version: 66.13
glider: 221
mission: 7
dive: 32
start: 1 28 118 5 31 41
data:
$ID,221
$MISSION,7
$DIVE,32
$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,38
$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
$GPS1,280118,052601,-7354.8506,-11315.3770,19,0.8,19,53.6,1.0,319.3,11,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-63.9
$GPS2,280118,053113,-7354.8232,-11315.5635,2,0.8,3,53.6,0.2,0.0,11,10.0
$SPEED_LIMITS,0.171,0.250
$TGT_NAME,M1
$TGT_LATLONG,-7406.000,-13000.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,176.5,510044,-16.3,-9.877,-21.56,2183
$D_GRID,319
$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,-146.0,198,2803,1596,1516,0.0,0.0,0,130,0.00,0.00,-116.43,0.003,16390,0.000,0.000,197,2802,3552,3565,3540,0,0,0,0,0,0,14.56,13.44,14.57
$GC,132,-0.92,-146.0,198,2802,3566,3540,6.1,-11.0,12,150,12.32,2.38,0.00,0.000,2564,0.490,0.046,2427,1390,3555,3564,3546,0,0,0,0,0,0,14.13,14.38,14.42
$PING,17.9,18.7,9000.0,0.00,0.00
$PING,26.5,28.4,9000.0,0.00,0.00
$PING,34.8,36.8,9000.0,0.00,0.00
$GC,313,-0.92,-146.0,2427,1391,3561,3553,39.7,-14.4,48,320,0.00,2.55,0.00,0.000,1030,0.000,0.078,2427,2800,3556,3560,3553,0,0,0,0,0,0,14.48,14.41,14.50
$PING,52.4,55.2,9000.0,0.00,0.00
$PING,61.0,64.3,64.4,1.05,1.00
$GC,624,-0.92,-146.0,2427,2800,3560,3554,87.0,-13.9,80,630,0.00,2.00,0.00,0.000,260,0.000,0.099,2425,3906,3556,3559,3554,0,0,0,0,0,0,14.70,14.47,14.71
$GC,683,-0.92,-146.0,2425,3906,3560,3554,95.8,-14.8,92,690,0.00,1.88,0.00,0.000,1030,0.000,0.050,2425,2797,3557,3559,3555,0,0,0,0,0,0,14.59,14.56,14.60
$GC,994,-0.92,-146.0,2425,2797,3559,3554,136.8,-12.7,124,1000,0.00,2.00,0.00,0.000,260,0.000,0.098,2425,3901,3557,3559,3555,0,0,0,0,0,0,14.78,14.53,14.78
$GC,1034,-0.92,-146.0,2425,3902,3560,3556,142.1,-13.5,132,1040,0.00,1.85,0.00,0.000,1030,0.000,0.052,2425,2803,3556,3559,3554,0,0,0,0,0,0,14.63,14.60,14.64
$GC,1344,-0.92,-146.0,2425,2804,3565,3556,181.8,-12.4,164,1351,0.00,2.40,0.00,0.000,516,0.000,0.054,2425,1402,3557,3559,3555,0,0,0,0,0,0,14.81,14.57,14.81
$GC,1370,-0.92,-146.0,2425,1403,3560,3556,185.0,-12.2,169,1378,0.00,2.50,0.00,0.000,1030,0.000,0.076,2425,2803,3557,3559,3555,0,0,0,0,0,0,14.63,14.57,14.66
$GC,1675,-0.92,-146.0,2424,2804,3559,3556,223.3,-11.7,200,1681,0.00,1.98,0.00,0.000,260,0.000,0.098,2425,3912,3557,3559,3555,0,0,0,0,0,0,14.81,14.57,14.83
$GC,1705,-0.92,-146.0,2425,3911,3560,3555,227.0,-12.7,206,1711,0.00,1.88,0.00,0.000,1030,0.000,0.051,2424,2794,3557,3559,3555,0,0,0,0,0,0,14.67,14.64,14.69
$GC,2015,-0.92,-146.0,2425,2795,3559,3556,262.9,-11.7,238,2021,0.00,2.38,0.00,0.000,516,0.000,0.053,2424,1402,3557,3559,3555,0,0,0,0,0,0,14.83,14.60,14.83
$GC,2060,-0.92,-146.0,2425,1400,3559,3556,268.2,-11.6,247,2067,0.00,2.47,0.00,0.000,1030,0.000,0.076,2424,2798,3557,3559,3555,0,0,0,0,0,0,14.66,14.59,14.68
$PING,300.9,72.8,9000.0,0.12,0.53
$GC,2375,-0.92,-146.0,2425,2799,3559,3556,305.8,-12.1,277,2382,0.00,2.35,0.00,0.000,516,0.000,0.053,2425,1402,3557,3559,3555,0,0,0,0,0,0,14.84,14.62,14.84
$GC,2400,-0.92,-146.0,2426,1402,3560,3554,308.7,-11.6,282,2408,0.00,2.47,0.00,0.000,1030,0.000,0.076,2425,2799,3557,3559,3555,0,0,0,0,0,0,14.66,14.60,14.69
$STATE,2497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2497,begin apogee
$GC,2500,-0.23,0.0,2426,2556,3560,3556,320.1,-12.0,289,2644,0.85,0.00,141.40,2.672,10246,0.259,0.000,2651,2554,2966,2964,2969,0,0,0,0,0,0,14.49,13.62,12.66
$STATE,2645,end apogee,CONTROL_FINISHED_OK
$STATE,2645,begin climb
$GC,2646,0.92,146.0,2652,2556,2963,2969,324.8,0.0,296,2805,1.27,2.72,146.85,2.582,10756,0.173,0.070,3025,1165,2382,2369,2396,0,0,0,0,0,0,13.59,13.19,12.30
$GC,2864,0.92,146.0,3025,1165,2363,2393,311.8,9.4,338,2870,0.00,2.65,0.00,0.000,1030,0.000,0.073,3025,2550,2377,2362,2393,0,0,0,0,0,0,13.66,13.60,13.72
$GC,3175,0.92,146.0,3025,2551,2359,2390,279.0,10.3,364,3180,0.00,2.50,0.00,0.000,516,0.000,0.070,3040,1158,2373,2358,2389,0,0,0,0,0,0,14.31,14.10,14.31
$GC,3219,0.92,146.0,3035,1159,2357,2390,274.5,10.0,373,3227,0.00,2.55,0.00,0.000,1030,0.000,0.073,3036,2552,2373,2358,2389,0,0,0,0,0,0,14.21,14.14,14.23
$GC,3525,0.92,146.0,3036,2552,2358,2388,244.4,9.7,404,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2552,2372,2357,2388,0,0,0,0,0,0,14.53,14.53,14.53
$GC,3824,0.92,146.0,3036,2551,2358,2389,212.1,11.1,434,3830,0.00,2.47,0.00,0.000,516,0.000,0.070,3046,1161,2371,2356,2387,0,0,0,0,0,0,14.66,14.42,14.66
$GC,3879,0.92,146.0,3046,1161,2356,2388,206.0,10.9,445,3887,0.00,2.47,0.00,0.000,1030,0.000,0.073,3046,2546,2371,2357,2386,0,0,0,0,0,0,14.50,14.44,14.52
$GC,4184,0.92,146.0,3046,2547,2357,2388,173.5,10.4,476,4190,0.00,2.47,0.00,0.000,260,0.000,0.099,3046,3905,2371,2357,2386,0,0,0,0,0,0,14.73,14.49,14.73
$GC,4209,0.92,146.0,3046,3905,2359,2388,170.5,11.6,481,4218,0.10,2.33,0.00,0.000,5126,0.291,0.058,3030,2560,2372,2357,2387,0,0,0,0,0,0,14.38,14.54,14.53
$GC,4514,0.93,146.0,3030,2558,2358,2388,141.1,9.3,512,4515,0.00,0.00,0.00,0.000,70,0.000,0.000,3030,2557,2371,2357,2386,0,0,0,0,0,0,14.78,14.78,14.78
$GC,4814,0.93,146.0,3031,2557,2358,2386,113.5,9.8,542,4820,0.00,2.45,0.00,0.000,260,0.000,0.096,3030,3904,2371,2358,2385,0,0,0,0,0,0,14.81,14.56,14.81
$GC,4849,0.93,146.0,3031,3904,2359,2386,109.8,10.6,549,4858,0.00,2.33,0.00,0.000,1030,0.000,0.057,3040,2548,2371,2357,2386,0,0,0,0,0,0,14.65,14.62,14.67
$GC,5155,0.93,146.0,3040,2548,2358,2387,82.0,9.8,580,5160,0.00,2.42,0.00,0.000,260,0.000,0.098,3040,3906,2372,2358,2387,0,0,0,0,0,0,14.80,14.57,14.81
$GC,5194,0.93,146.0,3041,3906,2359,2387,77.4,12.0,588,5200,0.00,2.33,0.00,0.000,1030,0.000,0.057,3051,2551,2372,2358,2386,0,0,0,0,0,0,14.68,14.64,14.66
$PING,73.0,76.4,9000.0,0.08,0.27
$PING,64.6,66.9,9000.0,0.03,0.20
$PING,56.5,58.4,9000.0,0.03,0.20
$PING,47.9,50.2,9000.0,0.05,0.24
$GC,5504,0.95,146.0,3051,2551,2358,2387,46.1,8.9,620,5511,0.00,2.45,0.00,0.000,580,0.000,0.070,3061,1153,2371,2356,2386,0,0,0,0,0,0,14.84,14.60,14.85
$GC,5569,0.98,146.0,3061,1154,2357,2387,40.5,8.5,633,5578,0.00,2.47,0.00,0.000,1094,0.000,0.074,3061,2556,2371,2357,2386,0,0,0,0,0,0,14.67,14.61,14.69
$PING,39.3,40.5,40.6,1.05,1.00
$PING,30.4,31.6,31.6,1.03,1.00
$PING,22.2,22.6,22.8,1.05,1.00
$PING,13.7,13.7,13.7,1.06,1.00
$GC,5874,0.98,146.0,3061,2557,2358,2387,11.7,9.8,664,5881,0.00,2.45,0.00,0.000,516,0.000,0.069,3071,1159,2372,2357,2387,0,0,0,0,0,0,14.85,14.61,14.86
$FREEZE,9.55,-0.986,-1.866,2,1,0
$FREEZE,9.03,-0.986,-1.866,2,1,0
$GC,5899,0.98,146.0,3072,1159,2357,2386,9.0,10.8,669,5908,0.00,2.47,0.00,0.000,1030,0.000,0.074,3072,2556,2370,2357,2384,0,0,0,0,0,0,14.68,14.62,14.70
$FREEZE,7.10,-0.998,-1.864,2,1,0
$FREEZE,5.85,-1.007,-1.864,2,1,0
$FREEZE,4.59,-0.997,-1.862,2,1,0
$FREEZE,3.59,-1.000,-1.862,2,1,0
$FREEZE,2.67,-1.004,-1.861,2,1,0
$FREEZE,1.73,-1.005,-1.860,2,1,0
$STATE,5963,end climb,SURFACE_DEPTH_REACHED
$STATE,5964,begin surface coast
$FREEZE,0.68,-1.002,-1.859,2,1,0
$FINISH,0.7,1.027255
$STATE,5974,end surface coast,CONTROL_FINISHED_OK
$STATE,5974,begin surface
$SM_CCo,5987,175.07,0.230,0,0,1573,350.17
$SM_GC,0.82,8.65,0.45,175.07,0.102,0.103,0.230,202,2801,1573,-7.87,-0.65,350.17,0,0,0,0,0,0,14.62,14.63,14.34
$RAFOS_CLK,241
$RAFOS,2,1517119997,6.233333,6.221389,62,56,55,54,53,52,192,157,175,216,127,136
$RAFOS,1,1517119626,6.133333,6.118333,82,58,55,54,54,54,642,187,219,199,154,121
$RAFOS,0,1517119266,6.033333,6.018333,93,60,60,58,58,50,678,202,124,219,166,181
$RAFOS_FIX,-7353.103027,-11259.916016,280118,060604,2,88,3.81
$IRIDIUM_FIX,-7354.82,-11315.99,280118,032805
$TT8_MAMPS,0.039697,0.283871
$HUMID,46.06
$INTERNAL_PRESSURE,7.79246
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,13.7,13.7
$24V_AH,12.30,19.776
$10V_AH,12.55,0.000
$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,23.200,71.475,288.250,175.075,0.000,0.000,0.000,232.075,18.750,0.000,4.589,0.000,4121.517,673.422,1635.087,59.534,0.000,1444.630,0.000,973.486,720.000,132.515,0.000
$DEVICE_MAMPS,490.365,102.510,2672.145,229.500,0.000,0.000,0.000,188.190,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.765,0.000,0.000,0.000
$MEM,280572
$DATA_FILE_SIZE,23371,677
$CAP_FILE_SIZE,88686,0
$CFSIZE,1024409600,1016217600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.1
$CURRENT,0.247,306.57,1
$GPS,280118,071458,-7354.787,-11319.977,3,1.0,5,53.6,1.5,281.8,8,6.7