version: 66.13
glider: 222
mission: 8
dive: 161
start: 2 14 118 12 28 41
data:
$ID,222
$MISSION,8
$DIVE,161
$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,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,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,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
$GPS1,140218,121600,-7433.6499,-11236.0420,0,4128.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,386.84
$_SM_ANGLEo,1.8
$GPS2,140218,121600,-7433.6499,-11236.0420,0,4128.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,312.3,42158,-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,-146.0,2710,2503,2833,2608,0.0,0.0,0,11,0.00,0.00,-1.92,0.049,16390,0.000,0.000,2709,2502,3324,3464,3184,0,0,0,0,0,0,15.07,13.37,15.06
$GC,13,-0.88,-146.0,2709,2503,3463,3188,0.0,0.0,0,19,0.90,2.38,0.00,0.000,4356,0.110,0.151,2410,3757,3324,3457,3192,0,0,0,0,0,0,14.75,14.67,14.84
$GC,68,-0.88,-146.0,2410,3758,3449,3202,391.5,-9.2,11,75,0.00,2.30,0.00,0.000,1030,0.000,0.099,2410,2491,3324,3448,3201,0,0,0,0,0,0,14.82,14.73,14.88
$PING,393.8,12.7,9000.0,0.00,0.00
$PING,400.2,19.2,9000.0,0.00,0.00
$PING,413.1,33.4,33.4,1.08,1.00
$GC,373,-0.88,-146.0,2411,2491,3445,3204,424.0,-10.8,42,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2491,3324,3445,3204,0,0,0,0,0,0,15.10,15.13,15.14
$GC,673,-0.88,-146.0,2411,2491,3444,3205,456.5,-10.7,72,679,0.00,2.47,0.00,0.000,260,0.000,0.155,2400,3757,3324,3443,3205,0,0,0,0,0,0,15.11,14.66,15.14
$GC,723,-0.88,-146.0,2401,3757,3438,3208,462.2,-11.4,82,729,0.00,2.30,0.00,0.000,1030,0.000,0.099,2401,2491,3324,3440,3208,0,0,0,0,0,0,14.79,14.71,14.83
$GC,1033,-0.88,-146.0,2402,2499,3440,3209,496.1,-10.7,114,1039,0.00,2.45,0.00,0.000,260,0.000,0.154,2391,3747,3323,3439,3208,0,0,0,0,0,0,15.11,14.66,15.14
$GC,1068,-0.88,-146.0,2392,3748,3439,3209,500.3,-11.6,121,1076,0.00,2.28,0.00,0.000,1030,0.000,0.098,2392,2490,3323,3438,3209,0,0,0,0,0,0,14.85,14.76,14.88
$GC,1373,-0.88,-146.0,2392,2491,3438,3210,534.1,-11.2,152,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2490,3323,3437,3209,0,0,0,0,0,0,15.11,15.14,15.13
$GC,1673,-0.88,-146.0,2392,2491,3438,3209,567.2,-11.2,182,1679,0.00,2.45,0.00,0.000,260,0.000,0.153,2383,3751,3323,3437,3209,0,0,0,0,0,0,15.11,14.65,15.14
$GC,1743,-0.88,-146.0,2383,3752,3437,3210,575.5,-11.9,196,1750,0.10,2.30,0.00,0.000,3078,0.255,0.099,2410,2488,3322,3436,3209,0,0,0,0,0,0,14.51,14.71,14.67
$GC,2055,-0.88,-146.0,2411,2489,3437,3210,607.4,-10.1,228,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2488,3322,3436,3209,0,0,0,0,0,0,15.06,15.09,15.08
$GC,2354,-0.88,-146.0,2410,2490,3437,3211,637.2,-10.0,258,2360,0.00,2.45,0.00,0.000,260,0.000,0.155,2401,3747,3323,3436,3210,0,0,0,0,0,0,15.09,14.63,15.11
$GC,2404,-0.88,-146.0,2402,3748,3436,3210,642.5,-10.9,268,2410,0.00,2.28,0.00,0.000,1030,0.000,0.098,2401,2497,3322,3435,3209,0,0,0,0,0,0,14.82,14.73,14.85
$GC,2714,-0.88,-146.0,2401,2498,3436,3211,675.1,-10.4,300,2720,0.00,2.45,0.00,0.000,260,0.000,0.155,2393,3752,3322,3435,3209,0,0,0,0,0,0,15.09,14.62,15.12
$GC,2749,-0.88,-146.0,2393,3752,3436,3205,679.0,-11.5,307,2756,0.00,2.25,0.00,0.000,1030,0.000,0.099,2393,2492,3322,3435,3210,0,0,0,0,0,0,14.90,14.77,14.93
$GC,3074,-0.88,-146.0,2393,2491,3436,3211,713.5,-10.4,332,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2492,3322,3435,3209,0,0,0,0,0,0,15.10,15.14,15.13
$GC,3434,-0.88,-146.0,2393,2492,3436,3209,752.4,-10.9,344,3440,0.00,2.40,0.00,0.000,260,0.000,0.153,2384,3749,3322,3435,3209,0,0,0,0,0,0,15.11,14.67,15.14
$GC,3504,-0.88,-146.0,2385,3750,3436,3209,760.7,-11.0,358,3510,0.10,2.28,0.00,0.000,3078,0.258,0.098,2411,2497,3322,3435,3210,0,0,0,0,0,0,14.53,14.76,14.71
$GC,3884,-0.88,-146.0,2411,2497,3436,3210,797.8,-9.4,374,3890,0.00,2.45,0.00,0.000,260,0.000,0.155,2403,3751,3322,3435,3210,0,0,0,0,0,0,15.11,14.64,15.14
$GC,3934,-0.88,-146.0,2403,3752,3435,3211,803.0,-10.0,384,3940,0.00,2.30,0.00,0.000,1030,0.000,0.098,2403,2484,3322,3435,3210,0,0,0,0,0,0,14.83,14.75,14.88
$GC,4305,-0.88,-146.0,2403,2489,3435,3210,839.6,-9.7,398,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2488,3322,3435,3210,0,0,0,0,0,0,15.11,15.14,15.14
$GC,4664,-0.88,-146.0,2403,2488,3435,3210,874.0,-9.5,410,4673,0.00,2.45,0.00,0.000,260,0.000,0.154,2394,3746,3322,3434,3210,0,0,0,0,0,0,15.13,14.64,15.15
$GC,4707,-0.88,-146.0,2394,3747,3435,3211,878.4,-10.2,418,4713,0.00,2.25,0.00,0.000,1030,0.000,0.096,2394,2499,3322,3434,3210,0,0,0,0,0,0,14.83,14.76,14.88
$GC,5088,-0.88,-146.0,2394,2500,3435,3211,914.9,-9.6,434,5089,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2499,3322,3434,3210,0,0,0,0,0,0,15.12,15.15,15.15
$GC,5447,-0.88,-146.0,2394,2499,3436,3210,950.2,-9.9,446,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2499,3322,3434,3210,0,0,0,0,0,0,15.14,15.16,15.16
$GC,5807,-0.88,-146.0,2394,2500,3436,3211,985.5,-9.7,458,5816,0.00,2.42,0.00,0.000,260,0.000,0.155,2386,3746,3322,3435,3210,0,0,0,0,0,0,15.14,14.64,15.16
$GC,5835,-0.88,-146.0,2386,3746,3435,3211,988.4,-10.2,463,5843,0.10,2.25,0.00,0.000,3078,0.262,0.096,2412,2500,3322,3434,3210,0,0,0,0,0,0,14.52,14.76,14.71
$STATE,5869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5869,begin apogee
$GC,5873,-0.23,0.0,2413,2187,3435,3211,991.7,-9.6,465,6327,0.77,0.03,445.42,1.330,10246,0.226,0.353,2623,2196,2713,2769,2658,0,0,0,0,1,0,14.59,13.43,12.38
$STATE,6329,end apogee,CONTROL_FINISHED_OK
$STATE,6329,begin climb
$PING,991.7,30.1,9000.0,0.01,0.10
$PING,985.1,27.5,9000.0,-0.01,0.80
$PING,978.8,19.3,20.3,0.84,0.91
$PING,972.7,23.0,9000.0,0.37,0.31
$PING,966.7,20.2,9000.0,-0.08,0.06
$GC,6330,0.88,146.0,2624,2197,2774,2658,1004.1,0.0,480,6741,1.25,0.00,402.35,1.401,11010,0.135,0.000,2984,2196,2211,2245,2178,0,0,0,0,0,0,13.52,28.83,13.59
$STATE,6741,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,6741,begin subsurface finish
$FINISH1,965.2,1.027719,-11
$GC,6746,-0.01,-11.1,2985,2196,2240,2174,965.2,13.9,561,6753,1.10,2.90,-1.20,0.091,20996,0.222,0.143,2712,783,2786,2890,2683,0,0,0,0,0,0,13.57,12.88,13.68
$FINISH2,963.4
$STATE,6754,end subsurface finish,CONTROL_FINISHED_OK
$STATE,6754,begin surface
$RAFOS_CLK,250
$RAFOS_FIX,-7433.330566,-11236.165039,140218,141447,0,1,0.08
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.047936,0.3745
$HUMID,42.83
$INTERNAL_PRESSURE,7.71672
$TCM_TEMP,14.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,978.8,20.3
$24V_AH,12.38,70.538
$10V_AH,12.37,0.000
$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,4.325,53.875,847.775,0.000,0.000,0.000,0.000,0.000,23.000,0.000,0.000,0.000,4783.705,805.654,1180.863,69.165,0.000,1306.829,0.000,808.946,0.000,161.958,0.000
$DEVICE_MAMPS,262.395,352.665,1400.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6772.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.512,0.000,0.000,0.000
$MEM,280004
$DATA_FILE_SIZE,20071,562
$CAP_FILE_SIZE,70181,0
$CFSIZE,1024409600,1001422848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1459.5
$GPS,140218,142047,-7433.331,-11236.165,0,1001.0,0,53.5,0.0,0.0,0,0.0