version: 66.13
glider: 222
mission: 8
dive: 93
start: 2 6 118 8 22 56
data:
$ID,222
$MISSION,8
$DIVE,93
$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,5
$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
$GPS1,060218,080955,-7409.0996,-11228.6396,17,0.9,33,53.4,0.1,0.0,11,3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-66.9
$GPS2,060218,082221,-7409.1377,-11228.4814,2,0.8,3,53.4,0.1,0.0,12,6.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out1
$TGT_LATLONG,-7409.000,-11226.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,1.7,1025,-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,-35.5,201,2509,1485,1456,0.0,0.0,0,91,0.00,0.00,-78.62,0.003,16390,0.000,0.000,200,2509,2859,2939,2780,0,0,0,0,0,0,14.71,13.80,14.73
$GC,93,-1.95,-79.8,201,2509,2940,2780,1.3,-1.6,8,116,10.40,2.38,-6.68,0.015,18724,0.482,0.161,2059,3755,3039,3143,2935,0,0,0,0,0,0,14.25,13.76,14.59
$PING,9.0,10.7,9000.0,0.00,0.00
$PING,17.7,19.7,9000.0,0.00,0.00
$PING,25.9,28.4,28.4,1.05,1.00
$PING,34.2,36.8,36.9,1.04,1.00
$PING,42.6,45.7,45.6,1.03,1.00
$PING,50.9,54.2,54.3,1.04,1.00
$PING,59.1,63.3,63.2,1.06,1.00
$GC,335,-1.95,-79.8,2059,3757,3141,2941,61.9,-27.5,56,341,0.00,2.30,0.00,0.000,1030,0.000,0.094,2059,2494,3040,3139,2941,0,0,0,0,0,0,14.69,14.62,14.71
$PING,88.3,93.9,93.9,1.06,1.00
$GC,645,-1.95,-79.8,2059,2494,3141,2941,142.8,-25.7,88,651,0.00,2.40,0.00,0.000,260,0.000,0.141,2049,3751,3040,3140,2941,0,0,0,0,0,0,14.95,14.64,14.97
$GC,685,-1.95,-79.8,2049,3752,3141,2942,153.4,-26.5,96,691,0.00,2.28,0.00,0.000,1030,0.000,0.094,2049,2493,3040,3140,2941,0,0,0,0,0,0,14.77,14.70,14.81
$GC,995,-1.95,-79.8,2049,2494,3141,2942,232.9,-25.7,128,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2493,3047,3148,2946,0,0,0,0,0,0,15.00,15.04,15.03
$GC,1306,-1.95,-79.8,2049,2497,3140,2943,310.0,-24.0,157,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2493,3041,3140,2942,0,0,0,0,0,0,15.01,15.04,15.03
$GC,1605,-1.95,-79.8,2050,2494,3140,2943,381.6,-23.4,172,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,2494,3041,3140,2942,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1906,-1.95,-79.8,2049,2494,3140,2943,451.1,-23.0,187,1911,0.00,2.35,0.00,0.000,260,0.000,0.144,2040,3758,3041,3140,2942,0,0,0,0,0,0,15.04,14.77,15.07
$GC,1945,-1.95,-79.8,2040,3758,3140,2951,460.9,-24.7,195,1951,0.12,2.28,0.00,0.000,3078,0.406,0.095,2066,2492,3040,3138,2943,0,0,0,0,0,0,14.53,14.82,14.76
$GC,2276,-1.95,-79.8,2066,2493,3139,2944,535.4,-22.4,212,2282,0.00,2.35,0.00,0.000,260,0.000,0.146,2057,3749,3040,3138,2943,0,0,0,0,0,0,15.05,14.78,15.08
$GC,2340,-1.95,-79.8,2053,3749,3139,2943,550.6,-23.2,225,2348,0.00,2.25,0.00,0.000,1030,0.000,0.095,2057,2496,3040,3138,2943,0,0,0,0,0,0,14.88,14.83,14.92
$GC,2727,-1.95,-79.8,2058,2496,3139,2943,633.3,-21.2,242,2733,0.00,2.38,0.00,0.000,260,0.000,0.146,2047,3747,3040,3138,2943,0,0,0,0,0,0,15.09,14.76,15.11
$GC,2832,-1.95,-79.8,2048,3748,3139,2944,656.7,-22.4,263,2838,0.00,2.25,0.00,0.000,1030,0.000,0.094,2047,2492,3040,3138,2943,0,0,0,0,0,0,14.89,14.83,14.92
$GC,3207,-1.95,-79.8,2048,2493,3139,2944,733.0,-19.9,278,3213,0.00,2.40,0.00,0.000,260,0.000,0.146,2038,3756,3041,3138,2944,0,0,0,0,0,0,15.09,14.76,15.12
$GC,3436,-1.95,-79.8,2038,3756,3139,2945,782.2,-21.6,324,3443,0.15,2.25,0.00,0.000,3078,0.405,0.096,2070,2497,3041,3138,2945,0,0,0,0,0,0,14.53,14.82,14.76
$GC,3807,-1.95,-79.8,2070,2499,3140,2946,850.5,-18.1,338,3813,0.00,2.38,0.00,0.000,260,0.000,0.144,2061,3750,3041,3138,2945,0,0,0,0,0,0,15.11,14.76,15.13
$PING,879.3,30.5,9000.0,-0.06,0.74
$PING,888.2,23.1,9000.0,-0.08,0.99
$PING,896.9,12.6,13.2,-1.02,0.99
$GC,4037,-1.95,-79.8,2061,3750,3139,2946,896.1,-19.6,384,4045,0.00,2.25,0.00,0.000,1030,0.000,0.093,2061,2490,3042,3138,2946,0,0,0,0,0,0,14.90,14.83,14.93
$STATE,4078,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4078,begin apogee
$GC,4081,-0.23,0.0,2062,2189,3139,2946,904.5,-20.0,387,4174,2.42,0.00,86.47,3.077,10246,0.360,0.000,2622,2189,2714,2792,2637,0,0,0,0,0,0,14.59,13.94,12.81
$STATE,4175,end apogee,CONTROL_FINISHED_OK
$STATE,4175,begin climb
$PING,904.7,13.0,9000.0,-0.62,0.75
$GC,4176,1.95,79.8,2621,2190,2787,2641,907.5,0.0,390,4284,2.30,2.92,95.07,3.081,10756,0.124,0.123,3333,790,2385,2429,2341,0,0,0,0,0,0,13.96,13.35,12.29
$PING,896.5,15.3,9000.0,-0.13,0.18
$GC,4343,1.95,79.8,3334,790,2424,2335,884.1,23.7,422,4349,0.00,2.78,0.00,0.000,1030,0.000,0.109,3333,2212,2379,2424,2334,0,0,0,0,0,0,13.93,13.82,13.95
$GC,4724,1.95,79.8,3333,2213,2421,2327,791.8,24.0,438,4729,0.00,2.67,0.00,0.000,260,0.000,0.133,3333,3616,2372,2419,2326,0,0,0,0,0,0,14.64,14.41,14.66
$GC,4763,1.95,79.8,3333,3619,2419,2327,781.9,24.4,446,4769,0.00,2.62,0.00,0.000,1030,0.000,0.097,3344,2205,2371,2418,2325,0,0,0,0,0,0,14.53,14.45,14.56
$GC,5143,1.95,79.8,3344,2205,2419,2324,693.6,22.6,462,5149,0.00,2.67,0.00,0.000,516,0.000,0.124,3355,779,2371,2418,2324,0,0,0,0,0,0,14.89,14.61,14.92
$GC,5158,1.95,79.8,3355,780,2418,2325,690.2,22.7,465,5165,0.12,2.65,0.00,0.000,5126,0.371,0.108,3327,2208,2370,2417,2324,0,0,0,0,0,0,14.45,14.63,14.66
$GC,5534,1.95,79.8,3327,2207,2418,2323,607.9,21.7,480,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3328,2208,2370,2417,2323,0,0,0,0,0,0,14.98,15.02,15.01
$GC,5894,1.95,79.8,3328,2209,2417,2323,532.0,20.9,492,5900,0.00,2.62,0.00,0.000,516,0.000,0.121,3337,770,2370,2417,2323,0,0,0,0,0,0,15.04,14.76,15.06
$GC,5945,1.95,79.8,3338,771,2417,2323,521.4,20.8,502,5950,0.00,2.60,0.00,0.000,1030,0.000,0.108,3337,2212,2369,2416,2322,0,0,0,0,0,0,14.90,14.78,14.93
$GC,6314,1.95,79.8,3337,2212,2417,2322,445.8,20.3,520,6320,0.00,2.67,0.00,0.000,516,0.000,0.122,3348,774,2369,2416,2322,0,0,0,0,0,0,15.07,14.78,15.09
$GC,6379,1.95,79.8,3348,773,2417,2321,432.6,20.5,533,6386,0.00,2.62,0.00,0.000,1030,0.000,0.108,3348,2208,2369,2416,2322,0,0,0,0,0,0,14.85,14.77,14.89
$GC,6696,1.95,79.8,3348,2210,2417,2323,371.1,19.0,551,6701,0.00,2.62,0.00,0.000,516,0.000,0.123,3358,772,2369,2416,2322,0,0,0,0,0,0,15.05,14.81,15.07
$GC,6790,1.95,79.8,3359,772,2417,2321,353.4,18.4,570,6797,0.12,2.62,0.00,0.000,5126,0.372,0.108,3331,2208,2368,2415,2321,0,0,0,0,0,0,14.59,14.81,14.81
$GC,7095,1.95,79.8,3331,2208,2416,2322,298.8,17.5,586,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,3330,2208,2368,2416,2321,0,0,0,0,0,0,15.09,15.11,15.11
$GC,7395,1.95,79.8,3331,2208,2417,2321,248.9,16.3,616,7401,0.00,2.65,0.00,0.000,516,0.000,0.121,3340,778,2368,2416,2321,0,0,0,0,0,0,15.09,14.80,15.11
$GC,7505,1.95,79.8,3340,779,2416,2322,231.0,16.4,638,7512,0.00,2.58,0.00,0.000,1030,0.000,0.110,3340,2204,2368,2415,2321,0,0,0,0,0,0,14.95,14.82,14.98
$GC,7817,1.95,79.8,3340,2204,2417,2321,183.7,14.7,670,7822,0.00,2.60,0.00,0.000,516,0.000,0.123,3351,782,2368,2415,2321,0,0,0,0,0,0,15.07,14.81,15.09
$GC,7845,1.95,79.8,3351,783,2416,2322,179.3,15.0,676,7851,0.00,2.60,0.00,0.000,1030,0.000,0.110,3351,2205,2367,2415,2320,0,0,0,0,0,0,14.90,14.81,14.94
$PING,174.7,182.5,9000.0,-0.23,1.00
$PING,156.4,163.2,9000.0,-0.21,0.98
$GC,8155,1.95,79.8,3356,2206,2416,2321,132.5,14.8,708,8161,0.00,2.65,0.00,0.000,516,0.000,0.122,3361,779,2367,2415,2320,0,0,0,0,0,0,15.09,14.80,15.12
$GC,8205,1.95,79.8,3362,779,2417,2320,124.9,15.3,718,8212,0.15,2.60,0.00,0.000,5126,0.366,0.109,3327,2199,2367,2415,2320,0,0,0,0,0,0,14.61,14.82,14.80
$PING,121.9,126.5,126.5,1.06,1.00
$PING,104.5,109.6,109.1,1.04,1.00
$PING,87.1,90.7,91.1,1.03,1.00
$GC,8516,1.95,79.8,3327,2198,2416,2320,80.0,14.3,750,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,2198,2367,2415,2320,0,0,0,0,0,0,15.10,15.13,15.12
$PING,78.6,81.9,81.8,1.07,1.00
$PING,70.0,73.4,73.3,1.01,1.00
$PING,52.5,54.8,54.9,1.04,1.00
$PING,43.8,45.5,45.5,1.06,1.00
$GC,8816,1.95,79.8,3327,2198,2416,2319,36.5,14.6,780,8822,0.00,2.67,0.00,0.000,260,0.000,0.136,3326,3618,2367,2415,2319,0,0,0,0,0,0,15.10,14.80,15.13
$PING,35.0,36.2,36.2,1.06,1.00
$PING,26.5,27.6,27.6,1.03,1.00
$PING,18.1,14.4,9000.0,1.29,0.98
$GC,8960,1.95,79.8,3327,3619,2415,2320,14.3,15.1,809,8969,0.00,2.58,0.00,0.000,1030,0.000,0.099,3336,2193,2366,2414,2319,0,0,0,0,0,0,14.90,14.83,14.93
$PING,9.3,9.9,8.4,1.03,0.92
$FREEZE,9.33,-1.336,-1.868,2,1,0
$FREEZE,7.91,-1.335,-1.867,2,1,0
$FREEZE,6.45,-1.334,-1.866,2,1,0
$FREEZE,5.03,-1.339,-1.865,2,1,0
$FREEZE,3.66,-1.346,-1.864,2,1,0
$FREEZE,2.23,-1.342,-1.863,2,1,0
$FREEZE,0.80,-1.341,-1.862,2,1,0
$STATE,9056,end climb,SURFACE_DEPTH_REACHED
$STATE,9056,begin surface coast
$FREEZE,-0.44,-1.349,-1.861,2,1,0
$FINISH,-0.4,1.027305
$STATE,9065,end surface coast,CONTROL_FINISHED_OK
$STATE,9065,begin surface
$SM_CCo,9080,159.95,0.232,0,0,1491,300.00
$SM_GC,0.21,9.15,0.62,159.95,0.070,0.148,0.232,201,2507,1491,-7.75,-0.23,300.00,0,0,0,0,0,0,14.92,14.81,14.55
$RAFOS_CLK,330
$RAFOS,2,1517908402,9.233334,9.222777,101,65,58,56,55,55,454,187,220,200,121,210
$RAFOS,1,1517908042,9.133333,9.122778,125,70,55,53,52,51,458,210,195,185,156,144
$RAFOS,0,1517907661,9.032778,9.016945,169,60,59,58,53,51,564,177,205,150,218,228
$RAFOS_FIX,-7408.703125,-11226.454102,060218,090940,3,132,0.42
$IRIDIUM_FIX,-7412.42,-11208.63,060218,053146
$TT8_MAMPS,0.041195,0.274134
$HUMID,45.07
$INTERNAL_PRESSURE,7.4921
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.3,8.4
$ALTIM_BOTTOM_PING,896.9,13.2
$24V_AH,12.29,45.734
$10V_AH,12.61,0.000
$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,24.950,86.675,181.550,159.950,0.000,0.000,0.000,620.675,45.000,0.000,4.704,0.000,6946.205,549.898,2374.109,131.745,0.000,1787.682,0.000,1174.839,720.000,319.532,0.000
$DEVICE_MAMPS,481.950,160.650,3080.655,231.795,0.000,0.000,0.000,211.905,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9073.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.400,0.000,0.000,0.000
$MEM,279852
$DATA_FILE_SIZE,26724,820
$CAP_FILE_SIZE,122025,0
$CFSIZE,1024409600,1008795648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.6
$CURRENT,0.074,113.04,1
$GPS,060218,105739,-7408.856,-11224.023,6,1.5,12,53.4,0.1,0.0,6,8.3