version: 66.13
glider: 222
mission: 8
dive: 129
start: 2 10 118 15 40 12
data:
$ID,222
$MISSION,8
$DIVE,129
$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,10
$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,7
$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,14
$R_STBD_OVSHOOT,13
$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,200
$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,7
$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
$GPS1,100218,151809,-7409.4434,-11225.4990,30,1.2,31,53.4,0.2,0.0,8,5.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-68.1
$GPS2,100218,153936,-7409.5234,-11225.2871,3,1.0,4,53.4,0.1,0.0,9,10.0
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out1
$TGT_LATLONG,-7409.000,-11226.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,279.6,1152,-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,-35.5,196,2511,1486,1469,0.0,0.0,0,91,0.00,0.00,-77.03,0.003,16390,0.000,0.000,195,2512,2860,2944,2777,0,0,0,0,0,0,14.71,13.28,14.74
$GC,93,-1.95,-80.2,196,2512,2945,2777,1.4,-1.5,8,116,10.62,2.38,-6.57,0.015,18724,0.486,0.162,2062,3758,3042,3144,2941,0,0,0,0,0,0,14.22,13.72,14.58
$PING,9.0,10.4,9000.0,0.00,0.00
$GC,166,-1.95,-80.2,2062,3758,3145,2943,14.7,-23.0,22,172,0.00,2.33,0.00,0.000,1030,0.000,0.094,2062,2490,3043,3144,2943,0,0,0,0,0,0,14.59,14.52,14.62
$PING,17.1,18.9,9000.0,0.00,0.00
$PING,26.8,29.1,29.1,1.05,1.00
$PING,36.7,39.7,39.7,1.06,1.00
$PING,46.6,49.8,49.9,1.05,1.00
$GC,476,-1.95,-80.2,2062,2490,3144,2943,91.7,-24.8,54,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2490,3043,3143,2944,0,0,0,0,0,0,14.92,14.96,14.95
$GC,776,-1.95,-80.2,2062,2491,3143,2945,166.7,-24.8,84,782,0.00,2.38,0.00,0.000,260,0.000,0.141,2052,3754,3043,3143,2944,0,0,0,0,0,0,14.95,14.64,14.97
$GC,886,-1.95,-80.2,2053,3755,3141,2946,195.2,-26.3,106,892,0.00,2.25,0.00,0.000,1030,0.000,0.094,2052,2486,3043,3141,2946,0,0,0,0,0,0,14.84,14.73,14.87
$GC,1196,-1.95,-80.2,2053,2486,3141,2946,272.0,-23.9,138,1202,0.00,2.38,0.00,0.000,260,0.000,0.141,2043,3753,3043,3140,2946,0,0,0,0,0,0,14.99,14.68,15.02
$GC,1256,-1.95,-80.2,2043,3754,3140,2947,287.0,-25.0,150,1262,0.12,2.28,0.00,0.000,3078,0.410,0.095,2069,2494,3043,3140,2947,0,0,0,0,0,0,14.39,14.73,14.64
$GC,1576,-1.95,-80.2,2069,2495,3141,2948,360.1,-23.0,170,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,2494,3043,3140,2947,0,0,0,0,0,0,15.07,15.09,15.09
$GC,1877,-1.95,-80.2,2069,2494,3141,2947,425.7,-21.3,185,1883,0.00,2.38,0.00,0.000,260,0.000,0.145,2060,3760,3043,3140,2946,0,0,0,0,0,0,15.04,14.71,15.06
$GC,1962,-1.95,-80.2,2060,3760,3141,2945,445.1,-22.7,202,1968,0.00,2.28,0.00,0.000,1030,0.000,0.095,2060,2495,3043,3140,2947,0,0,0,0,0,0,14.84,14.76,14.88
$GC,2267,-1.95,-80.2,2060,2495,3141,2947,510.0,-21.0,219,2273,0.00,2.40,0.00,0.000,260,0.000,0.145,2050,3749,3044,3140,2949,0,0,0,0,0,0,15.09,14.69,15.11
$GC,2393,-1.95,-80.2,2050,3753,3140,2948,538.0,-22.1,244,2398,0.00,2.22,0.00,0.000,1030,0.000,0.096,2050,2491,3043,3139,2947,0,0,0,0,0,0,14.92,14.80,14.94
$GC,2777,-1.95,-80.2,2051,2491,3140,2945,617.4,-20.2,261,2784,0.00,2.40,0.00,0.000,260,0.000,0.143,2041,3749,3043,3139,2947,0,0,0,0,0,0,15.10,14.71,15.13
$GC,2953,-1.95,-80.2,2042,3749,3140,2948,655.0,-21.1,296,2960,0.12,2.25,0.00,0.000,3078,0.415,0.094,2066,2498,3039,3132,2947,0,0,0,0,0,0,14.40,14.78,14.66
$GC,3318,-1.95,-80.2,2067,2498,3140,2947,724.9,-18.7,309,3325,0.00,2.40,0.00,0.000,260,0.000,0.147,2058,3751,3043,3139,2947,0,0,0,0,0,0,15.11,14.70,15.13
$GC,3454,-1.95,-80.2,2059,3752,3140,2948,752.0,-19.4,336,3460,0.00,2.25,0.00,0.000,1030,0.000,0.094,2058,2497,3043,3139,2948,0,0,0,0,0,0,14.84,14.78,14.89
$GC,3830,-1.95,-80.2,2058,2497,3140,2948,819.9,-17.5,351,3835,0.00,2.35,0.00,0.000,260,0.000,0.145,2048,3751,3043,3139,2948,0,0,0,0,0,0,15.07,14.73,15.09
$GC,3879,-1.95,-80.2,2048,3752,3139,2949,829.3,-18.6,361,3886,0.00,2.25,0.00,0.000,1030,0.000,0.094,2048,2497,3043,3139,2948,0,0,0,0,0,0,14.85,14.78,14.89
$PING,847.8,48.8,9000.0,0.01,0.19
$PING,858.8,36.1,9000.0,-0.01,0.32
$PING,869.8,24.0,23.9,-1.13,1.00
$PING,880.5,11.7,11.8,-1.12,1.00
$STATE,4189,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4189,begin apogee
$GC,4192,-0.23,0.0,2049,2183,3140,2949,885.5,-18.0,373,4483,2.53,0.05,284.58,1.229,10246,0.365,0.263,2621,2198,2715,2789,2642,0,0,0,0,0,0,14.50,13.92,13.48
$STATE,4484,end apogee,CONTROL_FINISHED_OK
$STATE,4484,begin climb
$PING,879.3,16.8,14.8,-1.00,0.90
$PING,870.5,18.9,9000.0,-0.54,0.63
$GC,4485,1.95,80.2,2622,2198,2788,2640,892.5,0.0,382,4682,2.35,2.83,186.02,1.463,10756,0.138,0.122,3333,801,2382,2424,2340,0,0,0,0,0,0,13.98,13.59,13.02
$GC,4728,1.95,80.2,3333,801,2417,2333,852.9,24.1,428,4733,0.00,2.75,0.00,0.000,1030,0.000,0.109,3332,2211,2374,2416,2333,0,0,0,0,0,0,13.93,13.83,13.95
$GC,5097,1.95,80.2,3333,2211,2413,2325,763.0,24.0,442,5104,0.00,2.67,0.00,0.000,516,0.000,0.119,3343,787,2368,2412,2325,0,0,0,0,0,0,14.70,14.40,14.72
$GC,5183,1.95,80.2,3340,789,2412,2326,742.2,24.0,459,5190,0.00,2.62,0.00,0.000,1030,0.000,0.110,3343,2205,2368,2411,2325,0,0,0,0,0,0,14.60,14.48,14.64
$GC,5549,1.95,80.2,3343,2205,2414,2322,655.5,23.4,472,5554,0.00,2.60,0.00,0.000,516,0.000,0.119,3354,799,2366,2410,2322,0,0,0,0,0,0,14.92,14.62,14.95
$GC,5613,1.95,80.2,3354,799,2412,2322,640.1,23.5,485,5620,0.00,2.62,0.00,0.000,1030,0.000,0.110,3353,2210,2366,2410,2322,0,0,0,0,0,0,14.71,14.62,14.76
$GC,5999,1.95,80.2,3354,2210,2410,2321,550.5,23.1,502,6005,0.00,2.60,0.00,0.000,516,0.000,0.119,3364,789,2365,2409,2321,0,0,0,0,0,0,15.02,14.70,15.03
$GC,6034,1.95,80.2,3364,790,2410,2322,542.6,23.2,509,6041,0.15,2.62,0.00,0.000,5126,0.371,0.109,3331,2212,2365,2409,2321,0,0,0,0,0,0,14.45,14.71,14.69
$GC,6400,1.95,80.2,3331,2213,2409,2321,462.8,21.6,528,6406,0.00,2.62,0.00,0.000,516,0.000,0.119,3341,779,2364,2409,2320,0,0,0,0,0,0,15.05,14.73,15.08
$GC,6421,1.95,80.2,3341,779,2410,2320,458.6,21.3,532,6426,0.00,2.60,0.00,0.000,1030,0.000,0.109,3341,2214,2364,2409,2320,0,0,0,0,0,0,14.89,14.76,14.92
$GC,6741,1.95,80.2,3341,2214,2407,2320,392.2,20.4,551,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2214,2366,2409,2323,0,0,0,0,0,0,15.04,15.07,15.07
$GC,7041,1.95,80.2,3341,2215,2409,2318,333.2,19.5,566,7046,0.00,2.60,0.00,0.000,516,0.000,0.120,3351,792,2363,2408,2319,0,0,0,0,0,0,15.09,14.76,15.11
$GC,7170,1.95,80.2,3351,793,2408,2320,307.4,19.8,592,7176,0.00,2.60,0.00,0.000,1030,0.000,0.109,3351,2205,2363,2408,2319,0,0,0,0,0,0,14.85,14.76,14.90
$GC,7480,1.95,80.2,3352,2205,2408,2319,247.9,18.7,622,7486,0.00,2.58,0.00,0.000,516,0.000,0.120,3361,792,2363,2408,2319,0,0,0,0,0,0,15.09,14.76,15.12
$GC,7515,1.95,80.2,3362,792,2409,2318,241.3,18.7,629,7523,0.15,2.60,0.00,0.000,5126,0.357,0.108,3327,2208,2363,2407,2319,0,0,0,0,0,0,14.53,14.76,14.75
$GC,7820,1.95,80.2,3327,2209,2408,2318,189.3,16.7,660,7826,0.00,2.62,0.00,0.000,516,0.000,0.121,3336,799,2362,2407,2318,0,0,0,0,0,0,15.10,14.75,15.13
$GC,7865,1.95,80.2,3336,800,2408,2319,181.5,17.3,669,7873,0.00,2.60,0.00,0.000,1030,0.000,0.112,3336,2210,2362,2407,2318,0,0,0,0,0,0,14.85,14.76,14.90
$GC,8170,1.95,80.2,3337,2210,2408,2318,130.0,17.1,700,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2209,2362,2407,2318,0,0,0,0,0,0,15.10,15.14,15.14
$PING,126.6,131.3,9000.0,-0.15,1.00
$PING,117.9,122.4,9000.0,-0.14,0.99
$GC,8470,1.95,80.2,3339,2210,2408,2317,79.6,16.0,730,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,2209,2362,2407,2317,0,0,0,0,0,0,15.10,15.14,15.13
$PING,68.4,70.8,70.8,1.04,1.00
$PING,60.2,62.4,62.3,1.04,1.00
$PING,52.0,53.7,53.8,1.04,1.00
$PING,34.3,35.4,35.4,1.04,1.00
$GC,8770,1.95,80.2,3336,2210,2407,2318,31.0,16.0,760,8776,0.00,2.62,0.00,0.000,516,0.000,0.122,3347,801,2361,2405,2317,0,0,0,0,0,0,15.11,14.75,15.14
$PING,26.1,26.9,27.0,1.03,1.00
$GC,8835,1.95,80.2,3346,801,2408,2317,20.4,16.2,773,8843,0.00,2.60,0.00,0.000,1030,0.000,0.112,3347,2208,2362,2407,2317,0,0,0,0,0,0,14.85,14.76,14.88
$PING,18.0,18.5,18.5,1.04,1.00
$PING,9.8,10.2,10.1,1.03,1.00
$FREEZE,9.82,-1.319,-1.868,2,1,0
$FREEZE,8.19,-1.315,-1.867,2,1,0
$FREEZE,6.53,-1.307,-1.866,2,1,0
$FREEZE,4.87,-1.309,-1.865,2,1,0
$FREEZE,3.22,-1.296,-1.863,2,1,0
$FREEZE,1.55,-1.271,-1.862,2,1,0
$STATE,8951,end climb,SURFACE_DEPTH_REACHED
$STATE,8951,begin surface coast
$FREEZE,-0.18,-1.097,-1.858,2,1,0
$FINISH,-0.2,1.027255
$STATE,8959,end surface coast,CONTROL_FINISHED_OK
$STATE,8959,begin surface
$SM_CCo,8975,160.43,0.227,0,0,1489,300.00
$SM_GC,0.46,9.27,0.57,160.43,0.076,0.141,0.227,197,2500,1489,-7.76,-0.45,300.00,0,0,0,0,0,0,14.90,14.77,14.51
$RAFOS_CLK,323
$RAFOS,1,1518286022,18.133333,18.117222,86,67,60,58,57,55,569,188,210,160,146,228
$RAFOS,0,1518285662,18.032778,18.017221,121,64,60,60,58,53,560,178,219,187,205,131
$RAFOS,2,1518275587,15.233334,15.218611,129,63,63,60,58,57,536,223,189,213,163,114
$RAFOS_FIX,-7409.196777,-11226.839844,100218,181808,2,104,0.11
$IRIDIUM_FIX,-7410.06,-11230.52,100218,152121
$TT8_MAMPS,0.039697,0.620921
$HUMID,44.80
$INTERNAL_PRESSURE,7.4921
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,10.1
$ALTIM_BOTTOM_PING,880.5,11.8
$24V_AH,13.02,59.214
$10V_AH,12.66,0.000
$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,25.325,85.725,470.600,160.425,0.000,0.000,0.000,1060.300,45.500,0.000,6.094,0.000,6691.535,800.406,2733.631,207.289,0.000,2480.614,0.000,1127.174,480.000,323.909,0.000
$DEVICE_MAMPS,485.775,263.160,1463.445,227.205,0.000,0.000,0.000,192.015,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.366,0.000,0.000,0.000
$MEM,279808
$DATA_FILE_SIZE,26685,786
$CAP_FILE_SIZE,128800,0
$CFSIZE,1024409600,1004912640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9137.41,0x214570,7,24
$SOUNDSPEED,1450.6
$CURRENT,0.034,133.38,1
$GPS,100218,181330,-7408.667,-11225.548,31,0.7,31,53.4,0.0,0.0,11,3.7