version: 66.13
glider: 222
mission: 8
dive: 116
start: 2 9 118 1 26 27
data:
$ID,222
$MISSION,8
$DIVE,116
$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,17
$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
$GPS1,090218,012421,-7423.4224,-11236.6719,0,1001.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,367.44
$_SM_ANGLEo,2.8
$GPS2,090218,012421,-7423.4224,-11236.6719,0,1001.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,317.7,23449,-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,-146.0,2716,2503,2833,2613,0.0,0.0,0,11,0.00,0.00,-1.98,0.047,16390,0.000,0.000,2716,2503,3328,3467,3190,0,0,0,0,0,0,15.07,13.54,15.07
$PING,367.7,6.1,9000.0,0.00,0.00
$GC,12,-0.94,-146.0,2716,2504,3466,3193,0.0,0.0,0,19,0.98,2.33,0.00,0.000,4356,0.116,0.151,2395,3758,3328,3460,3197,0,0,0,0,0,0,14.80,14.74,14.87
$PING,375.8,14.3,9000.0,0.00,0.00
$GC,93,-0.94,-146.0,2395,3758,3450,3207,375.4,-11.8,16,102,0.00,2.30,0.00,0.000,1030,0.000,0.102,2394,2491,3328,3450,3207,0,0,0,0,0,0,14.85,14.78,14.88
$PING,384.1,19.1,9000.0,0.79,0.97
$PING,392.7,27.2,9000.0,0.76,0.98
$PING,401.2,35.6,35.5,0.96,1.00
$GC,406,-0.94,-146.0,2395,2492,3448,3209,413.4,-12.3,48,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2491,3327,3446,3209,0,0,0,0,0,0,15.08,15.11,15.11
$GC,706,-0.94,-146.0,2395,2491,3447,3210,449.6,-11.7,78,712,0.00,2.42,0.00,0.000,260,0.000,0.152,2385,3748,3327,3445,3210,0,0,0,0,0,0,15.08,14.72,15.11
$GC,751,-0.94,-146.0,2385,3748,3444,3213,455.3,-12.9,87,758,0.00,2.28,0.00,0.000,1030,0.000,0.099,2385,2488,3328,3443,3213,0,0,0,0,0,0,14.88,14.81,14.91
$GC,1056,-0.94,-146.0,2385,2489,3444,3213,493.1,-12.2,118,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2488,3328,3443,3213,0,0,0,0,0,0,15.08,15.11,15.11
$GC,1357,-0.94,-146.0,2385,2489,3444,3214,529.9,-12.1,148,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2488,3326,3440,3213,0,0,0,0,0,0,15.05,15.08,15.08
$GC,1656,-0.94,-146.0,2385,2489,3444,3214,566.0,-11.9,178,1662,0.00,2.42,0.00,0.000,260,0.000,0.150,2377,3749,3328,3442,3214,0,0,0,0,0,0,15.09,14.73,15.11
$GC,1716,-0.94,-146.0,2377,3751,3442,3215,573.5,-12.7,190,1722,0.00,2.28,0.00,0.000,1030,0.000,0.099,2376,2490,3328,3441,3215,0,0,0,0,0,0,14.88,14.81,14.91
$GC,2026,-0.94,-146.0,2377,2491,3442,3216,611.6,-12.2,222,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2490,3328,3441,3215,0,0,0,0,0,0,15.08,15.11,15.11
$GC,2326,-0.94,-146.0,2377,2490,3441,3216,647.8,-12.1,252,2332,0.00,2.42,0.00,0.000,260,0.000,0.150,2367,3748,3328,3441,3216,0,0,0,0,0,0,15.08,14.72,15.11
$GC,2356,-0.94,-146.0,2367,3749,3442,3217,651.6,-13.2,258,2362,0.10,2.28,0.00,0.000,3078,0.255,0.097,2394,2486,3328,3441,3216,0,0,0,0,0,0,14.64,14.81,14.79
$GC,2666,-0.94,-146.0,2393,2487,3441,3217,685.9,-11.0,290,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2486,3329,3441,3217,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2988,-0.94,-146.0,2394,2486,3442,3218,719.9,-10.5,310,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2486,3331,3446,3217,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3347,-0.94,-146.0,2394,2486,3442,3218,757.4,-10.3,322,3352,0.00,2.40,0.00,0.000,260,0.000,0.151,2385,3757,3329,3441,3218,0,0,0,0,0,0,15.07,14.76,15.09
$GC,3371,-0.94,-146.0,2385,3757,3441,3218,760.3,-11.3,327,3378,0.00,2.28,0.00,0.000,1030,0.000,0.098,2385,2496,3329,3441,3218,0,0,0,0,0,0,14.88,14.81,14.92
$GC,3737,-0.94,-146.0,2385,2496,3442,3220,800.1,-10.9,340,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2495,3330,3441,3220,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4096,-0.94,-146.0,2385,2496,3442,3221,839.6,-10.8,352,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2496,3330,3441,3219,0,0,0,0,0,0,15.11,15.15,15.15
$GC,4456,-0.94,-146.0,2385,2496,3442,3223,878.9,-11.0,364,4462,0.00,2.40,0.00,0.000,260,0.000,0.150,2376,3747,3332,3441,3223,0,0,0,0,0,0,15.13,14.74,15.15
$GC,4502,-0.94,-146.0,2377,3748,3441,3224,884.1,-11.7,373,4508,0.00,2.22,0.00,0.000,1030,0.000,0.097,2374,2491,3332,3441,3223,0,0,0,0,0,0,14.97,14.85,14.99
$GC,4878,-0.94,-146.0,2377,2490,3442,3223,926.3,-11.2,388,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2491,3332,3441,3223,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5237,-0.94,-146.0,2377,2491,3442,3224,966.3,-11.1,400,5243,0.00,2.42,0.00,0.000,260,0.000,0.149,2368,3752,3332,3441,3223,0,0,0,0,0,0,15.13,14.74,15.15
$GC,5292,-0.94,-146.0,2368,3752,3441,3224,972.8,-11.9,411,5300,0.10,2.28,0.00,0.000,3078,0.257,0.097,2394,2491,3331,3440,3223,0,0,0,0,0,0,14.58,14.83,14.75
$STATE,5477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5477,begin apogee
$PING,993.6,24.5,9000.0,-0.01,0.46
$GC,5481,-0.23,0.0,2395,2196,3442,3224,991.6,-10.0,418,5930,0.85,0.00,445.62,1.274,10246,0.230,0.000,2627,2191,2714,2769,2659,0,0,0,0,0,0,14.68,13.78,13.24
$STATE,5931,end apogee,CONTROL_FINISHED_OK
$STATE,5931,begin climb
$PING,985.1,21.5,9000.0,-0.02,0.95
$PING,976.7,15.7,9000.0,0.52,0.97
$PING,968.3,20.6,9000.0,0.06,0.02
$PING,960.1,14.4,9000.0,0.07,0.04
$GC,5933,0.94,146.0,2627,2192,2766,2659,1001.2,0.0,433,6390,1.25,2.90,443.00,1.369,11012,0.132,0.127,3008,788,2116,2150,2082,0,0,0,0,0,0,13.74,13.57,13.07
$GC,6549,0.94,146.0,3008,788,2140,2074,929.5,13.9,555,6555,0.00,2.78,0.00,0.000,1030,0.000,0.113,3008,2208,2106,2139,2074,0,0,0,0,0,0,14.16,14.09,14.20
$GC,6930,0.94,146.0,3008,2209,2139,2069,873.0,14.8,571,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2208,2103,2138,2068,0,0,0,0,0,0,14.75,14.78,14.78
$GC,7291,0.94,146.0,3008,2208,2139,2066,819.6,14.7,583,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2208,2102,2138,2066,0,0,0,0,0,0,14.90,14.94,14.93
$GC,7651,0.94,146.0,3008,2209,2139,2066,767.1,14.6,595,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2208,2101,2138,2065,0,0,0,0,0,0,14.99,15.02,15.01
$GC,8011,0.94,146.0,3008,2208,2139,2065,715.3,14.3,607,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2208,2101,2138,2064,0,0,0,0,0,0,15.03,15.06,15.06
$GC,8370,0.94,146.0,3008,2209,2138,2064,664.6,14.1,635,8376,0.00,2.62,0.00,0.000,516,0.000,0.126,3018,782,2100,2137,2063,0,0,0,0,0,0,15.04,14.77,15.07
$GC,8389,0.94,146.0,3019,782,2138,2064,661.7,14.2,639,8395,0.00,2.62,0.00,0.000,1030,0.000,0.113,3019,2205,2100,2137,2064,0,0,0,0,0,0,14.84,14.76,14.92
$GC,8699,0.94,146.0,3019,2206,2138,2064,616.4,14.6,671,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2205,2100,2137,2063,0,0,0,0,0,0,15.08,15.11,15.11
$GC,9000,0.94,146.0,3018,2206,2138,2064,573.1,14.2,701,9006,0.00,2.65,0.00,0.000,260,0.000,0.143,3018,3618,2099,2137,2062,0,0,0,0,0,0,15.09,14.78,15.11
$GC,9034,0.94,146.0,3019,3620,2138,2064,567.7,15.9,708,9042,0.00,2.60,0.00,0.000,1030,0.000,0.101,3029,2191,2100,2137,2063,0,0,0,0,0,0,14.87,14.78,14.90
$GC,9340,0.94,146.0,3029,2191,2138,2062,523.0,14.5,739,9345,0.00,2.65,0.00,0.000,516,0.000,0.130,3040,779,2099,2137,2062,0,0,0,0,0,0,15.09,14.76,15.12
$GC,9380,0.94,146.0,3041,780,2137,2064,517.2,14.6,747,9386,0.17,2.60,0.00,0.000,5126,0.245,0.116,2998,2208,2099,2136,2062,0,0,0,0,0,0,14.72,14.80,14.93
$GC,9690,0.94,146.0,2998,2207,2137,2063,477.5,12.7,779,9696,0.00,2.70,0.00,0.000,260,0.000,0.146,2998,3643,2099,2136,2062,0,0,0,0,0,0,15.09,14.77,15.12
$GC,9725,0.94,146.0,2998,3643,2137,2062,472.6,14.2,786,9733,0.00,2.65,0.00,0.000,1030,0.000,0.103,3008,2192,2099,2136,2062,0,0,0,0,0,0,14.88,14.80,14.91
$PING,456.5,109.8,9000.0,-0.18,0.99
$GC,10030,0.94,146.0,3008,2191,2136,2063,433.1,13.0,817,10036,0.00,2.65,0.00,0.000,516,0.000,0.132,3019,781,2099,2136,2062,0,0,0,0,0,0,15.09,14.76,15.11
$GC,10065,0.94,146.0,3019,781,2137,2063,428.3,13.8,824,10072,0.00,2.65,0.00,0.000,1030,0.000,0.117,3019,2208,2099,2136,2062,0,0,0,0,0,0,14.86,14.78,14.91
$PING,404.3,60.1,9000.0,-0.13,0.65
$PING,396.3,52.2,52.3,0.95,1.00
$PING,387.2,43.7,43.7,0.96,1.00
$GC,10371,0.94,146.0,3019,2209,2137,2062,387.2,12.9,855,10376,0.00,2.65,0.00,0.000,260,0.000,0.146,3019,3617,2099,2136,2062,0,0,0,0,0,0,15.07,14.77,15.09
$GC,10405,0.94,146.0,3019,3619,2137,2062,382.2,14.5,862,10413,0.00,2.60,0.00,0.000,1030,0.000,0.104,3029,2193,2098,2136,2061,0,0,0,0,0,0,14.87,14.79,14.92
$PING,378.7,34.2,34.5,1.02,1.00
$PING,370.4,24.4,24.5,1.15,1.00
$PING,362.3,12.9,9000.0,1.30,1.00
$STATE,10619,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10619,begin subsurface finish
$FINISH1,352.9,1.027402,5
$GC,10622,0.01,5.0,3031,2192,2138,2061,352.9,13.2,884,10633,1.12,2.72,-2.15,0.053,20740,0.223,0.174,2710,3617,2713,2823,2604,0,0,0,0,0,0,14.68,13.57,14.84
$FINISH2,351.9
$STATE,10634,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10634,begin surface
$RAFOS_CLK,384
$RAFOS,2,1518145982,3.233333,3.217222,95,57,55,54,50,48,654,165,139,178,203,224
$RAFOS,1,1518145625,3.133333,3.118056,74,71,58,58,58,56,207,149,186,117,222,131
$RAFOS,0,1518145276,3.032778,3.021111,70,59,58,57,55,52,191,203,179,221,167,139
$RAFOS_FIX,-7422.678223,-11236.958984,090218,030308,1,2,0.21
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041195,0.526547
$HUMID,47.63
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,370.4,24.5
$24V_AH,13.07,53.961
$10V_AH,12.53,0.000
$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,4.575,76.550,888.625,0.000,0.000,0.000,0.000,0.000,36.500,0.000,0.000,0.000,7935.620,869.415,1831.800,78.289,0.000,1595.085,0.000,1269.234,720.000,255.605,0.000
$DEVICE_MAMPS,257.040,173.655,1368.585,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10649.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.903,0.000,0.000,0.000
$MEM,280128
$DATA_FILE_SIZE,30025,886
$CAP_FILE_SIZE,106096,0
$CFSIZE,1024409600,1006305280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,090218,031408,-7422.678,-11236.959,0,2002.0,0,53.5,0.0,0.0,0,0.0