version: 66.13
glider: 222
mission: 8
dive: 140
start: 2 11 118 21 14 29
data:
$ID,222
$MISSION,8
$DIVE,140
$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,400
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$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,3
$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,11
$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,200
$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,6
$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
$GPS1,110218,181424,-7411.5557,-11228.0693,0,4113.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,397.56
$_SM_ANGLEo,4.0
$GPS2,110218,181424,-7411.5557,-11228.0693,0,4113.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11228.500
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,129.0,4995,-15.4,-9.429,-23.69,2278
$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,-0.88,-146.0,2706,2489,2844,2619,0.0,0.0,0,11,0.00,0.00,-1.88,0.050,16390,0.000,0.000,2706,2488,3329,3461,3197,0,0,0,0,0,0,15.07,13.44,15.04
$GC,12,-0.88,-146.0,2706,2488,3459,3201,0.0,0.0,0,19,0.88,2.53,0.00,0.000,4612,0.118,0.121,2418,1084,3329,3454,3205,0,0,0,0,0,0,14.76,14.72,14.85
$GC,83,-0.88,-146.0,2417,1085,3446,3214,403.6,-9.2,14,89,0.00,2.70,0.00,0.000,1030,0.000,0.129,2411,2504,3329,3446,3213,0,0,0,0,0,0,14.92,14.69,14.95
$GC,394,-0.88,-146.0,2410,2504,3442,3218,437.1,-10.9,46,399,0.00,2.38,0.00,0.000,260,0.000,0.153,2401,3754,3328,3441,3216,0,0,0,0,0,0,15.05,14.71,15.08
$GC,427,-0.88,-146.0,2401,3755,3439,3219,441.2,-12.0,53,436,0.00,2.30,0.00,0.000,1030,0.000,0.103,2401,2490,3328,3438,3218,0,0,0,0,0,0,14.82,14.75,14.86
$GC,733,-0.88,-146.0,2401,2490,3439,3218,475.3,-11.1,84,739,0.00,2.47,0.00,0.000,260,0.000,0.156,2391,3757,3328,3438,3218,0,0,0,0,0,0,15.10,14.68,15.12
$GC,763,-0.88,-146.0,2392,3758,3437,3221,478.9,-12.4,90,769,0.00,2.30,0.00,0.000,1030,0.000,0.103,2392,2494,3328,3436,3220,0,0,0,0,0,0,14.82,14.74,14.87
$GC,1073,-0.88,-146.0,2392,2495,3437,3221,515.0,-11.7,122,1079,0.00,2.45,0.00,0.000,260,0.000,0.155,2382,3756,3328,3436,3220,0,0,0,0,0,0,15.09,14.67,15.12
$GC,1118,-0.88,-146.0,2384,3756,3436,3221,520.5,-12.4,131,1125,0.10,2.30,0.00,0.000,3078,0.257,0.103,2411,2492,3327,3435,3220,0,0,0,0,0,0,14.56,14.74,14.73
$GC,1423,-0.88,-146.0,2411,2493,3436,3222,552.2,-10.3,162,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2492,3328,3435,3221,0,0,0,0,0,0,15.10,15.13,15.13
$GC,1723,-0.88,-146.0,2411,2492,3436,3221,583.8,-10.6,192,1729,0.00,2.45,0.00,0.000,260,0.000,0.155,2401,3751,3327,3434,3221,0,0,0,0,0,0,15.11,14.67,15.13
$GC,1768,-0.88,-146.0,2402,3753,3435,3222,588.8,-11.3,201,1776,0.00,2.28,0.00,0.000,1030,0.000,0.103,2402,2498,3331,3434,3229,0,0,0,0,0,0,14.82,14.74,14.86
$GC,2073,-0.88,-146.0,2399,2499,3435,3222,621.4,-10.7,232,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2498,3327,3434,3221,0,0,0,0,0,0,15.11,15.14,15.13
$GC,2373,-0.88,-146.0,2402,2498,3435,3221,652.9,-10.4,262,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2498,3327,3434,3221,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2673,-0.88,-146.0,2402,2499,3434,3222,684.5,-10.5,292,2679,0.00,2.45,0.00,0.000,260,0.000,0.156,2393,3758,3327,3434,3221,0,0,0,0,0,0,15.11,14.67,15.14
$GC,2728,-0.88,-146.0,2394,3758,3435,3221,690.6,-11.3,303,2735,0.00,2.28,0.00,0.000,1030,0.000,0.101,2393,2503,3327,3433,3221,0,0,0,0,0,0,14.83,14.76,14.88
$GC,3034,-0.88,-146.0,2393,2504,3435,3221,723.4,-10.7,320,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2503,3327,3433,3221,0,0,0,0,0,0,15.07,15.10,15.09
$GC,3395,-0.88,-146.0,2393,2503,3434,3221,761.0,-10.3,332,3400,0.00,2.40,0.00,0.000,260,0.000,0.156,2385,3763,3327,3434,3221,0,0,0,0,0,0,15.08,14.71,15.11
$GC,3438,-0.88,-146.0,2385,3763,3434,3222,766.1,-11.4,341,3446,0.10,2.30,0.00,0.000,3078,0.257,0.100,2412,2493,3327,3433,3221,0,0,0,0,0,0,14.59,14.78,14.76
$GC,3815,-0.88,-146.0,2412,2494,3434,3221,802.5,-9.7,356,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2493,3327,3433,3221,0,0,0,0,0,0,15.13,15.16,15.16
$GC,4175,-0.88,-146.0,2413,2494,3434,3221,838.0,-9.8,368,4181,0.00,2.45,0.00,0.000,260,0.000,0.156,2403,3756,3327,3433,3221,0,0,0,0,0,0,15.14,14.66,15.16
$GC,4214,-0.88,-146.0,2404,3756,3433,3221,842.1,-10.5,376,4221,0.00,2.30,0.00,0.000,1030,0.000,0.102,2404,2487,3327,3433,3221,0,0,0,0,0,0,14.86,14.78,14.90
$GC,4595,-0.88,-146.0,2404,2488,3434,3222,879.8,-9.7,392,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2487,3327,3433,3221,0,0,0,0,0,0,15.13,15.16,15.15
$GC,4955,-0.88,-146.0,2404,2487,3434,3222,913.8,-9.4,404,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2487,3327,3433,3221,0,0,0,0,0,0,15.14,15.17,15.16
$GC,5315,-0.88,-146.0,2404,2487,3434,3221,947.9,-9.5,416,5320,0.00,2.45,0.00,0.000,260,0.000,0.155,2395,3754,3327,3433,3221,0,0,0,0,0,0,15.14,14.68,15.17
$GC,5345,-0.88,-146.0,2396,3754,3434,3221,950.9,-7.5,422,5352,0.00,2.28,0.00,0.000,1030,0.000,0.099,2395,2496,3326,3432,3221,0,0,0,0,0,0,14.86,14.78,14.91
$PING,959.8,72.1,9000.0,0.00,0.00
$GC,5736,-0.88,-146.0,2395,2496,3434,3222,988.7,-9.5,440,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2496,3327,3433,3221,0,0,0,0,0,0,15.14,15.17,15.16
$STATE,5764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5764,begin apogee
$GC,5768,-0.23,0.0,2395,2183,3434,3222,991.7,-9.4,441,6370,0.85,0.08,598.05,1.151,10246,0.226,0.223,2628,2209,2715,2773,2658,0,0,0,0,0,0,14.64,13.64,13.23
$STATE,6372,end apogee,CONTROL_FINISHED_OK
$STATE,6372,begin climb
$PING,991.8,15.3,9000.0,0.00,0.00
$PING,985.3,15.4,9000.0,-1.90,0.96
$PING,979.0,13.4,9000.0,0.15,0.72
$PING,972.9,13.8,9000.0,0.13,0.61
$PING,966.9,17.3,9000.0,-0.32,0.81
$PING,960.7,20.6,9000.0,-0.56,1.00
$PING,954.4,18.4,9000.0,-0.08,0.09
$GC,6373,0.88,146.0,2629,2209,2771,2656,1000.2,0.0,461,6840,1.17,3.00,453.48,1.335,10500,0.131,0.145,2977,3617,2115,2154,2076,0,0,0,0,0,0,13.70,13.55,13.01
$GC,6964,0.88,146.0,2978,3618,2134,2053,935.3,14.3,576,6970,0.00,2.67,0.00,0.000,1030,0.000,0.099,2988,2203,2092,2133,2052,0,0,0,0,0,0,14.15,14.05,14.18
$GC,7349,0.88,146.0,2988,2202,2132,2049,883.5,13.4,593,7355,0.00,2.67,0.00,0.000,516,0.000,0.132,2999,783,2089,2130,2048,0,0,0,0,0,0,14.77,14.47,14.80
$GC,7399,0.88,146.0,2999,783,2130,2049,876.6,13.9,603,7405,0.00,2.70,0.00,0.000,1030,0.000,0.116,2999,2209,2088,2129,2048,0,0,0,0,0,0,14.59,14.50,14.63
$GC,7770,0.88,146.0,2999,2211,2130,2047,823.9,14.2,617,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2209,2087,2129,2046,0,0,0,0,0,0,14.91,14.95,14.93
$GC,8130,0.88,146.0,2999,2210,2129,2045,773.0,13.9,629,8135,0.00,2.65,0.00,0.000,516,0.000,0.129,3009,782,2086,2128,2045,0,0,0,0,0,0,14.99,14.71,15.02
$GC,8149,0.88,146.0,3010,783,2129,2045,770.0,14.2,633,8155,0.00,2.65,0.00,0.000,1030,0.000,0.115,3009,2208,2086,2128,2045,0,0,0,0,0,0,14.80,14.71,14.85
$GC,8520,0.88,146.0,3010,2208,2129,2044,716.7,14.1,647,8526,0.00,2.65,0.00,0.000,260,0.000,0.145,3009,3616,2086,2128,2044,0,0,0,0,0,0,15.07,14.73,15.09
$GC,8540,0.88,146.0,3010,3616,2129,2044,713.8,14.5,651,8546,0.10,2.60,0.00,0.000,5126,0.243,0.102,2980,2192,2085,2126,2044,0,0,0,0,0,0,14.65,14.76,14.89
$GC,8910,0.88,146.0,2980,2192,2128,2043,667.9,12.8,681,8916,0.00,2.62,0.00,0.000,516,0.000,0.132,2989,770,2084,2127,2042,0,0,0,0,0,0,15.08,14.75,15.11
$GC,8945,0.88,146.0,2990,770,2128,2042,663.3,13.2,688,8953,0.00,2.67,0.00,0.000,1030,0.000,0.116,2990,2210,2084,2127,2042,0,0,0,0,0,0,14.84,14.74,14.89
$GC,9251,0.88,146.0,2990,2210,2128,2043,624.1,12.5,719,9256,0.00,2.65,0.00,0.000,260,0.000,0.146,2990,3617,2084,2127,2042,0,0,0,0,0,0,15.04,14.74,15.07
$GC,9285,0.88,146.0,2990,3616,2128,2042,619.3,14.0,726,9293,0.00,2.60,0.00,0.000,1030,0.000,0.103,3000,2195,2088,2127,2050,0,0,0,0,0,0,14.85,14.78,14.90
$GC,9590,0.88,146.0,3000,2195,2128,2042,578.9,13.4,757,9596,0.00,2.65,0.00,0.000,516,0.000,0.132,3011,760,2084,2127,2042,0,0,0,0,0,0,15.09,14.74,15.12
$GC,9630,0.88,146.0,3011,760,2127,2042,573.4,13.9,765,9636,0.00,2.67,0.00,0.000,1030,0.000,0.117,3011,2201,2084,2127,2042,0,0,0,0,0,0,14.84,14.75,14.90
$GC,9940,0.88,146.0,3011,2202,2127,2043,531.3,13.0,797,9946,0.00,2.67,0.00,0.000,260,0.000,0.147,3011,3619,2083,2126,2041,0,0,0,0,0,0,15.10,14.74,15.12
$GC,9970,0.88,146.0,3012,3619,2127,2042,526.9,15.0,803,9976,0.17,2.60,0.00,0.000,5126,0.255,0.104,2982,2172,2084,2126,2042,0,0,0,0,0,0,14.66,14.78,14.90
$GC,10280,0.88,146.0,2982,2169,2127,2041,489.6,11.7,835,10286,0.00,2.75,0.00,0.000,260,0.000,0.148,2982,3619,2083,2126,2041,0,0,0,0,0,0,15.11,14.73,15.13
$GC,10295,0.88,146.0,2982,3620,2127,2042,487.7,12.4,838,10304,0.00,2.60,0.00,0.000,1030,0.000,0.103,2991,2193,2083,2126,2041,0,0,0,0,0,0,14.85,14.78,14.90
$GC,10600,0.88,146.0,2992,2192,2127,2042,450.3,12.1,869,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2192,2083,2126,2041,0,0,0,0,0,0,15.10,15.13,15.13
$GC,10900,0.88,146.0,2992,2191,2127,2040,413.4,12.0,899,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2192,2083,2126,2040,0,0,0,0,0,0,15.10,15.14,15.14
$FREEZE,399.37,-1.023,-2.174,2,2,0
$STATE,11019,end climb,FINISH_DEPTH_REACHED
$STATE,11019,begin subsurface finish
$FINISH1,399.4,1.027459,2
$GC,11023,0.00,2.1,2992,2192,2127,2038,399.4,11.9,911,11032,1.02,0.00,-2.15,0.043,20486,0.204,0.000,2698,2190,2721,2837,2606,0,0,0,0,0,0,14.66,13.50,14.90
$FINISH2,398.4
$STATE,11033,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11033,begin surface
$RAFOS_CLK,394
$RAFOS,2,1518394389,0.233333,0.219167,108,60,58,56,56,55,570,140,207,218,185,197
$RAFOS,1,1518394029,0.133333,0.119167,115,65,62,58,57,53,528,192,170,127,136,159
$RAFOS,0,1518393659,0.032778,0.016389,184,67,59,58,58,56,573,214,194,180,163,223
$RAFOS_FIX,-7414.831055,-11226.824219,120218,000056,3,136,0.28
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.040446,0.286867
$HUMID,48.03
$INTERNAL_PRESSURE,7.63859
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,13.01,62.651
$10V_AH,12.49,0.000
$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,4.400,93.875,1051.525,0.000,0.000,0.000,0.000,0.000,42.250,0.000,0.000,0.000,8067.508,1049.237,1909.793,95.035,0.000,1806.719,0.000,1306.039,720.000,304.791,0.000
$DEVICE_MAMPS,257.040,223.380,1334.925,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11056.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.001,0.000,0.000,0.000
$MEM,280052
$DATA_FILE_SIZE,30026,912
$CAP_FILE_SIZE,115092,0
$CFSIZE,1024409600,1003667456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.0
$GPS,120218,001456,-7414.831,-11226.824,0,4135.7,0,53.5,0.0,0.0,0,0.0