version: 66.13
glider: 222
mission: 8
dive: 111
start: 2 8 118 10 32 31
data:
$ID,222
$MISSION,8
$DIVE,111
$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,20
$R_STBD_OVSHOOT,10
$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
$GPS1,080218,090400,-7421.5957,-11233.0830,0,2002.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,364.95
$_SM_ANGLEo,3.9
$GPS2,080218,090400,-7421.5957,-11233.0830,0,2002.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,inside0
$TGT_LATLONG,-7425.000,-11232.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,121.6,6327,-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,-146.0,2706,2485,2835,2613,0.0,0.0,0,11,0.00,0.05,-1.98,0.048,16390,0.000,1.450,2705,2499,3326,3464,3189,0,0,0,0,0,0,15.09,13.62,15.09
$GC,12,-0.94,-146.0,2706,2499,3463,3193,0.0,0.0,0,19,0.95,2.55,0.00,0.000,4612,0.119,0.121,2394,1078,3327,3458,3196,0,0,0,0,0,0,14.82,14.78,14.90
$GC,83,-0.94,-146.0,2395,1079,3451,3202,371.7,-10.7,14,89,0.00,2.70,0.00,0.000,1030,0.000,0.130,2384,2509,3326,3450,3203,0,0,0,0,0,0,14.85,14.77,14.91
$GC,393,-0.94,-146.0,2385,2509,3445,3209,410.0,-12.3,46,399,0.00,2.40,0.00,0.000,260,0.000,0.151,2376,3759,3326,3444,3208,0,0,0,0,0,0,15.10,14.75,15.13
$GC,453,-0.94,-146.0,2377,3759,3443,3210,418.1,-13.5,58,459,0.00,2.30,0.00,0.000,1030,0.000,0.101,2377,2490,3325,3441,3210,0,0,0,0,0,0,14.88,14.81,14.92
$GC,763,-0.94,-146.0,2377,2490,3442,3210,458.7,-12.9,90,769,0.00,2.60,0.00,0.000,516,0.000,0.119,2376,1090,3325,3441,3210,0,0,0,0,0,0,15.11,14.77,15.14
$GC,789,-0.94,-146.0,2376,1090,3442,3212,462.0,-13.3,95,796,0.15,2.62,0.00,0.000,3078,0.300,0.128,2398,2505,3326,3441,3211,0,0,0,0,0,0,14.67,14.80,14.93
$GC,1093,-0.94,-146.0,2398,2505,3441,3211,497.7,-11.6,126,1099,0.00,2.40,0.00,0.000,260,0.000,0.150,2389,3757,3326,3440,3212,0,0,0,0,0,0,15.11,14.74,15.13
$GC,1153,-0.94,-146.0,2389,3758,3439,3214,505.1,-12.5,138,1159,0.00,2.30,0.00,0.000,1030,0.000,0.103,2389,2489,3325,3438,3213,0,0,0,0,0,0,14.90,14.82,14.93
$GC,1463,-0.94,-146.0,2389,2490,3438,3214,541.8,-11.7,170,1469,0.00,2.42,0.00,0.000,260,0.000,0.153,2380,3756,3325,3437,3213,0,0,0,0,0,0,15.11,14.76,15.14
$GC,1488,-0.94,-146.0,2380,3751,3438,3213,544.9,-13.2,175,1496,0.00,2.28,0.00,0.000,1030,0.000,0.102,2380,2496,3325,3437,3213,0,0,0,0,0,0,14.90,14.83,14.93
$GC,1793,-0.94,-146.0,2380,2496,3438,3213,581.5,-12.0,206,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2496,3325,3437,3213,0,0,0,0,0,0,15.11,15.15,15.14
$GC,2093,-0.94,-146.0,2380,2496,3437,3213,618.2,-12.3,236,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2495,3324,3436,3213,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2393,-0.94,-146.0,2380,2496,3437,3214,653.9,-11.7,266,2399,0.00,2.42,0.00,0.000,260,0.000,0.154,2371,3755,3324,3436,3213,0,0,0,0,0,0,15.13,14.76,15.16
$GC,2433,-0.94,-146.0,2371,3756,3437,3213,658.9,-12.8,274,2439,0.00,2.30,0.00,0.000,1030,0.000,0.102,2371,2487,3324,3436,3213,0,0,0,0,0,0,14.91,14.84,14.95
$GC,2743,-0.94,-146.0,2371,2487,3436,3213,697.1,-12.2,306,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2487,3324,3435,3213,0,0,0,0,0,0,15.13,15.17,15.16
$GC,3043,-0.94,-146.0,2371,2487,3438,3213,733.9,-12.2,318,3049,0.00,2.45,0.00,0.000,260,0.000,0.153,2361,3760,3324,3435,3213,0,0,0,0,0,0,15.14,14.76,15.16
$GC,3083,-0.94,-146.0,2362,3761,3436,3215,739.1,-12.7,326,3089,0.12,2.30,0.00,0.000,3078,0.265,0.101,2394,2488,3324,3435,3214,0,0,0,0,0,0,14.67,14.84,14.83
$GC,3463,-0.94,-146.0,2394,2489,3436,3215,779.9,-10.8,342,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2488,3324,3435,3214,0,0,0,0,0,0,15.14,15.19,15.16
$GC,3823,-0.94,-146.0,2395,2488,3436,3213,818.3,-10.7,354,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2488,3324,3435,3213,0,0,0,0,0,0,15.14,15.17,15.16
$GC,4183,-0.94,-146.0,2394,2489,3436,3214,855.7,-10.5,366,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2488,3324,3435,3214,0,0,0,0,0,0,15.14,15.18,15.17
$GC,4543,-0.94,-146.0,2394,2489,3436,3215,893.3,-10.4,378,4549,0.00,2.42,0.00,0.000,260,0.000,0.150,2385,3754,3323,3435,3212,0,0,0,0,0,0,15.15,14.77,15.17
$GC,4583,-0.94,-146.0,2386,3754,3436,3213,897.7,-12.1,386,4589,0.00,2.28,0.00,0.000,1030,0.000,0.099,2385,2493,3324,3435,3213,0,0,0,0,0,0,14.92,14.85,14.96
$GC,4965,-0.94,-146.0,2385,2493,3435,3215,938.2,-10.7,402,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2493,3324,3435,3214,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5326,-0.94,-146.0,2385,2493,3435,3215,975.8,-10.3,414,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2492,3324,3435,3214,0,0,0,0,0,0,15.12,15.15,15.15
$STATE,5472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5472,begin apogee
$GC,5475,-0.23,0.0,2386,2193,3442,3215,991.2,-10.3,419,6047,0.88,0.00,566.12,1.232,10246,0.237,0.000,2623,2192,2714,2771,2658,0,0,0,0,0,0,14.71,13.57,13.12
$STATE,6049,end apogee,CONTROL_FINISHED_OK
$STATE,6049,begin climb
$PING,992.8,15.7,9000.0,0.00,0.00
$PING,984.5,25.7,9000.0,0.00,0.00
$PING,976.3,22.7,9000.0,-0.42,0.47
$PING,968.0,15.0,9000.0,0.64,0.94
$PING,959.5,18.6,9000.0,0.24,0.28
$GC,6050,0.94,146.0,2624,2192,2769,2657,1003.7,0.0,438,6485,1.27,2.97,422.25,1.465,10500,0.133,0.142,2997,3622,2117,2154,2081,0,0,0,0,0,0,13.67,13.55,13.07
$GC,6659,0.94,146.0,2997,3623,2145,2070,929.2,15.1,559,6665,0.00,2.72,0.00,0.000,1030,0.000,0.100,3008,2206,2107,2145,2069,0,0,0,0,0,0,14.21,14.14,14.29
$GC,7044,0.94,146.0,3008,2205,2144,2065,872.6,14.7,576,7051,0.00,2.67,0.00,0.000,516,0.000,0.132,3018,785,2103,2142,2064,0,0,0,0,0,0,14.76,14.52,14.78
$GC,7075,0.94,146.0,3019,786,2142,2065,868.3,15.1,582,7081,0.00,2.67,0.00,0.000,1030,0.000,0.116,3019,2204,2102,2140,2064,0,0,0,0,0,0,14.62,14.53,14.66
$GC,7465,0.94,146.0,3019,2204,2142,2063,809.0,15.3,600,7472,0.00,2.70,0.00,0.000,260,0.000,0.145,3019,3626,2102,2141,2063,0,0,0,0,0,0,14.92,14.66,14.95
$GC,7491,0.94,146.0,3019,3626,2141,2063,804.8,16.4,605,7498,0.10,2.65,0.00,0.000,5126,0.243,0.103,3003,2190,2101,2140,2063,0,0,0,0,0,0,14.60,14.69,14.73
$GC,7856,0.94,146.0,3003,2190,2141,2063,753.6,13.9,618,7862,0.00,2.65,0.00,0.000,516,0.000,0.133,3012,781,2101,2140,2062,0,0,0,0,0,0,15.02,14.71,15.04
$GC,7881,0.94,146.0,3013,782,2140,2063,750.1,13.9,623,7889,0.00,2.65,0.00,0.000,1030,0.000,0.117,3012,2207,2100,2139,2062,0,0,0,0,0,0,14.82,14.73,14.86
$GC,8247,0.94,146.0,3014,2205,2140,2061,698.0,14.2,636,8254,0.00,2.65,0.00,0.000,260,0.000,0.145,3013,3618,2100,2139,2062,0,0,0,0,0,0,15.02,14.76,15.06
$GC,8277,0.94,146.0,3013,3618,2140,2061,693.1,15.9,642,8284,0.00,2.60,0.00,0.000,1030,0.000,0.104,3023,2194,2100,2139,2061,0,0,0,0,0,0,14.83,14.78,14.90
$GC,8588,0.94,146.0,3023,2194,2139,2062,646.3,14.8,674,8595,0.00,2.65,0.00,0.000,516,0.000,0.133,3034,786,2102,2144,2061,0,0,0,0,0,0,15.08,14.76,15.11
$GC,8613,0.94,146.0,3034,787,2139,2062,642.4,14.8,679,8621,0.10,2.62,0.00,0.000,5126,0.236,0.117,3006,2204,2099,2138,2061,0,0,0,0,0,0,14.70,14.78,14.83
$GC,8919,0.94,146.0,3007,2204,2139,2060,600.5,13.6,710,8925,0.00,2.70,0.00,0.000,260,0.000,0.147,3006,3615,2101,2138,2064,0,0,0,0,0,0,15.09,14.76,15.11
$GC,8963,0.94,146.0,3005,3615,2139,2061,593.9,15.1,719,8971,0.00,2.62,0.00,0.000,1030,0.000,0.105,3015,2183,2098,2137,2060,0,0,0,0,0,0,14.89,14.81,14.92
$GC,9269,0.94,146.0,3016,2181,2138,2061,551.3,14.0,750,9275,0.00,2.62,0.00,0.000,516,0.000,0.134,3026,785,2099,2138,2060,0,0,0,0,0,0,15.10,14.77,15.13
$GC,9293,0.94,146.0,3026,785,2139,2060,547.8,13.9,755,9301,0.00,2.62,0.00,0.000,1030,0.000,0.117,3026,2200,2098,2137,2060,0,0,0,0,0,0,14.88,14.80,14.96
$GC,9599,0.94,146.0,3026,2200,2138,2060,503.8,14.3,786,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2199,2098,2137,2060,0,0,0,0,0,0,15.11,15.14,15.13
$GC,9899,0.94,146.0,3026,2200,2138,2059,461.4,14.1,816,9899,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,2098,2137,2059,0,0,0,0,0,0,15.11,15.14,15.14
$GC,10199,0.94,146.0,3026,2200,2139,2059,419.7,13.8,846,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,2098,2138,2059,0,0,0,0,0,0,15.11,15.14,15.14
$PING,402.1,62.5,9000.0,-0.08,1.00
$PING,393.9,53.9,9000.0,-0.07,0.96
$PING,384.7,44.4,44.4,1.04,1.00
$GC,10499,0.94,146.0,3026,2200,2138,2059,379.3,13.3,876,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2199,2098,2137,2059,0,0,0,0,0,0,15.12,15.15,15.14
$PING,375.3,34.7,34.7,1.04,1.00
$PING,366.0,25.0,25.0,1.04,1.00
$PING,356.9,15.6,15.6,1.03,1.00
$STATE,10738,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10738,begin subsurface finish
$FINISH1,347.8,1.027404,5
$GC,10741,0.01,4.9,3026,2199,2143,2059,347.8,12.9,900,10753,1.12,2.72,-2.17,0.052,20740,0.214,0.170,2702,3620,2716,2826,2606,0,0,0,0,0,0,14.73,13.62,14.87
$FINISH2,346.5
$STATE,10754,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10754,begin surface
$RAFOS_CLK,382
$RAFOS,2,1518091995,12.233334,12.220834,65,61,59,55,55,54,152,162,192,136,226,121
$RAFOS,1,1518091636,12.133333,12.121111,64,62,56,53,52,52,156,117,133,564,181,216
$RAFOS,0,1518091275,12.032778,12.020833,138,68,57,55,55,53,536,187,197,219,161,206
$RAFOS_FIX,-7422.606445,-11234.335938,080218,121212,1,2,0.18
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041195,0.300349
$HUMID,48.14
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,356.9,15.6
$24V_AH,13.07,52.187
$10V_AH,12.49,0.000
$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,4.700,86.950,988.375,0.000,0.000,0.000,0.000,0.000,36.500,0.000,0.000,0.000,7910.718,981.595,1860.208,74.091,0.000,1725.687,0.000,1292.103,720.000,261.126,0.000
$DEVICE_MAMPS,299.880,1449.675,1464.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10763.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.867,0.000,0.000,0.000
$MEM,280100
$DATA_FILE_SIZE,30009,902
$CAP_FILE_SIZE,109298,0
$CFSIZE,1024409600,1006813184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.5
$GPS,080218,120312,-7422.606,-11234.336,0,2002.0,0,53.5,0.0,0.0,0,0.0