version: 66.13
glider: 221
mission: 7
dive: 5
start: 1 24 118 22 23 0
data:
$ID,221
$MISSION,7
$DIVE,5
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,660
$D_ABORT,1020
$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,220
$T_MISSION,250
$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,350
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,240118,221937,-7341.5967,-11414.9121,3,1.5,5,53.9,0.6,327.7,6,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-59.9
$GPS2,240118,222233,-7341.5938,-11414.9717,3,1.5,8,53.9,0.6,285.6,6,8.4
$SPEED_LIMITS,0.173,0.251
$TGT_NAME,S1
$TGT_LATLONG,-7340.000,-11320.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,40.6,28782,-16.5,-10.000,-21.71,2158
$D_GRID,500
$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,6,begin dive
$GC,7,-0.93,-146.0,201,2512,1188,1139,0.0,0.0,0,146,0.00,0.00,-136.90,0.003,16386,0.000,0.000,201,2512,3426,3438,3414,0,0,0,0,0,0,14.67,28.83,14.68
$GC,148,-0.93,-146.0,200,2514,3439,3416,4.0,-9.4,22,168,11.90,2.53,-3.00,0.031,18724,0.466,0.116,2442,3906,3552,3553,3552,0,0,0,0,0,0,14.12,13.27,14.46
$GC,207,-0.88,-146.0,2442,3907,3553,3554,19.6,-15.1,33,216,0.10,2.42,0.00,0.000,3206,0.259,0.047,2469,2482,3553,3553,3553,0,0,0,0,0,0,14.24,14.46,14.41
$PING,32.5,34.0,9000.0,0.00,0.00
$GC,396,-0.88,-146.0,2469,2482,3553,3553,42.6,-12.0,70,402,0.00,2.58,0.00,0.000,260,0.000,0.096,2463,3913,3552,3552,3553,0,0,0,0,0,0,14.65,14.42,14.66
$GC,471,-0.88,-146.0,2464,3913,3555,3553,52.5,-13.1,85,482,0.00,2.40,0.00,0.000,1030,0.000,0.046,2464,2498,3552,3552,3553,0,0,0,0,0,0,14.53,14.50,14.55
$PING,63.3,67.6,9000.0,0.00,0.00
$GC,660,-0.88,-146.0,2464,2500,3553,3558,76.3,-12.1,122,668,0.00,2.58,0.00,0.000,260,0.000,0.096,2460,3907,3552,3552,3553,0,0,0,0,0,0,14.73,14.42,14.73
$GC,762,-0.88,-146.0,2460,3908,3554,3553,89.7,-13.2,142,769,0.00,2.40,0.00,0.000,1030,0.000,0.047,2459,2492,3552,3552,3553,0,0,0,0,0,0,14.56,14.52,14.57
$PING,93.9,97.8,9000.0,0.00,0.00
$GC,953,-0.88,-146.0,2460,2492,3554,3553,114.5,-13.0,169,960,0.00,2.55,0.00,0.000,260,0.000,0.098,2455,3913,3552,3552,3553,0,0,0,0,0,0,14.73,14.46,14.73
$GC,1029,-0.88,-146.0,2456,3913,3553,3553,124.8,-13.5,184,1036,0.00,2.35,0.00,0.000,1030,0.000,0.047,2456,2502,3553,3553,3553,0,0,0,0,0,0,14.62,14.55,14.63
$GC,1333,-0.88,-146.0,2456,2502,3553,3553,162.9,-12.6,215,1339,0.00,2.58,0.00,0.000,260,0.000,0.099,2454,3910,3552,3552,3553,0,0,0,0,0,0,14.78,14.45,14.78
$GC,1463,-0.88,-146.0,2454,3910,3553,3553,180.2,-13.3,241,1470,0.00,2.40,0.00,0.000,1030,0.000,0.047,2454,2495,3552,3552,3552,0,0,0,0,0,0,14.51,14.47,14.54
$GC,1775,-0.88,-146.0,2455,2496,3554,3555,219.7,-12.8,273,1781,0.00,2.53,0.00,0.000,260,0.000,0.098,2454,3906,3552,3552,3553,0,0,0,0,0,0,14.78,14.50,14.78
$GC,1935,-0.88,-146.0,2453,3906,3551,3554,241.5,-13.6,305,1942,0.00,2.40,0.00,0.000,1030,0.000,0.047,2454,2482,3552,3552,3553,0,0,0,0,0,0,14.62,14.59,14.64
$GC,2246,-0.88,-146.0,2454,2483,3553,3555,280.4,-12.6,325,2253,0.00,2.60,0.00,0.000,260,0.000,0.096,2454,3910,3552,3552,3553,0,0,0,0,0,0,14.84,14.50,14.83
$GC,2392,-0.88,-146.0,2454,3910,3553,3554,299.8,-13.3,354,2398,0.00,2.38,0.00,0.000,1030,0.000,0.047,2454,2510,3552,3552,3553,0,0,0,0,0,0,14.63,14.58,14.65
$GC,2707,-0.88,-146.0,2454,2511,3553,3554,339.5,-12.6,372,2713,0.00,2.53,0.00,0.000,260,0.000,0.097,2454,3900,3552,3552,3553,0,0,0,0,0,0,14.85,14.52,14.85
$GC,2827,-0.88,-146.0,2454,3901,3553,3555,355.6,-13.3,396,2833,0.00,2.38,0.00,0.000,1030,0.000,0.048,2453,2494,3552,3552,3553,0,0,0,0,0,0,14.65,14.61,14.67
$GC,3147,-0.88,-146.0,2454,2495,3553,3554,395.5,-12.1,415,3153,0.00,2.58,0.00,0.000,260,0.000,0.098,2453,3910,3552,3552,3553,0,0,0,0,0,0,14.86,14.52,14.85
$GC,3281,-0.88,-146.0,2454,3911,3553,3555,412.3,-12.5,442,3289,0.00,2.38,0.00,0.000,1030,0.000,0.047,2453,2497,3552,3552,3552,0,0,0,0,0,0,14.66,14.62,14.67
$GC,3587,-0.88,-146.0,2454,2498,3553,3554,448.6,-11.7,458,3593,0.00,2.55,0.00,0.000,260,0.000,0.097,2453,3903,3552,3552,3553,0,0,0,0,0,0,14.86,14.52,14.87
$GC,3671,-0.88,-146.0,2453,3904,3552,3554,458.8,-12.0,475,3678,0.00,2.38,0.00,0.000,1030,0.000,0.047,2453,2505,3552,3552,3553,0,0,0,0,0,0,14.66,14.61,14.67
$GC,3988,-0.88,-146.0,2454,2505,3553,3554,494.3,-11.2,493,3994,0.00,2.50,0.00,0.000,260,0.000,0.097,2456,3907,3552,3552,3553,0,0,0,0,0,0,14.82,14.54,14.83
$STATE,4036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4036,begin apogee
$GC,4041,-0.23,0.0,2454,2535,3552,3554,500.3,-11.7,503,4267,0.85,0.00,217.60,2.082,10246,0.252,0.000,2680,2533,2968,2968,2968,0,0,0,0,1,0,14.38,13.52,12.45
$STATE,4268,end apogee,CONTROL_FINISHED_OK
$STATE,4268,begin climb
$GC,4269,0.93,146.0,2680,2536,2970,2970,510.1,0.0,510,4517,1.30,2.70,233.30,1.691,11012,0.160,0.096,3051,3905,2386,2377,2396,0,0,0,0,1,0,13.54,13.20,12.22
$GC,4726,0.74,146.0,3052,3904,2396,2410,492.4,11.8,602,4738,0.22,2.40,3.05,0.949,13446,0.308,0.055,3007,2559,2384,2375,2394,0,0,0,0,0,0,13.88,14.04,13.16
$GC,5048,0.70,177.2,3007,2559,2387,2403,464.1,8.5,621,5153,0.00,0.00,97.45,0.932,8614,0.000,0.000,3007,2559,2261,2250,2272,0,0,0,0,1,0,14.51,14.00,13.28
$GC,5448,0.65,183.5,3007,2560,2261,2280,425.7,9.7,650,5464,0.15,2.55,7.82,1.366,12964,0.298,0.077,2985,1161,2238,2229,2248,0,0,0,0,0,0,14.17,14.22,13.62
$GC,5482,0.71,227.9,2985,1162,2236,2250,422.6,7.9,657,5566,0.00,2.53,69.60,1.255,9254,0.000,0.073,2985,2557,2061,2052,2070,0,0,0,0,1,0,14.33,14.26,12.88
$GC,5870,0.72,235.1,2985,2558,2077,2095,386.5,9.7,689,5931,0.00,2.50,49.22,0.897,8484,0.000,0.098,2986,3914,2029,2020,2038,0,0,0,0,1,0,14.54,14.12,13.47
$GC,5975,0.68,235.1,2986,3915,2024,2040,375.2,12.1,709,5981,0.00,2.40,0.00,0.000,1158,0.000,0.051,2994,2542,2031,2024,2039,0,0,0,0,0,0,14.26,14.21,14.28
$GC,6296,0.68,235.1,2995,2541,2028,2042,341.2,10.5,728,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2542,2034,2026,2042,0,0,0,0,0,0,14.59,14.59,14.59
$GC,6596,0.68,235.1,2994,2541,2026,2042,308.9,10.8,743,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2542,2034,2026,2042,0,0,0,0,0,0,14.68,14.68,14.67
$GC,6896,0.68,235.1,2995,2542,2026,2043,276.8,10.6,758,6901,0.00,2.45,0.00,0.000,260,0.000,0.099,2994,3910,2033,2025,2042,0,0,0,0,0,0,14.73,14.49,14.73
$GC,6930,0.63,235.1,2995,3911,2026,2043,272.7,12.1,765,6939,0.12,2.33,0.00,0.000,5254,0.260,0.052,2971,2544,2034,2026,2042,0,0,0,0,0,0,14.35,14.55,14.52
$GC,7236,0.70,258.3,2971,2543,2026,2042,244.4,8.9,784,7302,0.00,2.55,55.65,1.197,8868,0.000,0.078,2979,1158,1937,1929,1945,0,0,0,0,1,0,14.77,14.23,13.54
$GC,7336,0.78,279.1,2977,1158,1936,1948,235.4,9.0,803,7402,0.00,2.50,54.67,1.172,9382,0.000,0.072,2979,2546,1853,1846,1861,0,0,0,0,1,0,14.40,14.28,13.37
$GC,7696,0.84,294.3,2979,2547,1858,1871,202.3,9.3,844,7758,0.15,2.58,51.95,0.965,10660,0.151,0.099,3025,3904,1793,1787,1800,0,0,0,0,1,0,14.34,14.12,13.47
$GC,7802,0.79,294.3,3025,3907,1793,1801,189.3,13.8,864,7808,0.00,2.38,0.00,0.000,1158,0.000,0.053,3034,2554,1796,1793,1800,0,0,0,0,0,0,14.28,14.24,14.29
$GC,8112,0.79,294.3,3034,2554,1799,1807,151.9,11.8,896,8118,0.00,2.50,0.00,0.000,516,0.000,0.076,3044,1160,1802,1798,1807,0,0,0,0,0,0,14.63,14.35,14.63
$GC,8152,0.79,294.3,3044,1160,1799,1808,147.2,11.8,904,8158,0.10,2.50,0.00,0.000,5126,0.254,0.074,3016,2551,1802,1798,1807,0,0,0,0,0,0,14.26,14.39,14.42
$GC,8462,0.80,302.1,3017,2551,1799,1807,114.8,9.6,936,8513,0.00,2.47,45.03,1.082,8484,0.000,0.096,3016,3908,1768,1762,1774,0,0,0,0,0,0,14.72,14.21,13.82
$GC,8531,0.80,302.1,3015,3909,1762,1773,107.4,12.0,949,8540,0.00,2.38,0.00,0.000,1030,0.000,0.051,3025,2543,1766,1760,1772,0,0,0,0,0,0,14.35,14.31,14.36
$PING,76.8,80.3,9000.0,0.00,0.00
$GC,8836,0.80,302.1,3026,2544,1753,1770,72.2,11.5,1003,8844,0.00,2.47,0.00,0.000,516,0.000,0.076,3035,1162,1762,1756,1769,0,0,0,0,0,0,14.65,14.38,14.65
$GC,8862,0.80,302.1,3036,1163,1757,1768,69.2,11.9,1008,8870,0.00,2.50,0.00,0.000,1030,0.000,0.074,3035,2553,1762,1756,1768,0,0,0,0,0,0,14.47,14.41,14.51
$PING,66.6,69.2,69.8,1.04,1.00
$PING,46.1,48.9,49.0,1.02,1.00
$GC,9049,0.80,302.1,3035,2554,1755,1769,46.5,12.2,1045,9061,0.00,2.47,0.00,0.000,260,0.000,0.099,3034,3910,1761,1755,1768,0,0,0,0,0,0,14.70,14.42,14.70
$GC,9070,0.77,302.1,3034,3911,1756,1769,43.7,13.3,1048,9077,0.12,2.35,0.00,0.000,5254,0.279,0.054,3012,2547,1761,1755,1768,0,0,0,0,0,0,14.29,14.49,14.46
$PING,36.0,37.1,37.7,1.04,1.00
$PING,25.6,26.0,26.3,1.05,1.00
$GC,9256,0.79,302.1,3012,2549,1755,1769,22.2,11.7,1085,9264,0.00,2.42,0.00,0.000,644,0.000,0.075,3022,1159,1761,1754,1768,0,0,0,0,0,0,14.73,14.45,14.73
$GC,9293,0.83,302.1,3022,1158,1755,1772,18.0,11.3,1092,9300,0.00,2.50,0.00,0.000,1158,0.000,0.075,3022,2554,1761,1754,1768,0,0,0,0,0,0,14.52,14.45,14.55
$PING,15.4,15.7,15.7,1.05,1.00
$STATE,9428,end climb,SURFACE_DEPTH_REACHED
$STATE,9428,begin surface coast
$FINISH,-0.0,1.026684
$STATE,9443,end surface coast,CONTROL_FINISHED_OK
$STATE,9444,begin surface
$SM_CCo,9458,30.70,0.243,0,0,1572,350.17
$SM_GC,1.14,8.70,0.08,30.70,0.113,0.156,0.243,199,2504,1572,-7.98,1.07,350.17,0,0,0,0,0,0,14.45,14.54,14.33
$RAFOS_CLK,370
$RAFOS,2,1516839195,0.233333,0.220833,64,63,57,54,54,53,210,122,178,142,158,196
$RAFOS,1,1516838835,0.133333,0.120833,62,58,57,56,53,52,197,171,115,136,223,148
$RAFOS,0,1516838465,0.033333,0.018056,63,60,60,54,52,49,197,117,215,140,128,158
$RAFOS_FIX,-7342.101562,-11416.216797,250118,010120,0,1,0.12
$IRIDIUM_FIX,-7343.20,-11406.32,240118,221630
$TT8_MAMPS,0.038199,0.295855
$HUMID,52.52
$INTERNAL_PRESSURE,7.83152
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,15.4,15.7
$24V_AH,12.22,10.017
$10V_AH,12.33,0.000
$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,23.725,108.775,885.350,30.700,0.000,0.000,0.000,0.000,23.500,0.000,9.426,0.000,6225.095,1079.283,2209.913,53.452,0.000,2017.060,0.000,1603.283,720.000,168.262,0.000
$DEVICE_MAMPS,465.885,156.060,2082.330,243.270,0.000,0.000,0.000,0.000,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9436.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.532,0.000,0.000,0.000
$MEM,280316
$DATA_FILE_SIZE,39902,1122
$CAP_FILE_SIZE,138141,0
$CFSIZE,1024409600,1019363328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$SOUNDSPEED,1447.8
$CURRENT,0.044,314.90,1
$GPS,250118,010200,-7341.942,-11412.063,15,1.0,15,53.8,0.2,0.0,7,4.6