version: 66.13
glider: 222
mission: 8
dive: 154
start: 2 13 118 15 56 10
data:
$ID,222
$MISSION,8
$DIVE,154
$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,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,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
$GPS1,130218,151512,-7433.9902,-11235.6289,0,4139.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,384.82
$_SM_ANGLEo,2.1
$GPS2,130218,151512,-7433.9902,-11235.6289,0,4139.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,inside0
$TGT_LATLONG,-7438.000,-11235.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,124.1,7432,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.88,-146.0,2700,2497,2829,2607,0.0,0.0,0,12,0.00,0.00,-1.95,0.049,16390,0.000,0.000,2699,2496,3327,3467,3188,0,0,0,0,0,0,15.08,13.39,15.08
$GC,13,-0.88,-146.0,2700,2497,3466,3193,0.0,0.0,0,20,0.85,2.55,0.00,0.000,4612,0.112,0.119,2415,1078,3328,3462,3195,0,0,0,0,0,0,14.78,14.73,14.85
$GC,54,-0.88,-146.0,2415,1079,3457,3202,388.5,-8.6,8,59,0.00,2.70,0.00,0.000,1030,0.000,0.128,2406,2505,3328,3455,3202,0,0,0,0,0,0,14.81,14.69,14.87
$PING,392.1,9.0,9000.0,0.00,0.00
$PING,398.8,15.5,9000.0,0.00,0.00
$PING,412.9,30.5,30.4,1.04,1.00
$GC,364,-0.88,-146.0,2406,2506,3449,3210,423.4,-11.6,40,369,0.00,2.42,0.00,0.000,260,0.000,0.155,2397,3754,3328,3449,3208,0,0,0,0,0,0,15.11,14.67,15.14
$GC,404,-0.88,-146.0,2397,3755,3446,3211,428.4,-12.5,48,409,0.00,2.30,0.00,0.000,1030,0.000,0.102,2397,2488,3327,3445,3210,0,0,0,0,0,0,14.85,14.76,14.90
$GC,714,-0.88,-146.0,2398,2489,3446,3211,464.7,-11.6,80,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2488,3327,3445,3210,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1014,-0.88,-146.0,2397,2488,3446,3210,499.5,-11.8,110,1019,0.00,2.45,0.00,0.000,260,0.000,0.155,2387,3750,3327,3444,3211,0,0,0,0,0,0,15.11,14.67,15.19
$GC,1059,-0.88,-146.0,2388,3750,3443,3213,504.9,-12.3,119,1066,0.00,2.28,0.00,0.000,1030,0.000,0.100,2387,2496,3327,3442,3213,0,0,0,0,0,0,14.85,14.77,14.90
$GC,1364,-0.88,-146.0,2387,2496,3443,3214,540.7,-11.5,150,1370,0.00,2.42,0.00,0.000,260,0.000,0.155,2378,3746,3327,3442,3213,0,0,0,0,0,0,15.12,14.66,15.14
$GC,1398,-0.88,-146.0,2379,3746,3442,3213,544.9,-12.5,157,1407,0.12,2.28,0.00,0.000,3078,0.255,0.099,2412,2490,3327,3441,3213,0,0,0,0,0,0,14.57,14.78,14.73
$GC,1704,-0.88,-146.0,2413,2490,3442,3214,576.3,-10.1,188,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2490,3327,3441,3213,0,0,0,0,0,0,15.12,15.14,15.14
$GC,2004,-0.88,-146.0,2413,2490,3442,3213,606.6,-10.2,218,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2490,3327,3441,3213,0,0,0,0,0,0,15.12,15.15,15.14
$GC,2304,-0.88,-146.0,2412,2490,3442,3214,637.6,-10.5,248,2310,0.00,2.45,0.00,0.000,260,0.000,0.155,2404,3751,3327,3440,3214,0,0,0,0,0,0,15.13,14.66,15.15
$GC,2349,-0.88,-146.0,2404,3752,3440,3214,642.6,-11.5,257,2357,0.00,2.28,0.00,0.000,1030,0.000,0.099,2404,2496,3326,3439,3213,0,0,0,0,0,0,14.83,14.78,14.89
$GC,2654,-0.88,-146.0,2404,2498,3440,3214,675.2,-10.3,288,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2497,3326,3439,3214,0,0,0,0,0,0,15.13,15.16,15.15
$GC,2964,-0.88,-146.0,2404,2497,3440,3214,706.9,-10.1,315,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2497,3326,3439,3213,0,0,0,0,0,0,15.12,15.16,15.15
$GC,3324,-0.88,-146.0,2404,2497,3440,3214,743.3,-10.1,327,3330,0.00,2.40,0.00,0.000,260,0.000,0.155,2394,3755,3326,3439,3214,0,0,0,0,0,0,15.13,14.69,15.16
$GC,3349,-0.88,-146.0,2395,3756,3440,3214,745.8,-9.8,332,3357,0.00,2.28,0.00,0.000,1030,0.000,0.099,2394,2499,3326,3438,3214,0,0,0,0,0,0,14.85,14.77,14.90
$GC,3715,-0.88,-146.0,2394,2499,3440,3214,783.4,-10.2,345,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2499,3325,3438,3213,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4074,-0.88,-146.0,2394,2499,3437,3214,820.0,-10.3,357,4081,0.00,2.42,0.00,0.000,260,0.000,0.156,2385,3749,3326,3438,3214,0,0,0,0,0,0,15.14,14.66,15.17
$GC,4115,-0.88,-146.0,2385,3749,3439,3214,824.5,-11.1,365,4122,0.10,2.28,0.00,0.000,3078,0.263,0.098,2412,2492,3326,3439,3214,0,0,0,0,0,0,14.54,14.78,14.73
$GC,4496,-0.88,-146.0,2412,2493,3439,3214,860.6,-9.4,381,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3326,3438,3214,0,0,0,0,0,0,15.14,15.16,15.16
$GC,4856,-0.88,-146.0,2412,2493,3438,3215,894.2,-9.3,393,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3325,3438,3213,0,0,0,0,0,0,15.14,15.17,15.16
$GC,5216,-0.88,-146.0,2412,2493,3439,3215,927.2,-9.1,405,5223,0.00,2.40,0.00,0.000,260,0.000,0.154,2403,3755,3326,3438,3214,0,0,0,0,0,0,15.14,14.69,15.17
$GC,5247,-0.88,-146.0,2404,3756,3439,3214,930.2,-6.9,411,5253,0.00,2.30,0.00,0.000,1062,0.000,0.098,2404,2485,3326,3438,3214,0,0,0,0,0,0,14.85,14.78,14.90
$GC,5638,-0.88,-146.0,2404,2487,3439,3215,966.6,-9.2,429,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2486,3326,3437,3216,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,5906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5906,begin apogee
$GC,5910,-0.23,0.0,2404,2184,3438,3216,993.0,-9.7,438,6138,0.82,0.05,220.57,2.356,10246,0.230,0.259,2627,2200,2714,2766,2662,0,0,0,0,1,0,14.61,13.34,12.28
$STATE,6139,end apogee,CONTROL_FINISHED_OK
$STATE,6139,begin climb
$PING,992.9,15.5,9000.0,-0.01,0.23
$PING,986.5,22.1,9000.0,-0.02,0.81
$PING,980.1,20.1,9000.0,-0.36,0.46
$PING,973.7,27.8,9000.0,-0.44,0.50
$PING,967.6,18.0,9000.0,0.16,0.04
$PING,961.2,35.9,9000.0,-0.66,0.21
$PING,954.5,22.7,9000.0,-0.33,0.06
$GC,6141,0.88,146.0,2628,2200,2770,2662,998.9,0.0,445,6636,1.23,2.85,479.65,1.304,10756,0.132,0.125,2992,795,2115,2147,2084,0,0,0,0,0,0,13.45,13.58,13.07
$GC,6675,0.88,146.0,2993,796,2141,2081,946.1,12.5,547,6681,0.00,2.78,0.00,0.000,1030,0.000,0.112,2993,2206,2109,2140,2079,0,0,0,0,0,0,13.93,13.81,13.95
$GC,7066,0.88,146.0,2992,2207,2139,2072,891.5,14.3,565,7071,0.00,2.72,0.00,0.000,260,0.000,0.146,2993,3618,2104,2138,2071,0,0,0,0,0,0,14.70,14.42,14.73
$GC,7096,0.88,146.0,2993,3618,2139,2071,886.5,17.2,571,7101,0.00,2.60,0.00,0.000,1030,0.000,0.099,3003,2199,2104,2138,2071,0,0,0,0,0,0,14.62,14.50,14.64
$GC,7485,0.88,146.0,3004,2197,2138,2069,829.1,14.7,589,7493,0.00,2.62,0.00,0.000,516,0.000,0.129,3014,786,2103,2137,2069,0,0,0,0,0,0,14.95,14.62,14.97
$GC,7521,0.88,146.0,3016,786,2138,2069,823.4,15.2,596,7528,0.10,2.67,0.00,0.000,5126,0.226,0.117,2986,2210,2102,2136,2069,0,0,0,0,0,0,14.55,14.62,14.69
$GC,7908,0.88,146.0,2986,2210,2138,2067,771.4,13.5,613,7913,0.00,2.65,0.00,0.000,260,0.000,0.145,2986,3614,2101,2136,2067,0,0,0,0,0,0,14.98,14.69,15.01
$GC,7947,0.88,146.0,2986,3614,2136,2068,765.8,14.3,621,7954,0.00,2.60,0.00,0.000,1030,0.000,0.101,2996,2195,2101,2137,2066,0,0,0,0,0,0,14.80,14.72,14.84
$GC,8329,0.88,146.0,2996,2195,2137,2068,713.5,13.9,637,8334,0.00,2.62,0.00,0.000,516,0.000,0.130,3006,776,2101,2136,2066,0,0,0,0,0,0,15.03,14.73,15.05
$GC,8363,0.88,146.0,3007,776,2136,2066,708.7,14.0,644,8369,0.00,2.65,0.00,0.000,1030,0.000,0.116,3006,2207,2101,2135,2067,0,0,0,0,0,0,14.81,14.73,14.87
$GC,8728,0.88,146.0,3007,2207,2136,2067,657.9,13.8,679,8734,0.00,2.67,0.00,0.000,260,0.000,0.145,3006,3623,2100,2135,2066,0,0,0,0,0,0,15.08,14.73,15.11
$GC,8753,0.88,146.0,3006,3624,2136,2067,654.2,14.8,684,8760,0.10,2.62,0.00,0.000,5126,0.236,0.102,2990,2187,2100,2135,2066,0,0,0,0,0,0,14.64,14.76,14.78
$GC,9058,0.88,146.0,2990,2187,2136,2066,615.1,12.7,715,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2186,2100,2135,2066,0,0,0,0,0,0,15.09,15.12,15.12
$GC,9358,0.88,146.0,2990,2185,2136,2065,577.1,12.4,745,9364,0.00,2.62,0.00,0.000,516,0.000,0.130,3000,763,2100,2135,2065,0,0,0,0,0,0,15.10,14.73,15.13
$GC,9378,0.88,146.0,3000,763,2136,2066,574.6,12.5,749,9384,0.00,2.67,0.00,0.000,1030,0.000,0.116,3000,2207,2099,2134,2065,0,0,0,0,0,0,14.95,14.74,14.98
$GC,9688,0.88,146.0,3000,2207,2136,2065,533.8,13.0,781,9694,0.00,2.67,0.00,0.000,260,0.000,0.147,2999,3622,2100,2135,2065,0,0,0,0,0,0,15.10,14.73,15.13
$GC,9714,0.88,146.0,3000,3622,2135,2066,530.2,14.0,786,9721,0.00,2.58,0.00,0.000,1030,0.000,0.102,3010,2187,2099,2134,2065,0,0,0,0,0,0,14.92,14.79,14.97
$PING,490.5,81.5,9000.0,-0.11,0.95
$GC,10018,0.88,146.0,3011,2186,2135,2065,489.1,13.2,817,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2187,2099,2134,2065,0,0,0,0,0,0,15.11,15.13,15.13
$PING,483.9,74.8,9000.0,-0.12,0.99
$PING,477.3,67.8,67.9,1.04,1.00
$PING,464.0,54.0,54.0,1.04,1.00
$PING,450.7,40.4,40.3,1.03,1.00
$GC,10318,0.88,146.0,3011,2187,2136,2065,449.4,13.0,847,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2187,2099,2134,2065,0,0,0,0,0,0,15.11,15.14,15.14
$PING,444.1,33.6,33.6,1.03,1.00
$PING,437.5,26.9,26.9,1.03,1.00
$PING,431.1,20.3,20.3,1.02,1.00
$PING,424.6,13.6,13.6,1.03,1.00
$STATE,10567,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10567,begin subsurface finish
$FINISH1,416.9,1.027515,-1
$GC,10570,-0.00,-0.8,3011,2188,2135,2066,416.9,12.9,872,10580,1.10,0.00,-2.10,0.044,20486,0.209,0.000,2699,2185,2732,2847,2617,0,0,0,0,0,0,14.69,13.46,14.92
$FINISH2,415.8
$STATE,10580,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10580,begin surface
$RAFOS_CLK,379
$RAFOS,2,1518545608,18.233334,18.224445,163,65,60,59,56,55,613,223,210,196,145,129
$RAFOS,1,1518545246,18.133333,18.123888,102,64,62,59,58,55,564,219,162,130,203,188
$RAFOS,0,1518544860,18.032778,18.016666,152,55,54,51,50,49,697,197,187,125,160,146
$RAFOS_FIX,-7435.475098,-11236.831055,130218,181832,3,139,0.26
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.040446,0.264397
$HUMID,47.91
$INTERNAL_PRESSURE,7.63859
$TCM_TEMP,13.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,424.6,13.6
$24V_AH,12.28,68.075
$10V_AH,12.31,0.000
$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,4.425,82.825,700.225,0.000,0.000,0.000,0.000,0.000,43.000,0.000,0.000,0.000,8032.420,701.742,1832.385,89.268,0.000,1421.936,0.000,1250.781,720.000,303.694,0.000
$DEVICE_MAMPS,263.160,259.335,2356.200,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10590.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.963,0.000,0.000,0.000
$MEM,280052
$DATA_FILE_SIZE,29995,873
$CAP_FILE_SIZE,111724,0
$CFSIZE,1024409600,1002143744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1459.1
$GPS,130218,181632,-7435.475,-11236.831,0,4139.0,0,53.5,0.0,0.0,0,0.0