version: 66.13
glider: 222
mission: 8
dive: 87
start: 2 5 118 9 29 19
data:
$ID,222
$MISSION,8
$DIVE,87
$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,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$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,0
$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,30
$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,15
$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,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
$GPS1,050218,091440,-7416.1938,-11227.5146,0,4140.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,351.57
$_SM_ANGLEo,2.5
$GPS2,050218,091440,-7416.1938,-11227.5146,0,4140.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.173,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.616,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,305.9,8478,-16.7,-10.000,-24.48,2160
$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,-0.94,-146.0,2702,2508,2835,2608,0.0,0.0,0,11,0.00,0.00,-2.03,0.048,16390,0.000,0.000,2701,2507,3326,3464,3188,0,0,0,0,0,0,15.09,13.76,15.10
$GC,12,-0.94,-146.0,2702,2508,3462,3192,0.0,0.0,0,14,0.95,0.00,0.00,0.000,4102,0.116,0.000,2391,2507,3326,3459,3194,0,0,0,0,0,0,14.87,15.01,14.99
$PING,352.1,10.5,9000.0,0.00,0.00
$GC,310,-0.94,-146.0,2391,2508,3443,3211,386.0,-12.0,30,315,0.00,2.35,0.00,0.000,260,0.000,0.152,2382,3761,3326,3443,3209,0,0,0,0,0,0,15.08,14.81,15.11
$GC,364,-0.94,-146.0,2383,3762,3440,3212,393.1,-13.2,41,372,0.00,2.30,0.00,0.000,1030,0.000,0.098,2382,2483,3325,3439,3212,0,0,0,0,0,0,14.92,14.87,14.97
$GC,669,-0.94,-146.0,2387,2484,3439,3213,432.5,-12.7,72,675,0.00,2.45,0.00,0.000,260,0.000,0.151,2374,3756,3325,3438,3212,0,0,0,0,0,0,15.11,14.81,15.14
$GC,725,-0.94,-146.0,2374,3756,3437,3215,439.8,-13.4,83,732,0.00,2.28,0.00,0.000,1030,0.000,0.098,2374,2491,3325,3436,3214,0,0,0,0,0,0,14.93,14.87,14.96
$GC,1029,-0.94,-146.0,2374,2491,3437,3214,479.7,-13.2,114,1035,0.00,2.42,0.00,0.000,260,0.000,0.151,2364,3753,3325,3436,3214,0,0,0,0,0,0,15.11,14.81,15.14
$GC,1084,-0.94,-146.0,2365,3754,3436,3216,487.5,-14.2,125,1092,0.12,2.28,0.00,0.000,3078,0.265,0.098,2395,2488,3325,3436,3215,0,0,0,0,0,0,14.73,14.86,14.88
$GC,1389,-0.94,-146.0,2398,2488,3436,3215,523.7,-11.6,156,1395,0.00,2.42,0.00,0.000,260,0.000,0.151,2388,3753,3325,3435,3215,0,0,0,0,0,0,15.11,14.80,15.14
$GC,1434,-0.94,-146.0,2389,3753,3436,3215,529.2,-12.4,165,1442,0.00,2.28,0.00,0.000,1030,0.000,0.099,2388,2491,3325,3435,3215,0,0,0,0,0,0,14.93,14.86,14.96
$GC,1739,-0.94,-146.0,2388,2491,3436,3217,565.6,-12.0,196,1745,0.00,2.42,0.00,0.000,260,0.000,0.151,2380,3756,3325,3435,3215,0,0,0,0,0,0,15.11,14.80,15.14
$GC,1789,-0.94,-146.0,2380,3756,3436,3216,571.9,-12.7,206,1795,0.00,2.28,0.00,0.000,1030,0.000,0.099,2380,2494,3325,3435,3216,0,0,0,0,0,0,14.92,14.85,14.96
$GC,2100,-0.94,-146.0,2380,2495,3435,3217,610.6,-12.5,238,2105,0.00,2.38,0.00,0.000,260,0.000,0.152,2371,3757,3326,3435,3217,0,0,0,0,0,0,15.08,14.81,15.11
$GC,2179,-0.94,-146.0,2371,3758,3436,3218,621.3,-13.2,254,2185,0.00,2.28,0.00,0.000,1030,0.000,0.099,2371,2494,3325,3435,3216,0,0,0,0,0,0,14.94,14.85,14.96
$GC,2489,-0.94,-146.0,2372,2494,3435,3217,660.7,-12.7,286,2495,0.00,2.40,0.00,0.000,260,0.000,0.151,2362,3747,3326,3435,3217,0,0,0,0,0,0,15.11,14.80,15.14
$GC,2514,-0.94,-146.0,2362,3748,3435,3218,664.0,-13.8,291,2522,0.12,2.25,0.00,0.000,3078,0.282,0.099,2394,2500,3326,3435,3217,0,0,0,0,0,0,14.70,14.86,14.86
$GC,2819,-0.94,-146.0,2395,2497,3436,3218,699.0,-11.3,322,2825,0.00,2.40,0.00,0.000,260,0.000,0.153,2386,3750,3326,3435,3218,0,0,0,0,0,0,15.11,14.78,15.14
$GC,2870,-0.94,-146.0,2386,3751,3435,3219,705.0,-12.1,332,2875,0.00,2.22,0.00,0.000,1030,0.000,0.099,2385,2491,3326,3435,3218,0,0,0,0,0,0,14.97,14.87,15.00
$GC,3240,-0.94,-146.0,2386,2492,3436,3221,747.2,-11.2,346,3245,0.00,2.38,0.00,0.000,260,0.000,0.152,2377,3754,3327,3435,3220,0,0,0,0,0,0,15.12,14.82,15.15
$GC,3284,-0.94,-146.0,2377,3754,3435,3220,752.7,-12.3,355,3290,0.00,2.28,0.00,0.000,1030,0.000,0.099,2377,2492,3327,3435,3220,0,0,0,0,0,0,14.93,14.87,14.97
$GC,3660,-0.94,-146.0,2377,2492,3436,3222,797.2,-11.8,370,3665,0.00,2.38,0.00,0.000,260,0.000,0.152,2369,3758,3328,3435,3221,0,0,0,0,0,0,15.13,14.82,15.15
$GC,3704,-0.94,-146.0,2369,3759,3435,3222,802.9,-12.8,379,3710,0.10,2.28,0.00,0.000,3078,0.282,0.099,2395,2495,3327,3434,3221,0,0,0,0,0,0,14.71,14.86,14.87
$GC,4080,-0.94,-146.0,2395,2496,3436,3223,843.1,-10.3,394,4085,0.00,2.38,0.00,0.000,260,0.000,0.152,2386,3762,3329,3435,3223,0,0,0,0,0,0,15.13,14.82,15.15
$GC,4134,-0.94,-146.0,2386,3762,3436,3223,849.3,-11.3,405,4142,0.00,2.28,0.00,0.000,1030,0.000,0.100,2386,2498,3329,3435,3223,0,0,0,0,0,0,14.93,14.86,14.97
$GC,4500,-0.94,-146.0,2386,2498,3436,3224,889.1,-10.9,418,4505,0.00,2.35,0.00,0.000,260,0.000,0.152,2378,3750,3328,3432,3225,0,0,0,0,0,0,15.09,14.84,15.11
$GC,4554,-0.94,-146.0,2378,3751,3436,3226,895.7,-12.2,429,4562,0.00,2.25,0.00,0.000,1030,0.000,0.099,2378,2498,3330,3435,3225,0,0,0,0,0,0,14.93,14.88,14.97
$GC,4920,-0.94,-146.0,2378,2499,3435,3227,937.8,-11.4,442,4925,0.00,2.35,0.00,0.000,260,0.000,0.152,2369,3753,3330,3435,3226,0,0,0,0,0,0,15.13,14.83,15.16
$GC,4989,-0.94,-146.0,2369,3754,3435,3227,946.1,-12.0,456,4996,0.00,2.25,0.00,0.000,1030,0.000,0.098,2369,2499,3331,3435,3227,0,0,0,0,0,0,14.94,14.87,14.97
$PING,979.5,19.2,9000.0,0.00,0.00
$PING,987.5,7.1,9000.0,0.00,0.06
$STATE,5368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5368,begin apogee
$PING,994.1,17.6,9000.0,-0.16,0.03
$GC,5372,-0.23,0.0,2370,2185,3436,3227,991.6,-13.1,472,5537,0.95,0.05,162.27,3.103,10246,0.249,0.256,2625,2200,2714,2764,2664,0,0,0,0,0,0,14.75,13.40,12.36
$STATE,5538,end apogee,CONTROL_FINISHED_OK
$STATE,5538,begin climb
$GC,5539,0.94,146.0,2625,2201,2763,2664,995.1,0.0,477,5720,1.30,3.00,172.57,3.104,10500,0.138,0.144,2997,3625,2116,2150,2083,0,0,0,0,0,0,13.48,13.28,12.24
$PING,984.8,29.8,9000.0,-0.77,0.11
$GC,5909,0.94,146.0,2998,3630,2146,2070,955.9,15.7,550,5916,0.00,2.72,0.00,0.000,1030,0.000,0.101,3008,2203,2107,2145,2069,0,0,0,0,0,0,14.20,14.14,14.23
$GC,6295,0.94,146.0,3008,2202,2143,2067,896.7,15.0,567,6301,0.00,2.72,0.00,0.000,516,0.000,0.132,3019,782,2104,2142,2066,0,0,0,0,0,0,14.77,14.50,14.80
$GC,6340,0.94,146.0,3019,783,2141,2067,889.9,15.1,576,6346,0.00,2.67,0.00,0.000,1030,0.000,0.116,3019,2202,2103,2141,2066,0,0,0,0,0,0,14.61,14.54,14.65
$GC,6715,0.94,146.0,3019,2203,2139,2065,833.4,14.9,591,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2202,2102,2140,2064,0,0,0,0,0,0,14.94,14.97,14.97
$GC,7076,0.94,146.0,3020,2202,2141,2063,780.3,14.7,603,7081,0.00,2.62,0.00,0.000,516,0.000,0.130,3029,782,2101,2139,2063,0,0,0,0,0,0,15.01,14.74,15.04
$GC,7125,0.94,146.0,3029,783,2140,2065,772.8,15.1,613,7131,0.00,2.65,0.00,0.000,1030,0.000,0.115,3029,2213,2101,2139,2063,0,0,0,0,0,0,14.83,14.74,14.87
$GC,7495,0.94,146.0,3029,2213,2139,2064,715.7,15.4,627,7501,0.00,2.67,0.00,0.000,516,0.000,0.129,3040,788,2101,2139,2063,0,0,0,0,0,0,15.06,14.78,15.09
$GC,7540,0.94,146.0,3040,789,2139,2063,708.5,15.8,636,7546,0.12,2.62,0.00,0.000,5126,0.248,0.115,3005,2210,2100,2138,2063,0,0,0,0,0,0,14.71,14.79,14.85
$GC,7905,0.94,146.0,3006,2212,2139,2063,657.4,13.8,670,7912,0.00,2.67,0.00,0.000,516,0.000,0.130,3015,785,2100,2138,2062,0,0,0,0,0,0,15.07,14.78,15.10
$GC,7931,0.94,146.0,3015,785,2139,2062,653.9,13.5,675,7938,0.00,2.62,0.00,0.000,1030,0.000,0.114,3015,2208,2099,2138,2061,0,0,0,0,0,0,14.88,14.81,14.93
$GC,8236,0.94,146.0,3015,2210,2139,2063,611.0,14.2,706,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2209,2099,2138,2061,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8536,0.94,146.0,3013,2209,2140,2061,568.7,13.9,736,8537,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2209,2099,2138,2061,0,0,0,0,0,0,15.09,15.13,15.12
$GC,8836,0.94,146.0,3015,2210,2138,2061,527.3,13.7,766,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2209,2099,2138,2060,0,0,0,0,0,0,15.11,15.14,15.13
$GC,9136,0.94,146.0,3015,2210,2139,2060,486.8,13.7,796,9142,0.00,2.67,0.00,0.000,516,0.000,0.129,3026,776,2099,2138,2060,0,0,0,0,0,0,15.11,14.82,15.13
$GC,9166,0.94,146.0,3026,776,2139,2060,482.6,13.8,802,9173,0.00,2.62,0.00,0.000,1030,0.000,0.115,3026,2203,2098,2137,2060,0,0,0,0,0,0,14.91,14.83,14.96
$GC,9477,0.94,146.0,3026,2204,2139,2061,439.8,13.9,834,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2203,2098,2137,2060,0,0,0,0,0,0,15.10,15.13,15.12
$GC,9777,0.94,146.0,3026,2204,2138,2061,398.7,13.8,864,9777,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2203,2099,2138,2060,0,0,0,0,0,0,15.10,15.13,15.13
$GC,10077,0.94,146.0,3026,2204,2139,2060,359.8,12.5,894,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2204,2098,2138,2059,0,0,0,0,0,0,15.10,15.13,15.13
$PING,323.0,26.7,9000.0,-0.00,0.08
$GC,10377,0.94,146.0,3026,2204,2139,2060,321.8,12.6,924,10383,0.00,2.70,0.00,0.000,260,0.000,0.145,3025,3622,2098,2138,2059,0,0,0,0,0,0,15.11,14.81,15.14
$GC,10397,0.94,146.0,3026,3622,2138,2059,319.0,13.7,928,10403,0.12,2.60,0.00,0.000,5126,0.255,0.102,3002,2190,2098,2137,2059,0,0,0,0,0,0,14.75,14.84,14.88
$PING,314.2,10.1,9000.0,0.02,0.40
$GC,10707,1.14,311.5,3002,2188,2138,2058,303.5,2.1,960,10882,0.20,2.95,165.07,2.660,11044,0.094,0.138,3099,3629,1441,1473,1409,0,0,0,0,0,0,14.96,13.69,12.86
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