version: 66.13
glider: 222
mission: 8
dive: 156
start: 2 13 118 21 23 55
data:
$ID,222
$MISSION,8
$DIVE,156
$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
$GPS1,130218,211544,-7436.8579,-11236.0215,0,4139.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,413.98
$_SM_ANGLEo,3.7
$GPS2,130218,211544,-7436.8579,-11236.0215,0,4139.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,inside0
$TGT_LATLONG,-7438.000,-11235.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,113.2,2174,-37.6,-9.429,-42.33,598
$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,-1.75,-37.0,2705,2481,2849,2623,0.0,0.0,0,11,0.00,0.08,-0.45,0.216,16390,0.000,1.011,2705,2506,2883,3005,2761,0,0,0,0,0,0,15.07,13.45,15.02
$GC,12,-1.75,-37.0,2705,2507,3006,2763,0.0,0.0,0,19,1.70,2.58,0.00,0.000,4612,0.096,0.116,2132,1083,2883,3003,2764,0,0,0,0,0,0,14.80,14.73,14.87
$GC,93,-1.75,-37.0,2132,1083,2997,2771,421.6,-11.6,16,99,0.00,2.65,0.00,0.000,1030,0.000,0.123,2121,2514,2884,2997,2771,0,0,0,0,0,0,14.87,14.71,14.91
$GC,403,-1.75,-37.0,2122,2514,2994,2774,457.9,-11.5,48,409,0.00,2.38,0.00,0.000,260,0.000,0.144,2112,3757,2883,2993,2774,0,0,0,0,0,0,15.10,14.70,15.13
$GC,448,-1.75,-37.0,2112,3758,2993,2777,463.5,-12.7,57,456,0.00,2.28,0.00,0.000,1030,0.000,0.095,2112,2493,2883,2991,2776,0,0,0,0,0,0,14.85,14.78,14.89
$GC,754,-1.75,-37.0,2112,2493,2992,2776,500.6,-11.6,88,759,0.00,2.55,0.00,0.000,516,0.000,0.111,2112,1082,2883,2991,2776,0,0,0,0,0,0,15.07,14.76,15.09
$GC,793,-1.75,-37.0,2111,1083,2991,2777,505.2,-11.9,96,799,0.10,2.67,0.00,0.000,3078,0.405,0.120,2132,2506,2883,2990,2776,0,0,0,0,0,0,14.42,14.69,14.80
$GC,1103,-1.75,-37.0,2132,2506,2990,2776,539.0,-10.8,128,1109,0.00,2.58,0.00,0.000,516,0.000,0.111,2132,1081,2882,2989,2776,0,0,0,0,0,0,15.11,14.75,15.14
$GC,1123,-1.75,-37.0,2132,1082,2990,2777,541.2,-11.2,132,1129,0.00,2.62,0.00,0.000,1030,0.000,0.120,2122,2505,2883,2990,2776,0,0,0,0,0,0,14.91,14.74,14.95
$GC,1433,-1.75,-37.0,2123,2506,2989,2778,574.9,-10.7,164,1439,0.00,2.38,0.00,0.000,260,0.000,0.142,2113,3754,2882,2988,2776,0,0,0,0,0,0,15.12,14.68,15.14
$GC,1463,-1.75,-37.0,2113,3755,2988,2779,578.2,-11.5,170,1469,0.00,2.28,0.00,0.000,1030,0.000,0.096,2113,2494,2882,2986,2778,0,0,0,0,0,0,14.86,14.79,14.90
$GC,1773,-1.75,-37.0,2113,2494,2988,2779,609.6,-10.0,202,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2494,2882,2987,2778,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2073,-1.75,-37.0,2114,2495,2987,2779,639.0,-9.8,232,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2111,2494,2882,2986,2778,0,0,0,0,0,0,15.13,15.16,15.16
$GC,2373,-1.75,-37.0,2113,2494,2986,2778,667.5,-9.4,262,2379,0.00,2.40,0.00,0.000,260,0.000,0.145,2103,3748,2882,2986,2778,0,0,0,0,0,0,15.14,14.69,15.16
$GC,2468,-1.75,-37.0,2104,3748,2987,2779,676.9,-10.0,281,2477,0.12,2.25,0.00,0.000,3078,0.422,0.093,2127,2497,2882,2985,2779,0,0,0,0,0,0,14.40,14.80,14.66
$GC,2794,-1.75,-37.0,2128,2497,2986,2780,705.0,-8.2,310,2799,0.00,2.55,0.00,0.000,516,0.000,0.111,2130,1083,2882,2986,2779,0,0,0,0,0,0,15.09,14.76,15.11
$GC,2858,-1.75,-37.0,2130,1083,2986,2780,710.5,-8.3,323,2864,0.00,2.67,0.00,0.000,1030,0.000,0.122,2121,2506,2882,2986,2779,0,0,0,0,0,0,14.83,14.71,14.88
$GC,3243,-1.75,-37.0,2121,2511,2986,2780,742.0,-8.0,340,3249,0.00,2.38,0.00,0.000,260,0.000,0.142,2111,3756,2882,2985,2779,0,0,0,0,0,0,15.16,14.71,15.17
$GC,3303,-1.75,-37.0,2112,3756,2995,2779,747.2,-8.9,352,3309,0.00,2.28,0.00,0.000,1030,0.000,0.094,2111,2491,2882,2985,2780,0,0,0,0,0,0,14.87,14.80,14.91
$GC,3694,-1.75,-37.0,2111,2492,2987,2781,777.7,-7.6,370,3699,0.00,2.38,0.00,0.000,260,0.000,0.145,2101,3754,2882,2985,2780,0,0,0,0,0,0,15.14,14.73,15.16
$GC,3839,-1.75,-37.0,2101,3755,2985,2781,790.0,-8.2,399,3846,0.15,2.28,0.00,0.000,3078,0.429,0.095,2130,2487,2882,2985,2780,0,0,0,0,0,0,14.38,14.78,14.65
$GC,4204,-1.77,-50.1,2131,2488,2986,2781,816.1,-7.2,412,4205,0.00,0.00,0.00,0.000,38,0.000,0.000,2130,2487,2882,2985,2780,0,0,0,0,0,0,15.14,15.17,15.16
$GC,4564,-1.79,-66.9,2131,2487,2986,2780,840.1,-6.5,424,4564,0.00,0.00,0.00,0.000,38,0.000,0.000,2131,2487,2882,2985,2780,0,0,0,0,0,0,15.15,15.18,15.17
$GC,4924,-1.81,-84.7,2131,2489,2986,2782,863.9,-6.4,436,4924,0.00,0.00,0.00,0.000,38,0.000,0.000,2131,2487,2882,2985,2780,0,0,0,0,0,0,15.16,15.19,15.18
$GC,5284,-1.84,-105.2,2131,2487,2986,2780,885.8,-5.9,448,5289,0.00,2.53,0.00,0.000,548,0.000,0.107,2128,1082,2882,2985,2780,0,0,0,0,0,0,15.16,14.76,15.19
$GC,5360,-1.86,-126.6,2131,1083,2986,2780,890.9,-5.7,463,5365,0.00,2.62,0.00,0.000,1062,0.000,0.119,2122,2510,2882,2985,2780,0,0,0,0,0,0,14.92,14.74,14.96
$GC,5735,-1.89,-146.0,2122,2511,2986,2780,911.8,-5.6,478,5740,0.00,2.33,0.00,0.000,292,0.000,0.142,2112,3760,2882,2985,2780,0,0,0,0,0,0,15.11,14.73,15.13
$GC,5829,-1.89,-146.0,2112,3761,2985,2781,917.2,-6.1,497,5836,0.00,2.28,0.00,0.000,1062,0.000,0.093,2112,2491,2882,2985,2780,0,0,0,0,0,0,14.86,14.78,14.91
$GC,6217,-1.89,-146.0,2112,2491,2985,2781,940.5,-5.9,514,6218,0.00,0.00,0.00,0.000,38,0.000,0.000,2112,2490,2882,2985,2780,0,0,0,0,0,0,15.10,15.13,15.12
$GC,6576,-1.89,-146.0,2113,2490,2986,2780,959.1,-5.0,526,6582,0.00,2.38,0.00,0.000,292,0.000,0.145,2102,3756,2882,2984,2780,0,0,0,0,0,0,15.15,14.72,15.18
$GC,6721,-1.89,-146.0,2102,3756,2985,2782,966.6,-5.5,555,6728,0.00,2.25,0.00,0.000,1062,0.000,0.093,2102,2498,2882,2984,2781,0,0,0,0,0,0,14.85,14.78,14.90
$GC,7087,-1.89,-146.0,2102,2499,2985,2781,986.5,-5.5,568,7092,0.00,2.55,0.00,0.000,548,0.000,0.106,2102,1078,2882,2984,2781,0,0,0,0,0,0,15.10,14.76,15.12
$GC,7147,-1.89,-146.0,2103,1078,2986,2787,989.7,-5.4,580,7152,0.00,2.65,0.00,0.000,1062,0.000,0.119,2092,2514,2882,2984,2781,0,0,0,0,0,0,14.91,14.73,14.95
$STATE,7155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7155,begin apogee
$PING,991.3,21.5,9000.0,0.00,0.00
$GC,7159,-0.23,0.0,2092,2191,2985,2782,991.0,-8.9,582,7267,2.35,0.00,99.53,1.377,10246,0.363,0.000,2622,2190,2714,2798,2630,0,0,0,0,1,0,14.45,14.38,13.09
$STATE,7268,end apogee,CONTROL_FINISHED_OK
$STATE,7269,begin climb
$PING,981.6,14.7,9000.0,0.00,0.00
$PING,975.2,15.6,9000.0,0.40,0.75
$PING,964.9,18.5,9000.0,-0.23,0.97
$PING,958.4,21.7,9000.0,-0.36,0.98
$PING,951.5,21.3,9000.0,-0.20,0.62
$PING,945.1,22.6,9000.0,-0.07,0.43
$PING,936.9,24.7,9000.0,-0.24,0.99
$PING,929.3,26.5,9000.0,-0.25,1.00
$PING,913.2,18.4,9000.0,0.31,0.74
$PING,904.7,29.9,9000.0,-0.05,0.01
$PING,895.9,19.6,9000.0,-0.07,0.01
$PING,888.8,21.1,9000.0,0.57,0.68
$PING,882.4,21.6,9000.0,-0.15,0.95
$PING,875.8,16.4,9000.0,0.36,0.67
$GC,7270,1.89,146.0,2623,2191,2801,2631,991.4,0.0,585,7809,2.22,2.85,526.72,1.238,11012,0.133,0.125,3316,782,2116,2140,2092,0,0,0,0,0,0,14.36,13.63,13.10
$GC,7828,1.89,146.0,3316,783,2134,2089,864.1,32.3,634,7837,0.00,2.83,0.00,0.000,1030,0.000,0.113,3316,2212,2110,2133,2087,0,0,0,0,0,0,13.87,13.76,13.90
$GC,8222,1.89,146.0,3317,2210,2130,2078,739.2,31.8,652,8227,0.00,2.67,0.00,0.000,516,0.000,0.123,3327,789,2103,2129,2078,0,0,0,0,0,0,14.70,14.42,14.73
$GC,8271,1.89,146.0,3327,790,2129,2079,723.4,31.6,662,8278,0.00,2.67,0.00,0.000,1030,0.000,0.112,3327,2206,2102,2127,2078,0,0,0,0,0,0,14.54,14.45,14.59
$GC,8642,1.89,146.0,3327,2208,2128,2077,607.2,31.1,694,8648,0.00,2.62,0.00,0.000,516,0.000,0.122,3336,788,2101,2127,2076,0,0,0,0,0,0,14.94,14.64,14.97
$GC,8677,1.89,146.0,3337,788,2128,2075,595.9,31.5,701,8685,0.12,2.65,0.00,0.000,5126,0.343,0.110,3308,2211,2101,2126,2076,0,0,0,0,0,0,14.40,14.62,14.77
$GC,8983,1.89,146.0,3308,2211,2128,2074,504.4,29.3,732,8988,0.00,2.62,0.00,0.000,516,0.000,0.122,3318,786,2100,2127,2074,0,0,0,0,0,0,15.00,14.69,15.03
$GC,9007,1.89,146.0,3318,787,2127,2075,497.0,29.1,737,9014,0.00,2.62,0.00,0.000,1030,0.000,0.111,3318,2201,2100,2126,2074,0,0,0,0,0,0,14.77,14.68,14.82
$GC,9312,1.89,146.0,3318,2201,2127,2073,407.6,28.6,768,9319,0.00,2.60,0.00,0.000,516,0.000,0.121,3328,788,2099,2126,2073,0,0,0,0,0,0,15.05,14.71,15.08
$PING,400.3,48.1,9000.0,-0.06,0.97
$GC,9333,1.89,146.0,3328,788,2126,2074,401.6,28.5,772,9341,0.00,2.62,0.00,0.000,1030,0.000,0.111,3328,2204,2099,2126,2073,0,0,0,0,0,0,14.80,14.70,14.84
$PING,392.5,40.4,9000.0,-0.06,0.94
$PING,383.9,31.5,31.5,1.01,1.00
$PING,376.0,23.8,23.7,1.01,1.00
$PING,368.9,16.5,16.6,1.00,1.00
$STATE,9494,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9494,begin subsurface finish
$FINISH1,358.3,1.027413,4
$GC,9497,0.01,4.4,3329,2204,2127,2073,358.3,26.5,789,9509,2.42,2.62,-2.20,0.042,20996,0.304,0.147,2717,788,2705,2812,2599,0,0,0,0,0,0,14.54,13.90,14.84
$FINISH2,355.8
$STATE,9510,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9510,begin surface
$RAFOS_CLK,347
$RAFOS_FIX,-7437.563477,-11236.211914,140218,000015,0,1,0.13
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.043442,0.278628
$HUMID,47.24
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,368.9,16.6
$24V_AH,13.09,68.716
$10V_AH,12.97,0.000
$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,9.200,95.850,626.250,0.000,0.000,0.000,0.000,0.000,42.250,0.000,0.000,0.000,7106.293,711.026,1682.369,84.616,0.000,1341.118,0.000,1133.796,240.000,298.798,0.000
$DEVICE_MAMPS,429.165,1010.565,1377.000,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9515.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.958,0.000,0.000,0.000
$MEM,280052
$DATA_FILE_SIZE,26692,791
$CAP_FILE_SIZE,106346,0
$CFSIZE,1024409600,1001947136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1459.5
$GPS,140218,000215,-7437.563,-11236.212,0,1001.0,0,53.5,0.0,0.0,0,0.0