version: 66.13
glider: 222
mission: 8
dive: 169
start: 2 15 118 10 45 49
data:
$ID,222
$MISSION,8
$DIVE,169
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,150218,091440,-7424.2998,-11225.5908,0,4112.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,364.90
$_SM_ANGLEo,1.5
$GPS2,150218,091440,-7424.2998,-11225.5908,0,4112.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,out0
$TGT_LATLONG,-7411.000,-11227.690
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,304.1,24654,-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,-146.0,2700,2504,2825,2606,0.0,0.0,0,11,0.00,0.00,-2.00,0.050,16390,0.000,0.000,2700,2503,3331,3471,3192,0,0,0,0,0,0,15.08,13.35,15.06
$GC,13,-0.88,-146.0,2700,2504,3471,3197,0.0,0.0,0,19,0.85,2.38,0.00,0.000,4356,0.109,0.154,2416,3754,3332,3464,3201,0,0,0,0,0,0,14.76,14.64,14.84
$GC,53,-0.88,-146.0,2416,3755,3458,3210,368.0,-8.9,8,59,0.00,2.30,0.00,0.000,1030,0.000,0.099,2415,2493,3333,3458,3209,0,0,0,0,0,0,14.83,14.74,14.87
$PING,371.7,13.0,9000.0,0.00,0.00
$PING,378.0,19.6,9000.0,0.00,0.00
$GC,363,-0.88,-146.0,2416,2494,3454,3215,400.3,-10.6,40,369,0.00,2.60,0.00,0.000,516,0.000,0.117,2416,1081,3334,3454,3214,0,0,0,0,0,0,15.09,14.69,15.12
$GC,408,-0.88,-146.0,2416,1082,3453,3215,405.2,-10.6,49,416,0.00,2.70,0.00,0.000,1030,0.000,0.128,2406,2504,3333,3452,3214,0,0,0,0,0,0,14.78,14.67,14.84
$GC,713,-0.88,-146.0,2407,2504,3452,3215,438.3,-10.7,80,719,0.00,2.42,0.00,0.000,260,0.000,0.153,2397,3751,3332,3451,3214,0,0,0,0,0,0,15.09,14.63,15.12
$GC,743,-0.88,-146.0,2398,3751,3450,3216,441.7,-11.3,86,750,0.00,2.28,0.00,0.000,1030,0.000,0.099,2398,2498,3333,3449,3217,0,0,0,0,0,0,14.80,14.73,14.85
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$GC,1089,-0.88,-146.0,2388,3750,3449,3218,480.2,-11.9,125,1097,0.00,2.28,0.00,0.000,1030,0.000,0.098,2387,2495,3332,3447,3217,0,0,0,0,0,0,14.83,14.75,14.87
$GC,1394,-0.88,-146.0,2388,2495,3448,3217,515.0,-11.5,156,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2495,3332,3448,3217,0,0,0,0,0,0,15.11,15.14,15.13
$GC,1694,-0.88,-146.0,2386,2496,3447,3218,548.8,-11.3,186,1701,0.00,2.45,0.00,0.000,260,0.000,0.154,2379,3753,3331,3446,3217,0,0,0,0,0,0,15.11,14.64,15.14
$GC,1765,-0.88,-146.0,2378,3753,3446,3218,557.5,-12.3,200,1771,0.12,2.28,0.00,0.000,3078,0.252,0.097,2413,2496,3331,3445,3217,0,0,0,0,0,0,14.54,14.76,14.71
$GC,2075,-0.88,-146.0,2412,2497,3441,3219,588.8,-9.9,232,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2496,3331,3445,3217,0,0,0,0,0,0,15.11,15.14,15.14
$GC,2376,-0.88,-146.0,2413,2497,3446,3219,618.7,-9.8,262,2381,0.00,2.45,0.00,0.000,260,0.000,0.155,2404,3753,3331,3445,3217,0,0,0,0,0,0,15.12,14.63,15.14
$GC,2416,-0.88,-146.0,2404,3754,3445,3219,622.9,-10.9,270,2421,0.00,2.30,0.00,0.000,1030,0.000,0.099,2399,2490,3331,3445,3218,0,0,0,0,0,0,14.82,14.74,14.87
$GC,2726,-0.88,-146.0,2404,2491,3445,3219,654.6,-10.1,302,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2490,3331,3445,3218,0,0,0,0,0,0,15.11,15.14,15.14
$GC,3025,-0.88,-146.0,2404,2491,3445,3219,684.2,-9.8,332,3032,0.00,2.45,0.00,0.000,260,0.000,0.155,2395,3744,3331,3444,3218,0,0,0,0,0,0,15.12,14.63,15.14
$GC,3066,-0.88,-146.0,2395,3745,3445,3219,688.5,-10.6,340,3072,0.00,2.28,0.00,0.000,1030,0.000,0.097,2395,2492,3331,3444,3218,0,0,0,0,0,0,14.83,14.74,14.87
$GC,3397,-0.88,-146.0,2395,2493,3446,3218,722.2,-10.2,360,3403,0.00,2.42,0.00,0.000,260,0.000,0.155,2386,3758,3331,3444,3218,0,0,0,0,0,0,15.07,14.65,15.09
$GC,3427,-0.88,-146.0,2386,3758,3445,3218,725.5,-12.4,366,3433,0.10,2.30,0.00,0.000,3078,0.268,0.097,2412,2492,3331,3444,3218,0,0,0,0,0,0,14.51,14.74,14.69
$GC,3818,-0.88,-146.0,2412,2492,3445,3218,762.6,-9.3,384,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3331,3444,3218,0,0,0,0,0,0,15.07,15.09,15.09
$GC,4178,-0.88,-146.0,2413,2493,3445,3219,796.2,-9.3,396,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3331,3444,3218,0,0,0,0,0,0,15.07,15.10,15.10
$GC,4539,-0.88,-146.0,2412,2492,3445,3218,830.8,-9.6,408,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2492,3331,3444,3218,0,0,0,0,0,0,15.09,15.12,15.11
$GC,4899,-0.88,-146.0,2412,2492,3445,3218,864.6,-9.4,420,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3331,3444,3218,0,0,0,0,0,0,15.09,15.11,15.11
$GC,5259,-0.88,-146.0,2413,2492,3445,3218,897.5,-9.0,432,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3331,3444,3218,0,0,0,0,0,0,15.09,15.12,15.11
$GC,5618,-0.88,-146.0,2412,2493,3445,3219,929.6,-8.9,444,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3331,3444,3218,0,0,0,0,0,0,15.07,15.11,15.10
$GC,5978,-0.88,-146.0,2413,2492,3445,3218,961.5,-8.9,456,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2492,3331,3444,3218,0,0,0,0,0,0,15.08,15.11,15.10
$STATE,6306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6306,begin apogee
$GC,6310,-0.23,0.0,2412,2192,3445,3218,990.7,-8.7,467,6893,0.77,0.00,580.22,1.131,10246,0.226,0.000,2623,2192,2716,2773,2659,0,0,0,0,0,0,14.57,13.76,13.22
$STATE,6894,end apogee,CONTROL_FINISHED_OK
$STATE,6894,begin climb
$PING,991.2,24.3,9000.0,0.01,0.67
$PING,985.1,20.7,9000.0,0.00,0.48
$PING,978.4,15.5,9000.0,0.68,0.99
$PING,972.1,24.5,9000.0,-0.28,0.16
$PING,965.8,17.9,9000.0,-0.19,0.06
$PING,959.1,17.8,9000.0,0.51,0.74
$GC,6896,0.88,146.0,2621,2193,2771,2659,998.5,0.0,486,7311,1.20,2.80,399.58,1.269,11012,0.123,0.123,2991,796,2116,2146,2086,0,0,0,0,0,0,13.72,13.63,13.15
$GC,7481,0.88,146.0,2991,797,2135,2076,929.9,14.1,598,7486,0.00,2.70,0.00,0.000,1030,0.000,0.111,2991,2210,2105,2134,2076,0,0,0,0,0,0,14.26,14.14,14.29
$GC,7851,0.88,146.0,2991,2210,2134,2070,878.2,14.0,612,7852,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2210,2100,2134,2067,0,0,0,0,0,0,14.83,14.85,14.85
$GC,8211,0.88,146.0,2989,2210,2134,2068,827.7,14.0,624,8216,0.00,2.65,0.00,0.000,516,0.000,0.123,3002,785,2100,2133,2068,0,0,0,0,0,0,14.97,14.64,15.00
$GC,8245,0.88,146.0,3002,786,2133,2069,822.6,14.3,631,8252,0.00,2.65,0.00,0.000,1030,0.000,0.112,3002,2205,2100,2132,2068,0,0,0,0,0,0,14.73,14.64,14.78
$GC,8632,0.88,146.0,3002,2206,2133,2068,766.9,14.4,648,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2205,2099,2132,2067,0,0,0,0,0,0,15.00,15.04,15.03
$GC,8993,0.88,146.0,3002,2205,2133,2066,715.0,14.4,660,8998,0.00,2.62,0.00,0.000,516,0.000,0.124,3012,785,2098,2132,2065,0,0,0,0,0,0,15.04,14.73,15.07
$GC,9017,0.88,146.0,3013,786,2132,2066,711.3,14.3,665,9024,0.00,2.62,0.00,0.000,1030,0.000,0.112,3012,2199,2098,2131,2066,0,0,0,0,0,0,14.82,14.73,14.87
$GC,9382,0.88,146.0,3013,2200,2132,2067,657.2,14.9,696,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,2098,2131,2066,0,0,0,0,0,0,15.11,15.14,15.14
$GC,9682,0.88,146.0,3013,2200,2132,2065,613.1,14.8,726,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2200,2098,2131,2065,0,0,0,0,0,0,15.11,15.15,15.14
$GC,9982,0.88,146.0,3012,2200,2132,2066,569.8,14.2,756,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2200,2098,2131,2065,0,0,0,0,0,0,15.12,15.15,15.15
$GC,10282,0.88,146.0,3012,2204,2132,2066,526.9,13.9,786,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2199,2098,2131,2065,0,0,0,0,0,0,15.13,15.16,15.16
$GC,10582,0.88,146.0,3013,2199,2132,2064,485.3,13.7,816,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2199,2097,2131,2064,0,0,0,0,0,0,15.13,15.16,15.16
$GC,10882,0.88,146.0,3013,2199,2132,2063,444.2,13.5,846,10888,0.00,2.60,0.00,0.000,516,0.000,0.123,3023,788,2097,2131,2064,0,0,0,0,0,0,15.14,14.74,15.16
$GC,10932,0.88,146.0,3023,788,2132,2064,437.3,13.8,856,10938,0.17,2.62,0.00,0.000,5126,0.233,0.111,2981,2234,2096,2130,2063,0,0,0,0,0,0,14.67,14.75,14.91
$PING,420.5,79.9,9000.0,-0.11,1.00
$PING,413.4,73.2,9000.0,-0.11,0.99
$PING,406.4,65.1,65.3,1.05,1.00
$GC,11243,0.88,146.0,2981,2234,2131,2063,400.6,11.6,888,11252,0.00,2.60,0.00,0.000,260,0.000,0.145,2981,3616,2097,2130,2064,0,0,0,0,0,0,15.13,14.71,15.16
$GC,11266,0.88,146.0,2982,3616,2131,2064,397.8,12.3,892,11272,0.00,2.58,0.00,0.000,1030,0.000,0.098,2990,2180,2097,2130,2064,0,0,0,0,0,0,14.92,14.78,14.97
$PING,393.1,51.6,51.4,1.06,1.00
$PING,386.3,44.6,44.6,1.02,1.00
$PING,379.4,37.7,37.6,1.01,1.00
$PING,372.5,31.0,30.9,0.98,1.00
$GC,11576,0.88,146.0,2990,2180,2131,2065,362.1,11.6,924,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2179,2097,2130,2064,0,0,0,0,0,0,15.10,15.13,15.13
$PING,358.6,21.0,9000.0,0.79,0.99
$PING,351.6,14.3,9000.0,0.79,0.99
$STATE,11694,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11694,begin subsurface finish
$FINISH1,348.2,1.027403,5
$GC,11698,0.01,4.9,2991,2208,2131,2063,348.2,11.6,936,11709,0.98,2.72,-2.17,0.052,20740,0.202,0.169,2707,3610,2711,2822,2600,0,0,0,0,0,0,14.61,13.28,14.76
$FINISH2,347.1
$STATE,11710,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11710,begin surface
$RAFOS_CLK,433
$RAFOS,2,1518696806,12.233334,12.223889,117,64,61,57,56,55,520,206,120,217,160,145
$RAFOS,1,1518696446,12.133333,12.123889,159,70,61,60,58,56,468,203,141,165,214,185
$RAFOS,0,1518696086,12.032778,12.023889,138,61,57,55,51,50,456,152,230,188,169,197
$RAFOS_FIX,-7422.657227,-11226.087891,150218,121200,3,138,0.28
$IRIDIUM_FIX,-7412.77,-11226.25,110218,141555
$TT8_MAMPS,0.040446,0.587216
$HUMID,48.14
$INTERNAL_PRESSURE,7.60929
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,372.5,30.9
$24V_AH,13.15,73.687
$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,4.200,68.700,979.800,0.000,0.000,0.000,0.000,0.000,43.750,0.000,0.000,0.000,8778.284,955.878,1968.549,101.015,0.000,1708.585,0.000,1343.472,720.000,309.233,0.000
$DEVICE_MAMPS,267.750,221.850,1269.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11729.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.076,0.000,0.000,0.000
$MEM,280004
$DATA_FILE_SIZE,33425,938
$CAP_FILE_SIZE,116647,0
$CFSIZE,1024409600,1000407040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7237.88,0x234cd8,1,24
$SOUNDSPEED,1458.1
$GPS,150218,121600,-7422.657,-11226.088,0,4138.0,0,53.5,0.0,0.0,0,0.0