version: 66.13
glider: 222
mission: 8
dive: 112
start: 2 8 118 13 33 34
data:
$ID,222
$MISSION,8
$DIVE,112
$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,19
$R_STBD_OVSHOOT,13
$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
$GPS1,080218,120312,-7422.6064,-11234.3359,0,2002.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,346.16
$_SM_ANGLEo,3.5
$GPS2,080218,120312,-7422.6064,-11234.3359,0,2002.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,inside0
$TGT_LATLONG,-7425.000,-11232.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,111.8,4582,-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,-146.0,2703,2477,2828,2607,0.0,0.0,0,12,0.00,0.08,-2.05,0.046,16390,0.000,1.032,2702,2505,3327,3465,3189,0,0,0,0,0,0,15.09,13.62,15.10
$GC,13,-0.94,-146.0,2703,2505,3463,3193,0.0,0.0,0,19,0.93,2.55,0.00,0.000,4612,0.119,0.119,2397,1081,3327,3459,3196,0,0,0,0,0,0,14.83,14.79,14.90
$GC,78,-0.94,-146.0,2397,1082,3451,3203,352.5,-10.7,13,87,0.00,2.70,0.00,0.000,1030,0.000,0.129,2388,2510,3326,3450,3202,0,0,0,0,0,0,14.87,14.77,14.92
$GC,384,-0.94,-146.0,2389,2511,3446,3208,390.3,-12.5,44,389,0.00,2.35,0.00,0.000,260,0.000,0.151,2379,3760,3326,3445,3208,0,0,0,0,0,0,15.08,14.78,15.11
$GC,463,-0.94,-146.0,2379,3761,3443,3211,401.2,-13.6,60,469,0.00,2.28,0.00,0.000,1030,0.000,0.100,2378,2499,3326,3442,3210,0,0,0,0,0,0,14.90,14.83,14.94
$GC,773,-0.94,-146.0,2379,2500,3442,3211,441.9,-12.9,92,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2499,3326,3442,3210,0,0,0,0,0,0,15.11,15.14,15.14
$GC,1073,-0.94,-146.0,2379,2500,3442,3211,479.8,-12.8,122,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2499,3325,3440,3210,0,0,0,0,0,0,15.12,15.15,15.14
$GC,1373,-0.94,-146.0,2379,2496,3441,3210,517.4,-12.5,152,1379,0.00,2.40,0.00,0.000,260,0.000,0.153,2370,3749,3325,3440,3210,0,0,0,0,0,0,15.12,14.76,15.15
$GC,1423,-0.94,-146.0,2371,3748,3438,3213,524.1,-13.4,162,1429,0.00,2.28,0.00,0.000,1030,0.000,0.099,2370,2487,3325,3437,3213,0,0,0,0,0,0,14.90,14.84,14.95
$GC,1733,-0.94,-146.0,2370,2488,3438,3214,563.7,-12.8,194,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2487,3325,3437,3213,0,0,0,0,0,0,15.12,15.16,15.15
$GC,2034,-0.94,-146.0,2371,2487,3438,3214,601.7,-12.7,224,2039,0.00,2.40,0.00,0.000,260,0.000,0.151,2360,3761,3324,3437,3212,0,0,0,0,0,0,15.09,14.78,15.11
$GC,2068,-0.94,-146.0,2361,3761,3438,3213,606.4,-13.7,231,2076,0.12,2.28,0.00,0.000,3078,0.264,0.099,2393,2496,3324,3436,3213,0,0,0,0,0,0,14.68,14.83,14.83
$GC,2373,-0.94,-146.0,2393,2496,3437,3214,641.2,-11.2,262,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3324,3436,3213,0,0,0,0,0,0,15.12,15.15,15.15
$GC,2673,-0.94,-146.0,2394,2496,3437,3214,674.9,-11.1,292,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3324,3435,3213,0,0,0,0,0,0,15.13,15.16,15.14
$GC,2995,-0.94,-146.0,2394,2496,3437,3214,710.5,-11.2,318,3000,0.00,2.38,0.00,0.000,260,0.000,0.152,2385,3754,3324,3436,3213,0,0,0,0,0,0,15.10,14.78,15.12
$GC,3048,-0.94,-146.0,2385,3755,3436,3215,717.1,-11.9,329,3057,0.00,2.28,0.00,0.000,1030,0.000,0.099,2385,2494,3324,3435,3213,0,0,0,0,0,0,14.91,14.83,14.95
$GC,3414,-0.94,-146.0,2385,2495,3436,3214,758.0,-11.1,342,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2494,3324,3435,3213,0,0,0,0,0,0,15.14,15.16,15.16
$GC,3774,-0.94,-146.0,2385,2495,3436,3214,798.0,-11.0,354,3779,0.00,2.42,0.00,0.000,260,0.000,0.151,2376,3756,3324,3435,3214,0,0,0,0,0,0,15.14,14.76,15.16
$GC,3834,-0.94,-146.0,2376,3757,3436,3215,804.7,-11.4,366,3840,0.00,2.28,0.00,0.000,1030,0.000,0.100,2376,2493,3324,3435,3213,0,0,0,0,0,0,14.91,14.84,14.95
$GC,4225,-0.94,-146.0,2376,2494,3437,3215,848.3,-11.2,384,4230,0.00,2.38,0.00,0.000,260,0.000,0.151,2367,3753,3323,3434,3213,0,0,0,0,0,0,15.10,14.78,15.12
$GC,4269,-0.94,-146.0,2367,3754,3436,3214,853.7,-12.1,393,4276,0.10,2.28,0.00,0.000,3078,0.265,0.099,2393,2494,3324,3435,3214,0,0,0,0,0,0,14.66,14.84,14.83
$GC,4646,-0.94,-146.0,2393,2494,3436,3214,892.5,-10.2,408,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2493,3324,3435,3214,0,0,0,0,0,0,15.14,15.16,15.15
$GC,5005,-0.94,-146.0,2393,2494,3436,3214,929.0,-10.2,420,5011,0.00,2.42,0.00,0.000,260,0.000,0.151,2384,3757,3324,3435,3214,0,0,0,0,0,0,15.14,14.76,15.17
$GC,5030,-0.94,-146.0,2385,3758,3436,3215,931.7,-10.0,425,5039,0.00,2.28,0.00,0.000,1030,0.000,0.099,2384,2496,3324,3435,3213,0,0,0,0,0,0,14.91,14.84,14.95
$GC,5396,-0.94,-146.0,2384,2496,3436,3214,969.7,-10.3,438,5401,0.00,2.38,0.00,0.000,260,0.000,0.151,2376,3757,3324,3435,3214,0,0,0,0,0,0,15.09,14.78,15.11
$GC,5425,-0.94,-146.0,2376,3758,3435,3214,972.8,-11.5,444,5431,0.00,2.28,0.00,0.000,1030,0.000,0.100,2376,2497,3324,3435,3214,0,0,0,0,0,0,14.90,14.83,14.95
$STATE,5604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5604,begin apogee
$PING,994.4,18.1,9000.0,0.00,0.00
$GC,5608,-0.23,0.0,2377,2184,3436,3215,992.5,-10.9,455,6191,0.93,0.08,577.58,1.167,10246,0.239,0.226,2626,2209,2715,2771,2659,0,0,0,0,0,0,14.69,13.66,13.24
$STATE,6192,end apogee,CONTROL_FINISHED_OK
$STATE,6192,begin climb
$PING,986.3,18.2,9000.0,0.00,0.00
$PING,977.9,18.9,9000.0,-0.05,0.80
$PING,969.8,24.0,9000.0,-0.35,0.84
$PING,961.5,14.2,9000.0,0.29,0.24
$GC,6193,0.94,146.0,2626,2210,2770,2659,1005.6,0.0,474,6637,1.25,2.92,427.98,1.428,10500,0.134,0.142,2996,3619,2113,2149,2078,0,0,0,0,0,0,13.73,13.52,13.06
$GC,6781,0.94,146.0,2997,3619,2140,2064,935.6,15.0,593,6788,0.00,2.72,0.00,0.000,1030,0.000,0.100,3007,2203,2101,2139,2063,0,0,0,0,0,0,14.16,14.09,14.21
$GC,7147,0.94,146.0,3007,2202,2137,2059,881.6,14.6,606,7154,0.00,2.67,0.00,0.000,516,0.000,0.132,3018,776,2097,2135,2059,0,0,0,0,0,0,14.73,14.49,14.76
$GC,7193,0.94,146.0,3018,777,2135,2060,874.6,15.0,615,7200,0.00,2.72,0.00,0.000,1030,0.000,0.117,3018,2213,2096,2134,2059,0,0,0,0,0,0,14.59,14.50,14.63
$GC,7570,0.94,146.0,3018,2213,2135,2057,817.5,15.4,630,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2214,2095,2134,2057,0,0,0,0,0,0,14.91,14.94,14.94
$GC,7930,0.94,146.0,3018,2214,2135,2056,762.3,15.2,642,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2213,2094,2133,2056,0,0,0,0,0,0,14.99,15.02,15.02
$GC,8290,0.94,146.0,3019,2213,2134,2055,708.5,14.7,654,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2213,2094,2133,2055,0,0,0,0,0,0,15.03,15.07,15.06
$GC,8650,0.94,146.0,3018,2214,2134,2054,655.1,14.6,686,8655,0.00,2.65,0.00,0.000,516,0.000,0.129,3028,776,2093,2132,2054,0,0,0,0,0,0,15.05,14.76,15.08
$GC,8679,0.94,146.0,3029,777,2133,2055,650.7,14.4,692,8685,0.00,2.65,0.00,0.000,1030,0.000,0.115,3028,2207,2093,2132,2055,0,0,0,0,0,0,14.87,14.78,14.91
$GC,8989,0.94,146.0,3036,2207,2133,2053,603.8,14.9,724,8995,0.00,2.67,0.00,0.000,260,0.000,0.145,3028,3634,2092,2131,2054,0,0,0,0,0,0,15.09,14.78,15.12
$GC,9009,0.94,146.0,3028,3638,2132,2055,600.6,16.2,728,9015,0.10,2.65,0.00,0.000,5126,0.253,0.103,2998,2187,2092,2131,2053,0,0,0,0,0,0,14.71,14.81,14.93
$GC,9319,0.94,146.0,2998,2184,2132,2054,558.9,13.3,760,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2183,2092,2131,2053,0,0,0,0,0,0,15.10,15.14,15.13
$GC,9619,0.94,146.0,2998,2184,2132,2053,520.3,12.9,790,9626,0.00,2.62,0.00,0.000,516,0.000,0.132,3008,782,2091,2130,2052,0,0,0,0,0,0,15.11,14.77,15.14
$GC,9645,0.94,146.0,3008,785,2132,2052,516.9,13.2,795,9654,0.00,2.62,0.00,0.000,1030,0.000,0.116,3008,2202,2091,2131,2052,0,0,0,0,0,0,14.89,14.81,14.94
$GC,9951,0.94,146.0,3009,2202,2132,2052,476.0,13.3,826,9957,0.00,2.67,0.00,0.000,260,0.000,0.147,3008,3623,2091,2131,2052,0,0,0,0,0,0,15.08,14.80,15.11
$GC,9996,0.94,146.0,3008,3624,2131,2053,469.3,14.9,835,10004,0.00,2.60,0.00,0.000,1030,0.000,0.106,3019,2179,2091,2130,2052,0,0,0,0,0,0,14.96,14.83,15.00
$GC,10300,0.94,146.0,3019,2178,2131,2053,427.3,13.7,866,10306,0.00,2.62,0.00,0.000,516,0.000,0.135,3029,781,2090,2130,2051,0,0,0,0,0,0,15.11,14.78,15.14
$GC,10330,0.94,146.0,3029,781,2130,2052,423.1,14.1,872,10336,0.00,2.62,0.00,0.000,1030,0.000,0.118,3029,2197,2091,2130,2052,0,0,0,0,0,0,14.88,14.80,14.93
$PING,409.1,60.7,9000.0,-0.07,0.96
$PING,401.0,52.6,9000.0,-0.08,0.97
$PING,392.9,44.9,44.9,0.97,1.00
$PING,384.9,37.5,37.5,0.94,1.00
$GC,10640,0.94,146.0,3029,2198,2131,2052,380.8,13.6,904,10646,0.00,2.67,0.00,0.000,260,0.000,0.147,3029,3621,2091,2130,2052,0,0,0,0,0,0,15.11,14.79,15.14
$PING,376.4,29.4,29.4,0.95,1.00
$GC,10671,0.94,146.0,3029,3621,2131,2052,376.4,14.9,910,10677,0.17,2.58,0.00,0.000,5126,0.270,0.105,3000,2189,2090,2130,2051,0,0,0,0,0,0,14.73,14.83,14.95
$PING,367.9,21.0,21.0,0.97,1.00
$PING,359.6,13.7,13.6,0.93,1.00
$STATE,10870,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10870,begin subsurface finish
$FINISH1,352.5,1.027417,4
$GC,10873,0.01,4.2,3000,2205,2131,2051,352.5,11.7,931,10886,1.00,2.70,-2.17,0.053,20996,0.207,0.155,2717,781,2714,2826,2603,0,0,0,0,0,0,14.71,13.60,14.85
$FINISH2,351.5
$STATE,10887,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10887,begin surface
$RAFOS_CLK,391
$RAFOS,2,1518102811,15.233334,15.225278,67,56,54,53,51,51,208,146,220,179,160,127
$RAFOS,1,1518102454,15.133333,15.126111,72,56,54,53,52,52,204,142,217,192,109,130
$RAFOS,0,1518102059,15.032778,15.016389,124,60,57,54,53,52,631,156,212,196,168,137
$RAFOS_FIX,-7423.895508,-11236.550781,080218,151524,1,2,0.24
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041944,0.301847
$HUMID,47.99
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,359.6,13.6
$24V_AH,13.06,52.600
$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,4.600,90.825,1005.550,0.000,0.000,0.000,0.000,0.000,36.250,0.000,0.000,0.000,7964.375,1002.190,1914.083,78.369,0.000,1770.802,0.000,1335.746,720.000,256.709,0.000
$DEVICE_MAMPS,270.045,1031.985,1428.255,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10895.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.894,0.000,0.000,0.000
$MEM,280128
$DATA_FILE_SIZE,33359,933
$CAP_FILE_SIZE,114359,0
$CFSIZE,1024409600,1006698496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7147.36,0x234cd8,1,24
$SOUNDSPEED,1458.3
$GPS,080218,150224,-7423.896,-11236.551,0,2002.0,0,53.5,0.0,0.0,0,0.0