version: 66.13
glider: 221
mission: 7
dive: 39
start: 1 28 118 16 34 18
data:
$ID,221
$MISSION,7
$DIVE,39
$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,10
$D_PITCH,3
$D_SAFE,0
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,220
$T_MISSION,270
$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,0.30000001
$D_OFFGRID,600
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,37
$R_STBD_OVSHOOT,22
$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
$GPS1,280118,162654,-7354.5688,-11311.0264,2,1.4,5,53.5,0.9,223.8,5,8.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-55.9
$GPS2,280118,163350,-7354.5327,-11311.1543,3,1.4,4,53.5,0.5,331.2,5,6.3
$SPEED_LIMITS,0.210,0.306
$TGT_NAME,S2_221
$TGT_LATLONG,-7354.000,-11300.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,44.6,5813,-16.9,-12.121,-21.59,2397
$D_GRID,397
$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,-1.01,-194.6,200,2818,1595,1514,0.0,0.0,0,131,0.00,0.00,-122.38,0.003,16386,0.000,0.000,200,2818,3677,3688,3667,0,0,0,0,0,0,14.59,28.83,14.59
$PING,8.1,11.0,9000.0,0.00,0.00
$GC,133,-1.01,-194.6,201,2818,3689,3668,4.7,-7.7,12,152,11.93,0.00,-1.48,0.078,18470,0.485,0.000,2396,2818,3746,3746,3746,1,0,0,0,0,0,14.14,13.48,14.38
$PING,17.5,18.2,9000.0,0.00,0.00
$PING,25.7,27.5,9000.0,0.00,0.00
$PING,34.1,35.9,9000.0,0.00,0.00
$PING,50.9,53.9,53.3,1.02,1.00
$GC,448,-1.01,-194.6,2396,2818,3747,3751,64.0,-16.4,44,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2817,3748,3745,3751,0,0,0,0,0,0,14.71,14.71,14.71
$PING,83.2,88.3,88.3,1.06,1.00
$GC,749,-1.01,-194.6,2396,2819,3746,3755,111.1,-15.8,74,754,0.00,1.92,0.00,0.000,260,0.000,0.099,2388,3910,3748,3745,3751,0,0,0,0,0,0,14.74,14.53,14.74
$GC,773,-1.01,-194.6,2388,3911,3746,3752,115.2,-16.7,79,780,0.00,1.90,0.00,0.000,1030,0.000,0.050,2388,2785,3748,3745,3751,0,0,0,0,0,0,14.62,14.59,14.63
$GC,1079,-1.01,-194.6,2388,2784,3746,3752,163.9,-15.3,110,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2788,3748,3745,3751,0,0,0,0,0,0,14.78,14.78,14.78
$GC,1378,-1.01,-194.6,2388,2787,3746,3752,210.5,-15.7,140,1384,0.00,2.35,0.00,0.000,516,0.000,0.053,2388,1405,3746,3745,3748,0,0,0,0,0,0,14.83,14.61,14.83
$GC,1408,-1.01,-194.6,2386,1405,3746,3752,215.2,-15.4,146,1414,0.00,2.47,0.00,0.000,1030,0.000,0.076,2387,2798,3747,3745,3750,0,0,0,0,0,0,14.66,14.59,14.72
$GC,1718,-1.01,-194.6,2387,2799,3748,3752,264.3,-15.9,178,1724,0.00,1.98,0.00,0.000,260,0.000,0.097,2385,3902,3748,3745,3751,0,0,0,0,0,0,14.85,14.59,14.85
$GC,1793,-1.01,-194.6,2386,3902,3747,3751,277.0,-17.1,193,1802,0.00,1.85,0.00,0.000,1030,0.000,0.052,2385,2798,3748,3745,3751,0,0,0,0,0,0,14.69,14.66,14.71
$GC,2099,-1.01,-194.6,2386,2799,3746,3751,324.7,-15.3,216,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2796,3748,3745,3751,0,0,0,0,0,0,14.83,14.84,14.83
$GC,2399,-1.01,-194.6,2385,2800,3746,3752,370.4,-15.5,231,2404,0.00,1.98,0.00,0.000,260,0.000,0.097,2384,3917,3748,3746,3751,0,0,0,0,0,0,14.85,14.63,14.85
$GC,2443,-1.01,-194.6,2384,3917,3746,3751,377.8,-16.5,240,2452,0.00,1.88,0.00,0.000,1030,0.000,0.051,2384,2797,3748,3745,3751,0,0,0,0,0,0,14.73,14.69,14.74
$STATE,2580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2580,begin apogee
$GC,2583,-0.23,0.0,2384,2542,3746,3753,399.0,-15.0,249,2784,1.00,0.00,192.12,2.746,10246,0.265,0.000,2650,2541,2965,2960,2971,0,0,0,0,0,0,14.53,13.45,12.50
$STATE,2785,end apogee,CONTROL_FINISHED_OK
$STATE,2785,begin climb
$GC,2786,1.01,194.6,2651,2542,2961,2973,404.7,0.0,259,2997,1.40,2.75,202.27,2.635,10756,0.168,0.070,3053,1160,2190,2180,2201,0,0,0,0,0,0,13.44,13.12,12.23
$GC,3021,1.01,194.6,3052,1160,2178,2197,386.2,12.4,304,3027,0.00,2.70,0.00,0.000,1030,0.000,0.071,3053,2548,2187,2177,2197,0,0,0,0,0,0,13.43,13.37,13.46
$GC,3337,1.01,194.6,3053,2548,2173,2192,343.1,13.8,322,3342,0.00,2.53,0.00,0.000,260,0.000,0.098,3053,3914,2181,2171,2192,0,0,0,0,0,0,14.28,14.07,14.28
$GC,3376,1.01,194.6,3053,3920,2173,2192,337.0,15.7,330,3382,0.00,2.40,0.00,0.000,1030,0.000,0.058,3062,2562,2181,2171,2192,0,0,0,0,0,0,14.19,14.15,14.21
$GC,3686,1.01,194.6,3063,2562,2172,2191,293.0,14.0,351,3692,0.00,2.53,0.00,0.000,516,0.000,0.070,3074,1154,2180,2170,2190,0,0,0,0,0,0,14.52,14.31,14.53
$GC,3711,1.01,194.6,3074,1155,2170,2190,289.5,13.6,356,3718,0.00,2.53,0.00,0.000,1030,0.000,0.073,3074,2551,2179,2169,2190,0,0,0,0,0,0,14.39,14.32,14.41
$GC,4016,1.01,194.6,3074,2552,2171,2190,246.4,14.0,387,4022,0.00,2.47,0.00,0.000,260,0.000,0.097,3074,3906,2180,2171,2190,0,0,0,0,0,0,14.64,14.41,14.66
$GC,4056,1.01,194.6,3074,3906,2172,2191,240.3,15.3,395,4063,0.10,2.35,0.00,0.000,5126,0.307,0.057,3060,2546,2180,2171,2190,0,0,0,0,0,0,14.30,14.47,14.47
$GC,4366,1.01,194.6,3061,2547,2170,2191,199.8,13.3,427,4372,0.00,2.45,0.00,0.000,516,0.000,0.070,3069,1161,2180,2170,2190,0,0,0,0,0,0,14.73,14.48,14.73
$GC,4396,1.01,194.6,3070,1161,2171,2189,196.0,12.6,433,4403,0.00,2.47,0.00,0.000,1030,0.000,0.073,3069,2552,2179,2170,2189,0,0,0,0,0,0,14.57,14.51,14.59
$GC,4708,1.01,194.6,3069,2552,2170,2191,153.8,13.6,465,4714,0.00,2.42,0.00,0.000,516,0.000,0.068,3080,1154,2179,2170,2189,0,0,0,0,0,0,14.74,14.54,14.75
$GC,4728,1.01,194.6,3080,1154,2170,2191,151.1,13.8,469,4735,0.00,2.47,0.00,0.000,1030,0.000,0.072,3080,2549,2180,2170,2190,0,0,0,0,0,0,14.62,14.55,14.64
$PING,112.4,116.8,117.5,1.04,1.00
$GC,5039,1.01,194.6,3080,2549,2171,2190,108.2,13.8,501,5046,0.00,2.45,0.00,0.000,260,0.000,0.098,3080,3901,2179,2170,2189,0,0,0,0,0,0,14.80,14.57,14.79
$PING,104.2,108.5,108.9,1.03,1.00
$GC,5070,1.01,194.6,3080,3901,2172,2190,103.5,15.9,507,5076,0.12,2.33,0.00,0.000,5126,0.299,0.057,3058,2549,2180,2171,2189,0,0,0,0,0,0,14.44,14.62,14.60
$GC,5380,1.01,194.6,3059,2549,2171,2190,65.1,12.3,539,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2549,2180,2170,2190,0,0,0,0,0,0,14.82,14.83,14.83
$PING,61.4,65.4,65.2,1.02,1.00
$PING,52.7,54.2,55.5,1.04,1.00
$PING,34.2,34.0,35.0,1.05,1.00
$GC,5680,1.01,194.6,3059,2549,2171,2189,28.3,12.1,569,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2548,2179,2170,2188,0,0,0,0,0,0,14.84,14.84,14.84
$PING,26.0,27.6,26.8,1.05,1.00
$PING,17.6,18.1,17.8,1.06,1.00
$FREEZE,9.70,-0.856,-1.863,2,1,0
$PING,8.7,9.1,9.1,1.02,1.00
$FREEZE,8.75,-0.858,-1.863,2,1,0
$FREEZE,7.55,-0.858,-1.862,2,1,0
$FREEZE,6.18,-0.858,-1.861,2,1,0
$FREEZE,4.65,-0.857,-1.859,2,1,0
$FREEZE,3.38,-0.854,-1.858,2,1,0
$FREEZE,1.99,-0.849,-1.857,2,1,0
$STATE,5909,end climb,SURFACE_DEPTH_REACHED
$STATE,5910,begin surface coast
$FREEZE,0.52,-0.842,-1.856,2,1,0
$FINISH,0.5,1.027197
$STATE,5920,end surface coast,CONTROL_FINISHED_OK
$STATE,5920,begin surface
$SM_CCo,5934,133.32,0.232,0,0,1572,350.17
$SM_GC,0.78,8.48,0.47,133.32,0.087,0.100,0.232,191,2803,1572,-7.89,-0.59,350.17,0,0,0,0,0,0,14.62,14.64,14.39
$RAFOS_CLK,238
$RAFOS,1,1517162828,18.133333,18.118889,65,58,57,56,56,55,149,178,215,122,160,224
$RAFOS,0,1517162468,18.033333,18.018888,79,67,61,58,55,55,650,195,121,217,180,157
$RAFOS_FIX,-7356.123535,-11306.154297,280118,181844,1,2,0.72
$IRIDIUM_FIX,-7402.46,-11253.43,280118,162833
$TT8_MAMPS,0.03745,0.431424
$HUMID,46.61
$INTERNAL_PRESSURE,7.80222
$TCM_TEMP,13.20
$XPDR_PINGS,1
$ALTIM_TOP_PING,8.7,9.1
$24V_AH,12.23,22.144
$10V_AH,12.43,0.000
$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,23.025,52.050,394.400,133.325,0.000,0.000,0.000,279.550,23.500,0.000,5.977,0.000,4220.742,686.929,1538.816,54.121,0.000,1456.384,0.000,854.803,480.000,163.988,0.000
$DEVICE_MAMPS,485.010,100.215,2745.585,231.795,0.000,0.000,0.000,182.835,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.619,0.000,0.000,0.000
$MEM,280500
$DATA_FILE_SIZE,20088,593
$CAP_FILE_SIZE,81985,0
$CFSIZE,1024409600,1015529472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,6187.56,0x214570,7,24
$SOUNDSPEED,1447.4
$CURRENT,0.097,345.79,1
$GPS,280118,181648,-7354.441,-11308.217,53,1.0,53,53.5,0.5,357.2,9,4.3