0.94,-146.0,2394,2496,3440,3214,738.3,-10.2,153,3208,0.00,2.40,0.00,0.000,260,0.000,0.152,2385,3750,3328,3438,3218,0,0,0,0,0,0,15.14,14.76,15.16
$GC,3247,-0.94,-146.0,2385,3754,3439,3215,743.4,-11.2,162,3253,0.00,2.25,0.00,0.000,1030,0.000,0.098,2385,2497,3326,3438,3214,0,0,0,0,0,0,14.91,14.85,14.95
$GC,3622,-0.94,-146.0,2386,2497,3439,3215,784.2,-11.2,177,3629,0.00,2.38,0.00,0.000,260,0.000,0.154,2377,3754,3326,3438,3214,0,0,0,0,0,0,15.14,14.77,15.16
$GC,3648,-0.94,-146.0,2377,3755,3438,3215,787.2,-11.5,182,3655,0.00,2.28,0.00,0.000,1030,0.000,0.098,2377,2493,3325,3437,3214,0,0,0,0,0,0,14.90,14.84,14.95
$GC,4013,-0.94,-146.0,2377,2494,3438,3215,829.6,-11.3,195,4019,0.00,2.55,0.00,0.000,516,0.000,0.115,2377,1080,3326,3438,3214,0,0,0,0,0,0,15.14,14.79,15.16
$GC,4052,-0.94,-146.0,2377,1081,3438,3217,834.1,-11.6,203,4059,0.00,2.67,0.00,0.000,1030,0.000,0.128,2369,2500,3325,3437,3214,0,0,0,0,0,0,14.86,14.76,14.92
$GC,4433,-0.94,-146.0,2365,2501,3439,3215,876.3,-10.9,219,4439,0.00,2.35,0.00,0.000,260,0.000,0.151,2359,3753,3326,3437,3215,0,0,0,0,0,0,15.14,14.76,15.16
$GC,4508,-0.94,-146.0,2360,3753,3438,3214,885.0,-12.1,234,4514,0.12,2.28,0.00,0.000,3078,0.270,0.098,2391,2488,3326,3437,3215,0,0,0,0,0,0,14.64,14.83,14.81
$GC,4884,-0.94,-146.0,2392,2488,3438,3215,925.7,-10.7,249,4890,0.00,2.55,0.00,0.000,516,0.000,0.115,2392,1080,3326,3437,3215,0,0,0,0,0,0,15.10,14.79,15.12
$GC,4934,-0.94,-146.0,2392,1081,3438,3216,930.4,-10.6,259,4940,0.00,2.70,0.00,0.000,1030,0.000,0.126,2383,2511,3326,3437,3215,0,0,0,0,0,0,14.86,14.75,14.92
$GC,5305,-0.94,-146.0,2384,2511,3438,3215,971.2,-11.6,273,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2511,3326,3437,3215,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,5393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5393,begin apogee
$GC,5397,-0.23,0.0,2384,2187,3438,3216,981.3,-11.3,276,5982,0.90,0.05,580.88,1.196,10246,0.244,0.261,2625,2203,2716,2772,2661,0,0,0,0,0,0,14.67,13.62,13.19
$STATE,5984,end apogee,CONTROL_FINISHED_OK
$STATE,5984,begin climb
$PING,982.5,19.7,9000.0,0.00,0.00
$PING,974.3,19.5,9000.0,-0.01,1.00
$PING,966.2,15.5,9000.0,0.25,0.78
$PING,957.9,12.3,9000.0,0.44,1.00
$GC,5985,0.94,146.0,2626,2203,2770,2658,995.6,0.0,295,6414,1.27,2.95,416.95,1.287,11012,0.130,0.142,3000,3623,2114,2147,2081,0,0,0,0,0,0,13.70,13.53,13.03
$GC,6594,0.94,146.0,3000,3624,2134,2063,922.9,16.9,414,6602,0.00,2.72,0.00,0.000,1030,0.000,0.098,3011,2199,2097,2133,2062,0,0,0,0,0,0,14.22,14.16,14.26
$GC,6960,0.94,146.0,3011,2198,2130,2058,867.1,15.0,427,6965,0.00,2.67,0.00,0.000,516,0.000,0.130,3021,781,2093,2129,2057,0,0,0,0,0,0,14.76,14.52,14.80
$GC,6999,0.94,146.0,3021,778,2128,2059,860.7,14.7,435,7005,0.00,2.70,0.00,0.000,1030,0.000,0.116,3022,2207,2092,2127,2057,0,0,0,0,0,0,14.62,14.53,14.66
$GC,7380,0.94,146.0,3022,2207,2128,2056,800.9,15.7,451,7386,0.00,2.65,0.00,0.000,516,0.000,0.128,3032,783,2091,2127,2055,0,0,0,0,0,0,14.93,14.66,14.95
$GC,7415,0.94,146.0,3032,783,2128,2056,795.9,14.8,458,7422,0.10,2.65,0.00,0.000,5126,0.229,0.115,3004,2205,2091,2127,2056,0,0,0,0,0,0,14.62,14.68,14.73
$GC,7802,0.94,146.0,3005,2205,2128,2054,741.7,13.9,475,7807,0.00,2.67,0.00,0.000,260,0.000,0.145,3004,3625,2089,2126,2053,0,0,0,0,0,0,15.00,14.73,15.02
$GC,7846,0.94,146.0,3005,3626,2128,2053,734.8,15.7,484,7852,0.00,2.62,0.00,0.000,1030,0.000,0.103,3014,2191,2090,2127,2053,0,0,0,0,0,0,14.83,14.76,14.87
$GC,8222,0.94,146.0,3015,2189,2128,2052,679.7,14.8,499,8228,0.00,2.60,0.00,0.000,516,0.000,0.130,3029,779,2089,2126,2053,0,0,0,0,0,0,15.04,14.77,15.07
$GC,8267,0.94,146.0,3024,780,2127,2054,673.0,14.9,508,8273,0.00,2.65,0.00,0.000,1030,0.000,0.117,3024,2207,2089,2126,2052,0,0,0,0,0,0,14.85,14.76,14.96
$GC,8642,0.94,146.0,3025,2206,2127,2052,617.6,14.6,523,8648,0.00,2.65,0.00,0.000,260,0.000,0.145,3025,3616,2089,2126,2052,0,0,0,0,0,0,15.07,14.78,15.08
$GC,8662,0.94,146.0,3025,3617,2127,2053,614.4,15.8,527,8668,0.12,2.60,0.00,0.000,5126,0.236,0.102,3001,2190,2088,2126,2051,0,0,0,0,0,0,14.70,14.81,14.84
$GC,9033,0.94,146.0,3001,2188,2126,2053,565.1,13.3,541,9039,0.00,2.60,0.00,0.000,516,0.000,0.130,3010,779,2089,2126,2052,0,0,0,0,0,0,15.10,14.79,15.12
$GC,9063,0.94,146.0,3010,780,2126,2053,560.9,13.6,547,9069,0.00,2.62,0.00,0.000,1030,0.000,0.117,3010,2200,2088,2125,2051,0,0,0,0,0,0,14.88,14.79,14.93
$GC,9453,0.94,146.0,3010,2199,2125,2053,508.0,13.4,565,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2199,2088,2125,2051,0,0,0,0,0,0,15.12,15.15,15.14
$GC,9813,0.94,146.0,3009,2200,2125,2052,461.1,12.7,582,9814,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2200,2088,2125,2051,0,0,0,0,0,0,15.12,15.15,15.15
$GC,10115,0.94,146.0,3010,2200,2126,2052,423.0,13.0,597,10120,0.00,2.67,0.00,0.000,260,0.000,0.147,3010,3624,2088,2125,2051,0,0,0,0,0,0,15.09,14.80,15.12
$GC,10143,0.94,146.0,3010,3625,2125,2051,418.7,14.6,603,10150,0.00,2.60,0.00,0.000,1030,0.000,0.102,3021,2196,2088,2125,2051,0,0,0,0,0,0,14.88,14.80,14.92
$PING,406.5,84.7,9000.0,-0.13,1.00
$PING,382.1,62.2,9000.0,-0.11,0.89
$GC,10454,0.94,146.0,3021,2196,2125,2052,376.7,13.5,620,10460,0.00,2.65,0.00,0.000,516,0.000,0.131,3032,780,2088,2125,2052,0,0,0,0,0,0,15.12,14.78,15.15
$GC,10509,0.94,146.0,3032,780,2125,2051,369.5,13.1,631,10516,0.10,2.62,0.00,0.000,5126,0.225,0.117,3003,2199,2087,2123,2051,0,0,0,0,0,0,14.70,14.80,14.84
$PING,364.1,44.4,44.6,0.95,1.00
$PING,354.7,34.8,34.9,1.00,1.00
$PING,345.1,25.1,25.0,1.02,1.00
$PING,335.6,14.8,14.9,1.05,1.00
$GC,10814,0.94,146.0,3003,2200,2124,2052,333.2,11.9,647,10820,0.00,2.67,0.00,0.000,260,0.000,0.147,3003,3624,2086,2121,2051,0,0,0,0,0,0,15.12,14.78,15.16
$STATE,10858,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10858,begin subsurface finish
$FINISH1,327.4,1.027464,2
$GC,10864,0.00,1.8,3013,2195,2123,2052,327.4,12.7,656,10869,1.10,0.00,-2.40,0.038,20486,0.218,0.000,2703,2192,2724,2835,2614,0,0,0,0,0,0,14.72,13.59,14.95
$FINISH2,327.4
$STATE,10869,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10869,begin surface
$RAFOS_CLK,394
$RAFOS,2,1518232400,3.233333,3.222222,116,69,58,53,52,51,484,219,174,118,188,165
$RAFOS,1,1518232040,3.133333,3.122222,96,67,58,57,57,52,458,174,199,221,143,162
$RAFOS,0,1518231660,3.032778,3.016667,134,69,58,58,55,54,551,217,166,204,229,135
$RAFOS_FIX,-7412.405273,-11221.632812,100218,030316,3,115,0.24
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041944,0.293608
$HUMID,48.70
$INTERNAL_PRESSURE,7.60929
$TCM_TEMP,13.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,335.6,14.9
$24V_AH,13.03,57.457
$10V_AH,12.50,0.000
$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,4.775,94.875,997.825,0.000,0.000,0.000,0.000,0.000,34.250,0.000,0.000,0.000,8460.787,999.416,1415.104,74.558,0.000,1586.525,0.000,941.310,720.000,241.785,0.000
$DEVICE_MAMPS,270.045,1449.675,1286.730,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10878.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.938,0.000,0.000,0.000
$MEM,279960
$DATA_FILE_SIZE,23491,656
$CAP_FILE_SIZE,97118,0
$CFSIZE,1024409600,1005387776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.4
$CURRENT,0.084,312.93,1
$GPS,100218,031616,-7412.405,-11221.633,0,4115.3,0,53.5,0.0,0.0,0,0.0