version: 66.13
glider: 222
mission: 8
dive: 136
start: 2 11 118 8 55 20
data:
$ID,222
$MISSION,8
$DIVE,136
$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,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,17
$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,6
$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
$GPS1,110218,085057,-7408.8564,-11225.4570,1,1.0,2,53.4,0.3,346.0,9,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-61.8
$GPS2,110218,085450,-7408.8550,-11225.4453,2,1.0,3,53.4,0.4,334.1,9,7.9
$SPEED_LIMITS,0.100,0.220
$TGT_NAME,out1
$TGT_LATLONG,-7409.000,-11226.520
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,235.3,606,-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,-35.5,198,2502,1484,1474,0.0,0.0,0,91,0.00,0.00,-76.05,0.003,16390,0.000,0.000,198,2502,2861,2941,2781,0,0,0,0,0,0,14.82,13.31,14.85
$GC,93,-1.95,-79.5,198,2504,2942,2782,1.5,-1.7,8,116,10.38,2.62,-6.43,0.015,18980,0.480,0.125,2070,1075,3039,3139,2940,0,0,0,0,0,0,14.29,13.76,14.65
$PING,13.1,14.7,9000.0,0.00,0.00
$PING,19.9,21.9,9000.0,0.00,0.00
$PING,26.0,28.5,28.5,1.07,1.00
$PING,32.2,34.8,34.9,1.05,1.00
$PING,38.5,41.5,41.4,1.04,1.00
$PING,50.9,55.5,55.5,1.11,1.00
$GC,343,-1.95,-79.5,2070,1076,3140,2943,57.1,-25.0,57,350,0.00,2.67,0.00,0.000,1030,0.000,0.125,2060,2502,3040,3139,2941,0,0,0,0,0,0,14.72,14.56,14.76
$PING,71.0,17.0,9000.0,-0.86,0.53
$PING,78.5,83.7,9000.0,0.42,0.03
$GC,646,-1.95,-79.5,2061,2502,3140,2942,133.9,-25.3,88,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2502,3040,3139,2941,0,0,0,0,0,0,14.99,15.02,15.02
$GC,945,-1.95,-79.5,2060,2503,3140,2943,208.2,-23.9,118,952,0.00,2.40,0.00,0.000,260,0.000,0.146,2051,3754,3040,3138,2942,0,0,0,0,0,0,15.02,14.64,15.04
$GC,1011,-1.95,-79.5,2051,3755,3138,2944,224.8,-25.7,131,1018,0.00,2.28,0.00,0.000,1030,0.000,0.095,2051,2495,3040,3138,2943,0,0,0,0,0,0,14.88,14.72,14.90
$GC,1316,-1.95,-79.5,2051,2496,3138,2944,297.6,-23.1,162,1322,0.00,2.38,0.00,0.000,260,0.000,0.149,2041,3750,3040,3137,2943,0,0,0,0,0,0,15.04,14.67,15.07
$GC,1425,-1.95,-79.5,2042,3750,3138,2943,324.7,-24.8,184,1432,0.12,2.28,0.00,0.000,3078,0.404,0.095,2066,2492,3040,3137,2944,0,0,0,0,0,0,14.40,14.74,14.64
$GC,1736,-1.95,-79.5,2067,2493,3138,2945,393.9,-21.9,201,1743,0.00,2.42,0.00,0.000,260,0.000,0.149,2058,3753,3040,3137,2944,0,0,0,0,0,0,15.07,14.69,15.09
$GC,1832,-1.95,-79.5,2058,3753,3137,2945,416.7,-24.0,220,1839,0.00,2.28,0.00,0.000,1030,0.000,0.096,2058,2494,3040,3137,2944,0,0,0,0,0,0,14.83,14.75,14.86
$GC,2138,-1.95,-79.5,2058,2495,3137,2945,484.2,-22.1,236,2143,0.00,2.38,0.00,0.000,260,0.000,0.149,2047,3750,3040,3137,2944,0,0,0,0,0,0,15.04,14.70,15.07
$GC,2202,-1.95,-79.5,2048,3750,3138,2944,499.3,-23.4,249,2209,0.00,2.28,0.00,0.000,1030,0.000,0.096,2048,2490,3040,3137,2944,0,0,0,0,0,0,14.84,14.77,14.88
$GC,2519,-1.95,-79.5,2049,2490,3138,2944,566.8,-20.8,262,2524,0.00,2.40,0.00,0.000,260,0.000,0.149,2039,3756,3040,3137,2944,0,0,0,0,0,0,15.05,14.71,15.08
$GC,2648,-1.95,-79.5,2039,3755,3138,2944,595.6,-22.4,288,2654,0.12,2.28,0.00,0.000,3078,0.409,0.096,2064,2495,3040,3137,2944,0,0,0,0,0,0,14.40,14.76,14.66
$GC,3029,-1.95,-79.5,2064,2496,3138,2944,670.4,-19.3,304,3036,0.00,2.42,0.00,0.000,260,0.000,0.148,2055,3757,3041,3137,2945,0,0,0,0,0,0,15.11,14.72,15.13
$GC,3164,-1.95,-79.5,2055,3758,3137,2946,698.2,-20.5,331,3170,0.00,2.28,0.00,0.000,1030,0.000,0.096,2055,2497,3040,3136,2945,0,0,0,0,0,0,14.85,14.78,14.89
$GC,3540,-1.95,-79.5,2055,2497,3138,2945,770.3,-18.9,346,3547,0.00,2.40,0.00,0.000,260,0.000,0.148,2045,3751,3041,3137,2945,0,0,0,0,0,0,15.11,14.69,15.14
$GC,3680,-1.95,-79.5,2046,3750,3138,2946,798.4,-19.9,374,3687,0.00,2.25,0.00,0.000,1030,0.000,0.095,2045,2494,3041,3137,2945,0,0,0,0,0,0,14.85,14.78,14.89
$GC,4051,-1.95,-79.5,2046,2496,3138,2946,867.0,-18.1,388,4056,0.00,2.40,0.00,0.000,260,0.000,0.148,2036,3747,3041,3137,2946,0,0,0,0,0,0,15.11,14.69,15.14
$PING,869.3,23.9,9000.0,-0.03,0.17
$PING,875.7,20.4,9000.0,-0.08,1.00
$PING,882.7,11.3,12.2,-0.94,0.95
$STATE,4144,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4144,begin apogee
$PING,888.4,10.7,9000.0,-0.78,0.84
$GC,4150,-0.23,0.0,2037,2193,3137,2947,885.6,-19.4,407,4388,2.58,0.00,229.25,1.272,10246,0.364,0.000,2621,2189,2713,2787,2640,0,0,0,0,0,0,14.50,13.98,13.55
$STATE,4389,end apogee,CONTROL_FINISHED_OK
$STATE,4389,begin climb
$PING,882.1,16.6,9000.0,-0.60,0.42
$PING,875.9,16.0,9000.0,-0.42,0.67
$PING,869.3,16.3,9000.0,0.03,0.31
$PING,862.3,18.1,9000.0,-0.16,0.85
$PING,855.1,18.6,9000.0,-0.16,0.89
$GC,4390,1.95,79.5,2622,2190,2787,2640,891.1,0.0,415,4646,2.33,2.83,242.48,1.281,10756,0.138,0.122,3333,782,2390,2433,2348,0,0,0,0,0,0,14.07,13.64,13.15
$GC,4680,1.95,79.5,3334,782,2430,2341,843.0,23.8,468,4690,0.00,2.83,0.00,0.000,1030,0.000,0.114,3337,2198,2385,2428,2343,0,0,0,0,0,0,13.95,13.81,13.97
$GC,5046,1.95,79.5,3334,2198,2426,2336,756.0,23.7,481,5052,0.00,2.67,0.00,0.000,516,0.000,0.123,3344,785,2382,2425,2340,0,0,0,0,0,0,14.66,14.39,14.68
$GC,5111,1.95,79.5,3343,786,2425,2337,740.3,23.7,494,5117,0.00,2.67,0.00,0.000,1030,0.000,0.112,3344,2200,2379,2424,2334,0,0,0,0,0,0,14.52,14.44,14.55
$GC,5497,1.95,79.5,3341,2200,2425,2334,650.5,23.0,511,5502,0.00,2.62,0.00,0.000,516,0.000,0.122,3354,785,2378,2424,2333,0,0,0,0,0,0,14.88,14.61,14.91
$GC,5566,1.95,79.5,3358,785,2424,2334,634.3,23.1,525,5573,0.00,2.65,0.00,0.000,1030,0.000,0.112,3354,2205,2378,2423,2333,0,0,0,0,0,0,14.71,14.62,14.76
$GC,5948,1.95,79.5,3354,2207,2423,2332,547.4,22.6,541,5953,0.00,2.62,0.00,0.000,516,0.000,0.120,3365,779,2376,2422,2331,0,0,0,0,0,0,14.98,14.69,15.00
$GC,5987,1.95,79.5,3365,779,2423,2331,538.3,22.4,549,5995,0.15,2.65,0.00,0.000,5126,0.367,0.110,3332,2210,2376,2422,2331,0,0,0,0,0,0,14.44,14.69,14.67
$GC,6369,1.95,79.5,3332,2211,2422,2331,457.2,20.8,568,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2210,2376,2422,2330,0,0,0,0,0,0,15.06,15.09,15.08
$GC,6669,1.95,79.5,3332,2211,2422,2331,397.6,19.5,583,6675,0.00,2.62,0.00,0.000,260,0.000,0.135,3332,3622,2375,2421,2329,0,0,0,0,0,0,15.04,14.74,15.07
$GC,6699,1.95,79.5,3331,3622,2422,2330,391.5,21.0,589,6706,0.00,2.55,0.00,0.000,1030,0.000,0.096,3341,2187,2375,2420,2330,0,0,0,0,0,0,14.91,14.78,14.95
$GC,7011,1.95,79.5,3342,2187,2421,2330,331.1,19.5,606,7016,0.00,2.58,0.00,0.000,516,0.000,0.122,3352,780,2375,2421,2330,0,0,0,0,0,0,15.05,14.76,15.08
$GC,7070,1.95,79.5,3355,780,2422,2329,319.4,19.4,618,7076,0.00,2.62,0.00,0.000,1030,0.000,0.111,3352,2208,2375,2421,2329,0,0,0,0,0,0,14.84,14.74,14.95
$GC,7380,1.95,79.5,3353,2209,2421,2330,261.2,18.3,646,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2208,2375,2421,2329,0,0,0,0,0,0,15.10,15.13,15.13
$GC,7680,1.95,79.5,3353,2208,2421,2328,208.3,17.7,676,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2208,2374,2420,2328,0,0,0,0,0,0,15.11,15.14,15.14
$GC,7980,1.95,79.5,3353,2209,2421,2329,156.3,16.5,706,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2208,2374,2420,2328,0,0,0,0,0,0,15.11,15.15,15.14
$PING,124.9,131.1,9000.0,-0.15,1.00
$PING,111.7,116.9,9000.0,-0.14,0.98
$GC,8280,1.95,79.5,3353,2209,2420,2329,106.9,16.1,736,8286,0.00,2.62,0.00,0.000,260,0.000,0.135,3353,3619,2373,2419,2327,0,0,0,0,0,0,15.12,14.76,15.15
$GC,8310,1.95,79.5,3353,3619,2429,2327,101.7,17.4,742,8316,0.12,2.58,0.00,0.000,5126,0.385,0.097,3329,2195,2373,2419,2328,0,0,0,0,0,0,14.50,14.79,14.88
$PING,91.9,96.2,96.2,1.06,1.00
$PING,85.5,89.0,89.2,1.06,1.00
$PING,72.5,76.1,76.0,1.03,1.00
$PING,66.3,70.5,70.3,0.97,1.00
$PING,60.2,63.0,63.3,1.07,0.99
$PING,54.0,56.2,56.0,1.16,1.00
$GC,8621,1.95,79.5,3330,2195,2420,2329,52.4,15.6,774,8626,0.00,2.58,0.00,0.000,516,0.000,0.122,3340,782,2373,2419,2327,0,0,0,0,0,0,15.11,14.76,15.14
$PING,47.6,49.4,49.4,1.08,1.00
$GC,8665,1.95,79.5,3340,782,2421,2327,45.2,16.1,783,8673,0.00,2.62,0.00,0.000,1030,0.000,0.112,3340,2206,2370,2413,2328,0,0,0,0,0,0,14.88,14.76,14.90
$PING,41.1,42.7,42.6,1.05,1.00
$PING,35.0,36.3,36.3,1.04,1.00
$PING,28.7,29.7,29.7,1.04,1.00
$PING,22.5,23.0,23.0,1.07,1.00
$PING,15.9,14.3,14.5,1.21,1.00
$PING,8.7,9.1,8.5,1.00,0.97
$FREEZE,8.74,-1.311,-1.867,2,1,0
$FREEZE,7.53,-1.317,-1.866,2,1,0
$FREEZE,6.18,-1.314,-1.865,2,1,0
$FREEZE,4.71,-1.312,-1.864,2,1,0
$FREEZE,3.28,-1.310,-1.863,2,1,0
$FREEZE,1.79,-1.312,-1.862,2,1,0
$STATE,8950,end climb,SURFACE_DEPTH_REACHED
$STATE,8950,begin surface coast
$FREEZE,0.09,-1.323,-1.861,2,1,0
$FINISH,0.1,1.027299
$STATE,8959,end surface coast,CONTROL_FINISHED_OK
$STATE,8960,begin surface
$SM_CCo,8975,162.38,0.233,0,0,1490,300.00
$SM_GC,0.30,9.18,0.60,162.38,0.069,0.142,0.233,196,2511,1490,-7.76,-0.11,300.00,0,0,0,0,0,0,14.90,14.76,14.50
$RAFOS_CLK,331
$RAFOS,2,1518340386,9.233334,9.218333,98,62,55,54,53,53,539,199,146,183,210,168
$RAFOS,1,1518340025,9.133333,9.118055,100,58,57,55,55,53,546,219,188,162,197,143
$RAFOS,0,1518339661,9.032778,9.016945,110,62,62,57,55,54,568,199,185,125,157,213
$RAFOS_FIX,-7408.269531,-11229.851562,110218,090940,3,103,2.09
$IRIDIUM_FIX,-7408.94,-11220.24,110218,082442
$TT8_MAMPS,0.041195,0.297353
$HUMID,45.27
$INTERNAL_PRESSURE,7.48233
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,8.7,8.5
$ALTIM_BOTTOM_PING,882.7,12.2
$24V_AH,13.15,61.091
$10V_AH,12.75,0.000
$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,24.975,86.150,471.725,162.375,0.000,0.000,0.000,152.100,60.250,0.000,5.225,0.000,6557.037,791.520,1944.404,109.160,0.000,1589.542,0.000,1165.529,720.000,431.721,0.000
$DEVICE_MAMPS,479.655,149.175,1281.375,232.560,0.000,0.000,0.000,133.110,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8963.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.297,0.000,0.000,0.000
$MEM,279780
$DATA_FILE_SIZE,26693,813
$CAP_FILE_SIZE,124800,0
$CFSIZE,1024409600,1004142592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.9
$CURRENT,0.050,154.81,1
$GPS,110218,112822,-7408.601,-11228.111,7,1.9,7,53.4,0.6,173.1,4,8.6