version: 66.13
glider: 222
mission: 8
dive: 233
start: 2 24 118 10 35 46
data:
$ID,222
$MISSION,8
$DIVE,233
$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,280
$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,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,1.5
$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
$GPS1,240218,090816,-7428.0547,-11227.4521,0,3111.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,358.55
$_SM_ANGLEo,1.0
$GPS2,240218,090816,-7428.0547,-11227.4521,0,3111.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.215
$TGT_NAME,inside0
$TGT_LATLONG,-7430.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,145.8,3817,-20.1,-9.429,-27.42,1595
$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,-1.04,-100.8,2705,2511,2829,2605,0.0,0.0,0,11,0.00,0.00,-1.42,0.065,16390,0.000,0.000,2704,2510,3138,3274,3003,0,0,0,0,0,0,15.08,13.09,15.07
$GC,13,-1.04,-100.8,2705,2510,3275,3008,0.0,0.0,0,15,1.05,0.00,0.00,0.000,4102,0.099,0.000,2357,2510,3140,3273,3008,0,0,0,0,0,0,14.77,14.94,14.90
$PING,377.3,25.1,9000.0,0.00,0.00
$GC,309,-1.04,-100.8,2358,2511,3266,3022,388.4,-11.0,30,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2510,3143,3265,3021,0,0,0,0,0,0,15.14,15.17,15.16
$GC,609,-1.04,-100.8,2358,2510,3265,3022,419.6,-10.8,60,615,0.00,2.40,0.00,0.000,260,0.000,0.151,2348,3760,3142,3263,3021,0,0,0,0,0,0,15.15,14.60,15.16
$GC,654,-1.04,-100.8,2349,3761,3262,3023,424.9,-11.7,69,662,0.00,2.30,0.00,0.000,1030,0.000,0.090,2348,2491,3142,3261,3023,0,0,0,0,0,0,14.79,14.73,14.85
$GC,959,-1.04,-100.8,2349,2491,3262,3022,457.0,-10.4,100,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2491,3142,3261,3023,0,0,0,0,0,0,15.15,15.18,15.18
$GC,1260,-1.04,-100.8,2348,2491,3262,3023,486.8,-9.9,130,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2491,3142,3261,3023,0,0,0,0,0,0,15.15,15.18,15.19
$GC,1559,-1.04,-100.8,2348,2492,3261,3024,516.3,-9.6,160,1565,0.00,2.58,0.00,0.000,516,0.000,0.105,2349,1079,3138,3254,3023,0,0,0,0,0,0,15.16,14.68,15.18
$GC,1619,-1.04,-100.8,2349,1080,3261,3024,522.4,-10.1,172,1625,0.00,2.70,0.00,0.000,1030,0.000,0.119,2339,2502,3142,3260,3024,0,0,0,0,0,0,14.88,14.60,14.92
$GC,1930,-1.04,-100.8,2339,2502,3261,3024,553.4,-9.9,204,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2502,3141,3260,3023,0,0,0,0,0,0,15.14,15.17,15.17
$GC,2231,-1.04,-100.8,2340,2503,3260,3025,583.1,-10.1,234,2236,0.00,2.58,0.00,0.000,516,0.000,0.103,2339,1088,3141,3259,3024,0,0,0,0,0,0,15.08,14.66,15.11
$GC,2291,-1.04,-100.8,2339,1088,3260,3025,589.3,-10.2,246,2296,0.17,2.65,0.00,0.000,3078,0.334,0.119,2363,2510,3141,3259,3023,0,0,0,0,0,0,14.35,14.62,14.71
$GC,2601,-1.04,-100.8,2364,2510,3260,3024,616.5,-8.4,278,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2510,3141,3259,3024,0,0,0,0,0,0,15.14,15.17,15.16
$GC,2901,-1.04,-100.8,2363,2511,3260,3025,642.6,-8.8,308,2906,0.00,2.60,0.00,0.000,516,0.000,0.103,2363,1085,3141,3258,3024,0,0,0,0,0,0,15.14,14.65,15.16
$GC,2961,-1.04,-100.8,2363,1086,3259,3025,648.1,-9.1,320,2966,0.00,2.65,0.00,0.000,1030,0.000,0.118,2355,2505,3141,3258,3024,0,0,0,0,0,0,14.82,14.62,14.88
$GC,3271,-1.04,-100.8,2355,2505,3259,3025,675.1,-8.6,352,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2505,3141,3258,3024,0,0,0,0,0,0,15.14,15.17,15.16
$GC,3571,-1.04,-100.8,2355,2505,3259,3024,700.7,-8.4,382,3577,0.00,2.58,0.00,0.000,516,0.000,0.103,2355,1088,3140,3257,3024,0,0,0,0,0,0,15.14,14.65,15.16
$GC,3621,-1.04,-100.8,2355,1088,3259,3025,705.1,-8.7,392,3627,0.00,2.65,0.00,0.000,1030,0.000,0.119,2345,2506,3140,3259,3021,0,0,0,0,0,0,14.81,14.61,14.87
$GC,3991,-1.04,-100.8,2345,2507,3259,3025,737.4,-8.8,406,3997,0.00,2.40,0.00,0.000,260,0.000,0.148,2335,3757,3141,3258,3024,0,0,0,0,0,0,15.14,14.57,15.16
$GC,4031,-1.04,-100.8,2335,3758,3256,3028,741.2,-9.7,414,4037,0.10,2.30,0.00,0.000,3078,0.324,0.091,2357,2491,3141,3255,3027,0,0,0,0,0,0,14.29,14.69,14.51
$GC,4411,-1.04,-100.8,2358,2492,3255,3028,773.1,-8.4,430,4417,0.00,2.58,0.00,0.000,516,0.000,0.105,2358,1080,3140,3255,3026,0,0,0,0,0,0,15.14,14.64,15.16
$GC,4501,-1.04,-100.8,2358,1079,3256,3027,780.8,-8.6,448,4507,0.00,2.67,0.00,0.000,1030,0.000,0.120,2350,2512,3141,3255,3027,0,0,0,0,0,0,14.81,14.60,14.86
$GC,4893,-1.04,-100.8,2349,2512,3256,3027,813.5,-8.4,466,4894,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2509,3141,3255,3027,0,0,0,0,0,0,15.07,15.10,15.10
$GC,5252,-1.04,-100.8,2349,2513,3256,3028,843.3,-8.2,478,5257,0.00,2.62,0.00,0.000,516,0.000,0.103,2349,1078,3141,3255,3027,0,0,0,0,0,0,15.07,14.62,15.09
$GC,5306,-1.04,-100.8,2350,1078,3256,3027,847.9,-8.4,489,5314,0.00,2.67,0.00,0.000,1030,0.000,0.117,2340,2508,3141,3255,3027,0,0,0,0,0,0,14.79,14.58,14.85
$GC,5673,-1.04,-100.8,2341,2508,3256,3027,877.8,-8.1,502,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2508,3141,3255,3027,0,0,0,0,0,0,15.13,15.16,15.15
$GC,6032,-1.04,-100.8,2341,2508,3256,3027,906.8,-7.9,514,6037,0.00,2.60,0.00,0.000,516,0.000,0.103,2340,1082,3141,3255,3027,0,0,0,0,0,0,15.14,14.63,15.16
$GC,6106,-1.04,-100.8,2339,1083,3256,3028,913.1,-8.3,529,6113,0.17,2.67,0.00,0.000,3078,0.348,0.119,2364,2511,3141,3255,3027,0,0,0,0,0,0,14.28,14.59,14.66
$GC,6484,-1.08,-133.0,2365,2511,3256,3028,941.7,-7.4,544,6485,0.00,0.00,0.00,0.000,38,0.000,0.000,2364,2511,3141,3255,3028,0,0,0,0,0,0,15.14,15.16,15.16
$GC,6843,-1.09,-146.0,2365,2511,3256,3027,967.3,-7.1,556,6848,0.00,2.60,0.00,0.000,548,0.000,0.103,2364,1087,3141,3255,3028,0,0,0,0,0,0,15.15,14.63,15.18
$GC,6893,-1.09,-146.0,2364,1088,3256,3028,970.2,-7.6,566,6898,0.00,2.65,0.00,0.000,1030,0.000,0.118,2355,2505,3141,3255,3028,0,0,0,0,0,0,14.80,14.59,14.85
$STATE,7171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7171,begin apogee
$GC,7175,-0.23,0.0,2356,2196,3256,3029,990.8,-7.4,577,7296,1.05,0.00,118.30,3.091,10246,0.265,0.000,2622,2194,2714,2782,2646,0,0,0,0,0,0,14.36,13.62,12.38
$STATE,7297,end apogee,CONTROL_FINISHED_OK
$STATE,7297,begin climb
$PING,990.4,26.5,9000.0,0.00,0.00
$PING,984.0,15.7,9000.0,-0.01,0.15
$PING,977.9,25.5,9000.0,0.10,0.01
$GC,7299,1.09,146.0,2623,2194,2781,2642,992.6,0.0,581,7492,1.52,3.05,182.82,3.105,10500,0.145,0.139,3053,3615,2114,2153,2075,0,0,0,0,0,0,13.59,13.28,12.12
$GC,7522,1.09,146.0,3053,3615,2154,2070,962.2,19.8,619,7527,0.00,2.78,0.00,0.000,1030,0.000,0.092,3062,2200,2110,2151,2070,0,0,0,0,0,0,13.72,13.64,13.74
$GC,7907,1.09,146.0,3064,2197,2155,2059,889.8,18.8,636,7913,0.00,2.70,0.00,0.000,516,0.000,0.122,3075,773,2102,2144,2060,0,0,0,0,0,0,14.76,14.42,14.78
$GC,7943,1.09,146.0,3074,774,2145,2061,882.8,18.7,643,7948,0.00,2.67,0.00,0.000,1030,0.000,0.110,3075,2212,2102,2144,2060,0,0,0,0,0,0,14.61,14.46,14.66
$GC,8328,1.09,146.0,3075,2213,2144,2058,808.8,19.2,660,8336,0.00,2.67,0.00,0.000,260,0.000,0.141,3075,3616,2100,2143,2057,0,0,0,0,0,0,15.00,14.60,15.02
$GC,8346,1.09,146.0,3075,3616,2144,2056,805.0,19.6,663,8352,0.17,2.60,0.00,0.000,5126,0.307,0.096,3049,2185,2100,2143,2057,0,0,0,0,0,0,14.45,14.67,14.76
$GC,8721,1.09,146.0,3050,2182,2144,2056,739.1,17.4,678,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2182,2099,2143,2055,0,0,0,0,0,0,15.07,15.10,15.09
$GC,9081,1.09,146.0,3050,2181,2143,2054,677.4,16.9,698,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2180,2098,2142,2054,0,0,0,0,0,0,15.10,15.13,15.13
$GC,9381,1.09,146.0,3050,2181,2143,2053,626.9,16.8,728,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2181,2097,2142,2053,0,0,0,0,0,0,15.11,15.14,15.16
$GC,9681,1.09,146.0,3050,2181,2143,2053,576.5,16.6,758,9688,0.00,2.75,0.00,0.000,260,0.000,0.142,3049,3621,2097,2142,2052,0,0,0,0,0,0,15.11,14.67,15.15
$GC,9717,1.09,146.0,3050,3622,2142,2053,570.1,18.3,765,9724,0.00,2.58,0.00,0.000,1030,0.000,0.095,3058,2187,2096,2141,2052,0,0,0,0,0,0,14.90,14.74,14.95
$GC,10022,1.09,146.0,3059,2185,2142,2053,518.3,17.0,796,10028,0.00,2.60,0.00,0.000,516,0.000,0.122,3070,779,2096,2141,2052,0,0,0,0,0,0,15.13,14.64,15.15
$GC,10042,1.09,146.0,3070,780,2141,2053,514.9,17.2,800,10048,0.00,2.65,0.00,0.000,1030,0.000,0.110,3069,2204,2096,2141,2052,0,0,0,0,0,0,14.75,14.69,14.81
$GC,10352,1.09,146.0,3070,2204,2141,2053,460.6,17.5,832,10358,0.00,2.70,0.00,0.000,260,0.000,0.142,3069,3619,2096,2140,2052,0,0,0,0,0,0,15.13,14.62,15.16
$GC,10377,1.09,146.0,3070,3619,2141,2053,455.9,19.0,837,10384,0.00,2.58,0.00,0.000,1030,0.000,0.096,3081,2191,2096,2140,2052,0,0,0,0,0,0,14.89,14.74,14.94
$PING,437.0,83.5,9000.0,-0.12,0.98
$PING,408.7,51.4,9000.0,-0.07,0.65
$PING,401.7,43.7,43.7,1.13,1.00
$GC,10683,1.09,146.0,3081,2189,2141,2052,401.7,17.3,868,10688,0.00,2.62,0.00,0.000,516,0.000,0.123,3091,779,2096,2141,2052,0,0,0,0,0,0,15.09,14.68,15.11
$GC,10719,1.09,146.0,3092,780,2141,2053,395.6,17.5,875,10725,0.17,2.62,0.00,0.000,5126,0.280,0.111,3053,2216,2095,2139,2052,0,0,0,0,0,0,14.49,14.70,14.82
$PING,388.5,28.9,28.9,1.12,1.00
$PING,382.4,22.1,22.1,1.12,1.00
$PING,376.4,15.2,15.2,1.13,1.00
$STATE,10901,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10901,begin subsurface finish
$FINISH1,367.2,1.027394,5
$GC,10905,0.01,5.4,3054,2216,2141,2052,367.2,15.4,894,10916,1.25,0.00,-2.20,0.042,20486,0.215,0.000,2702,2216,2711,2823,2599,0,0,0,0,0,0,14.54,13.83,14.83
$FINISH2,365.9
$STATE,10916,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10916,begin surface
$RAFOS_CLK,397
$RAFOS,2,1519474397,12.233334,12.221389,98,62,54,51,50,50,628,196,222,138,179,155
$RAFOS,1,1519474037,12.133333,12.121388,162,59,57,57,55,53,572,206,174,191,149,135
$RAFOS,0,1519473676,12.032778,12.021111,107,67,59,55,54,50,565,208,193,218,145,123
$RAFOS_FIX,-7429.324707,-11226.591797,240218,121200,3,122,0.21
$IRIDIUM_FIX,-7432.96,-11836.63,220218,182008
$TT8_MAMPS,0.040446,0.297353
$HUMID,47.48
$INTERNAL_PRESSURE,7.60929
$TCM_TEMP,13.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,376.4,15.2
$24V_AH,12.12,98.203
$10V_AH,12.39,0.000
$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,5.675,90.250,301.125,0.000,0.000,0.000,0.000,0.000,43.500,0.000,0.000,0.000,8585.715,393.881,1901.516,117.135,0.000,1067.431,0.000,1283.770,720.000,311.770,0.000
$DEVICE_MAMPS,348.075,150.705,3105.135,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10909.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.984,0.000,0.000,0.000
$MEM,279804
$DATA_FILE_SIZE,30005,895
$CAP_FILE_SIZE,115185,0
$CFSIZE,1024409600,992837632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.2
$GPS,240218,121600,-7429.325,-11226.592,0,4122.3,0,53.5,0.0,0.0,0,0.0