version: 66.13
glider: 221
mission: 7
dive: 163
start: 2 24 118 8 59 48
data:
$ID,221
$MISSION,7
$DIVE,163
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,270
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,150
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,98
$T_MISSION,120
$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,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,600
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00184
$HD_B,0.0133
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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
$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,40
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3400
$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,200
$VBD_MAXERRORS,5
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,1
$LOITER_DBDW,300
$LOITER_D_NO_PUMP,300
$LOITER_N_DIVE,1
$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,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$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
$GPS1,240218,085325,-7401.3330,-11240.4912,30,1.2,30,53.4,0.9,311.0,7,4.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-58.6
$GPS2,240218,085920,-7401.2808,-11240.5898,3,1.2,4,53.4,0.8,330.8,7,7.2
$SPEED_LIMITS,0.092,0.191
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,139.0,20445,-17.6,-9.184,-25.67,1902
$D_GRID,729
$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,8,-0.95,-121.7,194,2814,2225,2143,0.0,0.0,0,121,0.00,0.00,-107.65,0.003,16390,0.000,0.000,199,2813,3889,3900,3878,0,0,0,0,0,0,14.59,13.27,14.59
$GC,123,-0.95,-121.7,199,2814,3901,3878,3.1,-4.1,11,144,11.77,1.98,0.00,0.000,2340,0.462,0.083,2403,3906,3896,3902,3890,1,0,0,0,0,0,13.90,14.31,14.39
$GC,158,-0.95,-121.7,2407,3907,3903,3894,11.2,-17.2,17,166,0.00,1.90,0.00,0.000,1030,0.000,0.047,2407,2795,3898,3902,3894,0,0,0,0,0,0,14.43,14.41,14.46
$PING,20.5,21.8,9000.0,0.00,0.00
$GC,463,-0.95,-121.7,2407,2795,3902,3902,52.3,-14.1,48,468,0.00,2.42,0.00,0.000,516,0.000,0.053,2407,1401,3901,3902,3901,0,0,0,0,0,0,14.73,14.40,14.73
$GC,538,-0.95,-121.7,2407,1401,3903,3901,62.4,-13.1,63,545,0.00,2.50,0.00,0.000,1030,0.000,0.072,2402,2794,3901,3902,3901,0,0,0,0,0,0,14.50,14.42,14.52
$PING,82.7,87.6,9000.0,0.00,0.00
$GC,843,-0.95,-121.7,2402,2795,3903,3903,101.1,-12.1,94,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2794,3902,3902,3902,0,0,0,0,0,0,14.79,14.79,14.79
$PING,103.5,109.5,109.5,1.06,1.00
$GC,1143,-0.95,-121.7,2402,2795,3903,3902,137.7,-12.4,124,1149,0.00,2.00,0.00,0.000,260,0.000,0.093,2395,3903,3902,3902,3902,0,0,0,0,0,0,14.83,14.44,14.83
$GC,1188,-0.95,-121.7,2395,3903,3904,3902,143.9,-13.7,133,1197,0.00,1.88,0.00,0.000,1030,0.000,0.050,2395,2793,3901,3902,3901,0,0,0,0,0,0,14.61,14.59,14.64
$GC,1493,-0.95,-121.7,2396,2793,3903,3902,183.4,-13.0,164,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2793,3902,3902,3902,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1793,-0.95,-121.7,2396,2794,3903,3903,221.6,-12.5,194,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2793,3902,3902,3902,0,0,0,0,0,0,14.87,14.87,14.87
$GC,2093,-0.95,-121.7,2395,2794,3904,3902,259.7,-12.4,224,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2793,3902,3902,3902,0,0,0,0,0,0,14.88,14.88,14.88
$STATE,2181,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2181,begin apogee
$GC,2185,-0.23,0.0,2396,2553,3903,3903,270.6,-12.2,233,2304,0.95,0.00,111.03,2.238,10246,0.251,0.000,2648,2552,3397,3401,3394,0,0,0,0,0,0,14.33,13.84,12.98
$STATE,2305,end apogee,CONTROL_FINISHED_OK
$STATE,2305,begin climb
$GC,2307,0.95,121.7,2649,2551,3402,3394,274.8,0.0,245,2433,1.30,2.67,115.78,2.598,10756,0.160,0.064,3039,1155,2911,2913,2909,0,0,0,0,0,0,13.79,13.18,12.33
$GC,2457,0.95,121.7,3040,1156,2910,2908,266.0,9.4,272,2464,0.00,2.67,0.00,0.000,1030,0.000,0.069,3039,2541,2907,2909,2906,0,0,0,0,0,0,13.54,13.49,13.57
$GC,2762,0.95,121.7,3040,2541,2904,2901,234.1,10.6,303,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2542,2901,2902,2901,0,0,0,0,0,0,14.38,14.38,14.38
$GC,3062,0.95,121.7,3040,2542,2903,2902,203.6,10.0,333,3068,0.00,2.53,0.00,0.000,260,0.000,0.096,3039,3906,2901,2902,2900,0,0,0,0,0,0,14.62,14.31,14.62
$GC,3087,0.95,121.7,3042,3907,2902,2902,200.8,11.4,338,3095,0.00,2.38,0.00,0.000,1030,0.000,0.056,3050,2547,2901,2902,2901,0,0,0,0,0,0,14.42,14.39,14.45
$GC,3392,0.95,121.7,3050,2547,2902,2901,169.1,10.3,369,3398,0.00,2.47,0.00,0.000,516,0.000,0.066,3059,1148,2901,2902,2900,0,0,0,0,0,0,14.73,14.41,14.73
$GC,3437,0.95,121.7,3060,1153,2903,2900,164.4,10.4,378,3445,0.00,2.50,0.00,0.000,1030,0.000,0.072,3060,2550,2900,2901,2900,0,0,0,0,0,0,14.51,14.43,14.54
$GC,3742,0.95,121.7,3060,2551,2902,2901,131.8,10.5,409,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2550,2901,2902,2900,0,0,0,0,0,0,14.78,14.78,14.78
$PING,106.9,111.5,112.2,1.01,1.00
$GC,4042,0.95,121.7,3060,2551,2902,2901,100.5,10.6,439,4048,0.00,2.47,0.00,0.000,516,0.000,0.066,3070,1150,2900,2902,2899,0,0,0,0,0,0,14.82,14.49,14.82
$GC,4067,0.95,121.7,3070,1151,2902,2901,98.0,10.3,444,4074,0.10,2.50,0.00,0.000,5126,0.256,0.072,3043,2554,2900,2901,2900,0,0,0,0,0,0,14.33,14.51,14.52
$GC,4372,0.95,121.7,3043,2555,2902,2901,69.0,9.4,475,4378,0.00,2.45,0.00,0.000,260,0.000,0.096,3043,3901,2900,2901,2900,0,0,0,0,0,0,14.84,14.50,14.84
$PING,66.3,68.9,69.0,1.07,1.00
$GC,4412,0.95,121.7,3044,3900,2903,2900,64.7,10.5,483,4418,0.00,2.33,0.00,0.000,1030,0.000,0.056,3053,2545,2901,2902,2900,0,0,0,0,0,0,14.64,14.57,14.65
$PING,45.8,47.3,47.3,1.05,1.00
$GC,4722,0.95,121.7,3053,2545,2902,2900,34.1,8.9,515,4728,0.00,2.42,0.00,0.000,516,0.000,0.065,3063,1156,2901,2902,2900,0,0,0,0,0,0,14.85,14.52,14.85
$PING,25.5,25.9,25.9,1.05,1.00
$GC,4807,0.95,121.7,3063,1157,2903,2899,25.0,11.0,532,4814,0.00,2.47,0.00,0.000,1030,0.000,0.073,3063,2548,2901,2902,2900,0,0,0,0,0,0,14.61,14.53,14.64
$FREEZE,9.87,-1.713,-1.868,2,1,0
$FREEZE,8.86,-1.711,-1.867,2,1,0
$FREEZE,7.82,-1.715,-1.867,2,1,0
$FREEZE,6.72,-1.714,-1.866,2,1,0
$PING,5.4,5.4,5.3,1.04,1.00
$FREEZE,5.39,-1.708,-1.865,2,1,0
$FREEZE,4.08,-1.716,-1.864,2,1,0
$FREEZE,2.81,-1.719,-1.863,2,1,0
$FREEZE,1.49,-1.706,-1.862,2,1,0
$STATE,5021,end climb,SURFACE_DEPTH_REACHED
$STATE,5021,begin surface coast
$FREEZE,0.75,-1.739,-1.862,2,1,0
$FINISH,0.8,1.027313
$STATE,5031,end surface coast,CONTROL_FINISHED_OK
$STATE,5031,begin surface
$SM_CCo,5046,163.85,0.225,0,0,2204,300.18
$SM_GC,0.59,8.77,0.47,163.85,0.113,0.112,0.225,200,2801,2204,-7.87,-0.59,300.18,0,0,0,0,0,0,14.56,14.56,14.26
$RAFOS_CLK,206
$RAFOS,2,1519463590,9.233334,9.219444,129,70,60,58,55,54,518,201,161,180,138,117
$RAFOS,1,1519463230,9.133333,9.119445,60,59,58,52,50,46,186,557,224,198,140,162
$RAFOS,0,1519462868,9.032778,9.018888,105,62,59,53,52,52,583,195,210,179,226,120
$RAFOS_FIX,-7401.090820,-11240.009766,240218,090940,2,117,0.50
$IRIDIUM_FIX,-7402.16,-11235.99,240218,072022
$TT8_MAMPS,0.038199,0.176015
$HUMID,45.15
$INTERNAL_PRESSURE,7.77292
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,5.4,5.3
$24V_AH,12.33,63.174
$10V_AH,12.68,0.000
$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,22.900,43.400,226.800,163.850,0.000,0.000,0.000,257.875,6.750,0.000,5.858,0.000,3552.118,548.120,1393.328,87.287,0.000,1248.192,0.000,800.738,720.000,48.111,0.000
$DEVICE_MAMPS,462.060,112.455,2597.940,224.910,0.000,0.000,0.000,173.655,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5040.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.158,0.000,0.000,0.000
$MEM,280588
$DATA_FILE_SIZE,20096,555
$CAP_FILE_SIZE,67301,0
$CFSIZE,1024409600,1001209856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$INTR,0,5771.80,0x214570,7,24
$SOUNDSPEED,1443.0
$CURRENT,0.119,337.05,1
$GPS,240218,102718,-7401.496,-11241.592,5,1.6,9,53.4,0.2,0.0,4,8.4