version: 66.13
glider: 222
mission: 8
dive: 157
start: 2 14 118 0 4 15
data:
$ID,222
$MISSION,8
$DIVE,157
$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,22
$R_STBD_OVSHOOT,11
$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
$GPS1,140218,000215,-7437.5635,-11236.2119,0,1001.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,354.87
$_SM_ANGLEo,2.6
$GPS2,140218,000215,-7437.5635,-11236.2119,0,1001.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,inside0
$TGT_LATLONG,-7438.000,-11235.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,90.2,1003,-40.6,-9.429,-45.00,527
$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,-1.88,-32.5,2717,2500,2812,2601,0.0,0.0,0,10,0.00,0.00,-0.55,0.168,16390,0.000,0.000,2717,2499,2861,2980,2742,0,0,0,0,0,0,15.02,13.44,14.99
$GC,12,-1.88,-32.5,2718,2500,2980,2747,0.0,0.0,0,18,1.83,2.40,0.00,0.000,4356,0.093,0.155,2086,3755,2862,2977,2747,0,0,0,0,0,0,14.78,14.68,14.90
$PING,367.6,16.4,9000.0,0.00,0.00
$PING,373.6,22.7,9000.0,0.00,0.00
$PING,380.1,29.3,29.3,1.03,1.00
$GC,207,-1.88,-32.5,2087,3755,2969,2757,380.8,-14.3,39,214,0.00,2.28,0.00,0.000,1030,0.000,0.098,2086,2500,2862,2967,2757,0,0,0,0,0,0,14.82,14.75,14.86
$GC,512,-1.88,-32.5,2086,2500,2968,2758,421.5,-12.8,70,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2500,2862,2967,2757,0,0,0,0,0,0,15.08,15.11,15.11
$GC,813,-1.88,-32.5,2086,2501,2968,2759,458.4,-12.0,100,818,0.00,2.38,0.00,0.000,260,0.000,0.151,2076,3755,2862,2966,2758,0,0,0,0,0,0,15.05,14.71,15.08
$GC,897,-1.88,-32.5,2077,3756,2966,2760,469.0,-12.3,117,906,0.00,2.28,0.00,0.000,1030,0.000,0.097,2076,2495,2862,2964,2760,0,0,0,0,0,0,14.84,14.77,14.88
$GC,1202,-1.88,-32.5,2076,2495,2965,2759,504.0,-10.9,148,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2495,2862,2964,2760,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1502,-1.88,-32.5,2077,2495,2965,2760,536.3,-10.7,178,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2495,2862,2964,2760,0,0,0,0,0,0,15.12,15.15,15.14
$GC,1802,-1.88,-32.5,2076,2496,2964,2761,567.2,-10.0,208,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2495,2861,2963,2760,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2102,-1.88,-32.5,2076,2495,2964,2760,597.1,-10.0,238,2109,0.00,2.40,0.00,0.000,260,0.000,0.147,2066,3750,2861,2962,2760,0,0,0,0,0,0,15.13,14.71,15.16
$GC,2147,-1.88,-32.5,2067,3750,2962,2762,601.9,-10.8,247,2155,0.00,2.25,0.00,0.000,1030,0.000,0.095,2066,2495,2861,2961,2761,0,0,0,0,0,0,14.86,14.79,14.91
$GC,2453,-1.88,-32.5,2066,2496,2962,2762,631.7,-9.6,278,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2495,2861,2961,2761,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2753,-1.88,-32.5,2067,2495,2962,2761,659.4,-9.1,308,2759,0.00,2.42,0.00,0.000,260,0.000,0.147,2056,3757,2865,2962,2769,0,0,0,0,0,0,15.13,14.67,15.15
$GC,2843,-1.88,-32.5,2061,3757,2962,2762,668.3,-10.3,326,2849,0.15,2.28,0.00,0.000,3078,0.395,0.096,2088,2495,2858,2961,2756,0,0,0,0,0,0,14.42,14.78,14.66
$GC,3153,-1.88,-32.5,2089,2496,2962,2763,695.7,-8.5,358,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2495,2861,2961,2762,0,0,0,0,0,0,15.12,15.19,15.14
$GC,3454,-1.88,-32.5,2089,2496,2962,2763,719.7,-7.9,372,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2495,2861,2961,2762,0,0,0,0,0,0,15.09,15.12,15.11
$GC,3814,-1.90,-43.6,2089,2495,2962,2761,746.3,-7.3,384,3819,0.00,2.38,0.00,0.000,292,0.000,0.147,2080,3755,2861,2961,2762,0,0,0,0,0,0,15.10,14.72,15.12
$GC,3983,-1.90,-43.6,2079,3756,2961,2763,760.1,-7.7,418,3989,0.00,2.28,0.00,0.000,1030,0.000,0.092,2080,2488,2861,2961,2762,0,0,0,0,0,0,14.85,14.79,14.91
$GC,4354,-1.91,-56.9,2080,2489,2961,2763,786.3,-6.8,432,4359,0.00,2.40,0.00,0.000,292,0.000,0.146,2070,3759,2861,2960,2762,0,0,0,0,0,0,15.14,14.71,15.16
$GC,4523,-1.93,-67.7,2070,3760,2961,2763,798.9,-7.3,466,4529,0.00,2.28,0.00,0.000,1062,0.000,0.093,2070,2493,2861,2960,2762,0,0,0,0,0,0,14.86,14.80,14.90
$GC,4894,-1.95,-85.1,2070,2495,2961,2768,822.0,-6.0,480,4899,0.00,2.42,0.00,0.000,292,0.000,0.146,2060,3779,2861,2960,2762,0,0,0,0,0,0,15.14,14.71,15.16
$GC,5123,-1.96,-97.3,2060,3780,2961,2763,837.2,-7.1,526,5129,0.00,2.30,0.00,0.000,1062,0.000,0.092,2059,2499,2861,2960,2762,0,0,0,0,0,0,14.85,14.78,14.90
$GC,5495,-1.99,-117.3,2060,2500,2961,2764,859.1,-5.5,540,5500,0.00,2.38,0.00,0.000,292,0.000,0.146,2050,3758,2861,2960,2763,0,0,0,0,0,0,15.09,14.71,15.11
$GC,5609,-2.01,-134.9,2050,3759,2961,2763,865.6,-6.0,563,5616,0.00,2.22,0.00,0.000,1062,0.000,0.093,2050,2492,2861,2960,2762,0,0,0,0,0,0,14.93,14.81,14.97
$GC,5975,-2.02,-146.0,2051,2492,2961,2763,885.7,-5.3,576,5980,0.00,2.53,0.00,0.000,548,0.000,0.106,2050,1088,2861,2960,2762,0,0,0,0,0,0,15.09,14.76,15.11
$GC,6159,-2.02,-146.0,2050,1089,2961,2764,895.3,-5.4,613,6166,0.00,2.62,0.00,0.000,1062,0.000,0.118,2039,2513,2861,2960,2763,0,0,0,0,0,0,14.90,14.76,14.94
$GC,6546,-2.02,-146.0,2040,2514,2961,2763,914.3,-5.0,630,6547,0.00,0.00,0.00,0.000,38,0.000,0.000,2039,2514,2861,2960,2763,0,0,0,0,0,0,15.13,15.16,15.15
$GC,6905,-2.02,-146.0,2040,2514,2960,2764,932.5,-5.0,642,6911,0.00,2.35,0.00,0.000,292,0.000,0.142,2029,3747,2861,2960,2763,0,0,0,0,0,0,15.14,14.68,15.16
$GC,7016,-2.02,-146.0,2030,3748,2960,2764,938.2,-5.1,664,7021,0.00,2.20,0.00,0.000,1062,0.000,0.089,2029,2488,2861,2960,2763,0,0,0,0,0,0,14.92,14.82,14.96
$GC,7387,-2.02,-146.0,2030,2489,2960,2764,955.7,-4.4,678,7387,0.00,0.00,0.00,0.000,38,0.000,0.000,2030,2488,2861,2959,2763,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7745,-2.02,-146.0,2030,2488,2960,2765,969.1,-4.0,690,7746,0.00,0.00,0.00,0.000,38,0.000,0.000,2029,2488,2864,2966,2763,0,0,0,0,0,0,15.14,15.17,15.16
$GC,8105,-2.02,-146.0,2030,2488,2961,2763,982.1,-3.4,702,8111,0.00,2.38,0.00,0.000,292,0.000,0.142,2020,3758,2861,2959,2763,0,0,0,0,0,0,15.14,14.70,15.16
$STATE,8314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8314,begin apogee
$GC,8320,-0.23,0.0,2020,2193,2960,2764,990.2,-3.9,744,8438,2.70,0.00,104.60,1.471,10246,0.371,0.000,2620,2191,2714,2800,2629,0,0,0,0,1,0,14.44,14.31,13.07
$STATE,8439,end apogee,CONTROL_FINISHED_OK
$STATE,8439,begin climb
$PING,984.5,14.2,9000.0,-0.02,0.80
$PING,975.9,18.2,9000.0,-0.02,0.94
$PING,963.7,23.5,9000.0,-0.44,1.00
$PING,956.9,23.9,9000.0,-0.31,0.91
$PING,950.1,22.3,9000.0,0.09,0.56
$PING,942.2,23.0,9000.0,0.05,0.24
$PING,934.3,18.7,9000.0,0.23,0.60
$PING,925.9,19.8,9000.0,0.19,0.49
$PING,917.0,24.1,9000.0,-0.32,0.91
$PING,908.3,16.8,9000.0,0.17,0.17
$PING,899.4,18.3,9000.0,0.33,0.56
$PING,889.9,25.3,9000.0,-0.47,0.89
$PING,883.5,20.8,9000.0,-0.20,0.21
$PING,876.8,18.4,9000.0,0.53,0.97
$PING,869.6,15.9,9000.0,0.36,1.00
$GC,8440,2.02,146.0,2621,2192,2802,2631,990.2,0.0,748,8968,2.35,2.80,516.20,1.250,11012,0.132,0.120,3354,793,2117,2140,2095,0,0,0,0,0,0,14.29,13.56,13.08
$GC,9002,2.02,146.0,3355,794,2133,2092,851.0,34.0,799,9008,0.00,2.80,0.00,0.000,1030,0.000,0.110,3355,2199,2111,2132,2090,0,0,0,0,0,0,13.94,13.81,13.96
$GC,9378,2.02,146.0,3355,2200,2131,2085,725.3,33.5,814,9384,0.00,2.65,0.00,0.000,516,0.000,0.119,3365,786,2105,2129,2082,0,0,0,0,0,0,14.69,14.42,14.72
$GC,9418,2.02,146.0,3366,786,2129,2082,711.8,33.4,822,9424,0.00,2.65,0.00,0.000,1030,0.000,0.110,3365,2215,2105,2128,2082,0,0,0,0,0,0,14.60,14.47,14.64
$GC,9789,2.02,146.0,3365,2219,2129,2079,589.2,32.7,859,9794,0.00,2.65,0.00,0.000,516,0.000,0.120,3379,780,2103,2128,2079,0,0,0,0,0,0,14.90,14.62,14.93
$GC,9838,2.02,146.0,3376,779,2128,2079,572.7,32.9,869,9845,0.00,2.65,0.00,0.000,1030,0.000,0.111,3374,2203,2103,2127,2080,0,0,0,0,0,0,14.71,14.62,14.83
$GC,10150,2.02,146.0,3375,2203,2126,2079,471.7,32.3,901,10156,0.00,2.60,0.00,0.000,516,0.000,0.121,3385,786,2102,2127,2078,0,0,0,0,0,0,14.97,14.68,15.00
$GC,10191,2.02,146.0,3385,787,2127,2080,458.0,32.8,909,10198,0.17,2.60,0.00,0.000,5126,0.383,0.110,3354,2212,2102,2126,2078,0,0,0,0,0,0,14.44,14.70,14.80
$PING,414.3,38.7,9000.0,-0.05,0.99
$PING,408.1,32.3,9000.0,-0.04,0.92
$PING,402.0,26.1,26.1,1.03,1.00
$PING,393.1,16.6,16.6,1.05,1.00
$STATE,10441,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10441,begin subsurface finish
$FINISH1,381.2,1.027446,3
$GC,10445,0.00,2.7,3355,2213,2127,2079,381.2,29.6,935,10457,2.60,2.65,-2.15,0.044,20996,0.320,0.146,2715,782,2713,2819,2607,0,0,0,0,0,0,14.52,13.90,14.83
$FINISH2,378.2
$STATE,10457,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10457,begin surface
$RAFOS_CLK,379
$RAFOS,2,1518567187,0.233333,0.218611,120,67,60,54,54,53,738,217,205,156,141,194
$RAFOS,1,1518566822,0.133333,0.117222,133,60,59,52,52,52,712,114,192,139,216,157
$RAFOS,0,1518566460,0.032778,0.016667,130,65,56,55,53,53,710,206,192,218,107,162
$RAFOS_FIX,-7437.994629,-11233.372070,140218,000056,3,128,2.11
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.041944,0.20972
$HUMID,47.59
$INTERNAL_PRESSURE,7.63859
$TCM_TEMP,14.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,393.1,16.6
$24V_AH,13.07,68.991
$10V_AH,12.95,0.000
$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,9.800,79.500,620.800,0.000,0.000,0.000,0.000,0.000,45.250,0.000,0.000,0.000,7818.944,678.086,1946.904,89.400,0.000,1386.609,0.000,1340.378,480.000,318.430,0.000
$DEVICE_MAMPS,394.740,154.530,1471.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10466.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.926,0.000,0.000,0.000
$MEM,280004
$DATA_FILE_SIZE,33424,937
$CAP_FILE_SIZE,112032,0
$CFSIZE,1024409600,1001832448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1459.6
$GPS,140218,001456,-7437.995,-11233.372,0,4127.7,0,53.5,0.0,0.0,0,0.0