version: 66.13
glider: 222
mission: 8
dive: 114
start: 2 8 118 19 17 3
data:
$ID,222
$MISSION,8
$DIVE,114
$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,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
$GPS1,080218,181424,-7425.3638,-11233.1201,0,3136.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,372.82
$_SM_ANGLEo,1.9
$GPS2,080218,181424,-7425.3638,-11233.1201,0,3136.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,312.4,26742,-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,-146.0,2702,2514,2806,2639,0.0,0.0,0,11,0.00,0.00,-1.95,0.048,16390,0.000,0.000,2700,2514,3326,3460,3192,0,0,0,0,0,0,15.09,13.59,15.09
$GC,12,-0.94,-146.0,2703,2514,3459,3194,0.0,0.0,0,20,0.90,2.25,0.00,0.000,4356,0.106,0.151,2399,3747,3325,3453,3197,0,0,0,0,0,0,14.83,14.74,14.90
$PING,390.3,12.8,9000.0,0.00,0.00
$GC,189,-0.94,-146.0,2399,3747,3444,3207,392.8,-12.6,35,197,0.00,2.25,0.00,0.000,1030,0.000,0.098,2399,2496,3325,3443,3208,0,0,0,0,0,0,14.89,14.82,14.93
$GC,494,-0.94,-146.0,2400,2496,3442,3208,429.4,-11.7,66,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2496,3325,3442,3208,0,0,0,0,0,0,15.09,15.13,15.13
$GC,795,-0.94,-146.0,2399,2497,3441,3210,464.4,-11.5,96,800,0.00,2.40,0.00,0.000,260,0.000,0.154,2391,3760,3324,3440,3209,0,0,0,0,0,0,15.06,14.75,15.08
$GC,829,-0.94,-146.0,2391,3759,3438,3211,468.6,-12.3,103,837,0.00,2.30,0.00,0.000,1030,0.000,0.099,2390,2488,3324,3438,3210,0,0,0,0,0,0,14.88,14.85,14.92
$GC,1134,-0.94,-146.0,2391,2490,3438,3211,504.9,-11.8,134,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2488,3324,3438,3210,0,0,0,0,0,0,15.10,15.13,15.12
$GC,1434,-0.94,-146.0,2391,2489,3438,3211,539.7,-11.6,164,1441,0.00,2.42,0.00,0.000,260,0.000,0.151,2382,3746,3323,3437,3210,0,0,0,0,0,0,15.10,14.73,15.14
$GC,1465,-0.94,-146.0,2383,3746,3437,3213,543.4,-12.2,170,1471,0.00,2.28,0.00,0.000,1030,0.000,0.098,2382,2490,3324,3436,3212,0,0,0,0,0,0,14.89,14.81,14.92
$GC,1775,-0.94,-146.0,2383,2489,3437,3212,579.7,-11.8,202,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2489,3324,3436,3212,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2075,-0.94,-146.0,2383,2490,3436,3213,615.6,-12.1,232,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2489,3324,3436,3212,0,0,0,0,0,0,15.09,15.13,15.12
$GC,2375,-0.94,-146.0,2383,2490,3437,3212,650.9,-11.6,262,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2489,3324,3437,3212,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2675,-0.94,-146.0,2382,2490,3436,3213,685.4,-11.4,292,2681,0.00,2.42,0.00,0.000,260,0.000,0.150,2373,3748,3323,3435,3212,0,0,0,0,0,0,15.10,14.73,15.13
$GC,2700,-0.94,-146.0,2371,3749,3435,3213,688.5,-12.8,297,2708,0.00,2.28,0.00,0.000,1030,0.000,0.097,2373,2487,3324,3435,3214,0,0,0,0,0,0,14.88,14.81,14.92
$GC,3016,-0.94,-146.0,2373,2488,3436,3214,726.0,-11.9,315,3021,0.00,2.40,0.00,0.000,260,0.000,0.151,2363,3757,3324,3435,3213,0,0,0,0,0,0,15.07,14.75,15.09
$GC,3050,-0.94,-146.0,2363,3757,3436,3213,730.5,-13.0,322,3056,0.12,2.28,0.00,0.000,3078,0.249,0.099,2397,2497,3323,3434,3213,0,0,0,0,0,0,14.64,14.83,14.80
$GC,3435,-0.94,-146.0,2397,2498,3435,3214,771.2,-10.4,339,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2497,3323,3434,3213,0,0,0,0,0,0,15.09,15.14,15.14
$GC,3795,-0.94,-146.0,2397,2498,3435,3214,807.5,-10.1,351,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2497,3323,3434,3213,0,0,0,0,0,0,15.12,15.15,15.14
$GC,4156,-0.94,-146.0,2397,2498,3435,3214,843.7,-10.1,363,4161,0.00,2.55,0.00,0.000,516,0.000,0.115,2397,1089,3323,3434,3213,0,0,0,0,0,0,15.12,14.78,15.15
$GC,4180,-0.94,-146.0,2398,1090,3435,3213,846.4,-9.4,368,4188,0.00,2.65,0.00,0.000,1030,0.000,0.125,2388,2498,3323,3434,3213,0,0,0,0,0,0,14.86,14.76,14.91
$GC,4547,-0.94,-146.0,2389,2498,3435,3213,885.8,-10.6,381,4553,0.00,2.38,0.00,0.000,260,0.000,0.151,2379,3761,3323,3434,3213,0,0,0,0,0,0,15.09,14.76,15.11
$GC,4592,-0.94,-146.0,2379,3762,3435,3214,890.8,-11.6,390,4598,0.00,2.30,0.00,0.000,1030,0.000,0.098,2379,2490,3323,3434,3213,0,0,0,0,0,0,14.91,14.82,14.93
$GC,4967,-0.94,-146.0,2379,2489,3435,3213,932.6,-10.9,405,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2489,3323,3434,3213,0,0,0,0,0,0,15.11,15.14,15.14
$GC,5327,-0.94,-146.0,2379,2490,3435,3215,971.0,-10.5,417,5333,0.00,2.42,0.00,0.000,260,0.000,0.151,2370,3754,3324,3434,3214,0,0,0,0,0,0,15.12,14.73,15.15
$GC,5372,-0.94,-146.0,2371,3756,3435,3213,975.9,-13.2,426,5378,0.00,2.28,0.00,0.000,1030,0.000,0.098,2370,2491,3323,3434,3213,0,0,0,0,0,0,14.87,14.80,14.90
$STATE,5506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5506,begin apogee
$GC,5509,-0.23,0.0,2371,2190,3435,3213,992.1,-11.2,433,5949,0.95,0.00,436.65,1.291,10246,0.243,0.000,2625,2191,2716,2772,2660,0,0,0,0,0,0,14.66,13.79,13.26
$STATE,5950,end apogee,CONTROL_FINISHED_OK
$STATE,5950,begin climb
$PING,985.0,15.6,9000.0,0.00,0.00
$GC,5952,0.94,146.0,2626,2190,2770,2658,1000.3,0.0,447,6216,1.25,2.92,247.75,2.143,10756,0.135,0.127,3005,790,2121,2150,2093,0,0,0,0,1,0,13.75,13.34,12.38
$GC,6335,0.94,146.0,3005,789,2151,2084,959.9,14.4,523,6341,0.00,2.80,0.00,0.000,1030,0.000,0.113,3005,2212,2116,2150,2083,0,0,0,0,0,0,14.05,13.98,14.09
$GC,6706,0.94,146.0,3005,2212,2150,2077,905.9,14.6,537,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2212,2112,2149,2076,0,0,0,0,0,0,14.70,14.73,14.73
$GC,7067,0.94,146.0,3004,2213,2150,2075,854.5,14.0,549,7072,0.00,2.67,0.00,0.000,260,0.000,0.144,3005,3625,2111,2149,2074,0,0,0,0,0,0,14.88,14.62,14.91
$GC,7096,0.94,146.0,3005,3625,2150,2074,849.7,18.7,555,7102,0.00,2.62,0.00,0.000,1030,0.000,0.101,3015,2200,2116,2158,2074,0,0,0,0,0,0,14.72,14.66,14.76
$GC,7487,0.94,146.0,3015,2201,2149,2074,791.2,15.0,573,7492,0.00,2.62,0.00,0.000,516,0.000,0.130,3026,781,2110,2148,2073,0,0,0,0,0,0,14.97,14.71,15.00
$GC,7521,0.94,146.0,3026,782,2148,2072,785.9,14.5,580,7528,0.00,2.65,0.00,0.000,1030,0.000,0.115,3026,2208,2110,2147,2073,0,0,0,0,0,0,14.81,14.71,14.84
$GC,7908,0.94,146.0,3026,2208,2149,2071,727.3,15.3,597,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2208,2109,2147,2071,0,0,0,0,0,0,15.02,15.04,15.04
$GC,8268,0.94,146.0,3026,2209,2147,2071,673.5,14.9,619,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2208,2109,2147,2071,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8568,0.94,146.0,3026,2209,2148,2071,628.8,14.8,649,8569,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2208,2108,2147,2070,0,0,0,0,0,0,15.04,15.08,15.07
$GC,8868,0.94,146.0,3026,2208,2148,2070,584.7,14.7,679,8873,0.00,2.62,0.00,0.000,516,0.000,0.128,3037,782,2108,2147,2070,0,0,0,0,0,0,15.06,14.78,15.09
$GC,8897,0.94,146.0,3037,780,2147,2071,580.2,15.0,685,8903,0.10,2.62,0.00,0.000,5126,0.229,0.113,2994,2208,2107,2146,2069,0,0,0,0,0,0,14.72,14.79,14.93
$GC,9208,0.94,146.0,2995,2209,2147,2069,540.8,12.6,717,9213,0.00,2.65,0.00,0.000,260,0.000,0.145,2994,3623,2107,2146,2069,0,0,0,0,0,0,15.06,14.78,15.09
$GC,9237,0.94,146.0,2995,3623,2147,2069,536.6,13.9,723,9243,0.00,2.60,0.00,0.000,1030,0.000,0.103,3004,2199,2107,2146,2069,0,0,0,0,0,0,14.88,14.81,14.93
$GC,9547,0.94,146.0,3005,2198,2146,2069,495.1,13.1,755,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2197,2107,2146,2069,0,0,0,0,0,0,15.10,15.13,15.13
$GC,9847,0.94,146.0,3004,2198,2147,2069,456.1,12.9,785,9853,0.00,2.67,0.00,0.000,260,0.000,0.145,3005,3619,2107,2146,2068,0,0,0,0,0,0,15.11,14.78,15.13
$GC,9867,0.94,146.0,3004,3619,2147,2068,453.3,13.7,789,9873,0.00,2.60,0.00,0.000,1030,0.000,0.103,3015,2194,2107,2146,2069,0,0,0,0,0,0,14.88,14.81,14.93
$GC,10178,0.94,146.0,3015,2192,2147,2068,412.7,12.9,821,10183,0.00,2.60,0.00,0.000,516,0.000,0.131,3026,782,2106,2145,2068,0,0,0,0,0,0,15.11,14.78,15.13
$GC,10212,0.94,146.0,3026,781,2147,2068,408.1,13.3,828,10220,0.00,2.62,0.00,0.000,1030,0.000,0.116,3026,2199,2106,2145,2068,0,0,0,0,0,0,14.88,14.79,14.93
$GC,10517,0.94,146.0,3026,2200,2146,2067,368.1,12.9,859,10523,0.00,2.70,0.00,0.000,260,0.000,0.146,3026,3613,2105,2144,2067,0,0,0,0,0,0,15.11,14.76,15.14
$GC,10582,0.94,146.0,3026,3614,2146,2069,359.0,14.1,872,10591,0.12,2.58,0.00,0.000,5126,0.236,0.103,3001,2197,2106,2145,2068,0,0,0,0,0,0,14.70,14.81,14.83
$PING,355.7,25.6,9000.0,-0.01,0.12
$PING,346.9,13.3,9000.0,-0.01,0.11
$PING,338.5,14.4,9000.0,0.65,0.69
$PING,330.1,8.3,9000.0,0.30,0.59
$GC,10887,0.94,146.0,3002,2197,2146,2068,323.7,10.9,903,10893,0.00,2.65,0.00,0.000,516,0.000,0.133,3011,788,2106,2145,2067,0,0,0,0,0,0,15.11,14.76,15.14
$STATE,11101,end climb,NO_VERTICAL_VELOCITY
$STATE,11101,begin subsurface finish
$FINISH1,321.4,1.027002,25
$GC,11107,0.03,25.2,3011,2208,2146,2066,321.4,-0.0,946,11113,0.98,1.48,-1.95,0.058,20995,0.158,0.158,2712,1417,2633,2732,2534,0,0,0,0,0,0,14.73,13.57,14.85
$FINISH2,321.3
$STATE,11114,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,11114,begin surface
$RAFOS_CLK,400
$RAFOS,2,1518124398,21.233334,21.221666,147,64,60,60,59,58,581,209,218,138,195,182
$RAFOS,1,1518124038,21.133333,21.121666,153,65,60,59,58,54,528,200,221,211,159,125
$RAFOS,0,1518123663,21.032778,21.017500,97,61,61,58,47,43,600,186,156,212,202,130
$RAFOS_FIX,-7424.569336,-11236.209961,080218,212144,3,132,0.20
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.040446,0.289114
$HUMID,48.34
$INTERNAL_PRESSURE,7.61906
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,12.38,53.169
$10V_AH,12.43,0.000
$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,4.425,88.375,684.400,0.000,0.000,0.000,0.000,0.000,36.750,0.000,0.000,0.000,8409.619,743.704,1956.804,84.034,0.000,1472.582,0.000,1355.993,720.000,264.570,0.000
$DEVICE_MAMPS,249.390,157.590,2142.765,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11124.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.992,0.000,0.000,0.000
$MEM,280128
$DATA_FILE_SIZE,33323,947
$CAP_FILE_SIZE,112994,0
$CFSIZE,1024409600,1006501888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1457.1
$GPS,080218,211544,-7424.569,-11236.210,0,4132.3,0,53.5,0.0,0.0,0,0.0