version: 66.13
glider: 221
mission: 7
dive: 4
start: 1 24 118 20 2 44
data:
$ID,221
$MISSION,7
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,360
$D_ABORT,600
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,120
$T_MISSION,150
$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,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,600
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0021500001
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1.1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-160.68855
$PRESSURE_SLOPE,0.000108275
$AD7714Ch0Gain,1
$COMPASS_USE,4
$ALTIM_PING_FIT,785
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.80000001
$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,0.0044198656
$SEABIRD_T_H,0.00064431952
$SEABIRD_T_I,2.6320724e-05
$SEABIRD_T_J,3.2746798e-06
$SEABIRD_C_G,-9.9022408
$SEABIRD_C_H,1.1403944
$SEABIRD_C_I,-0.0013212307
$SEABIRD_C_J,0.00017705678
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$GPS1,240118,195835,-7341.0718,-11414.5850,1,0.9,3,53.8,0.1,0.0,5,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-63.2
$GPS2,240118,200209,-7341.0610,-11414.6709,21,1.3,21,53.8,0.3,263.0,5,10.0
$SPEED_LIMITS,0.173,0.251
$TGT_NAME,S1
$TGT_LATLONG,-7340.000,-11320.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,72.8,28542,-16.5,-10.000,-21.71,2158
$D_GRID,520
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.93,-146.0,198,2506,1140,1125,0.0,0.0,0,149,0.00,0.00,-140.05,0.003,16386,0.000,0.000,197,2507,3462,3475,3450,0,0,0,0,0,0,14.69,28.83,14.70
$GC,151,-0.93,-146.0,198,2508,3476,3451,4.7,-11.8,22,169,11.70,2.45,-2.03,0.057,18948,0.459,0.099,2451,1097,3551,3554,3549,0,0,0,0,0,0,14.16,13.29,14.40
$GC,208,-0.93,-146.0,2452,1097,3554,3548,19.3,-13.6,32,215,0.00,2.53,0.00,0.000,1030,0.000,0.078,2451,2500,3552,3554,3551,0,0,0,0,0,0,14.47,14.40,14.50
$PING,20.6,21.6,9000.0,0.00,0.00
$PING,31.1,33.9,9000.0,0.00,0.00
$PING,41.4,43.2,9000.0,0.00,0.00
$GC,394,-0.93,-146.0,2451,2501,3554,3552,43.2,-12.9,69,401,0.00,2.58,0.00,0.000,260,0.000,0.100,2443,3907,3552,3554,3551,0,0,0,0,0,0,14.73,14.40,14.73
$PING,51.8,54.4,9000.0,0.00,0.00
$GC,495,-0.89,-146.0,2444,3907,3556,3551,57.5,-14.3,89,503,0.08,2.40,0.00,0.000,3206,0.269,0.047,2465,2494,3552,3553,3551,0,0,0,0,0,0,14.31,14.52,14.48
$GC,681,-0.89,-146.0,2464,2495,3554,3552,80.9,-12.3,126,690,0.00,2.58,0.00,0.000,260,0.000,0.096,2460,3910,3553,3554,3552,0,0,0,0,0,0,14.78,14.45,14.78
$GC,763,-0.89,-146.0,2460,3911,3555,3548,91.9,-13.6,142,771,0.00,2.40,0.00,0.000,1030,0.000,0.045,2460,2498,3552,3554,3551,0,0,0,0,0,0,14.51,14.48,14.53
$GC,955,-0.89,-146.0,2461,2495,3553,3552,117.5,-13.3,167,961,0.00,2.58,0.00,0.000,260,0.000,0.097,2455,3907,3552,3554,3551,0,0,0,0,0,0,14.82,14.47,14.84
$GC,1035,-0.89,-146.0,2455,3910,3554,3553,128.6,-13.8,183,1041,0.00,2.40,0.00,0.000,1030,0.000,0.047,2455,2494,3552,3554,3551,0,0,0,0,0,0,14.62,14.59,14.63
$GC,1345,-0.89,-146.0,2456,2494,3555,3552,169.2,-13.4,215,1351,0.00,2.58,0.00,0.000,260,0.000,0.098,2454,3903,3553,3554,3552,0,0,0,0,0,0,14.85,14.50,14.85
$GC,1515,-0.89,-146.0,2454,3903,3554,3552,193.0,-14.0,249,1521,0.00,2.38,0.00,0.000,1030,0.000,0.048,2453,2498,3553,3554,3552,0,0,0,0,0,0,14.64,14.59,14.66
$GC,1825,-0.89,-146.0,2454,2498,3555,3552,233.1,-12.6,281,1831,0.00,2.58,0.00,0.000,260,0.000,0.100,2452,3902,3552,3553,3551,0,0,0,0,0,0,14.88,14.50,14.88
$GC,1960,-0.89,-146.0,2452,3905,3554,3553,250.8,-13.0,308,1968,0.00,2.38,0.00,0.000,1030,0.000,0.049,2452,2499,3552,3553,3552,0,0,0,0,0,0,14.65,14.61,14.67
$GC,2265,-0.89,-146.0,2453,2501,3554,3553,288.7,-12.6,324,2271,0.00,2.55,0.00,0.000,260,0.000,0.097,2452,3903,3552,3553,3552,0,0,0,0,0,0,14.87,14.51,14.89
$GC,2405,-0.89,-146.0,2453,3903,3554,3552,307.3,-13.3,352,2411,0.00,2.38,0.00,0.000,1030,0.000,0.047,2452,2493,3552,3553,3551,0,0,0,0,0,0,14.66,14.62,14.69
$GC,2726,-0.89,-146.0,2452,2495,3553,3552,346.9,-11.9,371,2731,0.00,2.53,0.00,0.000,260,0.000,0.099,2452,3910,3552,3553,3551,0,0,0,0,0,0,14.90,14.54,14.90
$STATE,2830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2830,begin apogee
$GC,2835,-0.23,0.0,2453,2538,3554,3551,360.0,-12.5,392,3053,0.85,0.00,208.50,2.020,10246,0.252,0.000,2678,2538,2969,2970,2969,0,0,0,0,1,0,14.38,13.62,12.54
$STATE,3054,end apogee,CONTROL_FINISHED_OK
$STATE,3054,begin climb
$GC,3055,0.93,146.0,2678,2536,2971,2970,370.6,0.0,403,3516,1.30,2.55,447.02,0.888,11012,0.169,0.076,3058,1164,2380,2371,2390,0,0,0,0,0,0,13.62,13.78,13.38
$GC,3740,0.86,169.4,3058,1165,2359,2380,350.3,8.9,539,3793,0.00,2.53,47.72,1.067,9382,0.000,0.073,3058,2549,2293,2283,2304,0,0,0,0,0,0,14.26,14.19,13.62
$GC,4102,0.74,169.4,3058,2549,2273,2295,311.6,11.0,566,4103,0.25,0.00,0.00,0.000,4230,0.314,0.000,3003,2549,2284,2273,2295,0,0,0,0,0,0,14.17,14.42,14.40
$GC,4402,0.73,202.9,3003,2548,2271,2295,284.8,8.4,581,4507,0.00,2.55,93.38,0.949,8612,0.000,0.097,3003,3902,2156,2146,2166,0,0,0,0,0,0,14.69,14.08,13.71
$GC,4546,0.65,202.9,3003,3903,2145,2162,271.4,11.0,609,4552,0.12,2.35,0.00,0.000,5254,0.263,0.052,2980,2558,2152,2143,2162,0,0,0,0,0,0,14.07,14.23,14.21
$GC,4856,0.67,219.1,2980,2558,2138,2162,243.1,9.2,631,4892,0.00,2.58,29.73,1.213,8740,0.000,0.076,2989,1160,2091,2082,2100,0,0,0,0,0,0,14.66,14.23,13.85
$GC,4920,0.71,229.3,2989,1160,2075,2093,237.1,9.5,643,4934,0.00,2.53,8.20,1.727,9382,0.000,0.073,2989,2549,2058,2048,2068,0,0,0,0,0,0,14.35,14.28,13.62
$GC,5231,0.71,231.4,2990,2549,2041,2063,206.0,9.9,675,5236,0.00,2.47,0.00,0.000,292,0.000,0.097,2988,3903,2052,2042,2063,0,0,0,0,0,0,14.66,14.38,14.66
$GC,5305,0.68,231.4,2989,3904,2043,2064,197.6,11.2,690,5313,0.00,2.33,0.00,0.000,1158,0.000,0.052,2998,2557,2052,2042,2063,0,0,0,0,0,0,14.51,14.46,14.53
$GC,5610,0.68,231.4,2999,2557,2042,2063,166.5,10.0,721,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2557,2051,2040,2062,0,0,0,0,0,0,14.76,14.76,14.76
$PING,161.5,167.2,167.2,1.03,1.00
$GC,5910,0.69,239.4,2999,2557,2041,2062,137.6,9.6,751,5934,0.00,0.00,19.00,1.285,8230,0.000,0.000,2998,2557,2012,2002,2022,0,0,0,0,0,0,14.81,14.48,14.03
$GC,6231,0.69,244.3,2998,2557,1991,2010,106.3,9.8,783,6231,0.00,0.00,0.00,0.000,38,0.000,0.000,2998,2557,2000,1990,2010,0,0,0,0,0,0,14.76,14.76,14.76
$GC,6530,0.69,245.4,2998,2558,1989,2012,75.6,9.9,836,6538,0.00,2.50,0.00,0.000,548,0.000,0.080,3009,1158,1999,1989,2009,0,0,0,0,0,0,14.80,14.49,14.79
$GC,6557,0.69,246.4,3009,1158,1990,2010,72.9,10.0,841,6565,0.00,2.47,1.90,0.288,9254,0.000,0.075,3009,2547,1987,1978,1997,0,0,0,0,0,0,14.58,14.52,14.27
$PING,67.1,69.6,70.1,1.03,1.00
$PING,56.8,58.6,59.0,1.03,1.00
$GC,6744,0.69,246.4,3009,2547,1990,2005,53.7,10.3,878,6752,0.00,2.45,1.92,0.308,8452,0.000,0.096,3009,3921,1988,1980,1996,0,0,0,0,0,0,14.81,14.52,14.26
$GC,6791,0.63,246.4,3009,3922,1988,2003,48.0,12.6,887,6798,0.17,2.35,0.00,0.000,5254,0.259,0.054,2971,2546,1995,1988,2003,0,0,0,0,0,0,14.36,14.58,14.54
$PING,46.7,48.0,48.4,1.03,1.00
$PING,36.5,37.5,37.5,1.04,1.00
$GC,6977,0.73,288.3,2972,2546,1989,2004,31.6,8.0,924,7010,0.00,0.00,28.95,0.343,8358,0.000,0.000,2971,2546,1819,1810,1828,0,0,0,0,0,0,14.83,14.56,14.29
$PING,26.3,26.9,26.8,1.04,1.00
$PING,15.9,16.1,16.1,1.04,1.00
$GC,7189,0.84,323.5,2970,2546,1816,1829,13.8,8.3,965,7216,0.20,2.50,22.67,0.288,10916,0.156,0.077,3040,1161,1678,1672,1685,0,0,0,0,0,0,14.50,14.46,14.33
$GC,7235,0.84,323.5,3040,1162,1675,1686,8.7,12.3,973,7242,0.00,2.50,0.00,0.000,1030,0.000,0.076,3039,2559,1679,1674,1685,0,0,0,0,0,0,14.55,14.48,14.58
$PING,5.9,6.3,6.1,1.03,1.00
$STATE,7285,end climb,SURFACE_DEPTH_REACHED
$STATE,7285,begin surface coast
$FINISH,0.2,1.027273
$STATE,7295,end surface coast,CONTROL_FINISHED_OK
$STATE,7295,begin surface
$SM_CCo,7309,79.20,0.242,0,0,1174,450.15
$SM_GC,0.71,8.68,0.08,79.20,0.106,0.163,0.242,200,2512,1174,-7.97,1.27,450.15,0,0,0,0,0,0,14.47,14.54,14.29
$RAFOS_CLK,287
$RAFOS,2,1516828385,21.233334,21.218056,62,61,58,55,53,50,153,209,195,116,136,239
$RAFOS,1,1516828025,21.133333,21.118055,65,60,59,57,52,51,115,199,190,138,211,151
$RAFOS,0,1516827662,21.033333,21.017221,62,59,57,57,55,49,131,206,197,163,226,175
$RAFOS_FIX,-7341.767090,-11415.175781,240118,222216,0,1,0.18
$IRIDIUM_FIX,-7343.20,-11406.32,240118,195507
$TT8_MAMPS,0.03745,0.650132
$HUMID,52.75
$INTERNAL_PRESSURE,7.80222
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,5.9,6.1
$24V_AH,12.54,9.557
$10V_AH,12.37,0.000
$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,23.350,74.300,909.000,79.200,0.000,0.000,0.000,0.000,17.250,0.000,23.341,0.000,4455.003,1044.297,1940.461,42.971,0.000,1876.173,0.000,1408.861,720.000,121.348,0.000
$DEVICE_MAMPS,459.000,162.945,2019.600,241.740,0.000,0.000,0.000,0.000,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7288.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.259,0.000,0.000,0.000
$MEM,280308
$DATA_FILE_SIZE,33372,985
$CAP_FILE_SIZE,117399,0
$CFSIZE,1024409600,1019494400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1446.2
$CURRENT,0.101,290.71,1
$GPS,240118,220640,-7341.624,-11414.623,15,1.4,17,53.8,0.3,0.0,6,6.7