version: 66.13
glider: 222
mission: 8
dive: 72
start: 2 3 118 11 18 52
data:
$ID,222
$MISSION,8
$DIVE,72
$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,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,360
$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,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.15000001
$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,2
$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,3
$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,2
$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,18
$R_STBD_OVSHOOT,10
$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,60
$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,10
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,8
$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
$GPS1,030218,110809,-7408.9917,-11227.7021,6,0.8,22,53.4,0.1,0.0,10,4.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-62.3
$GPS2,030218,111824,-7408.9434,-11227.5625,3,0.8,4,53.4,0.4,255.5,11,7.3
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,ip0
$TGT_LATLONG,-7409.000,-11226.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,61.0,538,-40.7,-10.000,-45.00,543
$D_GRID,907
$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,-1.89,-35.5,194,2508,1480,1461,0.0,0.0,0,91,0.00,0.00,-78.70,0.003,16390,0.000,0.000,193,2508,2859,2936,2783,0,0,0,0,0,0,14.80,13.89,14.82
$GC,93,-1.95,-79.0,194,2508,2937,2783,1.4,-1.8,8,116,10.45,2.38,-6.47,0.015,18724,0.487,0.166,2064,3758,3038,3134,2942,0,0,0,0,0,0,14.34,13.87,14.64
$PING,8.9,10.6,9000.0,0.00,0.00
$PING,17.0,19.1,9000.0,0.00,0.00
$PING,26.2,28.4,28.5,1.03,1.00
$PING,34.2,37.3,37.1,1.05,1.00
$GC,260,-1.95,-79.0,2065,3758,3134,2944,39.6,-27.0,41,269,0.00,2.30,0.00,0.000,1030,0.000,0.097,2064,2497,3039,3134,2944,0,0,0,0,0,0,14.69,14.63,14.74
$PING,43.7,47.5,47.5,1.09,1.00
$PING,54.4,14.8,9000.0,-1.15,0.48
$GC,565,-1.95,-79.0,2064,2498,3134,2945,119.1,-25.5,72,571,0.00,2.40,0.00,0.000,260,0.000,0.144,2054,3751,3038,3133,2944,0,0,0,0,0,0,14.95,14.65,14.97
$GC,635,-1.95,-79.0,2055,3752,3133,2945,137.9,-27.1,86,641,0.00,2.28,0.00,0.000,1030,0.000,0.097,2054,2497,3038,3132,2945,0,0,0,0,0,0,14.78,14.72,14.82
$GC,945,-1.95,-79.0,2054,2498,3133,2946,216.7,-24.5,118,951,0.00,2.40,0.00,0.000,260,0.000,0.146,2045,3754,3038,3131,2945,0,0,0,0,0,0,15.00,14.71,15.03
$GC,1135,-1.95,-79.0,2045,3754,3133,2946,267.4,-25.9,156,1141,0.00,2.28,0.00,0.000,1030,0.000,0.099,2045,2499,3039,3132,2946,0,0,0,0,0,0,14.83,14.77,14.88
$GC,1456,-1.95,-79.0,2045,2500,3133,2947,346.4,-24.9,180,1461,0.15,2.55,0.00,0.000,2564,0.408,0.110,2070,1081,3038,3131,2945,0,0,0,0,0,0,14.57,14.78,14.86
$GC,1480,-1.95,-79.0,2072,1082,3132,2947,352.7,-25.2,185,1488,0.00,2.67,0.00,0.000,1030,0.000,0.126,2061,2501,3039,3132,2946,0,0,0,0,0,0,14.84,14.75,14.88
$GC,1796,-1.95,-79.0,2062,2502,3132,2946,427.5,-23.6,203,1803,0.00,2.38,0.00,0.000,260,0.000,0.145,2051,3755,3038,3131,2946,0,0,0,0,0,0,15.07,14.76,15.09
$GC,1887,-1.95,-79.0,2051,3757,3132,2947,449.8,-24.9,221,1894,0.00,2.28,0.00,0.000,1030,0.000,0.099,2051,2493,3037,3130,2944,0,0,0,0,0,0,14.88,14.81,14.91
$GC,2207,-1.95,-79.0,2051,2496,3132,2947,522.5,-22.1,237,2214,0.00,2.40,0.00,0.000,260,0.000,0.147,2042,3755,3038,3131,2946,0,0,0,0,0,0,15.08,14.76,15.10
$GC,2273,-1.95,-79.0,2042,3756,3133,2947,537.7,-23.7,250,2280,0.12,2.28,0.00,0.000,3078,0.410,0.098,2067,2493,3038,3131,2946,0,0,0,0,0,0,14.57,14.82,14.78
$GC,2658,-1.95,-79.0,2067,2493,3132,2946,617.0,-20.3,267,2665,0.00,2.40,0.00,0.000,260,0.000,0.148,2058,3751,3038,3131,2946,0,0,0,0,0,0,15.09,14.78,15.11
$GC,2743,-1.95,-79.0,2059,3752,3132,2947,635.1,-21.6,284,2752,0.00,2.28,0.00,0.000,1030,0.000,0.096,2058,2490,3038,3131,2946,0,0,0,0,0,0,14.89,14.83,14.93
$GC,3109,-1.95,-79.0,2059,2490,3132,2946,707.8,-19.3,297,3115,0.00,2.38,0.00,0.000,260,0.000,0.147,2048,3760,3038,3131,2946,0,0,0,0,0,0,15.06,14.79,15.08
$GC,3339,-1.95,-79.0,2049,3760,3132,2946,755.2,-20.8,343,3345,0.00,2.28,0.00,0.000,1030,0.000,0.097,2049,2494,3038,3131,2946,0,0,0,0,0,0,14.92,14.83,14.93
$GC,3710,-1.95,-79.0,2049,2495,3132,2947,827.5,-19.6,357,3716,0.00,2.38,0.00,0.000,260,0.000,0.148,2039,3764,3038,3131,2946,0,0,0,0,0,0,15.06,14.80,15.09
$GC,3940,-1.95,-79.0,2039,3765,3132,2947,873.5,-19.1,403,3946,0.15,2.28,0.00,0.000,3078,0.414,0.095,2070,2496,3039,3131,2947,0,0,0,0,0,0,14.57,14.84,14.80
$PING,880.9,32.4,9000.0,0.00,0.00
$PING,891.7,20.2,9000.0,0.01,0.53
$PING,901.9,12.8,12.1,-0.94,0.98
$STATE,4129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4129,begin apogee
$GC,4133,-0.23,0.0,2071,2180,3132,2947,907.3,-17.1,411,4226,2.38,0.08,85.22,3.077,10246,0.360,0.227,2628,2209,2712,2782,2642,0,0,0,0,0,0,14.62,13.87,12.81
$STATE,4227,end apogee,CONTROL_FINISHED_OK
$STATE,4227,begin climb
$GC,4228,1.95,79.0,2624,2210,2782,2643,909.9,0.0,414,4334,2.33,2.95,94.03,3.081,10756,0.129,0.126,3337,785,2389,2432,2347,0,0,0,0,0,0,13.97,13.37,12.29
$PING,900.2,10.8,12.6,-0.85,0.88
$PING,891.1,19.5,9000.0,-0.73,0.87
$GC,4408,1.95,79.0,3337,785,2427,2341,891.1,23.7,449,4416,0.00,2.78,0.00,0.000,1030,0.000,0.109,3337,2208,2382,2425,2339,0,0,0,0,0,0,13.97,13.87,14.00
$PING,882.6,38.2,9000.0,-1.55,0.95
$GC,4773,1.95,79.0,3337,2209,2424,2330,803.9,23.5,462,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2208,2376,2423,2330,0,0,0,0,0,0,14.64,14.67,14.67
$GC,5133,1.95,79.0,3337,2208,2423,2327,719.6,23.3,474,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2208,2374,2422,2327,0,0,0,0,0,0,14.85,14.87,14.87
$GC,5493,1.95,79.0,3337,2208,2422,2327,639.2,22.3,486,5499,0.00,2.67,0.00,0.000,260,0.000,0.132,3336,3622,2374,2421,2327,0,0,0,0,0,0,14.95,14.69,14.97
$GC,5523,1.95,79.0,3337,3622,2422,2326,632.2,23.6,492,5529,0.00,2.60,0.00,0.000,1030,0.000,0.099,3348,2207,2374,2421,2327,0,0,0,0,0,0,14.78,14.69,14.81
$GC,5913,1.95,79.0,3348,2206,2421,2327,544.9,22.4,510,5919,0.00,2.65,0.00,0.000,516,0.000,0.126,3359,786,2373,2421,2326,0,0,0,0,0,0,15.02,14.74,15.04
$GC,5973,1.95,79.0,3359,786,2421,2327,531.4,22.5,522,5980,0.12,2.62,0.00,0.000,5126,0.380,0.110,3332,2211,2373,2420,2326,0,0,0,0,0,0,14.57,14.76,14.77
$GC,6343,1.95,79.0,3332,2212,2421,2325,453.8,20.4,543,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2212,2372,2420,2325,0,0,0,0,0,0,15.05,15.08,15.07
$GC,6644,1.95,79.0,3332,2212,2421,2326,396.1,18.5,558,6649,0.00,2.62,0.00,0.000,516,0.000,0.127,3342,781,2372,2420,2325,0,0,0,0,0,0,15.07,14.80,15.10
$GC,6673,1.95,79.0,3342,781,2421,2325,390.6,18.8,564,6679,0.00,2.60,0.00,0.000,1030,0.000,0.109,3341,2203,2372,2419,2325,0,0,0,0,0,0,14.88,14.81,14.92
$GC,6983,1.95,79.0,3342,2203,2420,2325,334.4,18.4,581,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2203,2372,2420,2325,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7283,1.95,79.0,3342,2207,2421,2326,284.0,16.4,600,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2203,2372,2420,2325,0,0,0,0,0,0,15.09,15.12,15.12
$GC,7583,1.95,79.0,3342,2203,2421,2324,235.1,15.7,630,7589,0.00,2.65,0.00,0.000,516,0.000,0.125,3352,753,2372,2420,2325,0,0,0,0,0,0,15.10,14.83,15.12
$GC,7618,1.95,79.0,3353,753,2421,2324,229.5,16.0,637,7626,0.00,2.65,0.00,0.000,1030,0.000,0.109,3352,2201,2372,2420,2324,0,0,0,0,0,0,14.91,14.83,14.95
$GC,7923,1.95,79.0,3353,2201,2420,2324,181.4,16.0,668,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2201,2372,2420,2324,0,0,0,0,0,0,15.09,15.13,15.12
$GC,8223,1.95,79.0,3352,2202,2420,2325,135.1,15.5,698,8231,0.00,2.67,0.00,0.000,260,0.000,0.135,3352,3621,2371,2419,2324,0,0,0,0,0,0,15.10,14.83,15.13
$GC,8299,1.95,79.0,3353,3621,2420,2327,122.7,16.3,713,8309,0.15,2.58,0.00,0.000,5126,0.392,0.098,3330,2193,2371,2418,2324,0,0,0,0,0,0,14.62,14.85,14.84
$PING,108.5,114.7,9000.0,-0.11,0.97
$PING,90.7,94.3,9000.0,-0.08,0.92
$PING,82.0,86.0,85.6,1.09,1.00
$GC,8605,1.95,79.0,3330,2194,2419,2325,77.7,14.5,744,8611,0.00,2.60,0.00,0.000,516,0.000,0.125,3340,789,2371,2419,2323,0,0,0,0,0,0,15.09,14.81,15.13
$PING,73.9,77.1,77.3,1.02,1.00
$GC,8675,1.95,79.0,3340,790,2419,2324,66.9,15.4,758,8681,0.00,2.58,0.00,0.000,1030,0.000,0.110,3340,2199,2371,2418,2324,0,0,0,0,0,0,14.90,14.83,14.94
$PING,56.4,58.9,58.8,1.06,1.00
$PING,47.5,49.2,49.3,1.05,1.00
$PING,38.5,40.1,40.0,1.05,1.00
$PING,29.4,30.7,30.7,1.03,1.00
$PING,20.3,21.0,21.1,1.04,1.00
$GC,8985,1.95,79.0,3340,2200,2419,2324,20.3,15.3,790,8991,0.00,2.62,0.00,0.000,260,0.000,0.136,3340,3619,2370,2418,2323,0,0,0,0,0,0,15.06,14.83,15.09
$PING,11.5,12.0,11.9,1.04,1.00
$FREEZE,9.85,-1.351,-1.868,2,1,0
$FREEZE,9.03,-1.356,-1.868,2,1,0
$FREEZE,8.25,-1.356,-1.867,2,1,0
$FREEZE,7.49,-1.360,-1.867,2,1,0
$GC,9065,1.95,79.0,3340,3620,2418,2324,7.5,15.9,806,9071,0.00,2.58,0.00,0.000,1030,0.000,0.101,3350,2196,2370,2418,2323,0,0,0,0,0,0,14.91,14.83,14.95
$FREEZE,5.98,-1.360,-1.866,2,1,0
$FREEZE,4.34,-1.363,-1.864,2,1,0
$FREEZE,2.71,-1.362,-1.863,2,1,0
$FREEZE,1.18,-1.361,-1.862,2,1,0
$STATE,9104,end climb,SURFACE_DEPTH_REACHED
$STATE,9104,begin surface coast
$FREEZE,-0.50,-1.363,-1.861,2,1,0
$FINISH,-0.5,1.027300
$STATE,9114,end surface coast,CONTROL_FINISHED_OK
$STATE,9114,begin surface
$SM_CCo,9129,158.62,0.233,0,0,1491,300.00
$SM_GC,0.21,9.18,0.62,158.62,0.070,0.141,0.233,202,2513,1491,-7.75,-0.08,300.00,0,0,0,0,0,0,14.92,14.82,14.57
$RAFOS_CLK,334
$RAFOS,2,1517659986,12.233334,12.218333,147,70,65,55,53,53,546,227,210,188,153,176
$RAFOS,1,1517659630,12.133333,12.119445,181,61,58,54,53,50,519,204,215,129,173,112
$RAFOS,0,1517659270,12.032778,12.019444,141,63,58,56,54,54,509,213,119,200,174,155
$RAFOS_FIX,-7409.125977,-11226.974609,030218,121200,3,156,0.13
$IRIDIUM_FIX,-7410.85,-11223.24,030218,110952
$TT8_MAMPS,0.041944,0.413448
$HUMID,44.72
$INTERNAL_PRESSURE,7.48233
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,11.5,11.9
$ALTIM_BOTTOM_PING,901.9,12.1
$24V_AH,12.29,38.458
$10V_AH,12.62,0.000
$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,25.025,86.250,179.250,158.625,0.000,0.000,0.000,476.375,44.750,0.000,6.005,0.000,7052.555,556.939,2203.010,102.186,0.000,1648.051,0.000,1163.792,720.000,318.512,0.000
$DEVICE_MAMPS,487.305,227.205,3080.655,233.325,0.000,0.000,0.000,153.765,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9124.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.352,0.000,0.000,0.000
$MEM,279952
$DATA_FILE_SIZE,26738,812
$CAP_FILE_SIZE,124100,0
$CFSIZE,1024409600,1011236864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$CURRENT,0.060,68.76,1
$GPS,030218,135430,-7409.350,-11223.622,20,0.8,20,53.4,0.1,0.0,10,3.2