version: 66.13
glider: 222
mission: 8
dive: 105
start: 2 7 118 18 47 54
data:
$ID,222
$MISSION,8
$DIVE,105
$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,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,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,5
$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,18
$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,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,7
$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
$GPS1,070218,181632,-7414.5503,-11229.7607,0,4118.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,397.34
$_SM_ANGLEo,3.1
$GPS2,070218,181632,-7414.5503,-11229.7607,0,4118.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,inside0
$TGT_LATLONG,-7425.000,-11232.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,129.8,19384,-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,-146.0,2705,2504,2809,2657,0.0,0.0,0,11,0.00,0.00,-1.88,0.050,16390,0.000,0.000,2704,2503,3331,3459,3204,0,0,0,0,0,0,15.08,13.59,15.08
$GC,13,-0.94,-146.0,2706,2504,3458,3205,0.0,0.0,0,19,0.93,2.33,0.00,0.000,4356,0.118,0.150,2398,3749,3330,3453,3208,0,0,0,0,0,0,14.81,14.74,14.89
$GC,108,-0.94,-146.0,2398,3749,3446,3215,406.4,-10.9,19,115,0.00,2.28,0.00,0.000,1030,0.000,0.097,2398,2487,3327,3445,3210,0,0,0,0,0,0,14.87,14.80,14.90
$GC,413,-0.94,-146.0,2398,2487,3444,3216,442.6,-12.1,50,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2487,3329,3443,3216,0,0,0,0,0,0,15.09,15.13,15.12
$GC,713,-0.94,-146.0,2398,2487,3443,3217,477.7,-11.6,80,719,0.00,2.42,0.00,0.000,260,0.000,0.151,2389,3747,3329,3442,3217,0,0,0,0,0,0,15.10,14.75,15.13
$GC,768,-0.94,-146.0,2389,3747,3441,3219,484.3,-12.2,91,775,0.00,2.25,0.00,0.000,1030,0.000,0.096,2389,2495,3329,3439,3219,0,0,0,0,0,0,14.86,14.82,14.88
$GC,1073,-0.94,-146.0,2389,2496,3440,3219,520.8,-11.8,122,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2496,3329,3439,3219,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1374,-0.94,-146.0,2389,2496,3440,3219,556.6,-11.6,152,1379,0.00,2.38,0.00,0.000,260,0.000,0.150,2380,3757,3329,3439,3219,0,0,0,0,0,0,15.07,14.77,15.09
$GC,1438,-0.94,-146.0,2381,3757,3438,3221,564.6,-12.2,165,1447,0.00,2.28,0.00,0.000,1030,0.000,0.097,2380,2493,3328,3437,3220,0,0,0,0,0,0,14.90,14.83,14.94
$GC,1743,-0.94,-146.0,2381,2494,3438,3222,601.5,-11.9,196,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2493,3329,3437,3221,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2043,-0.94,-146.0,2381,2494,3438,3222,638.2,-12.1,226,2049,0.00,2.40,0.00,0.000,260,0.000,0.150,2372,3744,3329,3437,3221,0,0,0,0,0,0,15.11,14.73,15.14
$GC,2108,-0.94,-146.0,2372,3745,3437,3222,646.6,-12.9,239,2115,0.00,2.25,0.00,0.000,1030,0.000,0.096,2371,2490,3328,3436,3221,0,0,0,0,0,0,14.90,14.83,14.93
$GC,2414,-0.94,-146.0,2372,2490,3436,3221,683.7,-11.9,270,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2490,3328,3436,3221,0,0,0,0,0,0,15.08,15.11,15.10
$GC,2734,-0.94,-146.0,2372,2491,3437,3222,722.8,-12.2,290,2740,0.00,2.38,0.00,0.000,260,0.000,0.149,2362,3751,3328,3436,3221,0,0,0,0,0,0,15.07,14.77,15.11
$GC,2788,-0.94,-146.0,2363,3751,3438,3221,729.7,-13.1,301,2797,0.12,2.28,0.00,0.000,3078,0.251,0.096,2396,2485,3328,3436,3221,0,0,0,0,0,0,14.67,14.83,14.83
$GC,3154,-0.94,-146.0,2397,2485,3437,3221,769.6,-10.8,314,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2486,3328,3436,3221,0,0,0,0,0,0,15.12,15.15,15.14
$GC,3513,-0.94,-146.0,2400,2486,3437,3221,807.4,-10.5,326,3519,0.00,2.42,0.00,0.000,260,0.000,0.150,2386,3753,3328,3436,3221,0,0,0,0,0,0,15.13,14.76,15.16
$GC,3588,-0.94,-146.0,2388,3753,3437,3222,816.1,-11.1,341,3596,0.00,2.25,0.00,0.000,1030,0.000,0.097,2387,2495,3329,3436,3222,0,0,0,0,0,0,14.90,14.83,14.95
$GC,3966,-0.94,-146.0,2387,2496,3436,3223,857.0,-10.8,356,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2496,3328,3436,3221,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4325,-0.94,-146.0,2387,2496,3436,3223,894.7,-10.5,368,4331,0.00,2.38,0.00,0.000,260,0.000,0.151,2378,3758,3328,3436,3221,0,0,0,0,0,0,15.09,14.78,15.12
$GC,4379,-0.94,-146.0,2379,3756,3436,3222,900.6,-11.3,379,4387,0.00,2.28,0.00,0.000,1030,0.000,0.098,2378,2491,3329,3437,3222,0,0,0,0,0,0,14.92,14.84,14.95
$GC,4745,-0.94,-146.0,2379,2491,3437,3222,940.2,-10.8,392,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2492,3328,3435,3222,0,0,0,0,0,0,15.14,15.17,15.16
$GC,5105,-0.94,-146.0,2386,2492,3436,3223,979.0,-10.7,404,5110,0.00,2.40,0.00,0.000,260,0.000,0.148,2370,3744,3328,3435,3222,0,0,0,0,0,0,15.14,14.76,15.17
$GC,5170,-0.94,-146.0,2370,3746,3437,3222,986.3,-11.6,417,5177,0.00,2.25,0.00,0.000,1030,0.000,0.095,2370,2491,3329,3436,3222,0,0,0,0,0,0,14.92,14.85,14.95
$STATE,5224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5225,begin apogee
$PING,994.6,24.1,9000.0,0.00,0.00
$GC,5228,-0.23,0.0,2371,2190,3436,3222,992.6,-9.7,423,5708,0.93,0.00,475.58,1.330,10246,0.239,0.000,2621,2189,2715,2772,2658,0,0,0,0,0,0,14.69,13.70,13.12
$STATE,5709,end apogee,CONTROL_FINISHED_OK
$STATE,5709,begin climb
$PING,986.0,20.3,9000.0,0.00,0.00
$PING,977.5,28.8,9000.0,-0.28,0.31
$PING,969.3,21.3,9000.0,-0.07,0.01
$PING,960.9,17.9,9000.0,0.66,0.95
$GC,5711,0.94,146.0,2621,2190,2770,2658,1002.4,0.0,439,6154,1.30,2.90,430.70,1.489,11012,0.138,0.125,3010,792,2115,2153,2078,0,0,0,0,0,0,13.66,13.57,13.07
$GC,6363,0.94,146.0,3010,793,2142,2068,925.0,14.5,568,6370,0.00,2.72,0.00,0.000,1030,0.000,0.112,3010,2200,2103,2140,2066,0,0,0,0,0,0,14.26,14.18,14.29
$GC,6738,0.94,146.0,3011,2199,2141,2061,869.9,14.8,583,6744,0.00,2.75,0.00,0.000,260,0.000,0.143,3010,3617,2101,2140,2062,0,0,0,0,0,0,14.80,14.50,14.83
$GC,6759,0.94,146.0,3011,3617,2141,2062,866.5,17.6,587,6766,0.00,2.62,0.00,0.000,1030,0.000,0.099,3021,2205,2100,2140,2061,0,0,0,0,0,0,14.62,14.54,14.66
$GC,7130,0.94,146.0,3021,2205,2140,2060,809.2,15.4,601,7136,0.00,2.65,0.00,0.000,516,0.000,0.131,3032,776,2099,2139,2059,0,0,0,0,0,0,14.91,14.66,14.94
$GC,7160,0.94,146.0,3032,776,2139,2059,804.4,17.5,607,7167,0.10,2.67,0.00,0.000,5126,0.232,0.115,3004,2210,2099,2139,2059,0,0,0,0,0,0,14.58,14.65,14.73
$GC,7551,0.94,146.0,3004,2210,2140,2059,749.7,13.9,625,7557,0.00,2.65,0.00,0.000,260,0.000,0.143,3004,3620,2098,2139,2057,0,0,0,0,0,0,14.99,14.72,15.02
$GC,7576,0.94,146.0,3004,3620,2140,2057,745.9,15.0,630,7584,0.00,2.60,0.00,0.000,1030,0.000,0.102,3014,2197,2098,2139,2058,0,0,0,0,0,0,14.83,14.75,14.86
$GC,7941,0.94,146.0,3012,2197,2140,2057,693.1,14.3,645,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,2098,2139,2057,0,0,0,0,0,0,15.06,15.09,15.09
$GC,8242,0.94,146.0,3014,2195,2140,2056,650.3,14.4,675,8247,0.00,2.60,0.00,0.000,516,0.000,0.129,3025,783,2097,2138,2056,0,0,0,0,0,0,15.07,14.78,15.10
$GC,8281,0.94,146.0,3025,782,2139,2056,644.6,14.1,683,8287,0.00,2.62,0.00,0.000,1030,0.000,0.113,3024,2206,2097,2138,2056,0,0,0,0,0,0,14.87,14.78,14.90
$GC,8591,0.94,146.0,3025,2209,2139,2056,599.9,14.3,715,8597,0.00,2.67,0.00,0.000,260,0.000,0.142,3024,3614,2096,2138,2054,0,0,0,0,0,0,15.09,14.75,15.11
$GC,8627,0.94,146.0,3025,3614,2139,2054,594.4,15.9,722,8634,0.15,2.55,0.00,0.000,5126,0.271,0.101,3002,2190,2096,2138,2054,0,0,0,0,0,0,14.71,14.82,14.92
$GC,8931,0.94,146.0,3003,2186,2139,2053,553.7,13.1,753,8938,0.00,2.62,0.00,0.000,516,0.000,0.129,3012,782,2095,2138,2053,0,0,0,0,0,0,15.09,14.77,15.11
$GC,8963,0.94,146.0,3012,782,2139,2053,549.5,13.0,759,8968,0.00,2.60,0.00,0.000,1030,0.000,0.114,3010,2214,2095,2138,2053,0,0,0,0,0,0,14.94,14.81,14.97
$GC,9273,0.94,146.0,3012,2214,2139,2052,507.7,13.3,791,9278,0.00,2.62,0.00,0.000,260,0.000,0.145,3012,3616,2094,2137,2052,0,0,0,0,0,0,15.07,14.78,15.09
$GC,9302,0.94,146.0,3012,3616,2139,2053,503.3,15.0,797,9309,0.00,2.58,0.00,0.000,1030,0.000,0.102,3022,2200,2095,2138,2052,0,0,0,0,0,0,14.89,14.81,14.94
$GC,9613,0.94,146.0,3023,2199,2139,2052,460.3,14.0,829,9614,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2199,2095,2138,2052,0,0,0,0,0,0,15.11,15.14,15.13
$GC,9913,0.94,146.0,3023,2199,2140,2052,419.0,13.7,859,9919,0.00,2.65,0.00,0.000,516,0.000,0.129,3033,781,2095,2138,2052,0,0,0,0,0,0,15.11,14.78,15.14
$GC,9943,0.94,146.0,3033,781,2138,2052,414.8,13.4,865,9950,0.10,2.62,0.00,0.000,5126,0.232,0.114,3005,2204,2095,2138,2052,0,0,0,0,0,0,14.71,14.80,14.85
$PING,398.4,79.6,9000.0,-0.11,1.00
$PING,389.7,70.6,9000.0,-0.10,0.98
$PING,380.9,61.5,61.5,1.03,1.00
$GC,10254,0.94,146.0,3005,2204,2138,2052,376.0,12.1,897,10261,0.00,2.67,0.00,0.000,260,0.000,0.144,3005,3614,2094,2137,2051,0,0,0,0,0,0,15.11,14.77,15.14
$PING,372.7,52.6,52.7,1.06,1.00
$GC,10295,0.94,146.0,3005,3615,2138,2048,370.7,13.3,905,10302,0.00,2.58,0.00,0.000,1030,0.000,0.102,3014,2198,2095,2138,2052,0,0,0,0,0,0,14.90,14.82,14.94
$PING,364.5,43.6,43.6,1.09,1.00
$PING,356.1,33.9,33.9,1.13,1.00
$PING,347.9,24.3,24.3,1.17,1.00
$PING,339.7,14.6,14.6,1.17,1.00
$GC,10606,0.94,146.0,3014,2196,2139,2051,333.9,11.6,937,10613,0.00,2.65,0.00,0.000,516,0.000,0.131,3025,781,2094,2138,2051,0,0,0,0,0,0,15.11,14.78,15.14
$STATE,10620,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10620,begin subsurface finish
$FINISH1,331.9,1.027405,5
$GC,10626,0.01,4.8,3025,2210,2140,2053,331.9,11.9,940,10640,1.10,2.67,-2.17,0.053,20996,0.214,0.151,2718,788,2713,2825,2602,0,0,0,0,0,0,14.70,13.60,14.85
$FINISH2,330.5
$STATE,10640,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10640,begin surface
$RAFOS_CLK,381
$RAFOS,2,1518037985,21.233334,21.218056,147,65,57,54,53,53,599,195,169,224,121,151
$RAFOS,1,1518037625,21.133333,21.118055,107,78,57,54,51,50,551,214,196,174,152,130
$RAFOS,0,1518037265,21.032778,21.018055,126,63,61,60,55,53,548,205,160,188,221,174
$RAFOS_FIX,-7415.418945,-11230.842773,070218,212144,3,127,0.16
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041944,0.154294
$HUMID,47.51
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,339.7,14.6
$24V_AH,13.07,49.735
$10V_AH,12.50,0.000
$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,4.725,99.300,906.275,0.000,0.000,0.000,0.000,0.000,36.500,0.000,0.000,0.000,7774.058,930.171,1945.122,85.162,0.000,1699.626,0.000,1348.263,720.000,257.117,0.000
$DEVICE_MAMPS,270.810,151.470,1488.690,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10655.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.916,0.000,0.000,0.000
$MEM,280100
$DATA_FILE_SIZE,33351,942
$CAP_FILE_SIZE,116618,0
$CFSIZE,1024409600,1007386624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9308.42,0x214570,1,24
$SOUNDSPEED,1458.9
$GPS,070218,211544,-7415.419,-11230.843,0,4126.7,0,53.5,0.0,0.0,0,0.0