version: 66.13
glider: 222
mission: 8
dive: 171
start: 2 15 118 17 20 13
data:
$ID,222
$MISSION,8
$DIVE,171
$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,19
$R_STBD_OVSHOOT,13
$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
$GPS1,150218,151512,-7420.8804,-11227.5342,0,4134.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,353.51
$_SM_ANGLEo,3.0
$GPS2,150218,151512,-7420.8804,-11227.5342,0,4134.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,306.3,18299,-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,-146.0,2706,2488,2823,2607,0.0,0.0,0,11,0.00,0.00,-2.03,0.049,16390,0.000,0.000,2706,2487,3328,3467,3190,0,0,0,0,0,0,15.08,13.32,15.05
$GC,13,-0.88,-146.0,2705,2488,3467,3195,0.0,0.0,0,20,0.88,2.53,0.00,0.000,4612,0.116,0.119,2418,1087,3330,3464,3197,0,0,0,0,0,0,14.74,14.70,14.82
$GC,64,-0.88,-146.0,2419,1088,3458,3205,357.4,-8.6,10,69,0.00,2.65,0.00,0.000,1030,0.000,0.127,2410,2506,3330,3457,3204,0,0,0,0,0,0,14.87,14.68,14.94
$PING,360.3,13.3,9000.0,0.00,0.00
$PING,366.8,19.7,9000.0,0.00,0.00
$PING,373.4,26.5,26.5,1.01,1.00
$GC,374,-0.88,-146.0,2410,2507,3452,3211,392.1,-11.7,42,379,0.00,2.42,0.00,0.000,260,0.000,0.152,2400,3753,3330,3450,3210,0,0,0,0,0,0,15.08,14.63,15.11
$GC,418,-0.88,-146.0,2400,3754,3449,3214,397.8,-13.0,51,426,0.00,2.28,0.00,0.000,1030,0.000,0.099,2400,2499,3330,3448,3213,0,0,0,0,0,0,14.81,14.73,14.85
$GC,724,-0.88,-146.0,2400,2499,3445,3213,433.8,-11.4,82,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2499,3330,3448,3213,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1024,-0.88,-146.0,2400,2500,3446,3214,467.6,-11.1,112,1030,0.00,2.45,0.00,0.000,260,0.000,0.157,2391,3749,3329,3446,3213,0,0,0,0,0,0,15.09,14.61,15.14
$GC,1095,-0.88,-146.0,2391,3749,3445,3215,476.0,-11.8,126,1100,0.00,2.28,0.00,0.000,1030,0.000,0.098,2391,2497,3329,3444,3214,0,0,0,0,0,0,14.81,14.73,14.86
$GC,1405,-0.88,-146.0,2391,2497,3445,3214,510.9,-11.4,158,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2497,3329,3444,3215,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1705,-0.88,-146.0,2390,2498,3445,3216,544.9,-11.4,188,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2497,3328,3443,3214,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2005,-0.88,-146.0,2391,2497,3444,3214,578.6,-11.1,218,2010,0.00,2.45,0.00,0.000,260,0.000,0.155,2382,3751,3331,3448,3215,0,0,0,0,0,0,15.11,14.62,15.14
$GC,2045,-0.88,-146.0,2383,3752,3443,3215,583.3,-11.9,226,2051,0.10,2.28,0.00,0.000,3078,0.260,0.097,2409,2499,3329,3444,3214,0,0,0,0,0,0,14.52,14.74,14.69
$GC,2355,-0.88,-146.0,2409,2500,3443,3216,614.2,-9.7,258,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2499,3328,3442,3215,0,0,0,0,0,0,15.10,15.14,15.13
$GC,2655,-0.88,-146.0,2409,2497,3443,3215,643.8,-9.8,288,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2499,3328,3442,3215,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2955,-0.88,-146.0,2409,2499,3443,3215,673.2,-9.7,318,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2499,3328,3442,3215,0,0,0,0,0,0,15.10,15.12,15.12
$GC,3256,-0.88,-146.0,2409,2499,3443,3215,703.2,-9.8,346,3261,0.00,2.40,0.00,0.000,260,0.000,0.155,2399,3756,3328,3442,3215,0,0,0,0,0,0,15.04,14.62,15.07
$GC,3305,-0.88,-146.0,2400,3756,3442,3215,708.4,-10.5,356,3311,0.00,2.30,0.00,0.000,1030,0.000,0.098,2400,2494,3328,3442,3215,0,0,0,0,0,0,14.79,14.72,14.83
$GC,3676,-0.88,-146.0,2400,2494,3443,3215,745.7,-10.2,370,3681,0.00,2.58,0.00,0.000,516,0.000,0.113,2400,1081,3328,3442,3215,0,0,0,0,0,0,15.05,14.69,15.08
$GC,3700,-0.88,-146.0,2400,1075,3443,3215,748.4,-10.6,375,3707,0.00,2.70,0.00,0.000,1030,0.000,0.125,2391,2503,3328,3442,3215,0,0,0,0,0,0,14.75,14.63,14.82
$GC,4066,-0.88,-146.0,2390,2504,3442,3216,785.7,-10.2,388,4071,0.00,2.38,0.00,0.000,260,0.000,0.152,2381,3754,3328,3442,3215,0,0,0,0,0,0,15.11,14.64,15.14
$GC,4100,-0.88,-146.0,2382,3754,3443,3215,789.4,-9.2,395,4106,0.12,2.30,0.00,0.000,3078,0.257,0.098,2414,2487,3326,3441,3212,0,0,0,0,0,0,14.49,14.73,14.67
$GC,4485,-0.88,-146.0,2415,2488,3442,3217,826.2,-9.2,412,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2487,3328,3441,3215,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4845,-0.88,-146.0,2415,2488,3442,3217,858.7,-9.0,424,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2487,3328,3441,3216,0,0,0,0,0,0,15.13,15.16,15.15
$GC,5205,-0.88,-146.0,2415,2488,3442,3217,891.3,-8.4,436,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2487,3328,3441,3215,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5565,-0.88,-146.0,2415,2488,3442,3217,922.3,-8.4,448,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2487,3328,3441,3216,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5925,-0.88,-146.0,2415,2487,3442,3216,954.1,-8.8,460,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2487,3329,3441,3217,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6285,-0.88,-146.0,2414,2487,3442,3216,985.0,-8.6,472,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2487,3329,3442,3216,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,6345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6345,begin apogee
$GC,6349,-0.23,0.0,2415,2188,3442,3217,990.2,-8.8,474,6948,0.77,0.05,589.95,1.140,10246,0.224,0.272,2625,2203,2712,2769,2656,0,0,0,0,0,0,14.56,13.64,13.21
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$PING,985.4,19.3,9000.0,-0.01,0.29
$PING,979.2,20.5,9000.0,-0.01,0.98
$PING,973.0,17.9,9000.0,0.11,0.28
$PING,966.6,14.9,9000.0,0.44,1.00
$PING,960.4,15.3,9000.0,0.21,0.64
$PING,954.3,20.4,9000.0,-0.45,0.80
$GC,6951,0.88,146.0,2626,2205,2767,2656,997.6,0.0,494,7391,1.17,2.85,425.15,1.295,11012,0.121,0.123,2990,786,2115,2145,2085,0,0,0,0,0,0,13.74,13.59,13.07
$GC,7560,0.88,146.0,2990,793,2134,2077,927.9,13.6,612,7566,0.00,2.75,0.00,0.000,1030,0.000,0.111,2990,2228,2104,2133,2075,0,0,0,0,0,0,14.25,14.12,14.28
$GC,7930,0.88,146.0,2990,2226,2134,2070,875.7,13.8,626,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2226,2101,2133,2070,0,0,0,0,0,0,14.83,14.85,14.85
$GC,8291,0.88,146.0,2990,2227,2133,2068,824.1,14.5,638,8296,0.00,2.67,0.00,0.000,516,0.000,0.124,3000,786,2099,2132,2067,0,0,0,0,0,0,14.96,14.64,14.99
$GC,8330,0.88,146.0,3001,786,2132,2067,818.3,14.6,646,8336,0.00,2.65,0.00,0.000,1030,0.000,0.113,3001,2205,2099,2131,2068,0,0,0,0,0,0,14.73,14.66,14.78
$GC,8711,0.88,146.0,3001,2206,2132,2067,761.5,15.0,662,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2209,2098,2131,2066,0,0,0,0,0,0,15.00,15.04,15.03
$GC,9072,0.88,146.0,3000,2206,2133,2072,709.0,14.5,674,9077,0.00,2.62,0.00,0.000,516,0.000,0.125,3011,786,2099,2133,2066,0,0,0,0,0,0,15.07,14.72,15.07
$GC,9106,0.88,146.0,3011,786,2131,2066,703.9,14.5,681,9112,0.00,2.62,0.00,0.000,1030,0.000,0.113,3011,2198,2098,2130,2066,0,0,0,0,0,0,14.81,14.72,14.89
$GC,9471,0.88,146.0,3012,2198,2132,2065,650.9,14.3,718,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2198,2097,2130,2065,0,0,0,0,0,0,15.10,15.13,15.13
$GC,9771,0.88,146.0,3011,2198,2131,2065,608.6,14.0,748,9777,0.00,2.60,0.00,0.000,516,0.000,0.126,3022,792,2098,2131,2065,0,0,0,0,0,0,15.11,14.73,15.14
$GC,9796,0.88,146.0,3022,793,2131,2066,605.0,13.9,753,9804,0.12,2.62,0.00,0.000,5126,0.220,0.113,2986,2206,2097,2130,2064,0,0,0,0,0,0,14.63,14.72,14.91
$GC,10101,0.88,146.0,2986,2207,2131,2064,565.0,12.9,784,10107,0.00,2.67,0.00,0.000,260,0.000,0.145,2986,3620,2097,2130,2065,0,0,0,0,0,0,15.11,14.71,15.14
$GC,10126,0.88,146.0,2986,3620,2130,2065,561.5,13.9,789,10133,0.00,2.60,0.00,0.000,1030,0.000,0.100,2996,2200,2096,2129,2064,0,0,0,0,0,0,14.84,14.76,14.89
$GC,10431,0.88,146.0,2995,2198,2130,2065,521.5,12.8,820,10437,0.00,2.62,0.00,0.000,516,0.000,0.129,3006,776,2097,2130,2065,0,0,0,0,0,0,15.11,14.73,15.16
$GC,10491,0.88,146.0,3007,775,2130,2064,513.6,12.8,832,10497,0.00,2.65,0.00,0.000,1030,0.000,0.115,3006,2202,2096,2129,2064,0,0,0,0,0,0,14.81,14.71,14.88
$GC,10801,0.88,146.0,3006,2202,2130,2064,472.7,13.3,864,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,2096,2129,2064,0,0,0,0,0,0,15.11,15.15,15.14
$GC,11101,0.88,146.0,3006,2202,2131,2063,432.3,12.8,894,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2202,2096,2129,2064,0,0,0,0,0,0,15.12,15.15,15.15
$PING,411.3,59.1,9000.0,-0.08,0.99
$PING,404.9,53.0,9000.0,-0.07,0.98
$PING,398.7,47.2,47.2,0.95,1.00
$GC,11402,0.88,146.0,3007,2202,2131,2063,393.9,12.0,924,11408,0.00,2.62,0.00,0.000,516,0.000,0.127,3017,785,2096,2129,2063,0,0,0,0,0,0,15.13,14.73,15.16
$GC,11437,0.88,146.0,3017,786,2130,2064,389.6,12.4,931,11445,0.10,2.62,0.00,0.000,5126,0.212,0.115,2988,2199,2100,2137,2063,0,0,0,0,0,0,14.62,14.71,14.94
$PING,385.4,35.1,35.1,0.92,1.00
$PING,378.6,28.9,28.9,0.91,1.00
$PING,371.5,21.8,21.9,0.96,1.00
$PING,364.7,15.6,15.5,0.96,1.00
$PING,357.9,9.1,9.1,0.93,1.00
$STATE,11730,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11730,begin subsurface finish
$FINISH1,355.7,1.027427,4
$GC,11734,0.00,3.7,2989,2197,2130,2063,355.7,11.3,961,11745,0.98,2.75,-2.17,0.052,20740,0.200,0.171,2704,3612,2717,2829,2606,0,0,0,0,0,0,14.62,13.30,14.76
$FINISH2,354.7
$STATE,11746,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11746,begin surface
$RAFOS_CLK,427
$RAFOS,2,1518718387,18.233334,18.218611,93,64,60,56,54,53,600,201,190,150,212,135
$RAFOS,1,1518718027,18.133333,18.118610,150,64,58,57,51,51,553,183,202,214,116,150
$RAFOS,0,1518717667,18.032778,18.018612,118,65,64,64,60,55,543,146,207,187,197,167
$RAFOS_FIX,-7419.340820,-11227.751953,150218,181824,3,120,0.27
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.040446,0.274134
$HUMID,48.34
$INTERNAL_PRESSURE,7.61906
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,357.9,9.1
$24V_AH,13.07,74.479
$10V_AH,12.42,0.000
$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,4.250,76.600,1015.100,0.000,0.000,0.000,0.000,0.000,45.250,0.000,0.000,0.000,8730.377,991.089,2016.738,102.899,0.000,1766.056,0.000,1378.818,720.000,322.721,0.000
$DEVICE_MAMPS,260.100,272.340,1295.145,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11765.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.060,0.000,0.000,0.000
$MEM,280004
$DATA_FILE_SIZE,33339,963
$CAP_FILE_SIZE,119819,0
$CFSIZE,1024409600,1000177664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.1
$GPS,150218,181424,-7419.341,-11227.752,0,4120.3,0,53.5,0.0,0.0,0,0.0