version: 66.13
glider: 222
mission: 8
dive: 77
start: 2 4 118 3 55 13
data:
$ID,222
$MISSION,8
$DIVE,77
$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,20
$R_STBD_OVSHOOT,14
$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
$GPS1,040218,034731,-7411.1538,-11225.2354,16,0.8,16,53.5,0.2,339.5,8,3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.20
$_SM_ANGLEo,-64.6
$GPS2,040218,035437,-7411.1611,-11225.2773,2,0.9,2,53.5,0.3,226.8,8,10.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,ip1
$TGT_LATLONG,-7411.616,-11227.690
$TGT_RADIUS,800.000
$MHEAD_RNG_PITCHd_Wd,200.0,1481,-28.5,-10.000,-34.28,974
$D_GRID,951
$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,-1.37,-64.3,203,2489,1475,1467,0.0,0.0,0,95,0.00,0.00,-85.20,0.003,16390,0.000,0.000,201,2488,2979,3060,2898,0,0,0,0,0,0,14.81,13.50,14.84
$GC,97,-1.47,-144.5,203,2488,3061,2898,1.2,-1.5,8,125,11.05,2.45,-10.62,0.010,19236,0.480,0.175,2214,3760,3306,3403,3209,0,0,0,0,0,0,14.32,13.49,14.66
$PING,8.9,10.2,9000.0,0.00,0.00
$PING,17.1,19.4,9000.0,0.00,0.00
$PING,26.1,28.5,28.7,1.07,1.00
$PING,35.1,38.2,38.2,1.04,1.00
$PING,44.3,47.3,47.4,1.02,1.00
$GC,349,-1.47,-144.5,2211,3760,3403,3212,62.0,-25.1,58,355,0.00,2.28,0.00,0.000,1030,0.000,0.096,2211,2487,3306,3402,3211,0,0,0,0,0,0,14.78,14.68,14.80
$GC,659,-1.47,-144.5,2210,2488,3402,3213,136.8,-23.7,90,668,0.00,2.38,0.00,0.000,260,0.000,0.148,2201,3749,3306,3401,3211,0,0,0,0,0,0,14.97,14.67,14.99
$GC,832,-1.47,-144.5,2202,3749,3402,3213,179.4,-25.4,124,841,0.00,2.28,0.00,0.000,1030,0.000,0.096,2201,2491,3307,3401,3213,0,0,0,0,0,0,14.81,14.74,14.84
$GC,1145,-1.47,-144.5,2202,2491,3402,3213,255.5,-24.2,156,1152,0.00,2.40,0.00,0.000,260,0.000,0.147,2192,3744,3307,3401,3213,0,0,0,0,0,0,15.02,14.71,15.04
$GC,1201,-1.47,-144.5,2192,3744,3401,3213,269.9,-25.5,167,1209,0.12,2.25,0.00,0.000,3078,0.368,0.096,2219,2497,3306,3400,3213,0,0,0,0,0,0,14.53,14.76,14.73
$GC,1516,-1.47,-144.5,2219,2497,3401,3213,343.0,-22.4,190,1522,0.00,2.40,0.00,0.000,260,0.000,0.150,2211,3750,3307,3401,3213,0,0,0,0,0,0,15.04,14.72,15.07
$GC,1596,-1.47,-144.5,2212,3750,3401,3213,362.5,-24.4,206,1603,0.00,2.28,0.00,0.000,1030,0.000,0.098,2211,2488,3306,3400,3213,0,0,0,0,0,0,14.85,14.79,14.89
$GC,1918,-1.47,-144.5,2211,2489,3400,3211,435.2,-22.5,225,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2488,3306,3400,3213,0,0,0,0,0,0,15.03,15.07,15.06
$GC,2217,-1.47,-144.5,2211,2489,3401,3214,501.7,-21.7,240,2223,0.00,2.40,0.00,0.000,260,0.000,0.148,2201,3749,3306,3400,3213,0,0,0,0,0,0,15.08,14.76,15.11
$GC,2332,-1.47,-144.5,2202,3749,3401,3213,528.7,-23.0,263,2340,0.00,2.25,0.00,0.000,1030,0.000,0.096,2201,2497,3306,3400,3213,0,0,0,0,0,0,14.89,14.83,14.92
$GC,2698,-1.47,-144.5,2202,2498,3400,3214,607.8,-21.4,276,2703,0.00,2.40,0.00,0.000,260,0.000,0.149,2192,3753,3306,3399,3213,0,0,0,0,0,0,15.09,14.75,15.15
$GC,2722,-1.47,-144.5,2192,3753,3401,3214,613.4,-22.7,281,2731,0.12,2.28,0.00,0.000,3078,0.373,0.097,2219,2490,3306,3399,3213,0,0,0,0,0,0,14.57,14.83,14.80
$GC,3087,-1.47,-144.5,2220,2491,3400,3214,688.9,-20.5,294,3093,0.00,2.40,0.00,0.000,260,0.000,0.148,2211,3750,3306,3399,3214,0,0,0,0,0,0,15.10,14.78,15.13
$GC,3152,-1.47,-144.5,2211,3750,3401,3214,703.1,-22.2,307,3158,0.00,2.25,0.00,0.000,1030,0.000,0.098,2211,2497,3306,3399,3214,0,0,0,0,0,0,14.90,14.83,14.93
$GC,3538,-1.47,-144.5,2211,2497,3400,3215,782.8,-20.6,324,3543,0.00,2.35,0.00,0.000,260,0.000,0.149,2201,3753,3307,3400,3214,0,0,0,0,0,0,15.07,14.78,15.10
$GC,3578,-1.47,-144.5,2201,3753,3400,3215,790.9,-19.4,332,3584,0.00,2.25,0.00,0.000,1030,0.000,0.098,2201,2480,3306,3399,3214,0,0,0,0,0,0,14.95,14.83,14.97
$GC,3957,-1.47,-144.5,2202,2481,3400,3215,869.1,-20.0,348,3964,0.00,2.42,0.00,0.000,260,0.000,0.150,2192,3751,3307,3400,3214,0,0,0,0,0,0,15.11,14.76,15.14
$GC,4077,-1.47,-144.5,2193,3751,3401,3215,894.8,-21.4,372,4084,0.12,2.25,0.00,0.000,3078,0.376,0.098,2219,2496,3306,3399,3214,0,0,0,0,0,0,14.56,14.84,14.80
$PING,951.5,23.3,9000.0,-0.02,0.85
$STATE,4377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4377,begin apogee
$PING,954.0,22.5,9000.0,-0.03,1.00
$GC,4380,-0.23,0.0,2219,2182,3400,3215,951.5,-19.0,387,4541,1.60,0.05,156.30,3.102,10246,0.306,0.256,2622,2198,2712,2767,2658,0,0,0,0,0,0,14.66,13.40,12.36
$STATE,4542,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$PING,945.8,18.1,9000.0,0.60,0.81
$PING,937.6,15.9,9000.0,0.40,0.96
$GC,4543,1.47,144.5,2623,2199,2767,2659,956.1,0.0,392,4724,1.90,2.97,170.30,3.104,10756,0.142,0.132,3175,788,2120,2154,2087,0,0,0,0,0,0,13.48,13.26,12.19
$GC,4793,1.47,144.5,3176,789,2151,2081,915.5,23.7,440,4799,0.00,2.85,0.00,0.000,1030,0.000,0.112,3176,2213,2114,2150,2079,0,0,0,0,0,0,13.87,13.80,13.90
$GC,5183,1.47,144.5,3175,2215,2150,2072,821.4,24.1,458,5191,0.00,2.75,0.00,0.000,516,0.000,0.129,3186,789,2110,2149,2071,0,0,0,0,0,0,14.66,14.40,14.68
$GC,5270,1.47,144.5,3186,790,2148,2072,800.3,23.7,475,5277,0.00,2.65,0.00,0.000,1030,0.000,0.112,3186,2213,2109,2148,2071,0,0,0,0,0,0,14.59,14.47,14.62
$GC,5635,1.47,144.5,3186,2214,2149,2069,712.5,24.0,488,5642,0.00,2.65,0.00,0.000,516,0.000,0.128,3197,789,2106,2144,2069,0,0,0,0,0,0,14.88,14.62,14.90
$GC,5731,1.47,144.5,3197,789,2148,2069,689.6,23.9,507,5737,0.00,2.62,0.00,0.000,1030,0.000,0.112,3197,2222,2108,2147,2069,0,0,0,0,0,0,14.78,14.66,14.81
$GC,6116,1.47,144.5,3196,2223,2148,2069,596.7,23.9,524,6123,0.00,2.65,0.00,0.000,516,0.000,0.128,3207,789,2107,2147,2068,0,0,0,0,0,0,14.99,14.72,15.01
$GC,6172,1.47,144.5,3208,790,2148,2068,583.3,24.2,535,6179,0.12,2.62,0.00,0.000,5126,0.332,0.112,3179,2211,2107,2147,2068,0,0,0,0,0,0,14.57,14.73,14.75
$GC,6537,1.47,144.5,3177,2211,2148,2067,502.9,22.0,548,6543,0.00,2.67,0.00,0.000,516,0.000,0.129,3188,786,2106,2146,2067,0,0,0,0,0,0,15.04,14.75,15.07
$GC,6617,1.47,144.5,3188,787,2147,2069,485.6,21.5,564,6623,0.00,2.62,0.00,0.000,1030,0.000,0.114,3188,2205,2107,2147,2067,0,0,0,0,0,0,14.85,14.77,14.89
$GC,6937,1.47,144.5,3188,2206,2147,2068,417.4,21.4,583,6943,0.00,2.65,0.00,0.000,516,0.000,0.129,3198,794,2106,2146,2067,0,0,0,0,0,0,15.06,14.77,15.09
$GC,6967,1.47,144.5,3199,794,2146,2068,411.0,21.1,589,6974,0.00,2.60,0.00,0.000,1030,0.000,0.112,3198,2206,2107,2147,2067,0,0,0,0,0,0,14.88,14.79,14.91
$GC,7278,1.47,144.5,3199,2206,2148,2067,344.0,21.2,606,7284,0.00,2.62,0.00,0.000,516,0.000,0.129,3209,781,2107,2147,2068,0,0,0,0,0,0,15.04,14.80,15.07
$GC,7302,1.47,144.5,3209,781,2148,2068,338.5,22.7,611,7309,0.12,2.62,0.00,0.000,5126,0.324,0.114,3180,2204,2107,2147,2067,0,0,0,0,0,0,14.65,14.81,14.83
$GC,7608,1.47,144.5,3180,2204,2147,2066,276.8,19.8,634,7615,0.00,2.65,0.00,0.000,516,0.000,0.130,3189,788,2106,2147,2066,0,0,0,0,0,0,15.08,14.78,15.11
$GC,7655,1.47,144.5,3189,788,2147,2066,267.8,19.5,643,7661,0.00,2.58,0.00,0.000,1030,0.000,0.115,3189,2206,2106,2146,2066,0,0,0,0,0,0,14.95,14.81,14.97
$GC,7959,1.47,144.5,3189,2207,2148,2066,208.4,19.5,674,7965,0.00,2.62,0.00,0.000,516,0.000,0.129,3199,782,2106,2147,2066,0,0,0,0,0,0,15.07,14.80,15.10
$GC,7983,1.47,144.5,3200,782,2148,2066,203.4,19.5,679,7991,0.00,2.62,0.00,0.000,1030,0.000,0.114,3199,2205,2106,2147,2066,0,0,0,0,0,0,14.89,14.81,14.93
$GC,8289,1.47,144.5,3200,2207,2148,2067,143.1,19.7,710,8295,0.00,2.65,0.00,0.000,516,0.000,0.130,3210,794,2106,2147,2066,0,0,0,0,0,0,15.08,14.78,15.11
$PING,136.1,142.0,9000.0,-0.16,1.00
$GC,8324,1.47,144.5,3210,794,2148,2066,136.1,19.8,717,8333,0.17,2.58,0.00,0.000,5126,0.328,0.114,3175,2215,2106,2147,2066,0,0,0,0,0,0,14.67,14.82,14.92
$PING,100.4,104.0,9000.0,-0.13,0.89
$PING,82.4,86.1,85.7,1.04,1.00
$GC,8629,1.47,144.5,3175,2215,2148,2065,80.6,18.0,748,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2216,2105,2146,2065,0,0,0,0,0,0,15.09,15.11,15.11
$PING,73.4,77.7,77.5,0.98,1.00
$PING,64.2,66.8,67.2,1.06,0.99
$PING,55.3,58.1,57.8,1.08,1.00
$PING,46.3,48.4,48.6,1.03,1.00
$PING,37.3,38.9,38.9,1.07,1.00
$PING,28.4,29.5,29.5,1.06,1.00
$GC,8929,1.47,144.5,3175,2216,2147,2066,26.6,17.8,778,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2215,2105,2147,2064,0,0,0,0,0,0,15.09,15.12,15.11
$PING,19.5,20.2,20.2,1.05,1.00
$PING,10.2,10.7,10.7,1.04,1.00
$FREEZE,8.45,-1.277,-1.867,2,1,0
$FREEZE,6.58,-1.277,-1.865,2,1,0
$FREEZE,4.81,-1.275,-1.864,2,1,0
$FREEZE,3.01,-1.279,-1.863,2,1,0
$FREEZE,1.37,-1.278,-1.861,2,1,0
$STATE,9069,end climb,SURFACE_DEPTH_REACHED
$STATE,9069,begin surface coast
$FREEZE,-0.36,-1.278,-1.860,2,1,0
$FINISH,-0.4,1.027288
$STATE,9078,end surface coast,CONTROL_FINISHED_OK
$STATE,9078,begin surface
$SM_CCo,9092,110.90,0.235,0,0,1490,300.00
$SM_GC,0.22,8.62,0.57,110.90,0.066,0.144,0.235,202,2508,1490,-7.75,-0.23,300.00,0,0,0,0,0,0,14.93,14.83,14.62
$RAFOS_CLK,325
$RAFOS,2,1517724782,6.233333,6.217222,77,70,59,56,55,53,577,157,213,136,175,200
$RAFOS,1,1517724422,6.133333,6.117222,100,60,60,55,51,51,547,216,121,185,168,234
$RAFOS,0,1517724061,6.032778,6.016944,124,57,55,54,54,54,562,216,225,119,159,200
$RAFOS_FIX,-7411.032227,-11226.088867,040218,060628,3,100,0.06
$IRIDIUM_FIX,-7411.98,-11233.55,040218,034914
$TT8_MAMPS,0.041944,0.28462
$HUMID,45.70
$INTERNAL_PRESSURE,7.48233
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.2,10.7
$24V_AH,12.19,39.854
$10V_AH,12.41,0.000
$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,23.975,96.425,326.600,110.900,0.000,0.000,0.000,286.625,48.000,0.000,4.059,0.000,6895.883,650.049,2021.834,87.177,0.000,1566.388,0.000,1137.321,720.000,341.152,0.000
$DEVICE_MAMPS,479.655,255.510,3103.605,234.855,0.000,0.000,0.000,170.595,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9089.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.302,0.000,0.000,0.000
$MEM,279732
$DATA_FILE_SIZE,26721,793
$CAP_FILE_SIZE,120902,0
$CFSIZE,1024409600,1010663424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$CURRENT,0.060,110.61,1
$GPS,040218,062939,-7411.110,-11229.054,24,1.4,25,53.5,0.2,0.0,4,8.0