version: 66.13
glider: 222
mission: 8
dive: 224
start: 2 23 118 5 3 58
data:
$ID,222
$MISSION,8
$DIVE,224
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,400
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$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,20
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$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,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,120
$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,3
$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,15
$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,1.5
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$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
$GPS1,230218,031616,-7413.7759,-11227.9199,0,4130.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,397.26
$_SM_ANGLEo,2.2
$GPS2,230218,031616,-7413.7759,-11227.9199,0,4130.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11230.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,176.5,1366,-40.6,-9.429,-45.00,527
$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,9,-1.88,-32.5,2704,2491,2830,2640,0.0,0.0,0,10,0.00,0.00,-0.45,0.208,16390,0.000,0.000,2703,2491,2866,2970,2762,0,0,0,0,0,0,15.04,13.10,14.97
$GC,12,-1.88,-32.5,2703,2492,2971,2765,0.0,0.0,0,18,1.80,0.00,0.00,0.000,4614,0.090,0.000,2076,2491,2867,2970,2765,0,0,0,0,0,0,14.73,14.90,14.85
$GC,322,-1.88,-32.5,2076,2491,2966,2772,422.9,-8.6,32,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2491,2868,2966,2771,0,0,0,0,0,0,15.11,15.11,15.11
$GC,622,-1.88,-32.5,2077,2491,2966,2772,447.5,-7.6,62,628,0.00,2.42,0.00,0.000,260,0.000,0.145,2066,3754,2868,2964,2772,0,0,0,0,0,0,15.09,14.43,15.12
$GC,682,-1.88,-32.5,2066,3755,2964,2775,452.4,-8.6,74,688,0.00,2.30,0.00,0.000,1030,0.000,0.094,2066,2495,2868,2963,2774,0,0,0,0,0,0,14.59,14.52,14.63
$GC,992,-1.90,-45.4,2066,2495,2964,2773,475.4,-6.9,106,998,0.00,2.62,-0.15,0.624,16932,0.000,0.130,2066,1076,2919,3014,2824,0,0,0,0,0,0,15.08,13.00,14.73
$GC,1213,-1.90,-45.4,2066,1077,3011,2828,495.5,-9.5,150,1219,0.17,2.67,0.00,0.000,3078,0.410,0.118,2085,2505,2920,3014,2827,0,0,0,0,0,0,14.19,14.59,14.69
$GC,1523,-1.90,-45.4,2085,2505,3015,2827,520.8,-8.1,182,1529,0.00,2.62,0.00,0.000,516,0.000,0.107,2084,1082,2920,3015,2826,0,0,0,0,0,0,15.09,14.55,15.11
$GC,1563,-1.90,-45.4,2085,1084,3015,2828,524.2,-8.9,190,1570,0.00,2.67,0.00,0.000,1030,0.000,0.117,2075,2512,2920,3014,2826,0,0,0,0,0,0,14.79,14.59,14.84
$GC,1875,-1.91,-55.9,2075,2513,3015,2828,548.6,-7.4,222,1875,0.00,0.00,0.00,0.000,38,0.000,0.000,2075,2512,2920,3014,2826,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2174,-1.93,-67.7,2075,2512,3015,2827,570.4,-7.1,252,2175,0.00,0.00,0.00,0.000,38,0.000,0.000,2075,2512,2920,3014,2826,0,0,0,0,0,0,15.09,15.12,15.11
$GC,2474,-1.94,-81.1,2076,2512,3015,2827,591.7,-6.8,282,2480,0.00,2.38,0.00,0.000,292,0.000,0.142,2065,3761,2919,3013,2826,0,0,0,0,0,0,15.10,14.56,15.13
$GC,2529,-1.96,-93.0,2065,3762,3014,2828,595.5,-7.1,293,2537,0.00,2.30,0.00,0.000,1062,0.000,0.092,2065,2497,2920,3013,2827,0,0,0,0,0,0,14.73,14.66,14.78
$GC,2834,-1.98,-107.8,2065,2498,3014,2828,615.9,-6.5,324,2835,0.00,0.00,0.00,0.000,38,0.000,0.000,2065,2497,2920,3013,2827,0,0,0,0,0,0,15.08,15.12,15.12
$GC,3134,-1.99,-122.3,2066,2497,3014,2827,636.6,-6.6,354,3140,0.00,2.58,0.00,0.000,548,0.000,0.104,2065,1081,2920,3013,2828,0,0,0,0,0,0,15.10,14.62,15.12
$GC,3154,-2.01,-134.1,2065,1081,3014,2827,637.9,-7.1,358,3160,0.00,2.67,0.00,0.000,1062,0.000,0.116,2054,2512,2919,3012,2827,0,0,0,0,0,0,14.78,14.59,14.84
$GC,3465,-2.02,-146.0,2054,2512,3013,2828,657.7,-6.3,390,3470,0.00,2.62,0.00,0.000,548,0.000,0.104,2054,1078,2920,3013,2827,0,0,0,0,0,0,15.08,14.61,15.10
$GC,3550,-2.02,-146.0,2054,1078,3014,2827,663.1,-6.2,407,3556,0.00,2.67,0.00,0.000,1062,0.000,0.116,2043,2509,2920,3013,2827,0,0,0,0,0,0,14.77,14.57,14.82
$GC,3855,-2.02,-146.0,2043,2510,3013,2828,682.3,-6.3,438,3860,0.00,2.38,0.00,0.000,292,0.000,0.142,2034,3759,2919,3012,2827,0,0,0,0,0,0,15.09,14.54,15.11
$GC,3945,-2.02,-146.0,2034,3760,3012,2828,688.4,-6.7,456,3950,0.00,2.28,0.00,0.000,1062,0.000,0.092,2033,2491,2919,3011,2827,0,0,0,0,0,0,14.82,14.68,14.85
$GC,4255,-2.02,-146.0,2034,2492,3012,2828,707.5,-5.9,480,4260,0.00,2.60,0.00,0.000,548,0.000,0.105,2033,1079,2919,3011,2827,0,0,0,0,0,0,15.09,14.60,15.11
$GC,4285,-2.02,-146.0,2033,1080,3013,2828,709.4,-6.3,486,4290,0.00,2.67,0.00,0.000,1062,0.000,0.116,2023,2505,2919,3012,2827,0,0,0,0,0,0,14.77,14.57,14.83
$GC,4675,-2.02,-146.0,2023,2505,3013,2827,732.3,-5.8,504,4680,0.00,2.40,0.00,0.000,292,0.000,0.142,2013,3759,2919,3011,2827,0,0,0,0,0,0,15.11,14.54,15.14
$GC,4780,-2.02,-146.0,2014,3759,3012,2828,738.6,-5.9,525,4787,0.20,2.28,0.00,0.000,3110,0.422,0.093,2046,2487,2919,3011,2828,0,0,0,0,0,0,14.12,14.69,14.59
$GC,5157,-2.02,-146.0,2047,2487,3012,2829,757.9,-5.1,540,5162,0.00,2.58,0.00,0.000,548,0.000,0.106,2047,1080,2919,3011,2827,0,0,0,0,0,0,15.10,14.62,15.13
$GC,5226,-2.02,-146.0,2046,1081,3012,2829,761.6,-5.1,554,5232,0.00,2.67,0.00,0.000,1062,0.000,0.117,2037,2507,2919,3011,2828,0,0,0,0,0,0,14.78,14.59,14.83
$GC,5608,-2.02,-146.0,2037,2508,3011,2829,779.7,-4.5,570,5613,0.00,2.60,0.00,0.000,548,0.000,0.104,2037,1088,2919,3011,2828,0,0,0,0,0,0,15.11,14.62,15.13
$GC,5797,-2.02,-146.0,2037,1088,3012,2828,787.8,-4.1,608,5803,0.00,2.65,0.00,0.000,1062,0.000,0.114,2026,2507,2919,3011,2828,0,0,0,0,0,0,14.77,14.57,14.83
$GC,6179,-2.02,-146.0,2027,2508,3012,2829,802.1,-3.6,624,6184,0.00,2.60,0.00,0.000,548,0.000,0.102,2026,1085,2919,3011,2828,0,0,0,0,0,0,15.04,14.61,15.06
$GC,6408,-2.02,-146.0,2027,1085,3012,2827,809.9,-2.5,670,6414,0.17,2.65,0.00,0.000,3110,0.452,0.113,2042,2509,2919,3011,2828,0,0,0,0,0,0,14.07,14.56,14.56
$GC,6779,-2.02,-146.0,2043,2509,3012,2828,820.9,-2.8,684,6784,0.00,2.60,0.00,0.000,548,0.000,0.102,2043,1087,2919,3011,2828,0,0,0,0,0,0,15.07,14.59,15.10
$GC,7009,-2.02,-146.0,2043,1088,3013,2829,827.0,-2.1,730,7014,0.00,2.65,0.00,0.000,1062,0.000,0.112,2033,2507,2919,3011,2828,0,0,0,0,0,0,14.74,14.56,14.80
$GC,7379,-2.02,-146.0,2033,2508,3012,2829,836.0,-2.3,744,7380,0.00,0.00,0.00,0.000,38,0.000,0.000,2033,2507,2919,3011,2828,0,0,0,0,0,0,15.09,15.12,15.11
$GC,7739,-2.02,-146.0,2034,2508,3012,2828,843.9,-2.2,756,7740,0.00,0.00,0.00,0.000,38,0.000,0.000,2033,2507,2919,3010,2828,0,0,0,0,0,0,15.08,15.11,15.10
$GC,8099,-2.02,-146.0,2033,2508,3012,2829,851.5,-2.1,768,8104,0.00,2.60,0.00,0.000,548,0.000,0.100,2033,1084,2919,3011,2828,0,0,0,0,0,0,15.10,14.59,15.12
$GC,8329,-2.02,-146.0,2033,1085,3012,2829,855.6,-1.4,814,8335,0.00,2.65,0.00,0.000,1062,0.000,0.112,2023,2509,2919,3011,2828,0,0,0,0,0,0,14.75,14.56,14.81
$GC,8699,-2.02,-146.0,2022,2511,3012,2829,862.2,-1.6,828,8700,0.00,0.00,0.00,0.000,38,0.000,0.000,2023,2510,2919,3011,2828,0,0,0,0,0,0,15.07,15.11,15.10
$GC,9060,-2.02,-146.0,2022,2510,3012,2828,866.3,-1.0,840,9061,0.00,0.00,0.00,0.000,38,0.000,0.000,2023,2510,2919,3011,2828,0,0,0,0,0,0,15.03,15.06,15.06
$GC,9419,-2.02,-146.0,2023,2510,3012,2828,870.2,-1.1,852,9420,0.00,0.00,0.00,0.000,38,0.000,0.000,2022,2510,2919,3011,2828,0,0,0,0,0,0,15.10,15.13,15.12
$GC,9779,-2.02,-146.0,2023,2511,3012,2829,874.2,-1.1,864,9780,0.00,0.00,0.00,0.000,38,0.000,0.000,2022,2510,2919,3011,2828,0,0,0,0,0,0,15.08,15.11,15.11
$GC,10139,-2.02,-146.0,2023,2511,3012,2829,877.9,-1.0,876,10140,0.00,0.00,0.00,0.000,38,0.000,0.000,2022,2510,2919,3011,2828,0,0,0,0,0,0,15.09,15.11,15.11
$STATE,10258,end dive,NO_VERTICAL_VELOCITY
$STATE,10258,begin apogee
$PING,878.7,20.5,9000.0,0.00,0.00
$GC,10263,-0.23,0.0,2023,2187,3012,2828,878.9,0.0,880,10323,2.78,0.03,55.78,3.040,10246,0.372,0.356,2623,2197,2713,2790,2636,0,0,0,0,0,0,14.21,14.10,12.92
$STATE,10324,end apogee,CONTROL_FINISHED_OK
$STATE,10324,begin climb
$PING,872.6,16.1,9000.0,0.00,0.00
$PING,859.5,19.3,9000.0,0.02,0.00
$PING,851.0,18.1,9000.0,-0.10,0.50
$PING,841.5,15.3,9000.0,0.22,0.96
$GC,10326,2.02,146.0,2624,2197,2788,2633,878.3,0.0,882,10510,2.40,0.00,179.32,3.104,10246,0.131,0.000,3354,2197,2119,2153,2085,0,0,0,0,0,0,14.18,13.31,12.17
$GC,10860,2.02,146.0,3354,2197,2143,2067,714.9,35.0,900,10865,0.00,2.67,0.00,0.000,516,0.000,0.115,3365,789,2104,2142,2067,0,0,0,0,0,0,14.62,14.27,14.65
$GC,10914,2.02,146.0,3364,790,2141,2068,695.7,34.9,911,10922,0.00,2.67,0.00,0.000,1030,0.000,0.103,3364,2210,2103,2140,2067,0,0,0,0,0,0,14.45,14.35,14.50
$GC,11280,2.02,146.0,3365,2210,2140,2064,566.6,34.4,948,11285,0.00,2.65,0.00,0.000,516,0.000,0.115,3375,788,2101,2138,2064,0,0,0,0,0,0,14.90,14.52,14.93
$GC,11320,2.02,146.0,3375,789,2139,2065,552.8,34.0,956,11325,0.00,2.60,0.00,0.000,1030,0.000,0.105,3375,2205,2100,2137,2064,0,0,0,0,0,0,14.75,14.59,14.79
$GC,11629,2.02,146.0,3376,2205,2140,2062,448.4,32.7,988,11635,0.00,2.62,0.00,0.000,516,0.000,0.116,3385,786,2100,2137,2063,0,0,0,0,0,0,15.01,14.56,15.04
$GC,11650,2.02,146.0,3385,787,2137,2064,441.9,32.4,992,11656,0.17,2.60,0.00,0.000,5126,0.370,0.106,3353,2208,2100,2137,2063,0,0,0,0,0,0,14.28,14.58,14.68
$FREEZE,399.89,-1.238,-2.176,2,3,0
$STATE,11780,end climb,FINISH_DEPTH_REACHED
$STATE,11780,begin subsurface finish
$FINISH1,399.9,1.027497,0
$GC,11784,0.00,0.1,3354,2208,2138,2062,399.9,31.4,1006,11795,2.60,2.65,-2.17,0.044,20996,0.313,0.142,2714,789,2732,2842,2623,0,0,0,0,0,0,14.37,13.75,14.74
$FINISH2,396.3
$STATE,11796,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11796,begin surface
$RAFOS_CLK,428
$RAFOS,2,1519366402,6.233333,6.222778,150,56,55,54,54,54,499,122,212,197,143,175
$RAFOS,1,1519366023,6.133333,6.117500,130,60,55,54,53,49,558,223,208,182,164,138
$RAFOS,0,1519365662,6.032778,6.017222,140,59,58,57,56,56,562,206,162,173,114,137
$RAFOS_FIX,-7415.164551,-11229.059570,230218,060628,3,140,0.25
$IRIDIUM_FIX,-7432.96,-11836.63,220218,182008
$TT8_MAMPS,0.041944,0.465129
$HUMID,46.29
$INTERNAL_PRESSURE,7.62882
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,12.17,95.023
$10V_AH,12.42,0.000
$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,10.300,92.575,235.100,0.000,0.000,0.000,0.000,0.000,34.750,0.000,0.000,0.000,9319.411,364.458,2091.199,121.316,0.000,1083.517,0.000,1441.539,720.000,250.378,0.000
$DEVICE_MAMPS,452.115,355.725,3103.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11799.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.653,0.000,0.000,0.000
$MEM,279776
$DATA_FILE_SIZE,33418,1008
$CAP_FILE_SIZE,121799,0
$CFSIZE,1024409600,993853440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.7
$GPS,230218,061528,-7415.165,-11229.060,0,4140.0,0,53.5,0.0,0.0,0,0.0