version: 66.13
glider: 222
mission: 8
dive: 94
start: 2 6 118 11 3 12
data:
$ID,222
$MISSION,8
$DIVE,94
$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,21
$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
$GPS1,060218,105739,-7408.8560,-11224.0234,6,1.5,12,53.4,0.1,0.0,6,8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.29
$_SM_ANGLEo,-65.4
$GPS2,060218,110243,-7408.8599,-11223.9863,3,1.5,5,53.4,0.1,0.0,6,8.7
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out1
$TGT_LATLONG,-7409.000,-11226.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,222.5,1307,-29.7,-10.000,-35.32,910
$D_GRID,890
$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,-1.42,-60.0,202,2506,1486,1459,0.0,0.0,0,93,0.00,0.00,-83.20,0.003,16390,0.000,0.000,201,2506,2961,3042,2880,0,0,0,0,0,0,14.82,13.47,14.85
$GC,95,-1.52,-134.3,201,2507,3043,2880,1.3,-1.6,8,123,10.98,2.67,-10.00,0.011,18980,0.477,0.132,2210,1085,3264,3370,3158,0,0,0,0,0,0,14.31,13.45,14.66
$PING,9.0,11.2,9000.0,0.00,0.00
$PING,17.7,19.5,9000.0,0.00,0.00
$PING,26.8,29.0,28.9,1.00,1.00
$GC,252,-1.52,-134.3,2210,1086,3371,3160,35.1,-23.6,39,259,0.00,2.65,0.00,0.000,1030,0.000,0.122,2201,2502,3264,3370,3159,0,0,0,0,0,0,14.72,14.60,14.74
$GC,557,-1.52,-134.3,2198,2503,3369,3161,110.9,-24.9,70,566,0.00,2.38,0.00,0.000,260,0.000,0.143,2191,3749,3264,3368,3161,0,0,0,0,0,0,14.96,14.64,14.99
$GC,625,-1.52,-134.3,2192,3749,3367,3162,128.7,-26.3,83,633,0.00,2.28,0.00,0.000,1030,0.000,0.096,2192,2494,3264,3366,3162,0,0,0,0,0,0,14.78,14.71,14.82
$GC,930,-1.52,-134.3,2192,2493,3367,3162,205.5,-24.7,114,936,0.00,2.42,0.00,0.000,260,0.000,0.149,2181,3756,3264,3366,3162,0,0,0,0,0,0,15.01,14.68,15.03
$GC,965,-1.52,-134.3,2182,3757,3366,3163,214.4,-25.8,121,973,0.12,2.28,0.00,0.000,3078,0.356,0.098,2209,2498,3263,3366,3161,0,0,0,0,0,0,14.51,14.74,14.71
$GC,1270,-1.52,-134.3,2210,2498,3367,3162,286.1,-23.0,152,1276,0.00,2.40,0.00,0.000,260,0.000,0.148,2201,3751,3264,3366,3162,0,0,0,0,0,0,15.03,14.69,15.06
$GC,1315,-1.52,-134.3,2201,3752,3366,3163,296.9,-24.6,161,1323,0.00,2.28,0.00,0.000,1030,0.000,0.097,2201,2493,3263,3365,3162,0,0,0,0,0,0,14.84,14.78,14.88
$GC,1630,-1.52,-134.3,2201,2493,3365,3163,371.3,-23.3,178,1636,0.00,2.40,0.00,0.000,260,0.000,0.148,2192,3750,3264,3364,3164,0,0,0,0,0,0,15.06,14.72,15.09
$GC,1675,-1.52,-134.3,2191,3751,3363,3166,382.0,-23.9,187,1682,0.00,2.28,0.00,0.000,1030,0.000,0.098,2192,2489,3264,3363,3165,0,0,0,0,0,0,14.85,14.80,14.90
$GC,1991,-1.52,-134.3,2192,2490,3363,3168,454.2,-22.3,205,1998,0.00,2.42,0.00,0.000,260,0.000,0.149,2182,3754,3264,3363,3165,0,0,0,0,0,0,15.09,14.74,15.10
$GC,2046,-1.52,-134.3,2182,3755,3363,3166,467.4,-24.3,216,2054,0.10,2.28,0.00,0.000,3078,0.366,0.097,2204,2490,3264,3362,3166,0,0,0,0,0,0,14.56,14.81,14.77
$GC,2362,-1.52,-134.3,2204,2491,3363,3167,536.3,-21.6,230,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2203,2490,3264,3362,3166,0,0,0,0,0,0,15.09,15.11,15.10
$GC,2722,-1.52,-134.3,2204,2490,3364,3166,613.1,-21.2,242,2728,0.00,2.38,0.00,0.000,260,0.000,0.147,2195,3758,3264,3362,3166,0,0,0,0,0,0,15.10,14.78,15.12
$GC,2777,-1.52,-134.3,2195,3761,3364,3167,625.5,-22.7,253,2785,0.00,2.28,0.00,0.000,1030,0.000,0.098,2195,2494,3264,3362,3166,0,0,0,0,0,0,14.90,14.83,14.94
$GC,3142,-1.52,-134.3,2195,2495,3363,3167,703.2,-21.4,266,3148,0.00,2.35,0.00,0.000,260,0.000,0.148,2185,3751,3264,3362,3166,0,0,0,0,0,0,15.10,14.78,15.13
$GC,3182,-1.52,-134.3,2186,3752,3363,3167,712.0,-22.2,274,3188,0.00,2.28,0.00,0.000,1030,0.000,0.097,2186,2490,3263,3361,3166,0,0,0,0,0,0,14.90,14.84,14.93
$GC,3562,-1.52,-134.3,2185,2491,3363,3167,791.8,-21.0,290,3568,0.00,2.42,0.00,0.000,260,0.000,0.149,2176,3757,3264,3362,3167,0,0,0,0,0,0,15.10,14.76,15.13
$GC,3613,-1.52,-134.3,2176,3758,3363,3168,802.7,-22.7,300,3618,0.17,2.25,0.00,0.000,3078,0.374,0.098,2209,2484,3261,3356,3166,0,0,0,0,0,0,14.59,14.85,14.89
$PING,823.3,61.5,9000.0,0.05,0.96
$PING,835.1,50.3,9000.0,0.03,0.88
$PING,847.0,37.0,37.3,-1.03,1.00
$PING,858.8,27.6,27.0,-0.96,0.99
$PING,870.6,12.9,13.8,-1.02,0.98
$STATE,3981,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3981,begin apogee
$GC,3985,-0.23,0.0,2209,2184,3364,3164,876.9,-19.7,314,4136,1.65,0.05,145.12,3.099,10246,0.308,0.262,2622,2200,2714,2772,2656,0,0,0,0,0,0,14.64,13.47,12.45
$STATE,4137,end apogee,CONTROL_FINISHED_OK
$STATE,4137,begin climb
$PING,878.3,11.8,9.7,-0.85,0.89
$PING,870.0,12.5,9000.0,-0.11,0.83
$PING,861.3,21.4,9000.0,-0.57,0.81
$GC,4138,1.52,134.3,2623,2200,2774,2656,880.8,0.0,319,4308,1.95,2.95,158.07,3.101,10756,0.141,0.128,3193,789,2163,2201,2126,0,0,0,0,0,0,13.55,13.28,12.24
$GC,4357,1.52,134.3,3193,793,2196,2122,847.2,23.4,360,4364,0.00,2.80,0.00,0.000,1030,0.000,0.110,3193,2207,2160,2200,2121,0,0,0,0,0,0,13.84,13.74,13.86
$GC,4722,1.52,134.3,3193,2207,2195,2111,762.9,22.7,373,4729,0.00,2.67,0.00,0.000,516,0.000,0.125,3204,794,2151,2193,2110,0,0,0,0,0,0,14.63,14.38,14.66
$GC,4743,1.52,134.3,3204,794,2194,2111,758.2,21.8,377,4749,0.00,2.67,0.00,0.000,1030,0.000,0.111,3204,2204,2151,2193,2110,0,0,0,0,0,0,14.54,14.40,14.56
$GC,5114,1.52,134.3,3204,2204,2194,2109,671.9,23.0,391,5119,0.00,2.62,0.00,0.000,516,0.000,0.125,3214,795,2150,2193,2108,0,0,0,0,0,0,14.86,14.59,14.89
$GC,5143,1.52,134.3,3214,796,2194,2108,665.0,22.1,397,5150,0.00,2.62,0.00,0.000,1030,0.000,0.112,3214,2197,2149,2190,2108,0,0,0,0,0,0,14.69,14.60,14.73
$GC,5534,1.52,134.3,3214,2198,2193,2108,573.3,23.2,415,5541,0.00,2.65,0.00,0.000,516,0.000,0.127,3225,791,2150,2193,2107,0,0,0,0,0,0,14.97,14.69,15.00
$GC,5566,1.52,134.3,3225,791,2194,2107,565.9,23.9,421,5573,0.12,2.62,0.00,0.000,5126,0.327,0.112,3189,2206,2150,2193,2107,0,0,0,0,0,0,14.55,14.71,14.83
$GC,5936,1.52,134.3,3189,2208,2193,2108,485.2,21.3,439,5943,0.00,2.65,0.00,0.000,516,0.000,0.126,3198,792,2149,2192,2106,0,0,0,0,0,0,15.03,14.73,15.05
$GC,5981,1.52,134.3,3198,793,2193,2107,475.7,21.0,448,5988,0.00,2.60,0.00,0.000,1030,0.000,0.113,3199,2202,2149,2192,2106,0,0,0,0,0,0,14.84,14.76,14.88
$GC,6297,1.52,134.3,3198,2202,2194,2101,409.8,20.4,466,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2202,2149,2192,2106,0,0,0,0,0,0,15.05,15.09,15.08
$GC,6597,1.52,134.3,3199,2203,2193,2106,348.7,20.0,481,6605,0.00,2.65,0.00,0.000,260,0.000,0.141,3198,3626,2148,2192,2105,0,0,0,0,0,0,15.07,14.79,15.10
$GC,6628,1.52,134.3,3199,3626,2194,2106,341.9,21.7,487,6635,0.00,2.60,0.00,0.000,1030,0.000,0.102,3209,2200,2148,2192,2105,0,0,0,0,0,0,14.88,14.81,14.91
$GC,6940,1.52,134.3,3209,2200,2194,2105,278.8,20.1,509,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2199,2149,2193,2105,0,0,0,0,0,0,15.05,15.08,15.08
$GC,7240,1.52,134.3,3209,2200,2193,2105,220.5,19.2,539,7245,0.00,2.60,0.00,0.000,516,0.000,0.129,3219,780,2148,2192,2105,0,0,0,0,0,0,15.05,14.81,15.08
$GC,7294,1.52,134.3,3220,781,2193,2105,209.6,20.1,550,7301,0.12,2.62,0.00,0.000,5126,0.324,0.113,3190,2205,2148,2192,2105,0,0,0,0,0,0,14.64,14.81,14.82
$PING,176.1,182.8,9000.0,-0.24,1.00
$GC,7599,1.52,134.3,3190,2206,2193,2105,155.0,17.7,581,7606,0.00,2.65,0.00,0.000,516,0.000,0.127,3199,785,2148,2192,2104,0,0,0,0,0,0,15.09,14.79,15.11
$GC,7619,1.52,134.3,3199,785,2193,2104,151.4,17.5,585,7626,0.00,2.60,0.00,0.000,1030,0.000,0.113,3199,2201,2148,2192,2104,0,0,0,0,0,0,14.89,14.81,14.93
$PING,149.5,155.3,9000.0,-0.21,0.96
$PING,122.7,127.6,127.6,1.03,1.00
$PING,113.9,118.5,118.5,1.03,1.00
$PING,104.9,109.2,109.2,1.03,1.00
$PING,95.7,99.6,99.6,1.04,1.00
$GC,7931,1.52,134.3,3199,2202,2193,2104,95.7,18.4,617,7937,0.00,2.60,0.00,0.000,516,0.000,0.129,3210,786,2147,2192,2103,0,0,0,0,0,0,15.07,14.81,15.09
$GC,7951,1.52,134.3,3210,786,2193,2104,91.9,18.0,621,7958,0.00,2.60,0.00,0.000,1030,0.000,0.113,3210,2200,2147,2192,2103,0,0,0,0,0,0,14.89,14.81,14.94
$PING,86.4,89.7,89.7,1.06,1.00
$PING,77.3,80.3,80.2,1.05,1.00
$PING,68.3,70.9,70.9,1.04,1.00
$PING,59.4,61.8,61.8,1.03,1.00
$PING,50.4,52.1,52.2,1.05,1.00
$PING,41.3,42.7,42.6,1.06,1.00
$GC,8262,1.52,134.3,3210,2200,2194,2103,35.8,18.2,653,8269,0.00,2.65,0.00,0.000,516,0.000,0.127,3220,779,2147,2192,2103,0,0,0,0,0,0,15.10,14.79,15.12
$PING,33.1,34.5,34.4,1.02,1.00
$GC,8297,1.52,134.3,3220,779,2193,2103,29.7,17.2,660,8305,0.12,2.62,0.00,0.000,5126,0.324,0.113,3191,2205,2147,2192,2103,0,0,0,0,0,0,14.64,14.81,14.83
$PING,23.5,24.5,24.6,1.02,1.00
$PING,14.6,15.2,15.2,1.04,1.00
$FREEZE,9.39,-1.363,-1.869,2,1,0
$FREEZE,7.68,-1.365,-1.867,2,1,0
$PING,6.0,6.3,6.3,1.04,1.00
$FREEZE,6.03,-1.363,-1.866,2,1,0
$FREEZE,4.41,-1.363,-1.865,2,1,0
$FREEZE,2.78,-1.367,-1.864,2,1,0
$FREEZE,1.07,-1.362,-1.862,2,1,0
$STATE,8461,end climb,SURFACE_DEPTH_REACHED
$STATE,8462,begin surface coast
$FREEZE,-0.59,-1.367,-1.861,2,1,0
$FINISH,-0.6,1.027311
$STATE,8472,end surface coast,CONTROL_FINISHED_OK
$STATE,8472,begin surface
$SM_CCo,8487,119.82,0.232,0,0,1491,300.00
$SM_GC,0.27,8.68,0.60,119.82,0.063,0.142,0.232,196,2509,1491,-7.77,-0.14,300.00,0,0,0,0,0,0,14.90,14.79,14.59
$RAFOS_CLK,305
$RAFOS,2,1517919185,12.233334,12.218056,56,55,54,54,51,51,213,156,168,114,191,133
$RAFOS,1,1517918825,12.133333,12.118055,121,61,58,57,55,50,543,174,197,157,217,188
$RAFOS,0,1517918464,12.032778,12.017777,124,62,58,56,56,55,551,157,208,136,167,226
$RAFOS_FIX,-7408.538574,-11227.118164,060218,121236,2,122,0.42
$IRIDIUM_FIX,-7410.06,-11230.52,060218,081211
$TT8_MAMPS,0.040446,0.164031
$HUMID,45.62
$INTERNAL_PRESSURE,7.4921
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,6.0,6.3
$ALTIM_BOTTOM_PING,870.6,13.8
$24V_AH,12.24,46.065
$10V_AH,12.46,0.000
$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,24.025,96.950,303.200,119.825,0.000,0.000,0.000,207.725,43.500,0.000,7.380,0.000,6471.475,643.812,1717.145,89.960,0.000,1408.547,0.000,974.879,720.000,307.278,0.000
$DEVICE_MAMPS,477.360,262.395,3101.310,231.795,0.000,0.000,0.000,169.830,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8480.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.399,0.000,0.000,0.000
$MEM,279660
$DATA_FILE_SIZE,23359,678
$CAP_FILE_SIZE,112870,0
$CFSIZE,1024409600,1008697344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.7
$CURRENT,0.059,128.58,1
$GPS,060218,132730,-7408.684,-11227.710,21,0.8,21,53.4,0.3,345.4,10,3.4