version: 66.13
glider: 221
mission: 7
dive: 40
start: 1 28 118 18 23 14
data:
$ID,221
$MISSION,7
$DIVE,40
$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,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,1
$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,37
$R_STBD_OVSHOOT,21
$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
$GPS1,280118,181648,-7354.4409,-11308.2168,53,1.0,53,53.5,0.5,357.2,9,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-58.6
$GPS2,280118,182246,-7354.3970,-11308.2803,2,0.8,4,53.5,1.4,331.4,11,6.5
$SPEED_LIMITS,0.171,0.250
$TGT_NAME,S2_221
$TGT_LATLONG,-7354.000,-11300.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,49.4,4316,-16.3,-9.877,-21.56,2183
$D_GRID,446
$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,-0.92,-146.0,191,2809,1596,1516,0.0,0.0,0,130,0.00,0.00,-118.28,0.003,16390,0.000,0.000,190,2809,3551,3564,3539,0,0,0,0,0,0,14.57,13.62,14.57
$GC,132,-0.92,-146.0,191,2809,3566,3540,4.7,-7.5,12,150,12.23,1.98,0.00,0.000,2340,0.489,0.083,2415,3913,3554,3563,3546,0,0,0,0,0,0,14.15,14.36,14.46
$PING,16.7,16.8,9000.0,0.00,0.00
$PING,24.9,26.1,9000.0,0.00,0.00
$GC,278,-0.92,-146.0,2416,3913,3561,3554,34.3,-15.5,41,287,0.00,1.90,0.00,0.000,1030,0.000,0.050,2416,2797,3556,3560,3553,0,0,0,0,0,0,14.50,14.47,14.52
$PING,42.7,45.0,9000.0,0.00,0.00
$PING,51.5,54.3,9000.0,0.00,0.00
$PING,59.9,63.5,63.5,1.07,1.00
$PING,68.4,72.2,72.3,1.06,1.00
$GC,584,-0.92,-146.0,2422,2797,3561,3554,78.3,-14.0,72,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2797,3557,3560,3554,0,0,0,0,0,0,14.72,14.72,14.72
$GC,885,-0.92,-146.0,2417,2797,3561,3554,119.0,-13.4,102,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2797,3557,3560,3554,0,0,0,0,0,0,14.73,14.74,14.75
$GC,1184,-0.92,-146.0,2417,2797,3560,3555,161.1,-14.5,132,1190,0.00,2.03,0.00,0.000,260,0.000,0.098,2415,3910,3557,3559,3555,0,0,0,0,0,0,14.77,14.56,14.77
$GC,1234,-0.92,-146.0,2415,3910,3560,3555,168.6,-15.1,142,1241,0.00,1.88,0.00,0.000,1030,0.000,0.051,2415,2795,3556,3559,3554,0,0,0,0,0,0,14.64,14.63,14.68
$GC,1545,-0.92,-146.0,2415,2796,3560,3556,211.7,-13.3,174,1551,0.00,2.00,0.00,0.000,260,0.000,0.096,2415,3899,3557,3559,3555,0,0,0,0,0,0,14.82,14.59,14.84
$GC,1575,-0.92,-146.0,2415,3899,3560,3554,215.8,-14.3,180,1581,0.00,1.85,0.00,0.000,1030,0.000,0.050,2414,2802,3556,3559,3554,0,0,0,0,0,0,14.68,14.65,14.69
$GC,1885,-0.92,-146.0,2415,2804,3560,3556,254.8,-12.1,212,1891,0.00,1.98,0.00,0.000,260,0.000,0.096,2415,3899,3556,3559,3554,0,0,0,0,0,0,14.84,14.59,14.83
$GC,1925,-0.92,-146.0,2415,3899,3560,3555,259.9,-12.9,220,1931,0.00,1.85,0.00,0.000,1030,0.000,0.051,2415,2801,3557,3559,3555,0,0,0,0,0,0,14.69,14.66,14.71
$GC,2235,-0.92,-146.0,2415,2801,3560,3554,299.1,-12.1,252,2241,0.00,2.38,0.00,0.000,516,0.000,0.054,2414,1407,3557,3559,3555,0,0,0,0,0,0,14.85,14.63,14.85
$GC,2270,-0.92,-146.0,2415,1407,3560,3555,303.4,-12.1,259,2277,0.00,2.47,0.00,0.000,1030,0.000,0.075,2414,2798,3556,3558,3555,0,0,0,0,0,0,14.68,14.62,14.70
$GC,2575,-0.92,-146.0,2415,2800,3560,3556,345.6,-13.9,275,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2799,3557,3559,3555,0,0,0,0,0,0,14.86,14.87,14.86
$GC,2875,-0.92,-146.0,2415,2798,3558,3555,385.2,-13.3,290,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2799,3557,3559,3555,0,0,0,0,0,0,14.87,14.88,14.88
$GC,3175,-0.92,-146.0,2414,2799,3560,3555,423.0,-12.5,305,3182,0.00,1.98,0.00,0.000,260,0.000,0.097,2413,3907,3557,3559,3555,0,0,0,0,0,0,14.89,14.64,14.89
$GC,3225,-0.92,-146.0,2413,3908,3559,3556,429.8,-13.6,315,3232,0.00,1.85,0.00,0.000,1030,0.000,0.051,2413,2803,3556,3558,3554,0,0,0,0,0,0,14.73,14.71,14.75
$STATE,3355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3355,begin apogee
$GC,3358,-0.23,0.0,2413,2549,3559,3556,446.7,-13.0,323,3507,0.88,0.00,146.80,2.791,10246,0.259,0.000,2647,2548,2966,2963,2969,0,0,0,0,0,0,14.54,13.61,12.64
$STATE,3508,end apogee,CONTROL_FINISHED_OK
$STATE,3508,begin climb
$GC,3509,0.92,146.0,2648,2549,2963,2970,452.3,0.0,330,3672,1.30,2.67,153.00,2.685,10756,0.175,0.068,3025,1166,2384,2370,2398,0,0,0,0,0,0,13.56,13.15,12.24
$GC,3691,0.94,146.0,3025,1165,2369,2395,442.6,8.8,365,3699,0.00,2.70,0.00,0.000,1094,0.000,0.071,3025,2551,2381,2367,2396,0,0,0,0,0,0,13.43,13.38,13.45
$GC,3996,0.94,146.0,3025,2551,2361,2389,409.8,11.0,381,4003,0.00,2.55,0.00,0.000,260,0.000,0.096,3025,3907,2374,2360,2389,0,0,0,0,0,0,14.28,14.06,14.28
$GC,4052,0.94,146.0,3024,3908,2361,2390,402.8,12.9,392,4059,0.00,2.40,0.00,0.000,1030,0.000,0.056,3035,2557,2374,2360,2389,0,0,0,0,0,0,14.20,14.16,14.22
$GC,4358,0.94,146.0,3036,2558,2359,2390,369.4,10.7,408,4363,0.00,2.47,0.00,0.000,516,0.000,0.069,3047,1150,2373,2358,2388,0,0,0,0,0,0,14.52,14.32,14.52
$GC,4422,0.94,146.0,3047,1150,2358,2386,362.3,10.9,421,4429,0.00,2.53,0.00,0.000,1030,0.000,0.073,3046,2552,2372,2358,2386,0,0,0,0,0,0,14.40,14.35,14.42
$GC,4738,0.94,146.0,3047,2552,2359,2386,326.0,11.9,439,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2552,2372,2358,2386,0,0,0,0,0,0,14.67,14.67,14.68
$GC,5038,0.94,146.0,3046,2553,2358,2387,291.4,11.1,457,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2552,2371,2357,2386,0,0,0,0,0,0,14.73,14.74,14.74
$GC,5338,0.94,146.0,3047,2552,2358,2386,259.1,10.4,487,5344,0.00,2.45,0.00,0.000,260,0.000,0.096,3046,3901,2372,2358,2386,0,0,0,0,0,0,14.78,14.53,14.77
$GC,5379,0.94,146.0,3046,3902,2359,2388,254.1,12.7,495,5384,0.00,2.28,0.00,0.000,1030,0.000,0.057,3057,2548,2372,2358,2386,0,0,0,0,0,0,14.66,14.60,14.67
$GC,5688,0.94,146.0,3057,2548,2358,2388,218.3,11.7,527,5694,0.00,2.47,0.00,0.000,260,0.000,0.097,3056,3910,2372,2358,2386,0,0,0,0,0,0,14.81,14.57,14.81
$GC,5723,0.94,146.0,3057,3910,2360,2387,213.7,13.2,534,5730,0.10,2.33,0.00,0.000,5126,0.312,0.057,3041,2552,2372,2358,2387,0,0,0,0,0,0,14.45,14.62,14.61
$GC,6028,0.94,146.0,3042,2552,2359,2387,183.3,9.6,565,6035,0.00,2.45,0.00,0.000,516,0.000,0.069,3052,1151,2371,2356,2386,0,0,0,0,0,0,14.83,14.59,14.82
$GC,6108,0.94,146.0,3053,1151,2357,2385,175.4,9.7,581,6115,0.00,2.47,0.00,0.000,1030,0.000,0.073,3052,2556,2371,2357,2385,0,0,0,0,0,0,14.66,14.60,14.68
$GC,6419,0.94,146.0,3052,2553,2358,2386,143.7,10.4,613,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2551,2371,2357,2385,0,0,0,0,0,0,14.84,14.85,14.84
$GC,6719,0.94,146.0,3052,2552,2357,2391,112.6,10.1,643,6725,0.00,2.42,0.00,0.000,260,0.000,0.097,3052,3899,2371,2358,2385,0,0,0,0,0,0,14.85,14.62,14.86
$PING,111.6,115.7,115.9,1.02,1.00
$PING,103.4,107.6,107.5,1.02,1.00
$GC,6814,0.94,146.0,3052,3899,2360,2385,101.7,11.5,662,6822,0.08,2.30,0.00,0.000,5126,0.298,0.058,3042,2550,2371,2358,2385,0,0,0,0,0,0,14.50,14.68,14.66
$PING,95.4,99.3,99.3,1.01,1.00
$PING,78.3,80.9,81.7,1.02,1.00
$GC,7119,0.94,146.0,3042,2550,2358,2385,72.5,9.6,693,7126,0.00,2.42,0.00,0.000,516,0.000,0.067,3050,1158,2370,2356,2385,0,0,0,0,0,0,14.87,14.62,14.87
$PING,70.1,73.5,73.1,1.03,1.00
$GC,7160,0.94,146.0,3052,1159,2356,2386,68.7,9.4,701,7167,0.00,2.45,0.00,0.000,1030,0.000,0.073,3048,2547,2370,2356,2385,0,0,0,0,0,0,14.70,14.64,14.72
$PING,61.7,63.7,64.0,1.05,1.00
$PING,45.4,46.6,46.7,1.05,1.00
$PING,36.9,37.8,37.8,1.05,1.00
$GC,7472,0.94,146.0,3052,2548,2357,2386,36.9,10.9,733,7478,0.00,2.40,0.00,0.000,260,0.000,0.098,3052,3904,2371,2358,2385,0,0,0,0,0,0,14.84,14.63,14.85
$GC,7506,0.94,146.0,3053,3905,2359,2385,32.7,11.9,740,7514,0.08,2.33,0.00,0.000,5126,0.304,0.058,3042,2548,2370,2356,2384,0,0,0,0,0,0,14.51,14.68,14.67
$PING,28.1,27.9,28.0,1.07,1.00
$PING,19.3,19.5,19.2,1.05,1.00
$PING,10.4,10.7,10.4,1.03,1.00
$FREEZE,9.20,-0.860,-1.863,2,1,0
$FREEZE,7.99,-0.861,-1.862,2,1,0
$FREEZE,6.84,-0.861,-1.862,2,1,0
$FREEZE,5.76,-0.862,-1.861,2,1,0
$FREEZE,4.75,-0.860,-1.860,2,1,0
$FREEZE,3.61,-0.860,-1.859,2,1,0
$FREEZE,2.42,-0.860,-1.858,2,1,0
$FREEZE,1.29,-0.867,-1.858,2,1,0
$STATE,7812,end climb,SURFACE_DEPTH_REACHED
$STATE,7812,begin surface coast
$FREEZE,-0.03,-0.862,-1.856,2,1,0
$FINISH,-0.0,1.027215
$STATE,7821,end surface coast,CONTROL_FINISHED_OK
$STATE,7821,begin surface
$SM_CCo,7835,175.12,0.230,0,0,1573,350.17
$SM_GC,0.79,8.38,0.47,175.12,0.083,0.096,0.230,196,2806,1573,-7.89,-0.59,350.17,0,0,0,0,0,0,14.63,14.66,14.35
$RAFOS_CLK,313
$RAFOS_FIX,-7354.679688,-11309.344727,280118,202012,0,1,0.10
$IRIDIUM_FIX,-7355.64,-11308.86,280118,163043
$TT8_MAMPS,0.038948,0.238931
$HUMID,46.02
$INTERNAL_PRESSURE,7.80222
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,10.4,10.4
$24V_AH,12.24,22.444
$10V_AH,12.54,0.000
$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,23.025,69.100,299.800,175.125,0.000,0.000,0.000,276.800,25.750,0.000,5.650,0.000,5761.688,680.053,1872.132,67.602,0.000,1558.200,0.000,1108.687,0.000,181.697,0.000
$DEVICE_MAMPS,488.835,97.920,2790.720,229.500,0.000,0.000,0.000,179.775,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7827.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.546,0.000,0.000,0.000
$MEM,280776
$DATA_FILE_SIZE,26719,772
$CAP_FILE_SIZE,100024,0
$CFSIZE,1024409600,1015398400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.111,333.01,1
$GPS,280118,203719,-7354.250,-11305.609,3,1.2,6,53.5,0.7,67.2,6,5.5