version: 66.13
glider: 222
mission: 8
dive: 109
start: 2 8 118 4 35 20
data:
$ID,222
$MISSION,8
$DIVE,109
$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,14
$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,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
$GPS1,080218,030952,-7418.9111,-11229.5400,0,3136.5,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,335.20
$_SM_ANGLEo,2.4
$GPS2,080218,030952,-7418.9111,-11229.5400,0,3136.5,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,inside0
$TGT_LATLONG,-7425.000,-11232.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,132.7,11343,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,8,-0.94,-146.0,2706,2504,2820,2600,0.0,0.0,0,12,0.00,0.00,-2.10,0.045,16390,0.000,0.000,2700,2503,3323,3460,3187,0,0,0,0,0,0,15.09,13.66,15.10
$GC,13,-0.94,-146.0,2706,2504,3458,3191,0.0,0.0,0,15,0.95,0.00,0.00,0.000,4102,0.116,0.000,2395,2503,3324,3456,3192,0,0,0,0,0,0,14.85,15.00,14.97
$GC,309,-0.94,-146.0,2395,2503,3442,3204,369.1,-12.2,30,315,0.00,2.62,0.00,0.000,516,0.000,0.117,2395,1084,3323,3441,3205,0,0,0,0,0,0,15.11,14.79,15.14
$GC,339,-0.94,-146.0,2395,1084,3442,3205,373.0,-13.0,36,345,0.00,2.67,0.00,0.000,1030,0.000,0.125,2386,2506,3322,3440,3205,0,0,0,0,0,0,14.88,14.79,14.93
$GC,649,-0.94,-146.0,2386,2505,3439,3206,412.9,-12.5,68,655,0.00,2.38,0.00,0.000,260,0.000,0.147,2376,3753,3321,3437,3206,0,0,0,0,0,0,15.12,14.78,15.15
$GC,669,-0.94,-146.0,2376,3754,3436,3209,415.5,-13.1,72,675,0.00,2.28,0.00,0.000,1030,0.000,0.099,2376,2489,3322,3436,3208,0,0,0,0,0,0,14.92,14.85,14.96
$GC,979,-0.94,-146.0,2376,2489,3441,3209,456.0,-12.7,104,980,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2489,3321,3435,3208,0,0,0,0,0,0,15.12,15.16,15.15
$GC,1279,-0.94,-146.0,2376,2490,3435,3209,494.5,-12.9,134,1288,0.00,2.42,0.00,0.000,260,0.000,0.151,2367,3750,3321,3434,3208,0,0,0,0,0,0,15.13,14.78,15.16
$GC,1332,-0.94,-146.0,2367,3753,3434,3210,501.7,-13.8,144,1338,0.10,2.25,0.00,0.000,3078,0.265,0.099,2393,2499,3321,3433,3210,0,0,0,0,0,0,14.73,14.85,14.85
$GC,1642,-0.94,-146.0,2393,2499,3433,3211,538.7,-11.8,176,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2498,3321,3433,3210,0,0,0,0,0,0,15.13,15.16,15.15
$GC,1942,-0.94,-146.0,2393,2499,3433,3211,573.5,-11.5,206,1949,0.00,2.40,0.00,0.000,260,0.000,0.153,2384,3751,3321,3432,3210,0,0,0,0,0,0,15.13,14.78,15.16
$GC,1973,-0.94,-146.0,2384,3752,3433,3211,577.2,-12.8,212,1979,0.00,2.28,0.00,0.000,1030,0.000,0.099,2384,2489,3320,3431,3210,0,0,0,0,0,0,14.92,14.85,14.96
$GC,2282,-0.94,-146.0,2385,2489,3433,3210,614.3,-11.9,244,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2489,3321,3432,3210,0,0,0,0,0,0,15.13,15.15,15.15
$GC,2583,-0.94,-146.0,2384,2490,3432,3211,649.7,-11.6,274,2589,0.00,2.42,0.00,0.000,260,0.000,0.151,2376,3756,3320,3431,3210,0,0,0,0,0,0,15.13,14.77,15.16
$GC,2623,-0.94,-146.0,2376,3756,3433,3211,654.7,-12.6,282,2629,0.00,2.28,0.00,0.000,1030,0.000,0.100,2376,2496,3320,3431,3210,0,0,0,0,0,0,14.92,14.85,14.95
$GC,2933,-0.94,-146.0,2376,2496,3432,3211,691.6,-11.8,314,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2496,3320,3431,3210,0,0,0,0,0,0,15.12,15.15,15.15
$GC,3253,-0.94,-146.0,2376,2496,3432,3211,729.8,-11.8,330,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2495,3321,3431,3211,0,0,0,0,0,0,15.13,15.16,15.16
$GC,3613,-0.94,-146.0,2376,2495,3432,3210,772.4,-11.8,342,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2495,3319,3430,3209,0,0,0,0,0,0,15.14,15.17,15.16
$GC,3973,-0.94,-146.0,2376,2496,3432,3211,813.4,-11.4,354,3979,0.00,2.40,0.00,0.000,260,0.000,0.151,2366,3749,3320,3431,3210,0,0,0,0,0,0,15.14,14.78,15.16
$GC,4003,-0.94,-146.0,2367,3749,3431,3211,817.0,-11.2,360,4009,0.10,2.25,0.00,0.000,3078,0.269,0.099,2393,2494,3320,3430,3211,0,0,0,0,0,0,14.69,14.85,14.84
$GC,4394,-0.94,-146.0,2393,2494,3432,3211,858.2,-10.6,378,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2494,3321,3431,3211,0,0,0,0,0,0,15.11,15.14,15.13
$GC,4754,-0.94,-146.0,2393,2494,3431,3211,895.9,-10.3,390,4759,0.00,2.38,0.00,0.000,260,0.000,0.150,2384,3761,3320,3430,3211,0,0,0,0,0,0,15.11,14.80,15.14
$GC,4783,-0.94,-146.0,2384,3762,3431,3212,899.2,-7.6,396,4789,0.00,2.28,0.00,0.000,1062,0.000,0.099,2384,2497,3320,3430,3211,0,0,0,0,0,0,14.90,14.83,14.94
$GC,5174,-0.94,-146.0,2385,2497,3431,3212,941.3,-10.6,414,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2497,3321,3430,3212,0,0,0,0,0,0,15.13,15.16,15.16
$GC,5533,-0.94,-146.0,2384,2498,3431,3212,980.1,-10.7,426,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2497,3321,3430,3212,0,0,0,0,0,0,15.14,15.16,15.16
$STATE,5653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5653,begin apogee
$PING,994.7,27.5,9000.0,0.00,0.00
$GC,5656,-0.23,0.0,2385,2182,3431,3212,992.7,-10.5,430,6096,0.88,0.05,435.88,1.251,10246,0.239,0.256,2622,2198,2715,2772,2659,0,0,0,0,0,0,14.71,13.71,13.27
$STATE,6097,end apogee,CONTROL_FINISHED_OK
$STATE,6097,begin climb
$PING,986.5,15.2,9000.0,0.00,0.00
$PING,978.3,17.0,9000.0,0.64,0.63
$PING,969.6,19.9,9000.0,-0.28,0.98
$PING,961.1,15.8,9000.0,0.07,0.08
$GC,6098,0.94,146.0,2622,2198,2766,2656,1002.1,0.0,444,6551,1.27,2.88,439.77,1.400,11012,0.138,0.125,3008,785,2117,2154,2081,0,0,0,0,0,0,13.77,13.54,13.07
$GC,6720,0.94,146.0,3009,785,2144,2072,928.5,14.4,571,6726,0.00,2.78,0.00,0.000,1030,0.000,0.113,3008,2234,2106,2142,2071,0,0,0,0,0,0,14.24,14.13,14.27
$GC,7106,0.94,146.0,3008,2234,2143,2066,871.8,14.8,588,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2234,2104,2142,2066,0,0,0,0,0,0,14.76,14.78,14.78
$GC,7466,0.94,146.0,3008,2235,2143,2066,818.7,14.5,600,7471,0.00,2.67,0.00,0.000,516,0.000,0.127,3019,792,2103,2142,2065,0,0,0,0,0,0,14.90,14.66,14.93
$GC,7495,0.94,146.0,3019,793,2143,2066,814.1,14.4,606,7501,0.00,2.65,0.00,0.000,1030,0.000,0.115,3019,2209,2103,2142,2065,0,0,0,0,0,0,14.75,14.66,14.78
$GC,7886,0.94,146.0,3019,2211,2142,2064,755.4,15.2,624,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2209,2102,2142,2063,0,0,0,0,0,0,14.98,15.02,15.01
$GC,8246,0.94,146.0,3019,2210,2142,2064,701.6,14.8,636,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2209,2102,2142,2062,0,0,0,0,0,0,15.02,15.06,15.05
$GC,8606,0.94,146.0,3019,2210,2142,2062,648.6,14.7,670,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2210,2102,2142,2062,0,0,0,0,0,0,15.05,15.08,15.08
$GC,8906,0.94,146.0,3019,2210,2142,2062,604.6,14.6,700,8911,0.00,2.62,0.00,0.000,516,0.000,0.127,3029,780,2100,2140,2061,0,0,0,0,0,0,15.07,14.81,15.09
$GC,8930,0.94,146.0,3029,782,2142,2063,600.8,14.4,705,8938,0.00,2.62,0.00,0.000,1030,0.000,0.112,3029,2205,2101,2140,2062,0,0,0,0,0,0,14.88,14.80,14.92
$GC,9235,0.94,146.0,3029,2206,2142,2062,554.8,14.8,736,9241,0.00,2.67,0.00,0.000,260,0.000,0.143,3029,3612,2101,2141,2061,0,0,0,0,0,0,15.11,14.78,15.14
$GC,9265,0.94,146.0,3029,3612,2142,2062,550.0,15.8,742,9272,0.17,2.58,0.00,0.000,5126,0.269,0.101,3000,2197,2101,2142,2061,0,0,0,0,0,0,14.74,14.83,14.95
$GC,9576,0.94,146.0,3000,2193,2142,2060,509.3,12.7,774,9576,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2193,2100,2141,2060,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9876,0.94,146.0,3000,2194,2142,2061,471.2,12.5,804,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2193,2100,2141,2060,0,0,0,0,0,0,15.11,15.14,15.14
$PING,443.8,80.0,9000.0,-0.12,0.99
$PING,435.2,70.8,9000.0,-0.11,0.98
$GC,10176,0.94,146.0,3000,2194,2142,2061,433.9,12.3,834,10182,0.00,2.67,0.00,0.000,260,0.000,0.144,3000,3619,2100,2141,2060,0,0,0,0,0,0,15.11,14.81,15.14
$GC,10201,0.94,146.0,3000,3620,2141,2060,430.5,13.6,839,10208,0.00,2.60,0.00,0.000,1030,0.000,0.103,3009,2188,2100,2140,2060,0,0,0,0,0,0,14.91,14.83,14.95
$PING,425.9,61.4,61.3,1.04,1.00
$PING,417.1,52.4,52.4,1.02,1.00
$PING,408.2,42.8,42.9,1.05,1.00
$PING,399.2,33.5,33.5,1.05,1.00
$GC,10506,0.94,146.0,3009,2186,2141,2060,391.6,12.4,870,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2186,2100,2141,2059,0,0,0,0,0,0,15.12,15.15,15.14
$PING,390.4,24.5,24.5,1.03,1.00
$PING,381.7,15.4,15.4,1.04,1.00
$STATE,10656,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10656,begin subsurface finish
$FINISH1,373.0,1.027440,3
$GC,10659,0.00,3.1,3010,2187,2141,2060,373.0,12.2,885,10670,1.08,0.00,-2.12,0.043,20486,0.215,0.000,2705,2183,2710,2820,2600,0,0,0,0,0,0,14.75,14.09,14.96
$FINISH2,371.9
$STATE,10670,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10670,begin surface
$RAFOS_CLK,380
$RAFOS,2,1518070384,6.233333,6.217778,58,57,54,51,51,50,186,218,139,203,119,151
$RAFOS,1,1518070023,6.133333,6.117500,123,68,59,56,55,52,588,198,113,180,159,214
$RAFOS,0,1518069663,6.032778,6.017500,119,64,53,52,52,51,586,164,211,226,201,179
$RAFOS_FIX,-7420.249512,-11230.980469,080218,060604,2,121,0.24
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041195,0.270389
$HUMID,47.63
$INTERNAL_PRESSURE,7.61906
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,381.7,15.4
$24V_AH,13.07,51.371
$10V_AH,12.57,0.000
$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,4.550,61.250,875.650,0.000,0.000,0.000,0.000,0.000,36.000,0.000,0.000,0.000,8009.627,829.552,1828.030,73.378,0.000,1550.067,0.000,1269.375,720.000,255.857,0.000
$DEVICE_MAMPS,269.280,255.510,1399.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10677.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.915,0.000,0.000,0.000
$MEM,280100
$DATA_FILE_SIZE,30078,886
$CAP_FILE_SIZE,105231,0
$CFSIZE,1024409600,1007009792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.4
$GPS,080218,060904,-7420.250,-11230.980,0,3121.0,0,53.5,0.0,0.0,0,0.0