version: 66.13
glider: 221
mission: 7
dive: 217
start: 2 28 118 7 2 17
data:
$ID,221
$MISSION,7
$DIVE,217
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$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,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,170
$T_MISSION,200
$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,0.059999999
$D_OFFGRID,990
$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,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,0
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$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,40
$PITCH_AD_RATE,20
$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,50
$ROLL_MAXERRORS,0
$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,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,1
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,0
$MINV_10V,0
$MAXI_24V,2
$MAXI_10V,2
$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,10
$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
$GPS1,280218,061528,-7407.4585,-11244.8008,0,4112.7,0,53.6,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,0.0
$GPS2,280218,061528,-7407.4585,-11244.8008,0,4112.7,0,53.6,0.0,0.0,0,0.0
$SPEED_LIMITS,0.088,0.188
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,318.9,11932,-16.7,-8.824,-25.14,1966
$D_GRID,780
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,9,-0.91,-121.7,2737,2795,3373,3385,0.0,0.0,0,42,0.00,0.00,-28.98,0.005,16390,0.000,0.000,2737,2793,3889,3880,3898,0,0,0,0,0,0,14.84,12.92,14.79
$GC,44,-0.91,-121.7,2738,2794,3882,3899,2.1,-1.8,3,49,0.93,2.00,0.00,0.000,4356,0.132,0.093,2439,3910,3891,3882,3900,0,0,0,0,0,0,14.42,14.43,14.54
$PING,10.5,11.6,9000.0,0.00,0.00
$GC,218,-0.91,-121.7,2440,3910,3894,3905,18.9,-12.1,38,225,0.00,1.90,0.00,0.000,1030,0.000,0.050,2439,2786,3899,3893,3905,0,0,0,0,0,0,14.60,14.57,14.62
$PING,20.8,22.1,9000.0,0.00,0.00
$PING,31.0,32.4,32.4,1.02,1.00
$GC,523,-0.91,-121.7,2440,2787,3896,3907,53.0,-8.3,69,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2786,3901,3895,3907,0,0,0,0,0,0,14.87,14.87,14.87
$PING,73.2,76.9,76.8,1.05,1.00
$GC,823,-0.91,-121.7,2440,2787,3897,3908,82.8,-9.7,99,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2787,3902,3896,3908,0,0,0,0,0,0,14.88,14.88,14.88
$PING,83.8,87.6,87.8,1.05,1.00
$GC,1124,-0.91,-121.7,2440,2786,3897,3909,111.3,-9.6,129,1130,0.00,2.35,0.00,0.000,516,0.000,0.052,2439,1395,3902,3896,3908,0,0,0,0,0,0,14.88,14.42,14.88
$GC,1149,-0.91,-121.7,2439,1396,3896,3909,113.9,-10.7,134,1156,0.00,2.50,0.00,0.000,1030,0.000,0.070,2439,2800,3902,3896,3908,0,0,0,0,0,0,14.55,14.47,14.67
$PING,125.9,132.2,132.2,1.05,1.00
$GC,1454,-0.91,-121.7,2440,2802,3897,3910,143.0,-9.8,165,1461,0.00,2.00,0.00,0.000,260,0.000,0.092,2439,3910,3902,3896,3909,0,0,0,0,0,0,14.85,14.44,14.85
$GC,1485,-0.91,-121.7,2439,3911,3897,3910,146.1,-10.2,171,1494,0.00,1.90,0.00,0.000,1030,0.000,0.050,2439,2798,3902,3896,3909,0,0,0,0,0,0,14.55,14.51,14.57
$GC,1798,-0.91,-121.7,2440,2798,3897,3909,173.8,-8.5,203,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2798,3902,3896,3908,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2098,-0.91,-121.7,2439,2797,3898,3909,200.2,-9.0,233,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2798,3902,3896,3908,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2398,-0.91,-121.7,2439,2799,3896,3910,228.0,-9.0,263,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2798,3902,3896,3908,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2698,-0.91,-121.7,2439,2798,3896,3909,254.4,-8.4,293,2705,0.00,2.42,0.00,0.000,516,0.000,0.052,2439,1364,3902,3896,3909,0,0,0,0,0,0,14.85,14.50,14.85
$GC,2724,-0.91,-121.7,2440,1364,3898,3910,256.6,-8.2,298,2731,0.00,2.55,0.00,0.000,1030,0.000,0.070,2439,2816,3903,3896,3910,0,0,0,0,0,0,14.55,14.42,14.58
$GC,3029,-0.91,-121.7,2439,2816,3895,3911,282.0,-8.4,329,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2816,3903,3896,3910,0,0,0,0,0,0,14.84,14.84,14.83
$GC,3339,-0.91,-121.7,2439,2817,3897,3911,308.9,-8.8,355,3345,0.00,2.42,0.00,0.000,516,0.000,0.051,2439,1386,3902,3896,3909,0,0,0,0,0,0,14.85,14.50,14.85
$GC,3384,-0.91,-121.7,2440,1386,3897,3910,312.9,-8.7,364,3390,0.00,2.53,0.00,0.000,1030,0.000,0.070,2438,2799,3902,3896,3909,0,0,0,0,0,0,14.47,14.38,14.50
$GC,3699,-0.91,-121.7,2438,2800,3898,3910,340.0,-8.4,382,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2799,3903,3897,3909,0,0,0,0,0,0,14.85,14.85,14.85
$GC,4000,-0.91,-121.7,2439,2800,3897,3910,364.8,-8.4,397,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2799,3902,3896,3909,0,0,0,0,0,0,14.81,14.81,14.81
$GC,4299,-0.91,-121.7,2439,2799,3897,3910,389.5,-8.3,412,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2798,3902,3896,3909,0,0,0,0,0,0,14.85,14.86,14.85
$GC,4599,-0.91,-121.7,2439,2799,3898,3910,414.4,-8.4,427,4605,0.00,2.00,0.00,0.000,260,0.000,0.093,2438,3912,3903,3896,3910,0,0,0,0,0,0,14.87,14.42,14.87
$GC,4649,-0.91,-121.7,2439,3912,3897,3911,418.9,-9.0,437,4655,0.00,1.90,0.00,0.000,1030,0.000,0.050,2439,2787,3903,3896,3910,0,0,0,0,0,0,14.60,14.56,14.62
$GC,4961,-0.91,-121.7,2439,2786,3897,3910,443.7,-7.6,454,4966,0.00,2.35,0.00,0.000,516,0.000,0.050,2439,1383,3903,3897,3910,0,0,0,0,0,0,14.86,14.52,14.86
$GC,5030,-0.91,-121.7,2439,1385,3898,3912,448.9,-7.1,468,5036,0.00,2.55,0.00,0.000,1030,0.000,0.070,2438,2810,3903,3897,3910,0,0,0,0,0,0,14.52,14.44,14.57
$STATE,5058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5058,begin apogee
$GC,5063,-0.23,0.0,2440,2537,3898,3910,451.0,-7.0,471,5186,0.80,0.00,120.47,2.476,10246,0.234,0.000,2653,2537,3399,3402,3397,0,0,0,0,0,0,14.23,13.71,12.78
$STATE,5187,end apogee,CONTROL_FINISHED_OK
$STATE,5187,begin climb
$GC,5188,0.91,121.7,2655,2536,3401,3395,452.5,0.0,477,5313,1.25,2.70,117.18,2.376,10756,0.155,0.065,3028,1157,2911,2917,2906,0,0,0,0,0,0,13.64,13.25,12.40
$GC,5338,0.91,121.7,3028,1158,2913,2901,439.7,11.8,505,5344,0.00,2.65,0.00,0.000,1030,0.000,0.069,3028,2558,2906,2912,2900,0,0,0,0,0,0,13.57,13.47,13.58
$GC,5659,0.91,121.7,3028,2560,2905,2894,399.6,12.4,524,5665,0.00,2.50,0.00,0.000,260,0.000,0.095,3028,3916,2898,2905,2892,0,0,0,0,0,0,14.40,14.09,14.40
$GC,5689,0.91,121.7,3029,3916,2906,2891,395.4,14.2,530,5696,0.00,2.42,0.00,0.000,1030,0.000,0.055,3038,2544,2898,2905,2891,0,0,0,0,0,0,14.23,14.19,14.25
$GC,6002,0.91,121.7,3039,2548,2906,2892,355.6,12.9,547,6007,0.00,2.45,0.00,0.000,516,0.000,0.068,3049,1149,2898,2904,2892,0,0,0,0,0,0,14.62,14.33,14.62
$GC,6026,0.91,121.7,3049,1149,2905,2893,352.3,12.8,552,6032,0.00,2.53,0.00,0.000,1030,0.000,0.071,3049,2553,2898,2906,2890,0,0,0,0,0,0,14.38,14.29,14.40
$GC,6343,0.91,121.7,3049,2554,2904,2892,311.5,12.6,570,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2553,2897,2904,2891,0,0,0,0,0,0,14.75,14.74,14.74
$GC,6642,0.91,121.7,3049,2554,2904,2892,274.7,12.3,595,6647,0.00,2.45,0.00,0.000,260,0.000,0.096,3049,3918,2896,2902,2891,0,0,0,0,0,0,14.81,14.44,14.80
$GC,6662,0.91,121.7,3049,3920,2905,2892,272.0,13.5,599,6668,0.12,2.38,0.00,0.000,5126,0.272,0.057,3026,2539,2897,2904,2890,0,0,0,0,0,0,14.21,14.52,14.44
$GC,6972,0.91,121.7,3026,2539,2905,2895,236.7,10.6,631,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2538,2897,2904,2891,0,0,0,0,0,0,14.82,14.81,14.82
$GC,7272,0.91,121.7,3026,2540,2905,2892,205.0,10.9,661,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2539,2897,2904,2891,0,0,0,0,0,0,14.83,14.83,14.83
$GC,7572,0.91,121.7,3026,2539,2906,2891,172.5,10.5,691,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2539,2897,2904,2890,0,0,0,0,0,0,14.84,14.84,14.84
$GC,7872,0.91,121.7,3026,2540,2905,2892,140.8,10.5,721,7878,0.00,2.40,0.00,0.000,516,0.000,0.067,3034,1147,2897,2904,2891,0,0,0,0,0,0,14.85,14.49,14.85
$GC,7907,0.91,121.7,3036,1147,2904,2892,137.0,10.4,728,7914,0.00,2.50,0.00,0.000,1030,0.000,0.070,3036,2553,2897,2904,2891,0,0,0,0,0,0,14.55,14.47,14.59
$PING,109.8,113.9,114.8,1.06,1.00
$GC,8212,0.91,121.7,3036,2558,2912,2892,104.2,11.3,759,8218,0.00,2.42,0.00,0.000,260,0.000,0.094,3036,3917,2897,2904,2891,0,0,0,0,0,0,14.85,14.48,14.85
$PING,99.6,103.4,103.1,1.10,1.00
$GC,8272,0.91,121.7,3036,3917,2906,2891,96.4,13.3,771,8278,0.00,2.35,0.00,0.000,1030,0.000,0.054,3046,2546,2898,2905,2891,0,0,0,0,0,0,14.62,14.57,14.63
$PING,89.1,92.7,92.6,1.03,1.00
$PING,78.0,81.2,81.2,1.03,1.00
$PING,57.2,59.2,59.2,1.05,1.00
$GC,8583,0.91,121.7,3046,2547,2905,2893,57.2,12.7,803,8584,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2546,2898,2905,2891,0,0,0,0,0,0,14.82,14.83,14.83
$PING,46.1,47.8,47.7,1.04,1.00
$PING,35.2,36.1,36.2,1.05,1.00
$PING,24.3,24.8,24.7,1.06,1.00
$GC,8882,0.91,121.7,3046,2546,2906,2890,20.6,12.0,833,8888,0.00,2.45,0.00,0.000,260,0.000,0.095,3046,3914,2898,2905,2891,0,0,0,0,0,0,14.87,14.47,14.87
$GC,8902,0.91,121.7,3046,3914,2906,2891,18.1,12.7,837,8908,0.12,2.35,0.00,0.000,5126,0.274,0.055,3022,2542,2898,2905,2891,0,0,0,0,0,0,14.21,14.57,14.63
$PING,13.7,13.9,13.9,1.03,1.00
$FREEZE,9.58,-1.793,-1.869,2,2,0
$FREEZE,8.52,-1.796,-1.868,2,2,0
$FREEZE,7.50,-1.797,-1.867,2,2,0
$FREEZE,6.46,-1.797,-1.866,2,2,0
$FREEZE,5.40,-1.792,-1.865,2,2,0
$FREEZE,4.28,-1.786,-1.864,2,2,0
$FREEZE,3.21,-1.787,-1.864,2,2,0
$FREEZE,2.14,-1.787,-1.863,2,2,0
$FREEZE,1.11,-1.786,-1.862,2,2,0
$STATE,9061,end climb,SURFACE_DEPTH_REACHED
$STATE,9061,begin surface coast
$FREEZE,0.09,-1.791,-1.861,2,2,0
$FINISH,0.1,1.027317
$STATE,9071,end surface coast,CONTROL_FINISHED_OK
$STATE,9071,begin surface
$SM_CCo,9087,165.07,0.224,0,0,2205,300.18
$SM_GC,0.75,8.40,0.50,165.07,0.083,0.093,0.224,191,2812,2205,-7.88,-0.40,300.18,0,0,0,0,0,0,14.54,14.54,14.21
$RAFOS_CLK,384
$RAFOS,2,1519809188,9.233334,9.218889,97,78,70,65,60,57,530,628,193,206,174,149
$RAFOS,1,1519808828,9.133333,9.118889,71,63,60,59,57,56,542,215,162,142,183,198
$RAFOS,0,1519808468,9.032778,9.018888,138,59,58,56,56,56,573,206,333,152,185,197
$RAFOS_FIX,-7406.040039,-11244.208008,280218,090940,3,102,0.25
$IRIDIUM_FIX,-7406.86,-11259.54,280218,015229
$TT8_MAMPS,0.03745,0.473368
$HUMID,45.31
$INTERNAL_PRESSURE,7.76316
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.7,13.9
$24V_AH,12.40,74.270
$10V_AH,12.56,0.000
$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,11.625,68.800,237.650,165.075,0.000,0.000,0.000,0.000,21.250,0.000,0.000,0.000,6968.218,514.775,1753.164,104.748,0.000,1147.725,0.000,1225.889,720.000,149.917,0.000
$DEVICE_MAMPS,273.870,96.390,2475.540,224.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9086.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.004,0.000,0.000,0.000
$MEM,280168
$DATA_FILE_SIZE,30023,855
$CAP_FILE_SIZE,100857,0
$CFSIZE,1024409600,995688448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.3
$CURRENT,0.614,317.49,1
$GPS,280218,093730,-7404.237,-11251.644,26,0.9,26,53.6,0.2,336.0,10,4.1