version: 66.13
glider: 222
mission: 8
dive: 71
start: 2 3 118 8 35 42
data:
$ID,222
$MISSION,8
$DIVE,71
$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,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,360
$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,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.15000001
$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,2
$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,3
$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,2
$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,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,60
$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,10
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,8
$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
$GPS1,030218,082900,-7408.4102,-11225.8809,26,0.8,26,53.4,0.2,336.5,9,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-64.4
$GPS2,030218,083514,-7408.3735,-11225.7998,2,0.7,3,53.4,0.5,345.5,10,5.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,ip0
$TGT_LATLONG,-7409.000,-11226.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,159.7,1216,-40.7,-10.000,-45.00,543
$D_GRID,892
$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,7,-1.89,-35.5,201,2506,1480,1463,0.0,0.0,0,91,0.00,0.00,-78.45,0.003,16390,0.000,0.000,200,2506,2859,2935,2784,0,0,0,0,0,0,14.80,13.92,14.83
$GC,93,-1.95,-79.1,201,2506,2935,2784,1.4,-1.8,8,116,10.30,2.62,-6.47,0.015,18980,0.484,0.129,2071,1081,3038,3133,2944,0,0,0,0,0,0,14.34,13.88,14.66
$PING,8.8,11.6,9000.0,0.00,0.00
$PING,17.1,18.8,9000.0,0.00,0.00
$PING,25.6,29.1,28.6,1.05,0.99
$PING,34.7,38.0,38.3,1.09,1.00
$GC,240,-1.95,-79.1,2071,1080,3134,2945,33.5,-26.9,37,250,0.00,2.70,0.00,0.000,1030,0.000,0.124,2062,2499,3039,3133,2945,0,0,0,0,0,0,14.67,14.58,14.71
$GC,545,-1.95,-79.1,2062,2499,3134,2945,114.1,-25.4,68,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2499,3039,3133,2945,0,0,0,0,0,0,14.95,14.97,14.97
$GC,845,-1.95,-79.1,2062,2499,3134,2945,190.1,-25.2,98,851,0.00,2.38,0.00,0.000,260,0.000,0.142,2052,3750,3038,3132,2945,0,0,0,0,0,0,14.99,14.70,15.02
$GC,980,-1.95,-79.1,2051,3751,3132,2947,224.7,-25.2,125,988,0.00,2.28,0.00,0.000,1030,0.000,0.095,2051,2489,3038,3131,2946,0,0,0,0,0,0,14.83,14.76,14.85
$GC,1285,-1.95,-79.1,2052,2489,3132,2946,299.8,-24.0,156,1294,0.00,2.40,0.00,0.000,260,0.000,0.142,2042,3749,3038,3130,2946,0,0,0,0,0,0,15.02,14.73,15.05
$GC,1313,-1.95,-79.1,2043,3749,3132,2947,307.0,-26.2,161,1321,0.12,2.28,0.00,0.000,3078,0.406,0.096,2068,2490,3038,3131,2946,0,0,0,0,0,0,14.54,14.78,14.75
$GC,1629,-1.95,-79.1,2068,2491,3132,2947,381.8,-22.7,179,1635,0.00,2.40,0.00,0.000,260,0.000,0.145,2059,3750,3038,3131,2946,0,0,0,0,0,0,15.04,14.75,15.07
$GC,1715,-1.95,-79.1,2060,3750,3132,2949,402.4,-24.3,196,1721,0.00,2.22,0.00,0.000,1030,0.000,0.097,2059,2491,3038,3131,2946,0,0,0,0,0,0,14.92,14.82,14.94
$GC,2030,-1.95,-79.1,2059,2492,3132,2947,473.8,-22.8,214,2035,0.00,2.38,0.00,0.000,260,0.000,0.147,2049,3758,3038,3131,2946,0,0,0,0,0,0,15.03,14.77,15.06
$GC,2136,-1.95,-79.1,2049,3759,3132,2947,498.9,-23.6,235,2141,0.00,2.22,0.00,0.000,1030,0.000,0.099,2051,2497,3038,3131,2946,0,0,0,0,0,0,14.93,14.83,14.95
$GC,2450,-1.95,-79.1,2049,2498,3132,2947,568.0,-21.2,248,2456,0.00,2.40,0.00,0.000,260,0.000,0.147,2040,3755,3038,3131,2946,0,0,0,0,0,0,15.07,14.76,15.09
$GC,2570,-1.95,-79.1,2040,3755,3132,2947,595.0,-22.4,272,2576,0.15,2.28,0.00,0.000,3078,0.412,0.098,2071,2492,3039,3131,2947,0,0,0,0,0,0,14.57,14.82,14.78
$GC,2960,-1.95,-79.1,2072,2494,3132,2947,673.1,-19.5,290,2966,0.00,2.40,0.00,0.000,260,0.000,0.148,2062,3751,3039,3131,2947,0,0,0,0,0,0,15.09,14.78,15.11
$GC,3155,-1.95,-79.1,2063,3751,3129,2947,713.5,-20.9,329,3162,0.00,2.25,0.00,0.000,1030,0.000,0.096,2062,2498,3039,3131,2947,0,0,0,0,0,0,14.90,14.84,14.94
$GC,3531,-1.95,-79.1,2063,2498,3132,2947,785.3,-19.1,344,3537,0.00,2.38,0.00,0.000,260,0.000,0.147,2052,3748,3039,3131,2947,0,0,0,0,0,0,15.10,14.79,15.13
$GC,3681,-1.95,-79.1,2053,3749,3132,2948,815.5,-20.3,374,3687,0.00,2.25,0.00,0.000,1030,0.000,0.096,2053,2491,3039,3131,2947,0,0,0,0,0,0,14.91,14.85,14.95
$PING,848.7,62.8,9000.0,0.04,0.94
$PING,860.0,53.1,9000.0,0.02,0.84
$PING,871.5,42.9,43.0,-0.87,1.00
$PING,882.8,33.7,33.6,-0.85,1.00
$GC,4071,-1.95,-79.1,2052,2492,3132,2948,888.2,-18.9,392,4077,0.00,2.40,0.00,0.000,260,0.000,0.143,2043,3757,3039,3131,2948,0,0,0,0,0,0,15.11,14.81,15.14
$PING,891.0,23.5,24.3,-0.98,0.99
$STATE,4095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4095,begin apogee
$PING,895.5,19.4,19.0,-1.15,1.00
$GC,4100,-0.23,0.0,2043,2185,3132,2947,892.8,-18.0,397,4190,2.53,0.08,84.60,3.076,10246,0.373,0.222,2619,2209,2715,2785,2646,0,0,0,0,0,0,14.62,13.88,12.82
$STATE,4191,end apogee,CONTROL_FINISHED_OK
$STATE,4191,begin climb
$PING,886.7,16.7,9000.0,0.30,0.15
$GC,4192,1.95,79.1,2620,2210,2786,2646,896.6,0.0,400,4297,2.40,3.00,94.88,3.081,10756,0.146,0.128,3333,790,2394,2433,2355,0,0,0,0,0,0,13.96,13.37,12.31
$GC,4411,1.95,79.1,3333,789,2425,2338,857.2,24.1,434,4417,0.00,2.80,0.00,0.000,1030,0.000,0.112,3333,2209,2381,2425,2337,0,0,0,0,0,0,14.04,13.97,14.07
$GC,4792,1.95,79.1,3333,2210,2424,2330,767.8,23.0,450,4797,0.00,2.70,0.00,0.000,516,0.000,0.127,3343,783,2376,2423,2330,0,0,0,0,0,0,14.66,14.44,14.69
$GC,4836,1.95,79.1,3343,784,2423,2330,757.5,22.9,459,4842,0.00,2.70,0.00,0.000,1030,0.000,0.111,3344,2213,2375,2422,2329,0,0,0,0,0,0,14.52,14.47,14.56
$GC,5211,1.95,79.1,3344,2214,2422,2328,671.3,22.8,474,5217,0.00,2.70,0.00,0.000,516,0.000,0.124,3354,784,2374,2421,2327,0,0,0,0,0,0,14.88,14.62,14.93
$GC,5276,1.95,79.1,3355,784,2422,2327,656.6,22.5,487,5282,0.00,2.65,0.00,0.000,1030,0.000,0.111,3354,2211,2374,2421,2327,0,0,0,0,0,0,14.75,14.65,14.74
$GC,5662,1.95,79.1,3354,2211,2422,2326,570.9,22.1,504,5667,0.00,2.62,0.00,0.000,516,0.000,0.124,3365,785,2374,2421,2327,0,0,0,0,0,0,14.95,14.72,14.97
$GC,5706,1.95,79.1,3366,785,2422,2326,560.9,22.0,513,5713,0.17,2.62,0.00,0.000,5126,0.386,0.110,3326,2205,2374,2421,2327,0,0,0,0,0,0,14.54,14.73,14.74
$GC,6083,1.95,79.1,3327,2206,2421,2326,483.3,20.1,529,6089,0.00,2.62,0.00,0.000,260,0.000,0.135,3326,3623,2373,2421,2326,0,0,0,0,0,0,15.00,14.77,15.04
$GC,6133,1.95,79.1,3327,3624,2420,2327,472.1,22.2,539,6139,0.00,2.60,0.00,0.000,1030,0.000,0.099,3336,2198,2373,2420,2326,0,0,0,0,0,0,14.86,14.78,14.89
$GC,6444,1.95,79.1,3337,2197,2421,2325,410.1,19.7,556,6449,0.00,2.60,0.00,0.000,516,0.000,0.127,3347,778,2374,2420,2329,0,0,0,0,0,0,15.02,14.79,15.05
$GC,6498,1.95,79.1,3347,778,2421,2327,399.5,19.5,567,6506,0.00,2.62,0.00,0.000,1030,0.000,0.111,3347,2203,2372,2420,2325,0,0,0,0,0,0,14.88,14.80,14.91
$GC,6804,1.95,79.1,3347,2204,2421,2326,341.9,18.5,583,6810,0.00,2.62,0.00,0.000,260,0.000,0.136,3347,3617,2371,2417,2325,0,0,0,0,0,0,15.07,14.81,15.10
$GC,6848,1.95,79.1,3348,3617,2421,2325,333.3,19.0,592,6855,0.12,2.58,0.00,0.000,5126,0.403,0.101,3331,2199,2374,2420,2328,0,0,0,0,0,0,14.61,14.83,14.82
$GC,7154,1.95,79.1,3331,2198,2420,2326,282.2,16.8,614,7160,0.00,2.65,0.00,0.000,516,0.000,0.128,3341,779,2372,2419,2325,0,0,0,0,0,0,15.07,14.79,15.11
$GC,7254,1.95,79.1,3341,779,2421,2325,265.4,17.2,634,7260,0.00,2.58,0.00,0.000,1030,0.000,0.112,3341,2203,2372,2420,2325,0,0,0,0,0,0,14.95,14.85,14.97
$GC,7564,1.95,79.1,3341,2203,2420,2325,214.9,16.5,666,7570,0.00,2.67,0.00,0.000,260,0.000,0.137,3341,3620,2372,2420,2325,0,0,0,0,0,0,15.08,14.80,15.11
$GC,7685,1.95,79.1,3341,3620,2420,2325,194.1,17.0,690,7690,0.00,2.55,0.00,0.000,1030,0.000,0.103,3351,2192,2372,2419,2325,0,0,0,0,0,0,14.95,14.83,14.97
$GC,7994,1.95,79.1,3352,2191,2420,2324,144.3,15.9,722,8000,0.00,2.70,0.00,0.000,260,0.000,0.136,3351,3617,2371,2419,2324,0,0,0,0,0,0,15.09,14.80,15.12
$PING,140.9,146.8,9000.0,-0.17,1.00
$GC,8039,1.95,79.1,3352,3617,2420,2324,136.7,17.0,731,8047,0.15,2.58,0.00,0.000,5126,0.402,0.103,3330,2197,2371,2419,2324,0,0,0,0,0,0,14.62,14.83,14.82
$PING,123.6,128.6,9000.0,-0.16,0.98
$PING,105.6,110.5,110.4,1.03,1.00
$PING,96.5,100.1,100.5,1.04,1.00
$GC,8344,1.95,79.1,3330,2198,2420,2325,90.3,15.4,762,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2197,2371,2419,2324,0,0,0,0,0,0,15.09,15.13,15.12
$PING,87.2,90.5,90.4,1.09,1.00
$PING,78.0,81.8,81.7,0.99,1.00
$PING,59.4,62.4,62.5,1.02,1.00
$PING,51.0,53.0,53.2,1.07,1.00
$PING,42.7,44.3,44.2,1.08,1.00
$GC,8645,1.95,79.1,3330,2196,2419,2324,42.7,16.6,792,8650,0.00,2.60,0.00,0.000,516,0.000,0.129,3339,779,2371,2419,2324,0,0,0,0,0,0,15.07,14.83,15.09
$GC,8684,1.95,79.1,3341,780,2419,2325,36.4,15.2,800,8690,0.00,2.62,0.00,0.000,1030,0.000,0.114,3340,2203,2371,2419,2323,0,0,0,0,0,0,14.91,14.83,14.95
$PING,33.4,34.5,34.6,1.05,1.00
$PING,24.3,25.0,24.9,1.05,1.00
$PING,14.7,14.3,14.4,1.08,1.00
$FREEZE,8.48,-1.252,-1.867,2,1,0
$FREEZE,6.93,-1.263,-1.866,2,1,0
$FREEZE,5.33,-1.252,-1.865,2,1,0
$FREEZE,3.85,-1.257,-1.864,2,1,0
$FREEZE,2.26,-1.261,-1.862,2,1,0
$FREEZE,0.60,-1.256,-1.861,2,1,0
$STATE,8913,end climb,SURFACE_DEPTH_REACHED
$STATE,8913,begin surface coast
$FREEZE,-0.51,-1.258,-1.860,2,1,0
$FINISH,-0.5,1.027291
$STATE,8923,end surface coast,CONTROL_FINISHED_OK
$STATE,8923,begin surface
$SM_CCo,8937,158.55,0.235,0,0,1491,300.00
$SM_GC,0.37,9.15,0.60,158.55,0.068,0.145,0.235,194,2507,1491,-7.77,-0.20,300.00,0,0,0,0,0,0,14.92,14.83,14.57
$RAFOS_CLK,330
$RAFOS,2,1517649182,9.233334,9.217222,99,65,60,56,55,53,560,196,224,162,114,126
$RAFOS,1,1517648831,9.133333,9.119722,94,62,61,59,56,52,512,214,159,170,121,224
$RAFOS,0,1517648472,9.032778,9.020000,124,59,58,51,51,50,507,171,225,132,115,145
$RAFOS_FIX,-7408.602051,-11225.845703,030218,090940,3,106,0.18
$IRIDIUM_FIX,-7408.15,-11227.51,030218,055410
$TT8_MAMPS,0.040446,0.104111
$HUMID,44.88
$INTERNAL_PRESSURE,7.4921
$TCM_TEMP,13.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,14.7,14.4
$ALTIM_BOTTOM_PING,891.0,24.3
$24V_AH,12.31,38.217
$10V_AH,12.61,0.000
$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,25.100,102.150,179.475,158.550,0.000,0.000,0.000,279.550,44.750,0.000,5.172,0.000,6764.049,583.004,2041.200,90.579,0.000,1481.173,0.000,1182.071,720.000,315.899,0.000
$DEVICE_MAMPS,484.245,221.850,3081.420,234.855,0.000,0.000,0.000,156.060,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8913.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.304,0.000,0.000,0.000
$MEM,279792
$DATA_FILE_SIZE,30059,825
$CAP_FILE_SIZE,121134,0
$CFSIZE,1024409600,1011351552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$CURRENT,0.030,51.51,1
$GPS,030218,110809,-7408.992,-11227.702,6,0.8,22,53.4,0.1,0.0,10,4.6