version: 66.13
glider: 221
mission: 7
dive: 41
start: 1 28 118 20 42 49
data:
$ID,221
$MISSION,7
$DIVE,41
$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,39
$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
$GPS1,280118,203719,-7354.2495,-11305.6094,3,1.2,6,53.5,0.7,67.2,6,5.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-62.6
$GPS2,280118,204221,-7354.2090,-11305.6914,3,1.2,4,53.5,0.2,0.0,6,9.3
$SPEED_LIMITS,0.171,0.250
$TGT_NAME,S2_221
$TGT_LATLONG,-7354.000,-11300.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,53.8,2948,-16.3,-9.877,-21.56,2183
$D_GRID,462
$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,-146.0,197,2810,1598,1512,0.0,0.0,0,130,0.00,0.00,-116.68,0.003,16390,0.000,0.000,196,2810,3552,3565,3540,0,0,0,0,0,0,14.57,13.46,14.57
$PING,8.5,11.3,9000.0,0.00,0.00
$GC,132,-0.92,-146.0,196,2810,3566,3541,6.0,-10.7,12,150,12.27,1.95,0.00,0.000,2308,0.490,0.080,2417,3906,3555,3564,3546,0,0,0,0,0,0,14.14,14.36,14.42
$PING,16.9,18.8,9000.0,0.00,0.00
$PING,25.4,26.9,9000.0,0.00,0.00
$PING,33.6,35.4,9000.0,0.00,0.00
$GC,304,-0.92,-146.0,2417,3908,3561,3553,40.3,-13.7,46,310,0.00,1.90,0.00,0.000,1030,0.000,0.049,2417,2790,3556,3560,3553,0,0,0,0,0,0,14.52,14.48,14.53
$PING,50.4,52.9,52.4,1.00,1.00
$PING,59.2,61.8,61.7,1.02,1.00
$GC,615,-0.92,-146.0,2417,2790,3561,3554,85.6,-14.6,78,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2790,3557,3560,3554,0,0,0,0,0,0,14.69,14.71,14.69
$GC,914,-0.92,-146.0,2417,2790,3561,3556,127.4,-13.0,108,921,0.00,2.03,0.00,0.000,260,0.000,0.096,2415,3907,3557,3560,3555,0,0,0,0,0,0,14.78,14.53,14.78
$GC,950,-0.92,-146.0,2416,3907,3562,3559,132.5,-14.7,115,958,0.00,1.88,0.00,0.000,1030,0.000,0.050,2418,2793,3557,3560,3555,0,0,0,0,0,0,14.64,14.62,14.66
$GC,1255,-0.92,-146.0,2415,2792,3560,3556,175.1,-14.1,146,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2793,3557,3559,3555,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1555,-0.92,-146.0,2415,2794,3560,3556,219.5,-14.9,176,1561,0.00,2.38,0.00,0.000,516,0.000,0.052,2415,1398,3557,3560,3555,0,0,0,0,0,0,14.83,14.60,14.83
$GC,1580,-0.92,-146.0,2415,1401,3560,3556,223.2,-14.4,181,1588,0.00,2.47,0.00,0.000,1030,0.000,0.075,2415,2795,3557,3559,3555,0,0,0,0,0,0,14.66,14.59,14.69
$GC,1885,-0.92,-146.0,2415,2796,3561,3556,264.2,-12.8,212,1891,0.00,1.98,0.00,0.000,260,0.000,0.097,2414,3904,3557,3559,3555,0,0,0,0,0,0,14.84,14.59,14.84
$GC,1945,-0.92,-146.0,2415,3905,3559,3556,272.1,-13.0,224,1951,0.00,1.85,0.00,0.000,1030,0.000,0.052,2414,2799,3557,3559,3555,0,0,0,0,0,0,14.70,14.66,14.71
$GC,2256,-0.92,-146.0,2415,2802,3560,3556,310.5,-12.5,252,2261,0.00,1.95,0.00,0.000,260,0.000,0.097,2414,3913,3557,3559,3555,0,0,0,0,0,0,14.83,14.62,14.83
$GC,2295,-0.92,-146.0,2414,3914,3560,3557,316.1,-14.4,260,2301,0.00,1.88,0.00,0.000,1030,0.000,0.051,2414,2797,3557,3559,3555,0,0,0,0,0,0,14.71,14.67,14.73
$GC,2615,-0.92,-146.0,2415,2798,3560,3556,357.6,-13.1,279,2624,0.00,2.38,0.00,0.000,516,0.000,0.053,2414,1402,3557,3559,3555,0,0,0,0,0,0,14.87,14.64,14.87
$GC,2648,-0.92,-146.0,2414,1403,3560,3556,361.9,-13.0,285,2655,0.00,2.47,0.00,0.000,1030,0.000,0.076,2414,2794,3557,3559,3555,0,0,0,0,0,0,14.70,14.63,14.72
$GC,2960,-0.92,-146.0,2413,2795,3560,3556,401.4,-12.5,302,2965,0.00,1.98,0.00,0.000,260,0.000,0.096,2414,3909,3557,3559,3555,0,0,0,0,0,0,14.87,14.62,14.88
$GC,3005,-0.92,-146.0,2414,3910,3560,3556,407.4,-13.5,311,3010,0.00,1.85,0.00,0.000,1030,0.000,0.053,2414,2804,3557,3559,3555,0,0,0,0,0,0,14.73,14.69,14.74
$GC,3321,-0.92,-146.0,2414,2804,3560,3555,447.4,-12.3,329,3326,0.00,2.35,0.00,0.000,516,0.000,0.052,2414,1393,3558,3562,3555,0,0,0,0,0,0,14.85,14.66,14.85
$GC,3350,-0.92,-146.0,2414,1393,3560,3555,451.2,-12.2,335,3356,0.00,2.50,0.00,0.000,1030,0.000,0.075,2414,2805,3557,3559,3555,0,0,0,0,0,0,14.71,14.65,14.73
$STATE,3439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3439,begin apogee
$GC,3442,-0.23,0.0,2415,2548,3560,3556,462.1,-12.1,341,3594,0.88,0.00,148.60,2.804,10246,0.264,0.000,2645,2548,2966,2964,2969,0,0,0,0,0,0,14.52,13.59,12.62
$STATE,3595,end apogee,CONTROL_FINISHED_OK
$STATE,3595,begin climb
$GC,3596,0.92,146.0,2648,2547,2964,2968,466.6,0.0,348,3764,1.30,2.72,155.10,2.726,10756,0.176,0.069,3024,1165,2383,2369,2398,0,0,0,0,0,0,13.55,13.13,12.19
$GC,3798,0.92,146.0,3025,1164,2366,2394,453.2,10.4,387,3805,0.00,2.67,0.00,0.000,1030,0.000,0.072,3025,2552,2379,2364,2394,0,0,0,0,0,0,13.52,13.47,13.55
$GC,4104,0.92,146.0,3025,2552,2360,2388,420.3,10.8,403,4109,0.00,2.53,0.00,0.000,260,0.000,0.097,3024,3915,2374,2359,2389,0,0,0,0,0,0,14.26,14.08,14.27
$GC,4123,0.92,146.0,3025,3915,2357,2389,417.9,12.1,407,4129,0.00,2.42,0.00,0.000,1030,0.000,0.057,3035,2557,2374,2359,2389,0,0,0,0,0,0,14.18,14.14,14.21
$GC,4443,0.92,146.0,3035,2557,2358,2389,381.3,11.6,426,4449,0.00,2.53,0.00,0.000,516,0.000,0.070,3046,1151,2372,2357,2388,0,0,0,0,0,0,14.57,14.31,14.54
$GC,4468,0.92,146.0,3046,1150,2358,2387,378.5,11.7,431,4474,0.00,2.55,0.00,0.000,1030,0.000,0.073,3046,2562,2372,2357,2387,0,0,0,0,0,0,14.38,14.33,14.41
$GC,4783,0.92,146.0,3046,2562,2359,2384,341.6,11.5,449,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2562,2372,2357,2387,0,0,0,0,0,0,14.64,14.66,14.66
$GC,5083,0.92,146.0,3046,2562,2359,2387,305.8,11.8,464,5089,0.00,2.50,0.00,0.000,516,0.000,0.069,3057,1155,2372,2357,2387,0,0,0,0,0,0,14.73,14.50,14.74
$GC,5113,0.92,146.0,3057,1155,2358,2386,302.3,11.5,470,5119,0.10,2.47,0.00,0.000,5126,0.265,0.073,3029,2546,2371,2357,2386,0,0,0,0,0,0,14.40,14.52,14.54
$GC,5423,0.92,146.0,3029,2547,2358,2387,267.6,11.3,501,5430,0.00,2.45,0.00,0.000,260,0.000,0.097,3029,3898,2372,2358,2386,0,0,0,0,0,0,14.78,14.54,14.78
$GC,5478,0.92,146.0,3029,3898,2359,2386,260.5,13.1,512,5486,0.00,2.33,0.00,0.000,1030,0.000,0.059,3039,2544,2372,2358,2386,0,0,0,0,0,0,14.64,14.59,14.65
$GC,5783,0.92,146.0,3039,2545,2358,2386,225.8,11.5,543,5790,0.00,2.47,0.00,0.000,260,0.000,0.097,3039,3904,2372,2358,2386,0,0,0,0,0,0,14.81,14.57,14.81
$GC,5824,0.92,146.0,3039,3904,2359,2386,220.4,13.9,551,5830,0.00,2.33,0.00,0.000,1030,0.000,0.057,3049,2553,2372,2358,2386,0,0,0,0,0,0,14.66,14.62,14.67
$GC,6134,0.92,146.0,3050,2553,2359,2386,185.9,11.2,583,6140,0.00,2.42,0.00,0.000,516,0.000,0.070,3060,1144,2371,2357,2386,0,0,0,0,0,0,14.80,14.59,14.81
$GC,6168,0.92,146.0,3060,1145,2358,2391,182.0,11.1,590,6176,0.10,2.47,0.00,0.000,5126,0.267,0.074,3032,2541,2371,2357,2386,0,0,0,0,0,0,14.48,14.60,14.63
$GC,6474,0.92,146.0,3034,2544,2358,2387,150.7,10.2,621,6481,0.00,2.47,0.00,0.000,260,0.000,0.096,3032,3915,2372,2359,2386,0,0,0,0,0,0,14.84,14.59,14.84
$GC,6524,0.92,146.0,3032,3915,2361,2387,144.8,11.7,631,6530,0.00,2.35,0.00,0.000,1030,0.000,0.059,3043,2541,2372,2359,2386,0,0,0,0,0,0,14.69,14.64,14.71
$PING,125.9,134.5,134.2,1.07,1.00
$GC,6834,0.92,146.0,3042,2542,2358,2387,113.3,10.5,663,6840,0.00,2.42,0.00,0.000,516,0.000,0.070,3053,1157,2372,2358,2386,0,0,0,0,0,0,14.85,14.59,14.85
$GC,6945,0.94,146.0,3054,1158,2358,2387,103.1,9.0,685,6951,0.00,2.47,0.00,0.000,1094,0.000,0.074,3054,2557,2371,2357,2386,0,0,0,0,0,0,14.67,14.61,14.69
$PING,101.2,104.5,106.6,1.06,1.00
$GC,7255,0.94,146.0,3052,2557,2359,2386,73.2,9.8,717,7262,0.00,2.45,0.00,0.000,260,0.000,0.099,3053,3917,2372,2359,2386,0,0,0,0,0,0,14.86,14.60,14.87
$GC,7336,0.94,146.0,3053,3917,2360,2386,63.9,11.9,733,7343,0.10,2.35,0.00,0.000,5126,0.302,0.059,3038,2546,2372,2358,2386,0,0,0,0,0,0,14.50,14.67,14.66
$PING,58.6,60.3,60.8,1.07,1.00
$PING,50.2,52.1,51.6,1.08,1.00
$PING,41.9,42.9,42.6,1.08,1.00
$PING,33.9,35.2,34.9,1.03,1.00
$GC,7647,0.94,146.0,3038,2547,2358,2387,31.8,10.3,765,7654,0.00,2.42,0.00,0.000,516,0.000,0.069,3048,1160,2371,2357,2386,0,0,0,0,0,0,14.86,14.62,14.87
$GC,7697,0.94,146.0,3048,1161,2357,2386,26.5,10.6,775,7704,0.00,2.45,0.00,0.000,1030,0.000,0.074,3048,2551,2371,2357,2386,0,0,0,0,0,0,14.70,14.63,14.71
$PING,25.5,26.9,26.7,1.01,1.00
$PING,17.2,17.6,17.9,1.03,1.00
$FREEZE,9.39,-0.861,-1.863,2,1,0
$PING,8.3,8.6,8.7,1.03,1.00
$FREEZE,8.26,-0.864,-1.863,2,1,0
$FREEZE,7.18,-0.863,-1.862,2,1,0
$FREEZE,6.26,-0.861,-1.861,2,1,0
$FREEZE,5.13,-0.862,-1.860,2,1,0
$FREEZE,4.17,-0.862,-1.859,2,1,0
$FREEZE,3.15,-0.862,-1.859,2,1,0
$FREEZE,1.96,-0.861,-1.858,2,1,0
$STATE,7947,end climb,SURFACE_DEPTH_REACHED
$STATE,7947,begin surface coast
$FREEZE,0.78,-0.860,-1.857,2,1,0
$FINISH,0.8,1.027214
$STATE,7957,end surface coast,CONTROL_FINISHED_OK
$STATE,7957,begin surface
$SM_CCo,7971,176.32,0.226,0,0,1573,350.17
$SM_GC,0.72,8.70,0.47,176.32,0.117,0.105,0.226,202,2812,1573,-7.87,-0.40,350.17,0,0,0,0,0,0,14.63,14.66,14.36
$RAFOS_CLK,321
$RAFOS,2,1517173984,21.233334,21.217777,114,59,57,54,52,52,614,213,169,196,178,149
$RAFOS,1,1517173625,21.133333,21.118055,60,59,56,54,54,53,211,155,188,173,640,139
$RAFOS,0,1517173265,21.033333,21.018055,85,65,59,56,55,52,665,203,141,166,122,214
$RAFOS_FIX,-7400.835938,-11310.000000,280118,212144,2,100,6.23
$IRIDIUM_FIX,-7355.64,-11308.86,280118,182230
$TT8_MAMPS,0.038948,0.199983
$HUMID,45.82
$INTERNAL_PRESSURE,7.79246
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,8.3,8.7
$24V_AH,12.19,22.749
$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,23.450,88.950,303.700,176.325,0.000,0.000,0.000,218.525,26.000,0.000,5.649,0.000,5797.863,716.718,1882.854,65.099,0.000,1567.051,0.000,1151.074,720.000,183.990,0.000
$DEVICE_MAMPS,490.365,104.805,2804.490,226.440,0.000,0.000,0.000,196.605,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7964.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.520,0.000,0.000,0.000
$MEM,280564
$DATA_FILE_SIZE,26709,802
$CAP_FILE_SIZE,105654,0
$CFSIZE,1024409600,1015300096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1447.5
$CURRENT,0.106,326.13,1
$GPS,280118,225930,-7354.157,-11303.142,25,0.8,25,53.4,0.4,315.8,11,3.5