version: 66.13
glider: 222
mission: 8
dive: 146
start: 2 12 118 13 57 40
data:
$ID,222
$MISSION,8
$DIVE,146
$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,350
$T_MISSION,390
$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,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,18
$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,200
$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,6
$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
$GPS1,120218,121600,-7420.4087,-11229.9375,0,4151.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,374.97
$_SM_ANGLEo,2.4
$GPS2,120218,121600,-7420.4087,-11229.9375,0,4151.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,inside0
$TGT_LATLONG,-7438.000,-11235.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,130.9,32674,-15.4,-9.429,-23.69,2278
$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,-0.88,-146.0,2714,2513,2834,2609,0.0,0.0,0,11,0.00,0.00,-1.95,0.048,16390,0.000,0.000,2713,2512,3325,3462,3188,0,0,0,0,0,0,15.09,13.47,15.09
$GC,13,-0.88,-146.0,2714,2512,3462,3192,0.0,0.0,0,19,0.90,2.33,0.00,0.000,4356,0.110,0.151,2414,3749,3325,3455,3195,0,0,0,0,0,0,14.79,14.71,14.87
$PING,381.6,10.6,9000.0,0.00,0.00
$GC,93,-0.88,-146.0,2414,3750,3446,3205,382.1,-10.3,16,99,0.00,2.28,0.00,0.000,1030,0.000,0.101,2414,2494,3325,3445,3205,0,0,0,0,0,0,14.86,14.80,14.89
$PING,388.4,17.2,9000.0,0.00,0.00
$PING,394.9,23.6,23.6,0.98,1.00
$PING,401.6,30.4,30.4,1.00,1.00
$PING,408.4,37.3,37.3,1.01,1.00
$GC,403,-0.88,-146.0,2414,2494,3443,3209,416.2,-11.1,48,404,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2494,3325,3443,3208,0,0,0,0,0,0,15.11,15.14,15.14
$GC,703,-0.88,-146.0,2415,2494,3442,3209,447.4,-10.3,78,709,0.00,2.45,0.00,0.000,260,0.000,0.156,2406,3757,3324,3441,3208,0,0,0,0,0,0,15.11,14.71,15.14
$GC,733,-0.88,-146.0,2407,3757,3439,3210,450.6,-11.0,84,739,0.00,2.30,0.00,0.000,1030,0.000,0.101,2407,2490,3324,3438,3210,0,0,0,0,0,0,14.88,14.80,14.92
$GC,1043,-0.88,-146.0,2407,2490,3438,3211,483.3,-10.9,116,1049,0.00,2.45,0.00,0.000,260,0.000,0.155,2398,3750,3324,3438,3210,0,0,0,0,0,0,15.11,14.69,15.14
$GC,1078,-0.88,-146.0,2398,3751,3438,3212,487.4,-11.8,123,1085,0.00,2.28,0.00,0.000,1030,0.000,0.100,2398,2495,3324,3437,3211,0,0,0,0,0,0,14.86,14.79,14.90
$GC,1383,-0.88,-146.0,2398,2496,3437,3212,522.1,-11.1,154,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2495,3324,3437,3211,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1683,-0.88,-146.0,2398,2495,3437,3212,555.2,-11.1,184,1689,0.00,2.42,0.00,0.000,260,0.000,0.154,2388,3751,3324,3436,3212,0,0,0,0,0,0,15.11,14.69,15.14
$GC,1723,-0.88,-146.0,2389,3751,3436,3211,559.9,-12.0,192,1729,0.00,2.28,0.00,0.000,1030,0.000,0.099,2388,2495,3323,3435,3212,0,0,0,0,0,0,14.85,14.78,14.90
$GC,2033,-0.88,-146.0,2389,2496,3436,3213,595.2,-11.2,224,2039,0.00,2.42,0.00,0.000,260,0.000,0.153,2379,3749,3323,3435,3212,0,0,0,0,0,0,15.11,14.69,15.14
$GC,2068,-0.88,-146.0,2380,3749,3435,3212,599.5,-12.1,231,2076,0.12,2.28,0.00,0.000,3078,0.262,0.099,2413,2495,3323,3434,3212,0,0,0,0,0,0,14.57,14.79,14.76
$GC,2373,-0.88,-146.0,2414,2493,3436,3213,629.8,-9.9,262,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2493,3323,3434,3212,0,0,0,0,0,0,15.12,15.15,15.14
$GC,2673,-0.88,-146.0,2413,2493,3435,3213,659.4,-10.2,292,2679,0.00,2.42,0.00,0.000,260,0.000,0.153,2405,3747,3323,3434,3212,0,0,0,0,0,0,15.12,14.69,15.15
$GC,2703,-0.88,-146.0,2405,3747,3435,3212,662.6,-11.5,298,2709,0.00,2.28,0.00,0.000,1030,0.000,0.099,2405,2491,3323,3434,3213,0,0,0,0,0,0,14.85,14.78,14.90
$GC,3014,-0.88,-146.0,2405,2491,3435,3213,694.5,-10.2,330,3019,0.00,2.40,0.00,0.000,260,0.000,0.153,2395,3758,3323,3434,3213,0,0,0,0,0,0,15.08,14.71,15.10
$GC,3043,-0.88,-146.0,2395,3758,3435,3213,697.7,-12.3,336,3049,0.00,2.30,0.00,0.000,1030,0.000,0.099,2395,2492,3323,3433,3213,0,0,0,0,0,0,14.86,14.78,14.90
$GC,3375,-0.88,-146.0,2396,2492,3435,3213,732.4,-10.3,350,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2492,3323,3434,3213,0,0,0,0,0,0,15.09,15.11,15.11
$GC,3735,-0.88,-146.0,2395,2493,3434,3215,769.3,-10.1,362,3740,0.00,2.40,0.00,0.000,260,0.000,0.153,2386,3757,3323,3434,3213,0,0,0,0,0,0,15.10,14.72,15.13
$GC,3789,-0.88,-146.0,2386,3758,3434,3214,775.1,-11.2,373,3798,0.00,2.28,0.00,0.000,1030,0.000,0.099,2386,2497,3323,3433,3213,0,0,0,0,0,0,14.87,14.80,14.91
$GC,4155,-0.88,-146.0,2386,2497,3433,3213,815.1,-10.9,386,4160,0.12,2.38,0.00,0.000,2308,0.296,0.153,2403,3751,3323,3433,3213,0,0,0,0,0,0,14.62,14.71,14.87
$GC,4194,-0.88,-146.0,2399,3752,3434,3214,819.3,-10.5,394,4200,0.00,2.28,0.00,0.000,1030,0.000,0.099,2402,2492,3323,3433,3213,0,0,0,0,0,0,14.85,14.78,14.90
$GC,4575,-0.88,-146.0,2403,2493,3430,3214,856.5,-9.9,410,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2492,3323,3433,3213,0,0,0,0,0,0,15.09,15.11,15.11
$GC,4934,-0.88,-146.0,2403,2492,3434,3213,892.1,-10.0,422,4941,0.00,2.42,0.00,0.000,260,0.000,0.153,2393,3747,3323,3433,3213,0,0,0,0,0,0,15.14,14.69,15.16
$GC,4980,-0.88,-146.0,2394,3748,3433,3214,896.8,-10.3,431,4986,0.00,2.28,0.00,0.000,1030,0.000,0.097,2393,2490,3323,3433,3213,0,0,0,0,0,0,14.87,14.79,14.91
$GC,5357,-0.88,-146.0,2394,2490,3433,3214,935.4,-10.5,446,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2489,3323,3433,3213,0,0,0,0,0,0,15.09,15.12,15.12
$GC,5715,-0.88,-146.0,2394,2490,3434,3213,971.4,-10.0,458,5721,0.00,2.42,0.00,0.000,260,0.000,0.152,2385,3746,3323,3433,3213,0,0,0,0,0,0,15.15,14.72,15.18
$GC,5755,-0.88,-146.0,2385,3746,3434,3214,975.7,-10.8,466,5761,0.10,2.25,0.00,0.000,3078,0.262,0.096,2412,2494,3323,3433,3214,0,0,0,0,0,0,14.58,14.81,14.75
$STATE,5925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5925,begin apogee
$GC,5929,-0.23,0.0,2412,2194,3434,3214,991.5,-9.1,475,6499,0.77,0.00,565.88,1.154,10246,0.224,0.000,2625,2193,2717,2779,2656,0,0,0,0,0,0,14.64,13.77,13.25
$STATE,6501,end apogee,CONTROL_FINISHED_OK
$STATE,6501,begin climb
$PING,986.9,17.9,9000.0,-0.03,0.87
$PING,980.6,15.6,9000.0,-0.04,0.99
$PING,974.2,14.4,9000.0,0.28,0.97
$PING,968.0,17.2,9000.0,-0.13,0.31
$PING,961.7,26.4,25.4,-0.97,0.92
$GC,6502,0.88,146.0,2625,2194,2770,2658,1001.9,0.0,494,6940,1.20,2.97,424.35,1.291,10500,0.132,0.145,2980,3621,2116,2150,2083,0,0,0,0,0,0,13.74,13.59,13.12
$GC,7109,0.88,146.0,2980,3622,2142,2071,932.9,14.6,614,7115,0.00,2.72,0.00,0.000,1030,0.000,0.099,2991,2175,2105,2141,2070,0,0,0,0,0,0,14.26,14.15,14.29
$GC,7500,0.88,146.0,2991,2173,2140,2065,879.3,13.8,632,7505,0.00,2.62,0.00,0.000,516,0.000,0.129,3001,775,2102,2139,2065,0,0,0,0,0,0,14.79,14.53,14.82
$GC,7534,0.88,146.0,3002,776,2139,2066,874.3,16.5,639,7540,0.00,2.70,0.00,0.000,1030,0.000,0.115,3002,2208,2101,2138,2065,0,0,0,0,0,0,14.62,14.54,14.68
$GC,7920,0.88,146.0,3002,2208,2138,2064,819.1,14.2,656,7920,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2209,2100,2137,2064,0,0,0,0,0,0,14.98,15.01,15.01
$GC,8280,0.88,146.0,3002,2208,2138,2063,767.7,14.2,668,8285,0.00,2.65,0.00,0.000,516,0.000,0.128,3013,779,2100,2137,2063,0,0,0,0,0,0,15.04,14.72,15.07
$GC,8319,0.88,146.0,3013,779,2137,2064,761.9,14.4,676,8325,0.00,2.65,0.00,0.000,1030,0.000,0.116,3013,2204,2099,2136,2063,0,0,0,0,0,0,14.83,14.72,14.86
$GC,8700,0.88,146.0,3012,2205,2137,2064,706.8,14.4,692,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2204,2102,2136,2069,0,0,0,0,0,0,15.04,15.08,15.07
$GC,9061,0.88,146.0,3013,2205,2136,2063,656.4,13.9,724,9066,0.00,2.62,0.00,0.000,516,0.000,0.129,3023,779,2099,2136,2062,0,0,0,0,0,0,15.08,14.78,15.11
$GC,9090,0.88,146.0,3023,779,2135,2063,652.1,13.5,730,9096,0.12,2.65,0.00,0.000,5126,0.225,0.115,2987,2210,2098,2135,2062,0,0,0,0,0,0,14.64,14.76,14.78
$GC,9400,0.88,146.0,2988,2209,2136,2062,612.5,12.5,762,9401,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2209,2098,2135,2062,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9700,0.88,146.0,2988,2210,2136,2061,575.0,12.5,792,9701,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2209,2098,2135,2061,0,0,0,0,0,0,15.11,15.14,15.14
$GC,10001,0.88,146.0,2988,2210,2136,2061,537.5,12.4,822,10001,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2209,2098,2135,2061,0,0,0,0,0,0,15.11,15.14,15.14
$GC,10300,0.88,146.0,2988,2210,2136,2060,500.3,12.5,852,10306,0.00,2.67,0.00,0.000,516,0.000,0.127,2997,780,2097,2135,2060,0,0,0,0,0,0,15.13,14.74,15.15
$GC,10331,0.88,146.0,2997,780,2135,2060,496.5,12.6,858,10336,0.00,2.60,0.00,0.000,1030,0.000,0.114,2997,2215,2097,2134,2060,0,0,0,0,0,0,14.94,14.79,14.98
$GC,10640,0.88,146.0,2997,2215,2136,2060,457.5,12.9,890,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2215,2097,2134,2060,0,0,0,0,0,0,15.12,15.16,15.15
$PING,442.2,71.1,9000.0,-0.09,0.98
$GC,10940,0.88,146.0,2997,2215,2135,2062,419.8,12.4,920,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2215,2097,2134,2060,0,0,0,0,0,0,15.13,15.16,15.16
$PING,397.2,32.0,9000.0,-0.04,0.29
$PING,390.1,22.8,24.1,0.91,1.00
$GC,11240,0.88,146.0,2997,2215,2135,2060,384.3,11.5,950,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2214,2097,2135,2059,0,0,0,0,0,0,15.14,15.16,15.16
$PING,383.2,18.5,17.7,0.97,0.96
$PING,376.3,13.5,9000.0,0.68,1.00
$STATE,11349,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11349,begin subsurface finish
$FINISH1,371.8,1.027431,4
$GC,11353,0.00,3.5,2998,2191,2135,2059,371.8,11.3,961,11365,1.00,2.65,-2.10,0.055,20996,0.205,0.149,2716,782,2716,2829,2603,0,0,0,0,0,0,14.68,13.45,14.82
$FINISH2,370.7
$STATE,11366,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11366,begin surface
$RAFOS_CLK,410
$RAFOS,2,1518448404,15.233334,15.223333,116,62,60,57,53,50,539,195,212,153,131,163
$RAFOS,1,1518448024,15.133333,15.117778,94,60,59,58,55,53,596,190,219,204,142,178
$RAFOS,0,1518447684,15.032778,15.023334,145,65,61,56,54,53,480,208,125,219,161,186
$RAFOS_FIX,-7421.698242,-11230.619141,120218,151512,3,118,0.22
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.041195,0.293608
$HUMID,48.30
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,383.2,17.7
$24V_AH,13.12,64.991
$10V_AH,12.46,0.000
$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,4.350,84.925,990.225,0.000,0.000,0.000,0.000,0.000,45.250,0.000,0.000,0.000,8372.119,975.356,2003.608,91.559,0.000,1754.347,0.000,1378.643,720.000,322.107,0.000
$DEVICE_MAMPS,296.055,251.685,1291.320,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11375.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.983,0.000,0.000,0.000
$MEM,280052
$DATA_FILE_SIZE,33384,963
$CAP_FILE_SIZE,118364,0
$CFSIZE,1024409600,1003012096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.8
$GPS,120218,151512,-7421.698,-11230.619,0,4118.3,0,53.5,0.0,0.0,0,0.0