version: 66.13
glider: 222
mission: 8
dive: 188
start: 2 17 118 19 46 58
data:
$ID,222
$MISSION,8
$DIVE,188
$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,360
$T_MISSION,420
$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,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.1
$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,16
$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,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
$GPS1,170218,193400,-7408.2852,-11305.5508,20,0.9,20,53.8,0.2,44.0,8,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-59.9
$GPS2,170218,194610,-7408.2632,-11305.6328,2,0.7,3,53.8,0.2,0.0,11,7.6
$SPEED_LIMITS,0.092,0.213
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,191.6,3224,-40.5,-9.167,-45.00,520
$D_GRID,610
$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,-1.88,-31.2,205,2504,1487,1470,0.0,0.0,0,90,0.00,0.00,-75.53,0.003,16390,0.000,0.000,204,2503,2844,2927,2762,0,0,0,0,0,0,14.78,13.14,14.81
$GC,92,-1.93,-71.4,203,2503,2928,2763,1.2,-1.2,8,116,10.62,2.62,-6.70,0.015,18980,0.483,0.125,2076,1083,3007,3106,2908,0,0,0,0,0,0,14.19,13.67,14.60
$PING,13.0,14.7,9000.0,0.00,0.00
$PING,19.6,21.7,9000.0,0.00,0.00
$PING,26.3,28.5,28.5,1.03,1.00
$GC,275,-1.93,-71.4,2076,1082,3106,2911,31.3,-19.6,44,281,0.00,2.67,0.00,0.000,1030,0.000,0.120,2066,2510,3007,3104,2910,0,0,0,0,0,0,14.70,14.52,14.73
$PING,33.2,35.7,35.7,1.03,1.00
$PING,39.7,42.4,42.4,1.04,1.00
$PING,46.8,50.4,50.3,1.08,1.00
$PING,53.8,57.6,57.7,1.08,1.00
$PING,60.2,64.6,64.6,1.06,1.00
$GC,586,-1.93,-71.4,2067,2510,3106,2911,98.2,-21.0,76,591,0.00,2.35,0.00,0.000,260,0.000,0.142,2057,3755,3007,3104,2911,0,0,0,0,0,0,14.94,14.58,14.96
$GC,616,-1.93,-71.4,2057,3756,3105,2911,104.9,-22.2,82,621,0.00,2.28,0.00,0.000,1030,0.000,0.093,2057,2481,3007,3104,2911,0,0,0,0,0,0,14.81,14.69,14.83
$GC,925,-1.93,-71.4,2057,2481,3110,2911,174.1,-21.7,114,931,0.00,2.42,0.00,0.000,260,0.000,0.147,2047,3757,3008,3104,2912,0,0,0,0,0,0,15.03,14.60,15.05
$GC,1066,-1.93,-71.4,2047,3758,3107,2913,205.3,-22.1,142,1072,0.17,2.25,0.00,0.000,3078,0.405,0.094,2077,2494,3007,3102,2912,0,0,0,0,0,0,14.32,14.71,14.71
$GC,1376,-1.93,-71.4,2076,2495,3103,2913,266.4,-18.7,174,1382,0.00,2.42,0.00,0.000,260,0.000,0.145,2068,3773,3007,3102,2912,0,0,0,0,0,0,15.06,14.62,15.09
$GC,1606,-1.93,-71.4,2068,3773,3103,2913,312.1,-20.1,220,1612,0.00,2.33,0.00,0.000,1030,0.000,0.093,2068,2492,3007,3102,2913,0,0,0,0,0,0,14.78,14.71,14.82
$GC,1917,-1.93,-71.4,2069,2491,3103,2913,367.4,-17.5,237,1923,0.00,2.40,0.00,0.000,260,0.000,0.145,2059,3756,3007,3101,2913,0,0,0,0,0,0,15.04,14.63,15.07
$GC,2097,-1.93,-71.4,2059,3756,3101,2913,401.0,-17.8,273,2104,0.00,2.30,0.00,0.000,1030,0.000,0.093,2058,2488,3007,3101,2913,0,0,0,0,0,0,14.80,14.72,14.84
$GC,2418,-1.93,-71.4,2059,2489,3101,2914,455.5,-17.0,292,2424,0.00,2.40,0.00,0.000,260,0.000,0.144,2049,3756,3007,3101,2913,0,0,0,0,0,0,15.05,14.65,15.08
$GC,2438,-1.93,-71.4,2049,3756,3102,2913,458.8,-17.2,296,2444,0.12,2.28,0.00,0.000,3078,0.405,0.093,2074,2497,3006,3100,2913,0,0,0,0,0,0,14.31,14.73,14.57
$GC,2759,-1.93,-71.4,2074,2497,3102,2913,509.4,-15.4,314,2764,0.00,2.40,0.00,0.000,260,0.000,0.147,2065,3758,3007,3101,2913,0,0,0,0,0,0,15.06,14.64,15.08
$GC,2808,-1.93,-71.4,2066,3758,3102,2914,517.6,-16.9,324,2814,0.00,2.30,0.00,0.000,1030,0.000,0.094,2065,2493,3007,3101,2913,0,0,0,0,0,0,14.80,14.72,14.85
$GC,3178,-1.93,-71.4,2065,2493,3101,2914,573.2,-15.0,338,3184,0.00,2.42,0.00,0.000,260,0.000,0.145,2056,3774,3007,3101,2913,0,0,0,0,0,0,15.11,14.64,15.14
$GC,3248,-1.93,-71.4,2056,3775,3102,2914,584.0,-15.8,352,3254,0.00,2.33,0.00,0.000,1030,0.000,0.093,2055,2491,3007,3101,2914,0,0,0,0,0,0,14.81,14.73,14.85
$STATE,3447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3447,begin apogee
$GC,3451,-0.23,0.0,2056,2194,3102,2915,613.9,-14.7,362,3631,2.53,0.00,166.10,1.461,10246,0.368,0.000,2619,2191,2713,2787,2640,0,0,0,0,1,0,14.36,13.90,12.96
$STATE,3632,end apogee,CONTROL_FINISHED_OK
$STATE,3632,begin climb
$PING,615.3,24.7,9000.0,-0.07,0.97
$PING,602.7,17.5,9000.0,-0.08,0.97
$PING,595.7,28.7,9000.0,-0.11,0.04
$PING,589.4,23.8,9000.0,-0.49,0.33
$PING,582.3,28.9,9000.0,-0.03,0.00
$GC,3633,1.93,71.4,2619,2193,2789,2640,617.5,0.0,368,3889,2.35,2.83,243.15,1.400,10756,0.150,0.117,3326,783,2422,2469,2376,0,0,0,0,0,0,14.08,13.54,13.07
$GC,3973,1.93,71.4,3327,784,2464,2369,557.9,23.1,431,3979,0.00,2.75,0.00,0.000,1030,0.000,0.108,3326,2206,2415,2462,2369,0,0,0,0,0,0,14.06,13.94,14.09
$GC,4349,1.93,71.4,3327,2207,2460,2363,470.4,23.3,448,4355,0.00,2.67,0.00,0.000,516,0.000,0.119,3337,779,2411,2459,2363,0,0,0,0,0,0,14.74,14.45,14.77
$GC,4384,1.93,71.4,3337,780,2459,2364,462.3,23.2,455,4391,0.00,2.67,0.00,0.000,1030,0.000,0.109,3337,2199,2411,2459,2363,0,0,0,0,0,0,14.54,14.47,14.67
$GC,4690,1.93,71.4,3337,2199,2459,2362,392.5,22.3,471,4695,0.00,2.62,0.00,0.000,516,0.000,0.120,3347,785,2409,2457,2361,0,0,0,0,0,0,14.89,14.59,14.92
$GC,4724,1.93,71.4,3348,785,2459,2361,384.6,22.2,478,4731,0.00,2.62,0.00,0.000,1030,0.000,0.109,3347,2219,2409,2457,2361,0,0,0,0,0,0,14.76,14.62,14.81
$GC,5030,1.93,71.4,3348,2219,2458,2359,318.1,20.8,494,5035,0.00,2.62,0.00,0.000,260,0.000,0.136,3347,3614,2408,2457,2360,0,0,0,0,0,0,14.97,14.64,15.00
$GC,5079,1.93,71.4,3348,3615,2457,2361,306.7,22.9,504,5085,0.12,2.60,0.00,0.000,5126,0.356,0.097,3320,2193,2408,2457,2360,0,0,0,0,0,0,14.40,14.68,14.78
$GC,5389,1.93,71.4,3320,2190,2457,2359,244.0,19.3,534,5395,0.00,2.60,0.00,0.000,516,0.000,0.122,3329,785,2407,2456,2358,0,0,0,0,0,0,15.03,14.67,15.06
$GC,5409,1.93,71.4,3330,785,2457,2359,240.1,19.4,538,5416,0.00,2.60,0.00,0.000,1030,0.000,0.111,3329,2212,2407,2456,2358,0,0,0,0,0,0,14.85,14.69,14.89
$GC,5721,1.93,71.4,3329,2216,2457,2359,180.7,18.2,570,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,3329,2212,2407,2456,2358,0,0,0,0,0,0,15.03,15.06,15.06
$GC,6020,1.93,71.4,3329,2213,2457,2358,126.9,16.9,600,6026,0.00,2.65,0.00,0.000,516,0.000,0.121,3340,776,2406,2455,2357,0,0,0,0,0,0,15.09,14.71,15.11
$GC,6050,1.93,71.4,3340,777,2456,2359,121.7,17.3,606,6056,0.00,2.60,0.00,0.000,1030,0.000,0.109,3347,2212,2406,2455,2357,0,0,0,0,0,0,14.88,14.72,14.92
$PING,83.0,87.2,9000.0,-0.12,1.00
$PING,76.1,79.4,9000.0,-0.11,0.98
$PING,69.6,73.1,72.9,1.06,1.00
$GC,6361,1.93,71.4,3340,2213,2456,2358,69.6,16.4,638,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2212,2406,2455,2357,0,0,0,0,0,0,15.04,15.08,15.08
$PING,62.8,65.5,65.7,1.04,1.00
$PING,55.9,57.8,57.8,1.11,1.00
$PING,49.2,50.8,50.8,1.08,1.00
$PING,42.3,44.0,44.0,1.01,1.00
$PING,34.8,35.8,35.9,1.05,1.00
$PING,27.4,28.2,28.1,1.06,1.00
$PING,20.2,21.1,21.1,1.01,1.00
$GC,6660,1.93,71.4,3340,2213,2456,2358,16.7,17.3,668,6666,0.00,2.62,0.00,0.000,516,0.000,0.121,3351,782,2406,2456,2357,0,0,0,0,0,0,15.11,14.71,15.13
$PING,13.9,14.6,14.6,1.02,1.00
$FREEZE,9.23,-1.533,-1.868,2,1,0
$FREEZE,8.30,-1.533,-1.868,2,1,0
$PING,7.4,7.6,7.6,1.05,1.00
$FREEZE,7.37,-1.532,-1.867,2,1,0
$FREEZE,6.39,-1.532,-1.866,2,1,0
$FREEZE,5.44,-1.532,-1.865,2,1,0
$FREEZE,4.48,-1.532,-1.865,2,1,0
$FREEZE,3.49,-1.531,-1.864,2,1,0
$FREEZE,2.53,-1.531,-1.863,2,1,0
$FREEZE,1.53,-1.527,-1.862,2,1,0
$STATE,6739,end climb,SURFACE_DEPTH_REACHED
$STATE,6739,begin surface coast
$FREEZE,0.52,-1.527,-1.861,2,1,0
$FREEZE,-0.35,-1.528,-1.861,2,1,0
$FINISH,-0.3,1.027305
$STATE,6749,end surface coast,CONTROL_FINISHED_OK
$STATE,6749,begin surface
$SM_CCo,6768,176.43,0.223,0,0,1491,300.00
$SM_GC,0.30,9.27,3.28,176.43,0.073,0.125,0.223,202,2506,1491,-7.75,-0.23,300.00,0,0,0,0,0,0,14.85,14.68,14.44
$RAFOS_CLK,243
$RAFOS,2,1518901987,21.233334,21.218611,84,62,61,61,56,54,584,220,143,179,201,191
$RAFOS,1,1518901626,21.133333,21.118334,89,61,58,57,56,54,550,119,168,184,151,208
$RAFOS,0,1518901267,21.032778,21.018612,77,58,58,58,57,52,604,189,199,161,213,125
$RAFOS_FIX,-7408.416016,-11306.552734,170218,212144,3,83,0.10
$IRIDIUM_FIX,-7408.77,-11302.62,170218,152720
$TT8_MAMPS,0.041944,0.190995
$HUMID,44.80
$INTERNAL_PRESSURE,7.48233
$TCM_TEMP,13.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,7.4,7.6
$24V_AH,12.96,80.984
$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,25.200,76.475,409.250,176.425,0.000,0.000,0.000,576.500,43.250,0.000,4.965,0.000,4733.901,719.687,2055.755,196.629,0.000,1852.073,0.000,985.448,720.000,309.326,0.000
$DEVICE_MAMPS,483.480,146.880,1461.150,222.615,0.000,0.000,0.000,202.725,420.000,0.000,9.740,0.000,2.310,12.270,31.740,45.230,0.000,10.200,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6759.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.508,0.000,0.000,0.000
$MEM,279816
$DATA_FILE_SIZE,23390,686
$CAP_FILE_SIZE,105847,0
$CFSIZE,1024409600,998260736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1448.6
$CURRENT,0.025,106.54,1
$GPS,170218,214327,-7408.396,-11307.677,12,1.1,13,53.8,0.3,15.9,7,9.7