version: 66.13
glider: 222
mission: 8
dive: 76
start: 2 4 118 1 5 8
data:
$ID,222
$MISSION,8
$DIVE,76
$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,23
$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,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
$GPS1,040218,005900,-7411.9038,-11229.1455,15,0.8,15,53.5,0.1,0.0,10,3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-63.9
$GPS2,040218,010444,-7411.8979,-11229.2168,2,0.7,3,53.5,0.2,158.3,10,4.9
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,ip1
$TGT_LATLONG,-7411.616,-11227.690
$TGT_RADIUS,800.000
$MHEAD_RNG_PITCHd_Wd,330.0,930,-40.7,-10.000,-45.00,543
$D_GRID,965
$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,-35.5,201,2509,1477,1466,0.0,0.0,0,91,0.00,0.00,-79.25,0.003,16390,0.000,0.000,200,2510,2860,2939,2782,0,0,0,0,0,0,14.80,13.50,14.83
$GC,93,-1.95,-80.1,200,2510,2939,2782,1.3,-1.6,8,117,10.35,2.35,-6.60,0.015,18724,0.485,0.159,2058,3755,3038,3134,2942,0,0,0,0,0,0,14.32,13.85,14.66
$PING,8.1,12.2,9000.0,0.00,0.00
$PING,16.3,18.5,9000.0,0.00,0.00
$PING,25.3,27.5,27.2,0.89,0.99
$PING,33.3,36.7,36.5,1.07,1.00
$PING,41.5,44.4,44.7,1.04,1.00
$PING,49.6,53.0,52.9,1.01,1.00
$PING,57.9,62.6,62.5,1.11,1.00
$GC,340,-1.95,-80.1,2058,3756,3136,2946,62.0,-27.6,57,349,0.00,2.30,0.00,0.000,1030,0.000,0.096,2061,2492,3040,3135,2945,0,0,0,0,0,0,14.73,14.66,14.76
$PING,76.6,13.7,9000.0,-1.66,0.78
$GC,645,-1.95,-80.1,2058,2493,3135,2946,140.9,-25.6,88,651,0.00,2.40,0.00,0.000,260,0.000,0.139,2048,3753,3040,3135,2945,0,0,0,0,0,0,14.97,14.66,15.00
$GC,805,-1.95,-80.1,2049,3753,3135,2946,184.1,-27.6,120,811,0.00,2.28,0.00,0.000,1030,0.000,0.096,2048,2493,3040,3134,2946,0,0,0,0,0,0,14.80,14.74,14.84
$GC,1115,-1.95,-80.1,2048,2493,3135,2946,261.7,-24.4,152,1121,0.00,2.40,0.00,0.000,260,0.000,0.141,2038,3756,3040,3134,2946,0,0,0,0,0,0,15.02,14.71,15.04
$GC,1275,-1.95,-80.1,2039,3756,3135,2946,304.0,-26.6,184,1285,0.12,2.30,0.00,0.000,3078,0.405,0.098,2064,2488,3040,3134,2946,0,0,0,0,0,0,14.52,14.78,14.74
$GC,1600,-1.95,-80.1,2065,2489,3134,2947,381.3,-24.0,203,1605,0.00,2.38,0.00,0.000,260,0.000,0.145,2055,3757,3039,3135,2943,0,0,0,0,0,0,15.02,14.76,15.04
$GC,1670,-1.95,-80.1,2056,3758,3134,2947,398.4,-24.2,217,1676,0.00,2.25,0.00,0.000,1030,0.000,0.098,2056,2487,3039,3133,2946,0,0,0,0,0,0,14.92,14.81,14.95
$GC,1980,-1.95,-80.1,2056,2488,3134,2947,469.2,-22.4,234,1986,0.00,2.40,0.00,0.000,260,0.000,0.145,2046,3750,3039,3133,2946,0,0,0,0,0,0,15.07,14.76,15.10
$GC,2050,-1.95,-80.1,2046,3750,3134,2946,485.1,-22.7,248,2056,0.00,2.28,0.00,0.000,1030,0.000,0.097,2045,2489,3039,3133,2945,0,0,0,0,0,0,14.88,14.81,14.91
$GC,2362,-1.95,-80.1,2047,2488,3134,2946,553.2,-21.8,261,2367,0.00,2.38,0.00,0.000,260,0.000,0.144,2036,3762,3039,3133,2946,0,0,0,0,0,0,15.04,14.78,15.07
$GC,2437,-1.95,-80.1,2037,3762,3134,2946,570.4,-22.6,276,2443,0.17,2.25,0.00,0.000,3078,0.410,0.097,2066,2487,3039,3133,2946,0,0,0,0,0,0,14.56,14.85,14.88
$GC,2812,-1.95,-80.1,2067,2488,3134,2946,647.0,-20.2,291,2818,0.00,2.40,0.00,0.000,260,0.000,0.145,2058,3751,3039,3133,2946,0,0,0,0,0,0,15.09,14.78,15.12
$GC,2956,-1.95,-80.1,2058,3752,3134,2947,678.1,-21.4,320,2964,0.00,2.25,0.00,0.000,1030,0.000,0.096,2058,2497,3035,3128,2943,0,0,0,0,0,0,14.90,14.83,14.94
$GC,3322,-1.95,-80.1,2058,2498,3134,2947,750.8,-20.0,333,3329,0.00,2.35,0.00,0.000,260,0.000,0.146,2048,3757,3039,3133,2946,0,0,0,0,0,0,15.09,14.80,15.12
$GC,3442,-1.95,-80.1,2049,3757,3134,2946,776.8,-21.8,357,3450,0.00,2.28,0.00,0.000,1030,0.000,0.097,2048,2491,3039,3133,2946,0,0,0,0,0,0,14.90,14.84,14.93
$GC,3834,-1.95,-80.1,2049,2492,3134,2947,852.4,-18.9,375,3840,0.00,2.40,0.00,0.000,260,0.000,0.145,2038,3758,3040,3133,2947,0,0,0,0,0,0,15.11,14.78,15.14
$GC,4059,-1.95,-80.1,2039,3759,3134,2948,895.5,-18.2,420,4065,0.15,2.28,0.00,0.000,3078,0.413,0.096,2070,2494,3040,3133,2947,0,0,0,0,0,0,14.54,14.81,14.78
$PING,951.7,30.3,9000.0,-0.01,0.04
$PING,962.2,17.3,9000.0,0.01,0.44
$GC,4435,-1.95,-80.1,2070,2494,3135,2947,962.2,-17.6,435,4440,0.00,2.38,0.00,0.000,260,0.000,0.143,2061,3747,3040,3133,2947,0,0,0,0,0,0,15.07,14.78,15.10
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4453,begin apogee
$PING,968.9,13.7,12.5,-0.99,0.96
$GC,4458,-0.23,0.0,2062,2188,3134,2947,965.8,-18.5,439,4550,2.45,0.05,86.10,3.077,10246,0.367,0.262,2622,2200,2712,2782,2643,0,0,0,0,0,0,14.60,13.84,12.78
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$PING,960.3,16.9,9000.0,-0.42,0.92
$GC,4552,1.95,80.1,2623,2199,2783,2642,970.3,0.0,442,4660,2.38,2.95,95.95,3.081,10756,0.143,0.129,3336,791,2384,2424,2345,0,0,0,0,0,0,13.95,13.34,12.26
$GC,4794,1.95,80.1,3337,790,2419,2333,924.8,24.7,489,4802,0.00,2.80,0.00,0.000,1030,0.000,0.116,3336,2211,2376,2418,2334,0,0,0,0,0,0,14.09,14.01,14.16
$GC,5159,1.95,80.1,3336,2212,2416,2327,834.4,24.7,502,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2211,2371,2416,2326,0,0,0,0,0,0,14.69,14.72,14.71
$GC,5520,1.95,80.1,3336,2211,2415,2324,745.9,23.9,514,5526,0.00,2.65,0.00,0.000,516,0.000,0.125,3347,786,2369,2414,2324,0,0,0,0,0,0,14.87,14.61,14.90
$GC,5545,1.95,80.1,3347,787,2415,2324,739.9,22.2,519,5553,0.00,2.65,0.00,0.000,1030,0.000,0.110,3347,2208,2368,2413,2324,0,0,0,0,0,0,14.70,14.62,14.73
$GC,5911,1.95,80.1,3347,2208,2414,2322,654.0,23.2,532,5916,0.00,2.62,0.00,0.000,516,0.000,0.125,3357,785,2368,2413,2323,0,0,0,0,0,0,14.95,14.70,15.00
$GC,5970,1.95,80.1,3358,785,2413,2323,640.2,22.9,544,5977,0.12,2.62,0.00,0.000,5126,0.371,0.111,3330,2206,2367,2412,2323,0,0,0,0,0,0,14.54,14.71,14.73
$GC,6361,1.95,80.1,3330,2206,2412,2322,555.4,21.4,562,6367,0.00,2.65,0.00,0.000,516,0.000,0.123,3340,786,2366,2411,2322,0,0,0,0,0,0,15.02,14.74,15.05
$GC,6391,1.95,80.1,3340,787,2412,2323,548.7,22.2,568,6397,0.00,2.60,0.00,0.000,1030,0.000,0.111,3339,2199,2366,2411,2322,0,0,0,0,0,0,14.85,14.76,14.88
$GC,6771,1.95,80.1,3340,2199,2412,2321,467.9,21.5,588,6777,0.00,2.62,0.00,0.000,516,0.000,0.125,3350,791,2366,2411,2321,0,0,0,0,0,0,15.06,14.76,15.09
$GC,6851,1.95,80.1,3350,791,2412,2321,450.9,20.7,604,6857,0.00,2.60,0.00,0.000,1030,0.000,0.111,3350,2206,2366,2411,2321,0,0,0,0,0,0,14.87,14.79,14.90
$GC,7171,1.95,80.1,3349,2210,2411,2322,386.6,19.6,623,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2206,2365,2410,2321,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7472,1.95,80.1,3350,2206,2411,2321,330.1,18.4,638,7477,0.00,2.58,0.00,0.000,516,0.000,0.123,3360,778,2365,2410,2321,0,0,0,0,0,0,15.05,14.81,15.08
$GC,7562,1.95,80.1,3361,779,2411,2322,313.3,18.5,656,7568,0.17,2.58,0.00,0.000,5126,0.367,0.110,3327,2207,2365,2410,2321,0,0,0,0,0,0,14.64,14.82,14.92
$GC,7872,1.95,80.1,3327,2208,2410,2320,259.7,17.1,684,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2207,2364,2409,2320,0,0,0,0,0,0,15.07,15.11,15.10
$GC,8172,1.95,80.1,3327,2207,2410,2319,210.2,16.4,714,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2207,2364,2409,2319,0,0,0,0,0,0,15.09,15.11,15.11
$GC,8472,1.95,80.1,3327,2208,2410,2319,163.3,15.1,744,8478,0.00,2.65,0.00,0.000,260,0.000,0.135,3327,3617,2364,2409,2319,0,0,0,0,0,0,15.09,14.81,15.12
$GC,8512,1.95,80.1,3327,3617,2409,2319,157.0,15.8,752,8518,0.00,2.58,0.00,0.000,1030,0.000,0.099,3336,2191,2363,2408,2319,0,0,0,0,0,0,14.90,14.83,14.94
$PING,114.3,121.1,9000.0,-0.12,1.00
$GC,8822,1.95,80.1,3337,2190,2409,2319,109.6,15.5,784,8828,0.00,2.70,0.00,0.000,260,0.000,0.136,3336,3621,2363,2408,2319,0,0,0,0,0,0,15.09,14.81,15.12
$PING,97.6,101.5,9000.0,-0.11,0.96
$GC,8892,1.95,80.1,3337,3621,2409,2319,98.3,16.3,798,8900,0.00,2.58,0.00,0.000,1030,0.000,0.101,3347,2196,2363,2408,2318,0,0,0,0,0,0,14.90,14.83,14.94
$PING,88.7,92.5,92.1,1.12,1.00
$PING,70.3,74.0,74.0,1.01,1.00
$PING,61.1,63.4,63.8,1.05,1.00
$PING,51.9,54.0,53.8,1.09,1.00
$GC,9204,1.95,80.1,3347,2196,2409,2319,50.4,15.2,830,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2195,2363,2408,2318,0,0,0,0,0,0,15.09,15.12,15.12
$PING,42.7,44.6,44.6,1.02,1.00
$PING,33.2,34.9,34.9,1.02,1.00
$PING,25.1,26.4,26.4,1.04,1.00
$PING,15.9,14.4,14.7,1.19,1.00
$FREEZE,9.56,-1.194,-1.868,2,1,0
$FREEZE,8.00,-1.194,-1.867,2,1,0
$PING,6.3,6.5,5.8,1.05,0.98
$FREEZE,6.33,-1.196,-1.866,2,1,0
$FREEZE,4.62,-1.196,-1.864,2,1,0
$FREEZE,2.98,-1.198,-1.863,2,1,0
$GC,9504,1.95,80.1,3347,2196,2407,2319,3.0,16.6,860,9510,0.00,2.67,0.00,0.000,260,0.000,0.134,3347,3616,2363,2408,2318,0,0,0,0,0,0,15.10,14.80,15.13
$FREEZE,1.34,-1.198,-1.862,2,1,0
$STATE,9512,end climb,SURFACE_DEPTH_REACHED
$STATE,9512,begin surface coast
$FREEZE,0.42,-1.198,-1.861,2,1,0
$FREEZE,-0.44,-1.205,-1.861,2,1,0
$FINISH,-0.4,1.027297
$STATE,9523,end surface coast,CONTROL_FINISHED_OK
$STATE,9523,begin surface
$SM_CCo,9540,157.07,0.233,0,0,1489,300.00
$SM_GC,0.23,9.23,2.05,157.07,0.073,0.103,0.233,202,2490,1489,-7.76,0.37,300.00,0,0,0,0,0,0,14.91,14.86,14.57
$RAFOS_CLK,348
$RAFOS,2,1517713989,3.233333,3.219167,86,64,62,52,52,51,536,223,199,188,171,154
$RAFOS,1,1517713638,3.133333,3.121667,94,63,61,59,57,57,476,218,151,130,194,205
$RAFOS,0,1517713259,3.032778,3.016389,127,63,56,55,50,50,558,197,206,160,111,143
$RAFOS_FIX,-7411.492188,-11226.186523,040218,030316,3,102,0.22
$IRIDIUM_FIX,-7410.06,-11230.52,030218,220645
$TT8_MAMPS,0.040446,0.283871
$HUMID,45.15
$INTERNAL_PRESSURE,7.4921
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,6.3,5.8
$24V_AH,12.26,39.496
$10V_AH,12.57,0.000
$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,25.150,94.300,182.050,157.075,0.000,0.000,0.000,247.575,48.000,0.000,5.403,0.000,7300.951,563.936,2093.749,87.446,0.000,1462.413,0.000,1237.124,720.000,339.201,0.000
$DEVICE_MAMPS,485.010,262.395,3081.420,232.560,0.000,0.000,0.000,162.180,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9533.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.329,0.000,0.000,0.000
$MEM,279888
$DATA_FILE_SIZE,30010,864
$CAP_FILE_SIZE,124073,0
$CFSIZE,1024409600,1010778112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$CURRENT,0.077,91.63,1
$GPS,040218,034731,-7411.154,-11225.235,16,0.8,16,53.5,0.2,339.5,8,3.9