version: 66.13
glider: 221
mission: 7
dive: 28
start: 1 27 118 20 11 17
data:
$ID,221
$MISSION,7
$DIVE,28
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,0
$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,270
$T_MISSION,310
$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,2730
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3910
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,23
$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,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,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,8
$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
$GPS1,270118,200230,-7353.3535,-11301.7236,33,1.1,33,53.4,1.2,248.5,8,5.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-61.9
$GPS2,270118,201050,-7353.3281,-11301.9580,4,1.1,5,53.4,0.3,0.0,8,5.4
$SPEED_LIMITS,0.171,0.250
$TGT_NAME,W1
$TGT_LATLONG,-7406.000,-11310.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,131.4,23820,-16.3,-9.877,-21.56,2183
$D_GRID,543
$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,7,-0.92,-146.0,204,2812,1593,1516,0.0,0.0,0,123,0.00,0.00,-113.50,0.003,16386,0.000,0.000,198,2811,3502,3513,3492,0,0,0,0,0,0,14.54,28.83,14.54
$GC,124,-0.92,-146.0,198,2812,3514,3492,3.9,-5.3,11,143,12.20,2.47,-1.23,0.072,18980,0.486,0.077,2425,1387,3551,3554,3549,0,0,0,0,0,0,14.12,13.54,14.41
$PING,18.2,21.7,9000.0,0.00,0.00
$PING,26.7,29.0,9000.0,0.00,0.00
$PING,35.2,36.9,9000.0,0.00,0.00
$GC,301,-0.92,-146.0,2425,1387,3555,3553,36.0,-14.0,46,309,0.00,2.53,0.00,0.000,1030,0.000,0.075,2425,2792,3553,3554,3553,0,0,0,0,0,0,14.47,14.40,14.49
$PING,43.9,46.4,9000.0,0.00,0.00
$PING,60.2,63.7,63.1,1.01,1.00
$GC,607,-0.92,-146.0,2425,2793,3554,3555,77.6,-13.3,77,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2792,3554,3554,3554,0,0,0,0,0,0,14.69,14.69,14.69
$PING,85.6,89.8,89.9,1.04,1.00
$GC,907,-0.92,-146.0,2426,2792,3556,3555,118.0,-13.5,107,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2792,3554,3554,3555,0,0,0,0,0,0,14.74,14.74,14.74
$GC,1207,-0.92,-146.0,2425,2792,3553,3556,158.8,-13.3,137,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2792,3554,3554,3555,0,0,0,0,0,0,14.78,14.78,14.78
$GC,1506,-0.92,-146.0,2425,2792,3555,3555,197.9,-12.9,167,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2792,3554,3554,3555,0,0,0,0,0,0,14.82,14.84,14.82
$GC,1806,-0.92,-146.0,2425,2793,3555,3556,237.0,-13.2,197,1813,0.00,2.00,0.00,0.000,260,0.000,0.100,2418,3909,3554,3554,3555,0,0,0,0,0,0,14.84,14.57,14.84
$GC,1857,-0.92,-146.0,2419,3908,3555,3555,244.2,-14.5,207,1863,0.00,1.90,0.00,0.000,1030,0.000,0.051,2419,2775,3554,3554,3555,0,0,0,0,0,0,14.69,14.66,14.70
$GC,2167,-0.92,-146.0,2418,2775,3554,3556,286.4,-13.5,239,2173,0.00,2.05,0.00,0.000,260,0.000,0.097,2415,3912,3554,3553,3555,0,0,0,0,0,0,14.85,14.59,14.85
$GC,2237,-0.92,-146.0,2416,3912,3554,3555,296.5,-14.6,253,2245,0.00,1.88,0.00,0.000,1030,0.000,0.054,2415,2800,3554,3554,3555,0,0,0,0,0,0,14.71,14.67,14.71
$GC,2548,-0.92,-146.0,2415,2801,3554,3556,338.2,-13.0,271,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2800,3554,3553,3555,0,0,0,0,0,0,14.86,14.86,14.87
$GC,2848,-0.92,-146.0,2415,2801,3554,3556,376.5,-12.6,286,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2799,3554,3553,3555,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3149,-0.92,-146.0,2416,2800,3555,3555,414.1,-12.6,301,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2800,3554,3553,3555,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3448,-0.92,-146.0,2415,2800,3554,3555,452.9,-13.2,316,3455,0.00,2.00,0.00,0.000,260,0.000,0.098,2414,3911,3554,3553,3555,0,0,0,0,0,0,14.88,14.63,14.88
$GC,3489,-0.92,-146.0,2415,3911,3554,3555,458.8,-14.6,324,3495,0.00,1.88,0.00,0.000,1030,0.000,0.052,2414,2793,3554,3554,3555,0,0,0,0,0,0,14.73,14.70,14.75
$GC,3809,-0.92,-146.0,2415,2793,3554,3555,500.3,-12.9,343,3818,0.00,2.35,0.00,0.000,516,0.000,0.055,2414,1408,3554,3553,3555,0,0,0,0,0,0,14.88,14.65,14.88
$GC,3837,-0.92,-146.0,2415,1409,3554,3556,503.9,-13.2,348,3845,0.00,2.47,0.00,0.000,1030,0.000,0.076,2414,2805,3554,3553,3555,0,0,0,0,0,0,14.71,14.64,14.73
$STATE,4172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4172,begin apogee
$GC,4176,-0.23,0.0,2415,2546,3553,3556,546.1,-12.5,360,4333,0.88,0.00,154.10,2.941,10246,0.260,0.000,2648,2546,2965,2962,2968,0,0,0,0,0,0,14.52,13.54,12.54
$STATE,4334,end apogee,CONTROL_FINISHED_OK
$STATE,4334,begin climb
$GC,4335,0.92,146.0,2648,2547,2963,2970,551.0,0.0,365,4504,1.30,2.67,160.65,2.841,10756,0.169,0.069,3027,1165,2384,2371,2397,0,0,0,0,0,0,13.51,13.02,12.15
$GC,4553,0.92,146.0,3027,1165,2365,2393,536.9,10.8,408,4559,0.00,2.65,0.00,0.000,1030,0.000,0.073,3027,2547,2378,2364,2393,0,0,0,0,0,0,13.57,13.52,13.59
$GC,4918,0.92,146.0,3027,2544,2360,2391,494.2,11.5,425,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2543,2373,2359,2388,0,0,0,0,0,0,14.39,14.37,14.37
$GC,5218,0.92,146.0,3027,2544,2357,2390,461.2,10.6,440,5224,0.00,2.47,0.00,0.000,516,0.000,0.070,3037,1164,2372,2357,2388,0,0,0,0,0,0,14.55,14.31,14.55
$GC,5248,0.92,146.0,3038,1164,2359,2387,458.1,10.5,446,5256,0.00,2.50,0.00,0.000,1030,0.000,0.073,3037,2551,2373,2358,2388,0,0,0,0,0,0,14.40,14.33,14.44
$GC,5560,0.92,146.0,3037,2552,2359,2388,424.8,10.6,463,5565,0.00,2.42,0.00,0.000,516,0.000,0.070,3048,1163,2373,2358,2388,0,0,0,0,0,0,14.66,14.42,14.66
$GC,5600,0.92,146.0,3050,1163,2358,2387,420.7,10.4,471,5606,0.00,2.45,0.00,0.000,1030,0.000,0.073,3047,2557,2372,2358,2386,0,0,0,0,0,0,14.54,14.45,14.56
$GC,5921,0.92,146.0,3048,2558,2359,2388,385.2,11.2,490,5927,0.00,2.42,0.00,0.000,260,0.000,0.099,3048,3914,2373,2359,2387,0,0,0,0,0,0,14.71,14.50,14.71
$GC,5975,0.92,146.0,3048,3915,2360,2388,377.9,13.4,501,5983,0.10,2.35,0.00,0.000,5126,0.295,0.058,3032,2552,2372,2359,2386,0,0,0,0,0,0,14.38,14.56,14.54
$GC,6280,0.92,146.0,3032,2551,2360,2386,344.6,10.5,517,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2550,2372,2358,2387,0,0,0,0,0,0,14.78,14.78,14.79
$GC,6580,0.92,146.0,3032,2552,2359,2388,312.2,10.6,532,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2551,2372,2358,2386,0,0,0,0,0,0,14.81,14.82,14.82
$GC,6881,0.92,146.0,3032,2552,2359,2388,280.2,10.3,556,6886,0.00,2.42,0.00,0.000,260,0.000,0.098,3032,3914,2371,2359,2383,0,0,0,0,0,0,14.81,14.59,14.81
$GC,6925,0.92,146.0,3032,3915,2361,2387,275.0,11.8,565,6933,0.00,2.33,0.00,0.000,1030,0.000,0.058,3042,2552,2372,2359,2386,0,0,0,0,0,0,14.69,14.64,14.70
$GC,7230,0.92,146.0,3042,2553,2359,2388,242.6,10.5,596,7236,0.00,2.45,0.00,0.000,260,0.000,0.098,3041,3903,2373,2359,2388,0,0,0,0,0,0,14.85,14.60,14.85
$GC,7255,0.92,146.0,3041,3903,2361,2388,239.6,12.2,601,7263,0.00,2.33,0.00,0.000,1030,0.000,0.058,3051,2543,2373,2359,2387,0,0,0,0,0,0,14.69,14.66,14.71
$GC,7560,0.92,146.0,3053,2543,2360,2387,204.8,11.2,632,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2543,2373,2359,2387,0,0,0,0,0,0,14.86,14.86,14.86
$GC,7860,0.92,146.0,3053,2543,2360,2386,172.6,10.6,662,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2543,2373,2359,2387,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8160,0.92,146.0,3053,2543,2360,2386,141.5,10.4,692,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2543,2373,2359,2387,0,0,0,0,0,0,14.88,14.88,14.88
$GC,8460,0.93,146.0,3052,2544,2360,2388,113.4,9.1,722,8461,0.00,0.00,0.00,0.000,70,0.000,0.000,3052,2543,2373,2359,2387,0,0,0,0,0,0,14.88,14.89,14.89
$PING,101.4,107.1,106.9,1.06,1.00
$GC,8761,0.93,146.0,3053,2543,2360,2386,84.4,9.8,752,8766,0.00,2.38,0.00,0.000,516,0.000,0.070,3062,1158,2372,2358,2386,0,0,0,0,0,0,14.86,14.64,14.86
$GC,8800,0.93,146.0,3063,1158,2360,2386,80.5,9.8,760,8807,0.10,2.45,0.00,0.000,5126,0.274,0.073,3035,2548,2371,2357,2386,0,0,0,0,0,0,14.52,14.66,14.67
$PING,75.8,80.9,80.1,1.05,1.00
$PING,59.2,62.7,62.8,1.05,1.00
$GC,9111,0.95,146.0,3035,2550,2359,2387,51.9,9.2,792,9117,0.00,2.42,0.00,0.000,324,0.000,0.096,3035,3899,2372,2359,2386,0,0,0,0,0,0,14.89,14.64,14.89
$PING,51.0,53.2,53.7,1.06,1.00
$PING,42.8,44.9,45.0,1.07,1.00
$GC,9210,0.95,146.0,3035,3900,2361,2388,41.2,10.5,812,9216,0.00,2.30,0.00,0.000,1030,0.000,0.059,3045,2550,2372,2359,2385,0,0,0,0,0,0,14.73,14.69,14.75
$PING,34.6,35.5,35.6,1.10,1.00
$PING,26.5,27.1,26.9,1.09,1.00
$PING,17.9,18.1,18.0,1.07,1.00
$PING,9.5,9.4,9.2,1.06,1.00
$GC,9520,1.01,198.8,3046,2550,2359,2386,14.3,7.4,844,9569,0.00,2.47,44.25,0.272,8740,0.000,0.072,3056,1157,2171,2162,2180,0,0,0,0,0,0,14.89,14.57,14.48
$STATE,9642,end climb,SURFACE_DEPTH_REACHED
$STATE,9642,begin surface coast
$FINISH,-0.1,1.027206
$STATE,9662,end surface coast,CONTROL_FINISHED_OK
$STATE,9662,begin surface
$SM_CCo,9678,129.73,0.231,0,0,1573,350.17
$SM_GC,0.92,8.43,2.95,129.73,0.078,0.073,0.231,193,2811,1573,-7.89,-0.45,350.17,0,0,0,0,0,0,14.58,14.61,14.35
$RAFOS_CLK,384
$RAFOS,2,1517087586,21.233334,21.218334,61,59,58,56,51,50,177,160,205,195,221,122
$RAFOS,1,1517087225,21.133333,21.118055,63,60,58,57,57,56,205,146,187,127,219,168
$RAFOS,0,1517086866,21.033333,21.018333,66,57,53,53,51,49,210,169,132,225,192,156
$RAFOS_FIX,-7354.554199,-11301.773438,270118,222216,0,1,0.23
$IRIDIUM_FIX,-7353.74,-11305.81,270118,200411
$TT8_MAMPS,0.03745,0.288365
$HUMID,46.57
$INTERNAL_PRESSURE,7.79246
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.5,9.2
$24V_AH,12.15,18.620
$10V_AH,12.52,0.000
$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,23.000,66.400,359.000,129.725,0.000,0.000,0.000,346.975,31.000,0.000,6.663,0.000,7426.342,663.483,2154.666,69.526,0.000,1678.353,0.000,1249.076,720.000,219.483,0.000
$DEVICE_MAMPS,485.775,100.215,2940.660,231.030,0.000,0.000,0.000,192.780,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9671.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.402,0.000,0.000,0.000
$MEM,280060
$DATA_FILE_SIZE,30002,871
$CAP_FILE_SIZE,111598,0
$CFSIZE,1024409600,1016594432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1448.2
$CURRENT,0.080,285.70,1
$GPS,270118,225530,-7354.439,-11304.021,16,1.4,16,53.4,1.7,328.8,6,5.2