version: 66.13
glider: 222
mission: 8
dive: 164
start: 2 14 118 18 55 46
data:
$ID,222
$MISSION,8
$DIVE,164
$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,23
$R_STBD_OVSHOOT,14
$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
$GPS1,140218,181424,-7431.3477,-11231.7012,0,4134.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,397.46
$_SM_ANGLEo,3.0
$GPS2,140218,181424,-7431.3477,-11231.7012,0,4134.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,309.6,37738,-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,-146.0,2702,2499,2837,2616,0.0,0.0,0,11,0.00,0.00,-1.90,0.049,16390,0.000,0.000,2701,2499,3334,3470,3198,0,0,0,0,0,0,15.07,13.38,15.06
$GC,13,-0.88,-146.0,2701,2500,3470,3196,0.0,0.0,0,19,0.88,2.53,0.00,0.000,4612,0.120,0.115,2416,1090,3332,3466,3199,0,0,0,0,0,0,14.76,14.73,14.84
$GC,48,-0.88,-146.0,2417,1089,3461,3205,400.2,-8.0,7,56,0.00,2.67,0.00,0.000,1030,0.000,0.126,2408,2502,3333,3460,3206,0,0,0,0,0,0,14.81,14.69,14.86
$PING,404.4,12.3,9000.0,0.00,0.00
$PING,410.8,18.8,9000.0,0.00,0.00
$PING,417.6,26.1,26.0,1.05,1.00
$GC,354,-0.88,-146.0,2408,2502,3453,3212,433.1,-11.0,38,359,0.00,2.42,0.00,0.000,260,0.000,0.155,2399,3751,3332,3452,3212,0,0,0,0,0,0,15.10,14.66,15.13
$GC,429,-0.88,-146.0,2399,3752,3450,3215,442.3,-12.1,53,436,0.00,2.28,0.00,0.000,1030,0.000,0.098,2398,2492,3331,3449,3214,0,0,0,0,0,0,14.85,14.77,14.89
$GC,733,-0.88,-146.0,2399,2493,3450,3215,477.1,-11.2,84,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2493,3332,3449,3215,0,0,0,0,0,0,15.09,15.14,15.11
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$GC,1088,-0.88,-146.0,2389,3755,3446,3217,516.4,-11.2,125,1096,0.00,2.28,0.00,0.000,1030,0.000,0.099,2389,2499,3331,3446,3216,0,0,0,0,0,0,14.83,14.76,14.88
$GC,1393,-0.88,-146.0,2389,2499,3447,3216,551.2,-11.3,156,1401,0.00,2.45,0.00,0.000,260,0.000,0.158,2380,3753,3331,3445,3217,0,0,0,0,0,0,15.09,14.64,15.11
$GC,1440,-0.88,-146.0,2380,3753,3446,3216,556.8,-12.3,165,1448,0.12,2.28,0.00,0.000,3078,0.257,0.098,2414,2498,3333,3445,3221,0,0,0,0,0,0,14.55,14.76,14.72
$GC,1745,-0.88,-146.0,2414,2499,3446,3218,587.6,-10.1,196,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2498,3331,3445,3217,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2046,-0.88,-146.0,2413,2499,3445,3218,617.2,-9.7,226,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2498,3330,3444,3217,0,0,0,0,0,0,15.06,15.09,15.09
$GC,2345,-0.88,-146.0,2415,2498,3446,3217,646.4,-9.7,256,2353,0.00,2.42,0.00,0.000,260,0.000,0.157,2405,3753,3330,3444,3217,0,0,0,0,0,0,15.11,14.65,15.14
$GC,2402,-0.88,-146.0,2405,3753,3444,3217,652.4,-10.6,267,2409,0.00,2.28,0.00,0.000,1030,0.000,0.097,2405,2494,3330,3444,3217,0,0,0,0,0,0,14.84,14.76,14.88
$GC,2707,-0.88,-146.0,2405,2494,3445,3217,683.2,-10.0,298,2713,0.00,2.45,0.00,0.000,260,0.000,0.155,2396,3754,3330,3444,3217,0,0,0,0,0,0,15.11,14.64,15.14
$GC,2737,-0.88,-146.0,2397,3754,3446,3217,686.4,-11.6,304,2743,0.00,2.28,0.00,0.000,1030,0.000,0.098,2396,2499,3330,3444,3217,0,0,0,0,0,0,14.81,14.76,14.88
$GC,3058,-0.88,-146.0,2397,2497,3445,3217,719.2,-10.3,325,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2497,3330,3444,3216,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3419,-0.88,-146.0,2396,2498,3444,3218,756.2,-10.3,337,3424,0.00,2.42,0.00,0.000,260,0.000,0.155,2387,3764,3328,3443,3214,0,0,0,0,0,0,15.09,14.68,15.11
$GC,3448,-0.88,-146.0,2388,3765,3444,3218,759.7,-10.9,343,3454,0.00,2.30,0.00,0.000,1030,0.000,0.098,2387,2496,3330,3443,3217,0,0,0,0,0,0,14.84,14.77,14.89
$GC,3839,-0.88,-146.0,2387,2496,3444,3218,801.1,-10.6,361,3846,0.00,2.40,0.00,0.000,260,0.000,0.155,2378,3752,3330,3443,3217,0,0,0,0,0,0,15.08,14.68,15.11
$GC,3870,-0.88,-146.0,2379,3751,3444,3217,804.4,-11.7,367,3876,0.12,2.28,0.00,0.000,3078,0.259,0.096,2412,2491,3330,3444,3217,0,0,0,0,0,0,14.54,14.77,14.72
$GC,4261,-0.88,-146.0,2413,2492,3444,3217,841.7,-9.4,385,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2491,3330,3443,3217,0,0,0,0,0,0,15.07,15.10,15.14
$GC,4621,-0.88,-146.0,2413,2491,3443,3217,874.9,-9.1,397,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2491,3330,3443,3217,0,0,0,0,0,0,15.08,15.11,15.11
$GC,4981,-0.88,-146.0,2413,2492,3443,3218,907.6,-9.1,409,4981,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2491,3330,3443,3217,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5341,-0.88,-146.0,2413,2491,3444,3217,940.1,-9.0,421,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2491,3330,3443,3217,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5701,-0.88,-146.0,2413,2491,3444,3217,972.2,-8.9,433,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2491,3329,3442,3217,0,0,0,0,0,0,15.09,15.12,15.11
$STATE,5908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5908,begin apogee
$PING,992.2,24.6,9000.0,0.00,0.11
$GC,5912,-0.23,0.0,2413,2192,3443,3218,990.4,-8.7,440,6471,0.77,0.00,555.67,1.148,10246,0.226,0.000,2623,2190,2715,2772,2659,0,0,0,0,0,0,14.61,13.77,13.24
$STATE,6473,end apogee,CONTROL_FINISHED_OK
$STATE,6473,begin climb
$PING,985.9,30.5,9000.0,0.00,0.07
$PING,979.7,16.3,9000.0,0.66,0.34
$PING,967.1,19.0,9000.0,0.49,0.39
$PING,954.6,26.0,9000.0,-0.39,0.94
$PING,948.3,19.8,9000.0,-0.11,0.08
$GC,6474,0.88,146.0,2625,2191,2770,2657,999.2,0.0,458,6972,1.20,3.03,481.23,1.257,11012,0.127,0.144,2981,3617,2112,2143,2082,0,0,0,0,0,0,13.73,13.58,13.00
$GC,7140,0.88,146.0,2981,3618,2133,2067,919.5,15.3,588,7147,0.00,2.70,0.00,0.000,1030,0.000,0.097,2991,2205,2099,2133,2066,0,0,0,0,0,0,14.21,14.14,14.25
$GC,7511,0.88,146.0,2991,2203,2131,2062,866.6,14.1,602,7519,0.00,2.67,0.00,0.000,516,0.000,0.128,3002,778,2095,2129,2062,0,0,0,0,0,0,14.83,14.52,14.85
$GC,7553,0.88,146.0,3002,779,2129,2064,860.7,14.3,610,7559,0.00,2.70,0.00,0.000,1030,0.000,0.115,3002,2212,2095,2128,2062,0,0,0,0,0,0,14.62,14.53,14.66
$GC,7934,0.88,146.0,3002,2212,2128,2061,805.7,14.6,626,7935,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2212,2094,2128,2061,0,0,0,0,0,0,14.95,14.97,14.97
$GC,8295,0.88,146.0,3003,2212,2128,2060,754.0,14.5,638,8300,0.00,2.65,0.00,0.000,516,0.000,0.126,3012,778,2093,2127,2060,0,0,0,0,0,0,15.01,14.71,15.04
$GC,8354,0.88,146.0,3013,778,2127,2061,745.2,14.7,650,8359,0.00,2.65,0.00,0.000,1030,0.000,0.115,3013,2202,2093,2127,2060,0,0,0,0,0,0,14.79,14.70,14.92
$GC,8724,0.88,146.0,3013,2203,2127,2060,689.8,15.0,670,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,2092,2126,2059,0,0,0,0,0,0,15.07,15.11,15.10
$GC,9024,0.88,146.0,3013,2202,2128,2058,645.9,14.4,700,9032,0.00,2.67,0.00,0.000,516,0.000,0.126,3023,778,2092,2126,2058,0,0,0,0,0,0,15.09,14.72,15.11
$GC,9056,0.88,146.0,3024,779,2127,2059,641.3,14.9,706,9062,0.17,2.60,0.00,0.000,5126,0.242,0.114,2981,2207,2092,2126,2058,0,0,0,0,0,0,14.67,14.76,14.90
$GC,9366,0.88,146.0,2982,2204,2127,2058,602.2,12.3,738,9372,0.00,2.67,0.00,0.000,260,0.000,0.147,2982,3620,2092,2126,2058,0,0,0,0,0,0,15.10,14.72,15.13
$GC,9396,0.88,146.0,2986,3620,2127,2058,598.1,14.1,744,9403,0.00,2.62,0.00,0.000,1030,0.000,0.100,2991,2182,2092,2126,2058,0,0,0,0,0,0,14.85,14.76,14.97
$GC,9707,0.88,146.0,2992,2180,2127,2057,557.0,13.3,776,9714,0.00,2.60,0.00,0.000,516,0.000,0.129,3002,772,2092,2126,2058,0,0,0,0,0,0,15.11,14.73,15.13
$GC,9742,0.88,146.0,3002,773,2126,2058,552.2,13.6,783,9750,0.00,2.65,0.00,0.000,1030,0.000,0.114,3002,2202,2091,2125,2057,0,0,0,0,0,0,14.79,14.71,14.85
$GC,10048,0.88,146.0,3002,2201,2127,2057,511.3,13.2,814,10053,0.00,2.67,0.00,0.000,260,0.000,0.146,3002,3620,2091,2125,2058,0,0,0,0,0,0,15.11,14.70,15.14
$GC,10078,0.88,146.0,3002,3621,2125,2058,507.0,14.8,820,10085,0.00,2.60,0.00,0.000,1030,0.000,0.102,3012,2197,2091,2125,2057,0,0,0,0,0,0,14.82,14.72,14.85
$PING,502.7,141.2,9000.0,-0.26,1.00
$GC,10389,0.88,146.0,3013,2196,2126,2057,464.3,13.5,852,10395,0.00,2.62,0.00,0.000,516,0.000,0.129,3023,779,2091,2125,2057,0,0,0,0,0,0,15.09,14.72,15.11
$GC,10434,0.88,146.0,3024,779,2126,2057,458.1,13.7,861,10442,0.12,2.65,0.00,0.000,5126,0.223,0.116,2980,2205,2090,2124,2057,0,0,0,0,0,0,14.66,14.71,14.89
$PING,435.8,48.5,9000.0,-0.13,0.35
$PING,428.6,41.4,9000.0,1.36,1.00
$GC,10739,0.88,146.0,2981,2206,2125,2057,421.3,12.3,892,10746,0.00,2.67,0.00,0.000,260,0.000,0.148,2981,3617,2090,2124,2057,0,0,0,0,0,0,15.11,14.71,15.14
$PING,416.3,29.2,29.2,0.99,1.00
$GC,10780,0.88,146.0,2981,3617,2125,2057,415.6,14.2,900,10787,0.00,2.62,0.00,0.000,1030,0.000,0.103,2989,2186,2090,2124,2057,0,0,0,0,0,0,14.95,14.75,14.97
$PING,410.2,22.5,22.6,1.02,1.00
$PING,403.2,14.6,14.6,1.12,1.00
$PING,397.2,8.3,8.2,1.09,1.00
$STATE,10940,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10940,begin subsurface finish
$FINISH1,396.0,1.027471,1
$GC,10944,0.00,1.5,2990,2202,2125,2056,396.0,12.2,917,10955,0.98,2.70,-2.10,0.054,20996,0.199,0.152,2714,782,2726,2841,2612,0,0,0,0,0,0,14.64,13.35,14.78
$FINISH2,394.9
$STATE,10955,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10956,begin surface
$RAFOS_CLK,395
$RAFOS,2,1518642808,21.233334,21.224445,137,70,59,58,58,55,558,201,175,219,134,210
$RAFOS,1,1518642448,21.133333,21.124445,143,59,56,54,53,52,505,205,171,152,216,162
$RAFOS,0,1518642062,21.032778,21.017221,126,64,62,61,57,56,635,195,136,212,166,152
$RAFOS_FIX,-7429.562500,-11232.689453,140218,212144,3,135,0.31
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.041944,0.223951
$HUMID,48.26
$INTERNAL_PRESSURE,7.61906
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,397.2,8.2
$24V_AH,13.00,71.700
$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,4.375,91.575,1036.900,0.000,0.000,0.000,0.000,0.000,42.500,0.000,0.000,0.000,8000.073,1027.962,1914.899,97.478,0.000,1796.352,0.000,1315.833,720.000,304.689,0.000
$DEVICE_MAMPS,259.335,260.865,1256.895,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.983,0.000,0.000,0.000
$MEM,280052
$DATA_FILE_SIZE,30124,919
$CAP_FILE_SIZE,115098,0
$CFSIZE,1024409600,1001046016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2346.22,0x234cd8,0,24
$SOUNDSPEED,1459.0
$GPS,140218,211544,-7429.562,-11232.689,0,4135.3,0,53.5,0.0,0.0,0,0.0