version: 66.13
glider: 222
mission: 8
dive: 118
start: 2 9 118 7 27 25
data:
$ID,222
$MISSION,8
$DIVE,118
$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
$GPS1,090218,072514,-7421.6152,-11237.1660,0,1001.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,347.52
$_SM_ANGLEo,2.2
$GPS2,090218,072514,-7421.6152,-11237.1660,0,1001.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,320.2,20233,-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,-146.0,2711,2511,2826,2607,0.0,0.0,0,11,0.00,0.00,-2.05,0.046,16390,0.000,0.000,2710,2510,3325,3464,3187,0,0,0,0,0,0,15.07,13.57,15.07
$GC,13,-0.94,-146.0,2711,2511,3465,3191,0.0,0.0,0,15,0.98,0.00,0.00,0.000,4102,0.109,0.000,2392,2510,3327,3462,3192,0,0,0,0,0,0,14.83,14.97,14.95
$PING,347.9,8.1,9000.0,0.00,0.00
$GC,310,-0.94,-146.0,2392,2512,3446,3207,381.4,-12.3,30,315,0.00,2.35,0.00,0.000,260,0.000,0.151,2383,3756,3325,3445,3206,0,0,0,0,0,0,15.06,14.76,15.09
$GC,394,-0.94,-146.0,2383,3756,3444,3209,392.6,-13.2,47,401,0.00,2.28,0.00,0.000,1030,0.000,0.099,2383,2494,3326,3443,3209,0,0,0,0,0,0,14.88,14.81,14.92
$GC,699,-0.94,-146.0,2383,2494,3443,3209,431.1,-12.7,78,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2494,3326,3443,3209,0,0,0,0,0,0,15.09,15.12,15.12
$GC,1000,-0.94,-146.0,2383,2495,3441,3210,468.7,-12.1,108,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2494,3325,3442,3209,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1299,-0.94,-146.0,2383,2494,3442,3209,505.1,-11.8,138,1305,0.00,2.42,0.00,0.000,260,0.000,0.152,2374,3753,3324,3440,3209,0,0,0,0,0,0,15.10,14.73,15.12
$GC,1334,-0.94,-146.0,2374,3753,3439,3212,509.6,-13.1,145,1342,0.00,2.28,0.00,0.000,1030,0.000,0.099,2374,2496,3324,3438,3211,0,0,0,0,0,0,14.88,14.81,14.92
$GC,1639,-0.94,-146.0,2375,2495,3439,3211,547.0,-12.0,176,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2495,3324,3437,3211,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1939,-0.94,-146.0,2374,2496,3438,3212,583.4,-12.3,206,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2495,3324,3437,3211,0,0,0,0,0,0,15.10,15.14,15.13
$GC,2239,-0.94,-146.0,2374,2496,3438,3212,620.2,-12.3,236,2245,0.00,2.42,0.00,0.000,260,0.000,0.152,2365,3757,3324,3437,3211,0,0,0,0,0,0,15.13,14.73,15.13
$GC,2279,-0.94,-146.0,2365,3757,3437,3213,625.4,-13.2,244,2285,0.10,2.28,0.00,0.000,3078,0.259,0.099,2391,2496,3324,3436,3212,0,0,0,0,0,0,14.66,14.81,14.81
$GC,2589,-0.94,-146.0,2392,2496,3437,3212,660.0,-11.0,276,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2496,3324,3436,3212,0,0,0,0,0,0,15.10,15.13,15.12
$GC,2889,-0.94,-146.0,2391,2496,3437,3212,692.5,-11.0,306,2895,0.00,2.42,0.00,0.000,260,0.000,0.152,2383,3753,3324,3436,3212,0,0,0,0,0,0,15.10,14.73,15.13
$GC,2934,-0.94,-146.0,2383,3753,3437,3212,697.9,-12.3,315,2942,0.00,2.28,0.00,0.000,1030,0.000,0.099,2383,2494,3324,3436,3212,0,0,0,0,0,0,14.88,14.81,14.91
$GC,3260,-0.94,-146.0,2383,2493,3437,3213,734.6,-11.1,328,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2493,3324,3436,3212,0,0,0,0,0,0,15.11,15.14,15.13
$GC,3620,-0.94,-146.0,2383,2494,3437,3213,774.7,-11.2,340,3625,0.00,2.42,0.00,0.000,260,0.000,0.151,2374,3757,3323,3435,3212,0,0,0,0,0,0,15.11,14.73,15.14
$GC,3664,-0.94,-146.0,2375,3757,3437,3212,780.2,-12.1,349,3671,0.00,2.28,0.00,0.000,1030,0.000,0.099,2375,2498,3324,3435,3213,0,0,0,0,0,0,14.88,14.81,14.92
$GC,4041,-0.94,-146.0,2374,2498,3436,3213,823.6,-11.6,364,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2498,3324,3436,3213,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4400,-0.94,-146.0,2376,2498,3436,3213,864.0,-11.2,376,4406,0.00,2.42,0.00,0.000,260,0.000,0.152,2365,3756,3324,3436,3213,0,0,0,0,0,0,15.12,14.73,15.14
$GC,4445,-0.94,-146.0,2365,3756,3436,3213,869.2,-12.4,385,4452,0.10,2.30,0.00,0.000,3078,0.262,0.099,2391,2485,3324,3435,3213,0,0,0,0,0,0,14.64,14.80,14.80
$GC,4822,-0.94,-146.0,2391,2486,3436,3214,908.6,-10.3,400,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2485,3324,3435,3213,0,0,0,0,0,0,15.12,15.15,15.14
$GC,5181,-0.94,-146.0,2391,2486,3436,3214,946.4,-10.4,412,5187,0.00,2.42,0.00,0.000,260,0.000,0.151,2383,3747,3321,3435,3208,0,0,0,0,0,0,15.13,14.73,15.16
$GC,5216,-0.94,-146.0,2383,3748,3436,3214,950.0,-11.1,419,5222,0.00,2.25,0.00,0.000,1030,0.000,0.096,2383,2497,3324,3435,3213,0,0,0,0,0,0,14.90,14.83,14.94
$PING,959.3,41.7,9000.0,0.00,0.00
$PING,968.4,29.5,9000.0,0.04,0.86
$PING,978.0,18.6,18.3,-1.23,1.00
$PING,987.3,12.1,11.4,-0.92,0.98
$STATE,5600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5600,begin apogee
$PING,992.4,20.7,9000.0,0.04,0.00
$GC,5603,-0.23,0.0,2384,2183,3436,3214,990.7,-10.5,436,6174,0.90,0.03,562.22,1.228,10246,0.236,0.201,2627,2195,2713,2769,2658,0,0,0,0,0,0,14.67,13.55,13.12
$STATE,6175,end apogee,CONTROL_FINISHED_OK
$STATE,6175,begin climb
$PING,984.0,12.7,9000.0,1.00,0.79
$PING,975.8,14.7,9000.0,0.36,0.52
$PING,967.7,18.2,9000.0,-0.34,0.97
$PING,958.9,16.8,9000.0,-0.12,0.32
$PING,950.7,21.3,9000.0,-0.18,0.43
$GC,6177,0.94,146.0,2628,2196,2768,2657,992.4,0.0,455,6623,1.27,2.97,433.83,1.435,10500,0.126,0.143,3001,3623,2115,2150,2081,0,0,0,0,0,0,13.70,13.58,13.07
$GC,6647,0.94,146.0,3001,3624,2146,2078,940.9,15.9,528,6653,0.00,2.80,0.00,0.000,1030,0.000,0.098,3009,2204,2110,2145,2076,0,0,0,0,0,0,13.83,13.76,13.85
$GC,7022,0.94,146.0,3012,2203,2142,2068,884.4,15.0,543,7028,0.00,2.75,0.00,0.000,516,0.000,0.129,3022,776,2104,2141,2067,0,0,0,0,0,0,14.68,14.40,14.71
$GC,7077,0.94,146.0,3023,776,2140,2067,875.7,15.2,554,7085,0.00,2.72,0.00,0.000,1030,0.000,0.115,3022,2209,2103,2139,2067,0,0,0,0,0,0,14.54,14.45,14.57
$GC,7443,0.94,146.0,3023,2210,2139,2066,819.4,15.5,567,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2209,2102,2140,2065,0,0,0,0,0,0,14.91,14.94,14.94
$GC,7803,0.94,146.0,3023,2209,2139,2064,763.4,15.3,579,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2209,2101,2138,2064,0,0,0,0,0,0,15.00,15.03,15.02
$GC,8163,0.94,146.0,3023,2209,2138,2064,709.4,15.0,591,8168,0.00,2.65,0.00,0.000,516,0.000,0.127,3033,775,2100,2137,2063,0,0,0,0,0,0,15.05,14.76,15.07
$GC,8207,0.94,146.0,3033,775,2138,2064,702.6,15.2,600,8214,0.10,2.65,0.00,0.000,5126,0.235,0.113,3005,2208,2100,2137,2063,0,0,0,0,0,0,14.67,14.75,14.81
$GC,8573,0.94,146.0,3006,2208,2138,2063,651.2,14.3,636,8579,0.00,2.67,0.00,0.000,260,0.000,0.144,3005,3610,2100,2137,2063,0,0,0,0,0,0,15.07,14.74,15.09
$GC,8608,0.94,146.0,3005,3611,2137,2064,645.8,15.8,643,8615,0.00,2.55,0.00,0.000,1030,0.000,0.101,3015,2187,2100,2137,2063,0,0,0,0,0,0,14.92,14.81,14.95
$GC,8913,0.94,146.0,3015,2186,2137,2064,601.6,14.1,674,8919,0.00,2.62,0.00,0.000,516,0.000,0.131,3025,783,2099,2136,2062,0,0,0,0,0,0,15.08,14.76,15.10
$GC,8947,0.94,146.0,3025,784,2137,2063,596.5,14.6,681,8956,0.00,2.62,0.00,0.000,1030,0.000,0.116,3025,2200,2099,2136,2062,0,0,0,0,0,0,14.86,14.77,14.90
$GC,9253,0.94,146.0,3025,2201,2137,2063,551.1,14.9,712,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,2099,2136,2062,0,0,0,0,0,0,15.09,15.11,15.11
$GC,9553,0.94,146.0,3026,2200,2137,2063,507.9,14.2,742,9559,0.00,2.65,0.00,0.000,260,0.000,0.145,3025,3614,2099,2136,2062,0,0,0,0,0,0,15.09,14.78,15.11
$GC,9573,0.94,146.0,3025,3615,2137,2063,504.9,15.2,746,9579,0.15,2.58,0.00,0.000,5126,0.264,0.103,3002,2176,2099,2136,2062,0,0,0,0,0,0,14.71,14.82,14.93
$GC,9883,0.94,146.0,3003,2174,2137,2062,464.0,13.1,778,9889,0.00,2.62,0.00,0.000,516,0.000,0.132,3012,780,2098,2136,2061,0,0,0,0,0,0,15.09,14.76,15.12
$GC,9908,0.94,146.0,3012,780,2137,2061,460.6,13.2,783,9915,0.00,2.65,0.00,0.000,1030,0.000,0.117,3012,2206,2099,2136,2062,0,0,0,0,0,0,14.86,14.78,14.91
$PING,419.8,70.0,9000.0,-0.10,1.00
$GC,10214,0.94,146.0,3012,2207,2137,2061,419.8,13.2,814,10219,0.00,2.67,0.00,0.000,260,0.000,0.148,3012,3624,2098,2136,2061,0,0,0,0,0,0,15.06,14.77,15.09
$GC,10253,0.94,146.0,3012,3625,2136,2062,414.0,14.8,822,10259,0.00,2.62,0.00,0.000,1030,0.000,0.104,3023,2190,2098,2135,2061,0,0,0,0,0,0,14.87,14.80,14.92
$PING,411.2,61.1,9000.0,-0.08,0.97
$PING,403.1,53.3,53.2,1.00,1.00
$PING,395.0,45.2,45.3,0.98,1.00
$PING,385.8,35.3,35.4,1.04,1.00
$PING,376.5,24.0,24.2,1.15,1.00
$GC,10563,0.94,146.0,3023,2189,2136,2062,372.5,13.2,854,10569,0.00,2.60,0.00,0.000,516,0.000,0.132,3033,782,2097,2134,2061,0,0,0,0,0,0,15.09,14.77,15.12
$PING,367.8,11.2,9000.0,1.34,1.00
$GC,10608,0.94,146.0,3033,782,2136,2061,366.4,13.8,863,10615,0.10,2.65,0.00,0.000,5126,0.236,0.117,3005,2209,2098,2135,2061,0,0,0,0,0,0,14.68,14.77,14.82
$STATE,10672,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10672,begin subsurface finish
$FINISH1,358.2,1.027438,3
$GC,10675,0.00,3.1,3006,2210,2136,2061,358.2,12.3,870,10686,1.02,2.72,-2.15,0.053,20740,0.209,0.171,2707,3619,2719,2829,2609,0,0,0,0,0,0,14.69,13.57,14.83
$FINISH2,357.2
$STATE,10687,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10687,begin surface
$RAFOS_CLK,386
$RAFOS,2,1518167584,9.233334,9.217778,67,66,60,53,52,49,207,191,220,122,177,1241
$RAFOS,1,1518167237,9.133333,9.121388,66,60,59,55,52,51,212,127,160,194,151,225
$RAFOS,0,1518166879,9.032778,9.021944,57,57,55,53,47,45,108,183,213,151,163,72
$RAFOS_FIX,-7420.320801,-11237.757812,090218,101014,0,1,0.22
$IRIDIUM_FIX,-7411.98,-11233.55,070218,071146
$TT8_MAMPS,0.041944,0.211967
$HUMID,47.67
$INTERNAL_PRESSURE,7.63859
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,376.5,24.2
$ALTIM_BOTTOM_PING,987.3,11.4
$24V_AH,13.07,54.814
$10V_AH,12.99,0.000
$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,4.725,87.450,996.050,0.000,0.000,0.000,0.000,0.000,36.250,0.000,0.000,0.000,7851.167,1019.907,1817.614,80.080,0.000,1727.753,0.000,1249.613,720.000,255.806,0.000
$DEVICE_MAMPS,263.925,201.195,1435.140,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10681.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.009,0.000,0.000,0.000
$MEM,280128
$DATA_FILE_SIZE,29983,872
$CAP_FILE_SIZE,108449,0
$CFSIZE,1024409600,1006092288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.0
$GPS,090218,102514,-7420.321,-11237.758,0,1001.0,0,53.5,0.0,0.0,0,0.0