version: 66.13
glider: 222
mission: 8
dive: 117
start: 2 9 118 4 25 37
data:
$ID,222
$MISSION,8
$DIVE,117
$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,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
$GPS1,090218,031408,-7422.6782,-11236.9590,0,2002.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,351.21
$_SM_ANGLEo,3.9
$GPS2,090218,031408,-7422.6782,-11236.9590,0,2002.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,318.7,22128,-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,-146.0,2711,2483,2822,2606,0.0,0.0,0,11,0.00,0.05,-2.05,0.046,16390,0.000,1.440,2709,2499,3327,3465,3189,0,0,0,0,0,0,15.07,13.57,15.07
$GC,13,-0.94,-146.0,2710,2499,3464,3194,0.0,0.0,0,19,0.95,2.55,0.00,0.000,4612,0.124,0.120,2402,1085,3328,3460,3196,0,0,0,0,0,0,14.78,14.76,14.88
$GC,78,-0.94,-146.0,2402,1086,3452,3203,357.4,-10.3,13,87,0.00,2.70,0.00,0.000,1030,0.000,0.128,2394,2511,3327,3452,3202,0,0,0,0,0,0,14.84,14.74,14.89
$PING,360.0,13.7,9000.0,0.00,0.00
$PING,368.1,20.4,9000.0,0.00,0.00
$PING,384.9,33.9,34.0,0.81,1.00
$PING,393.4,42.4,41.9,0.86,1.00
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$GC,803,-0.94,-146.0,2384,2499,3443,3212,447.0,-12.3,98,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2498,3326,3442,3210,0,0,0,0,0,0,15.09,15.11,15.11
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$GC,1403,-0.94,-146.0,2385,2498,3442,3211,519.4,-12.1,158,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2498,3326,3441,3211,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1704,-0.94,-146.0,2385,2498,3442,3210,555.4,-11.9,188,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2498,3325,3440,3210,0,0,0,0,0,0,15.07,15.10,15.09
$GC,2003,-0.94,-146.0,2385,2497,3441,3211,590.6,-11.5,218,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2498,3325,3440,3211,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2303,-0.94,-146.0,2385,2498,3441,3211,625.6,-11.7,248,2309,0.00,2.42,0.00,0.000,260,0.000,0.152,2375,3754,3325,3439,3211,0,0,0,0,0,0,15.11,14.73,15.13
$GC,2338,-0.94,-146.0,2376,3755,3439,3214,630.0,-12.7,255,2345,0.00,2.28,0.00,0.000,1030,0.000,0.099,2376,2497,3324,3436,3213,0,0,0,0,0,0,14.88,14.81,14.92
$GC,2643,-0.94,-146.0,2376,2497,3438,3213,667.0,-11.9,286,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2496,3325,3437,3213,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2964,-0.94,-146.0,2376,2496,3438,3213,704.5,-11.5,316,2969,0.00,2.38,0.00,0.000,260,0.000,0.152,2366,3753,3325,3437,3213,0,0,0,0,0,0,15.07,14.75,15.10
$GC,2998,-0.94,-146.0,2367,3753,3437,3213,708.8,-12.5,323,3004,0.10,2.28,0.00,0.000,3078,0.256,0.097,2393,2492,3324,3436,3213,0,0,0,0,0,0,14.64,14.82,14.80
$GC,3384,-0.94,-146.0,2393,2493,3437,3215,750.6,-10.6,340,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2492,3324,3436,3213,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3743,-0.94,-146.0,2393,2492,3436,3213,788.8,-10.5,352,3749,0.00,2.42,0.00,0.000,260,0.000,0.150,2384,3756,3324,3436,3213,0,0,0,0,0,0,15.12,14.73,15.14
$GC,3778,-0.94,-146.0,2385,3756,3437,3213,793.1,-11.7,359,3784,0.00,2.28,0.00,0.000,1030,0.000,0.098,2384,2495,3325,3436,3214,0,0,0,0,0,0,14.89,14.82,14.93
$GC,4164,-0.94,-146.0,2384,2497,3437,3215,834.9,-10.9,376,4170,0.00,2.38,0.00,0.000,260,0.000,0.152,2376,3753,3325,3436,3214,0,0,0,0,0,0,15.12,14.75,15.14
$GC,4198,-0.94,-146.0,2376,3753,3437,3214,839.0,-11.8,383,4205,0.00,2.28,0.00,0.000,1030,0.000,0.099,2376,2496,3325,3436,3214,0,0,0,0,0,0,14.88,14.81,14.92
$GC,4584,-0.94,-146.0,2376,2495,3437,3214,881.6,-11.0,400,4585,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2495,3324,3435,3213,0,0,0,0,0,0,15.11,15.15,15.14
$GC,4944,-0.94,-146.0,2376,2496,3436,3215,921.1,-11.0,412,4950,0.00,2.42,0.00,0.000,260,0.000,0.151,2368,3753,3325,3436,3214,0,0,0,0,0,0,15.12,14.73,15.15
$GC,4988,-0.94,-146.0,2367,3753,3436,3214,926.4,-12.1,421,4996,0.10,2.28,0.00,0.000,3078,0.269,0.098,2393,2494,3324,3436,3213,0,0,0,0,0,0,14.64,14.82,14.81
$GC,5365,-0.94,-146.0,2393,2494,3437,3215,965.1,-10.1,436,5371,0.00,2.38,0.00,0.000,260,0.000,0.151,2385,3750,3325,3436,3214,0,0,0,0,0,0,15.11,14.75,15.14
$GC,5395,-0.94,-146.0,2386,3750,3437,3214,968.3,-8.2,442,5401,0.00,2.28,0.00,0.000,1030,0.000,0.099,2385,2491,3325,3436,3214,0,0,0,0,0,0,14.88,14.82,14.92
$STATE,5604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5604,begin apogee
$PING,992.2,17.6,9000.0,-0.03,0.88
$GC,5607,-0.23,0.0,2385,2192,3437,3214,990.3,-10.3,454,6125,0.88,0.00,509.25,1.268,10246,0.237,0.000,2622,2192,2714,2769,2659,0,0,0,0,1,0,14.66,13.64,12.49
$STATE,6127,end apogee,CONTROL_FINISHED_OK
$STATE,6127,begin climb
$PING,983.8,14.5,9000.0,-0.04,0.99
$PING,975.6,14.9,9000.0,0.16,0.65
$PING,967.2,14.0,9000.0,0.03,0.28
$PING,958.4,20.2,9000.0,-0.31,0.65
$GC,6128,0.94,146.0,2622,2192,2773,2659,1003.6,0.0,471,6582,1.27,3.05,441.40,1.473,10500,0.134,0.143,2995,3621,2115,2150,2081,0,0,0,0,0,0,13.59,13.54,12.99
$GC,6721,0.94,146.0,2996,3622,2137,2064,934.7,15.8,589,6728,0.00,2.72,0.00,0.000,1030,0.000,0.099,3006,2209,2102,2141,2063,0,0,0,0,0,0,14.14,14.07,14.17
$GC,7092,0.94,146.0,3006,2208,2139,2060,880.5,14.6,603,7098,0.00,2.70,0.00,0.000,516,0.000,0.130,3017,776,2096,2133,2059,0,0,0,0,0,0,14.72,14.49,14.76
$GC,7132,0.94,146.0,3017,777,2132,2060,874.5,15.0,611,7138,0.00,2.70,0.00,0.000,1030,0.000,0.116,3017,2225,2095,2132,2059,0,0,0,0,0,0,14.65,14.52,14.68
$GC,7512,0.94,146.0,3017,2224,2133,2057,816.8,15.0,627,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2224,2094,2131,2057,0,0,0,0,0,0,14.90,14.93,14.93
$GC,7873,0.94,146.0,3017,2225,2132,2058,762.9,15.1,639,7878,0.00,2.67,0.00,0.000,516,0.000,0.129,3027,783,2093,2131,2056,0,0,0,0,0,0,14.98,14.72,15.01
$GC,7922,0.94,146.0,3027,784,2131,2058,755.1,15.3,649,7931,0.00,2.65,0.00,0.000,1030,0.000,0.115,3028,2207,2092,2130,2054,0,0,0,0,0,0,14.81,14.73,14.85
$GC,8297,0.94,146.0,3028,2207,2130,2056,697.2,15.6,663,8298,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2207,2093,2130,2056,0,0,0,0,0,0,15.03,15.06,15.06
$GC,8596,0.94,146.0,3028,2207,2131,2055,650.9,15.5,693,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2207,2092,2130,2055,0,0,0,0,0,0,15.04,15.07,15.07
$GC,8896,0.94,146.0,3028,2208,2130,2055,604.8,15.3,723,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2207,2091,2129,2054,0,0,0,0,0,0,15.05,15.09,15.08
$GC,9196,0.94,146.0,3027,2207,2130,2054,559.7,15.3,753,9202,0.00,2.62,0.00,0.000,516,0.000,0.127,3038,782,2091,2129,2053,0,0,0,0,0,0,15.07,14.79,15.09
$GC,9230,0.94,146.0,3038,781,2130,2054,554.3,15.5,760,9238,0.12,2.62,0.00,0.000,5126,0.234,0.113,3002,2207,2091,2129,2053,0,0,0,0,0,0,14.70,14.78,14.85
$GC,9535,0.94,146.0,3003,2207,2130,2053,513.5,13.1,791,9541,0.00,2.67,0.00,0.000,260,0.000,0.145,3003,3633,2090,2128,2052,0,0,0,0,0,0,15.09,14.78,15.12
$GC,9586,0.94,146.0,3003,3633,2129,2054,506.3,14.5,801,9592,0.00,2.58,0.00,0.000,1030,0.000,0.102,3013,2193,2091,2129,2053,0,0,0,0,0,0,14.95,14.83,14.98
$GC,9896,0.94,146.0,3013,2192,2129,2052,465.4,13.0,833,9902,0.00,2.62,0.00,0.000,516,0.000,0.132,3023,788,2090,2128,2052,0,0,0,0,0,0,15.10,14.78,15.12
$GC,9941,0.94,146.0,3023,789,2129,2053,459.4,13.3,842,9949,0.00,2.62,0.00,0.000,1030,0.000,0.116,3023,2205,2090,2128,2052,0,0,0,0,0,0,14.87,14.78,14.91
$GC,10246,0.94,146.0,3023,2205,2128,2053,417.7,13.3,873,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2205,2090,2128,2052,0,0,0,0,0,0,15.09,15.12,15.12
$PING,400.6,58.9,9000.0,-0.07,0.99
$PING,392.6,50.7,9000.0,-0.06,0.96
$PING,383.3,40.7,40.8,1.05,1.00
$GC,10546,0.94,146.0,3023,2205,2129,2052,378.0,13.1,903,10552,0.00,2.70,0.00,0.000,260,0.000,0.146,3023,3640,2089,2127,2052,0,0,0,0,0,0,15.11,14.77,15.12
$PING,375.2,32.4,32.3,1.06,1.00
$GC,10576,0.94,146.0,3023,3640,2129,2052,373.7,14.9,909,10582,0.10,2.62,0.00,0.000,5126,0.237,0.103,3006,2200,2090,2128,2052,0,0,0,0,0,0,14.70,14.81,14.84
$PING,366.0,23.4,23.3,1.00,1.00
$PING,357.4,15.0,15.0,0.98,1.00
$STATE,10776,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10776,begin subsurface finish
$FINISH1,348.8,1.027426,4
$GC,10779,0.00,3.7,3006,2197,2129,2051,348.8,12.1,930,10791,1.05,2.65,-2.20,0.051,20996,0.213,0.154,2710,790,2716,2828,2605,0,0,0,0,0,0,14.71,13.57,14.83
$FINISH2,347.6
$STATE,10792,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10792,begin surface
$RAFOS_CLK,388
$RAFOS,2,1518156786,6.233333,6.218333,57,55,55,53,53,51,195,162,216,136,172,146
$RAFOS,1,1518156423,6.133333,6.117500,61,58,57,56,55,53,199,178,119,146,134,217
$RAFOS,0,1518156063,6.032778,6.017500,68,63,62,61,58,55,214,173,193,229,137,120
$RAFOS_FIX,-7421.615234,-11237.166016,090218,070714,0,1,0.13
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.040446,0.291361
$HUMID,47.44
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.70
$XPDR_PINGS,2
$ALTIM_TOP_PING,357.4,15.0
$24V_AH,12.49,54.386
$10V_AH,12.44,0.000
$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,4.575,80.825,950.650,0.000,0.000,0.000,0.000,0.000,37.000,0.000,0.000,0.000,7943.862,932.116,1915.286,81.312,0.000,1693.251,0.000,1334.277,720.000,258.399,0.000
$DEVICE_MAMPS,268.515,1439.730,1472.625,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10808.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.945,0.000,0.000,0.000
$MEM,280100
$DATA_FILE_SIZE,33363,932
$CAP_FILE_SIZE,110068,0
$CFSIZE,1024409600,1006190592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1458.3
$GPS,090218,072514,-7421.615,-11237.166,0,1001.0,0,53.5,0.0,0.0,0,0.0