version: 66.13
glider: 221
mission: 7
dive: 36
start: 1 28 118 11 41 19
data:
$ID,221
$MISSION,7
$DIVE,36
$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,220
$T_MISSION,270
$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,200
$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,19
$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
$GPS1,280118,113630,-7354.7324,-11317.4316,21,0.9,21,53.6,0.8,128.5,8,4.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-63.4
$GPS2,280118,114049,-7354.7109,-11317.4805,2,0.9,4,53.6,1.1,3.9,8,5.2
$SPEED_LIMITS,0.210,0.306
$TGT_NAME,S2_221
$TGT_LATLONG,-7354.000,-11300.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,50.5,9074,-16.9,-12.121,-21.59,2397
$D_GRID,341
$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,-1.01,-194.6,194,2805,1597,1515,0.0,0.0,0,132,0.00,0.00,-122.40,0.003,16390,0.000,0.000,193,2806,3745,3756,3735,0,0,0,0,0,0,14.59,13.50,14.59
$GC,133,-1.01,-194.6,194,2806,3757,3735,6.1,-11.1,12,150,12.10,1.95,0.00,0.000,2308,0.492,0.081,2385,3918,3748,3756,3740,0,0,0,0,0,0,14.16,14.38,14.38
$PING,18.2,21.2,9000.0,0.00,0.00
$PING,27.1,28.9,9000.0,0.00,0.00
$PING,35.5,38.0,9000.0,0.00,0.00
$PING,52.1,55.6,9000.0,0.00,0.00
$GC,324,-1.01,-194.6,2385,3918,3755,3747,51.3,-18.3,50,331,0.00,1.92,0.00,0.000,1030,0.000,0.047,2385,2784,3750,3754,3747,0,0,0,0,0,0,14.53,14.50,14.54
$GC,635,-1.01,-194.6,2386,2784,3754,3748,104.4,-17.3,82,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2784,3751,3754,3748,0,0,0,0,0,0,14.73,14.74,14.73
$GC,935,-1.01,-194.6,2385,2785,3754,3748,156.2,-16.6,112,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2784,3750,3753,3748,0,0,0,0,0,0,14.78,14.79,14.78
$GC,1235,-1.01,-194.6,2385,2785,3754,3749,205.5,-16.2,142,1241,0.00,2.03,0.00,0.000,260,0.000,0.096,2385,3910,3750,3753,3748,0,0,0,0,0,0,14.81,14.56,14.81
$GC,1280,-1.01,-194.6,2384,3910,3754,3748,213.1,-16.9,151,1288,0.00,1.88,0.00,0.000,1030,0.000,0.050,2384,2787,3751,3753,3749,0,0,0,0,0,0,14.67,14.64,14.69
$GC,1585,-1.01,-194.6,2384,2789,3753,3750,259.1,-14.8,182,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2787,3750,3753,3748,0,0,0,0,0,0,14.83,14.86,14.83
$GC,1886,-1.01,-194.6,2384,2787,3754,3749,304.2,-15.1,211,1892,0.00,2.03,0.00,0.000,260,0.000,0.097,2384,3913,3750,3752,3748,0,0,0,0,0,0,14.81,14.59,14.82
$GC,1920,-1.01,-194.6,2384,3914,3754,3750,309.8,-16.0,218,1928,0.00,1.85,0.00,0.000,1030,0.000,0.051,2384,2804,3751,3754,3749,0,0,0,0,0,0,14.70,14.67,14.71
$PING,313.7,66.1,9000.0,0.12,0.62
$PING,322.7,55.6,9000.0,0.07,0.58
$PING,332.1,46.4,9000.0,0.03,0.22
$PING,341.3,39.6,9000.0,-0.02,0.06
$STATE,2126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2126,begin apogee
$GC,2129,-0.23,0.0,2384,2550,3753,3750,341.3,-15.4,229,2321,1.00,0.00,188.45,2.673,10246,0.265,0.000,2650,2549,2966,2961,2971,0,0,0,0,0,0,14.50,13.49,12.54
$STATE,2322,end apogee,CONTROL_FINISHED_OK
$STATE,2322,begin climb
$GC,2324,1.01,194.6,2650,2550,2961,2972,347.7,0.0,238,2534,1.40,2.67,199.55,2.575,10756,0.171,0.070,3050,1167,2188,2179,2197,0,0,0,0,0,0,13.44,13.12,12.22
$GC,2587,1.01,194.6,3051,1167,2175,2197,326.9,12.4,289,2598,0.00,2.65,0.00,0.000,1030,0.000,0.072,3050,2551,2184,2174,2195,0,0,0,0,0,0,13.60,13.54,13.63
$GC,2893,1.01,194.6,3051,2550,2171,2193,286.3,13.1,310,2899,0.00,2.55,0.00,0.000,260,0.000,0.096,3051,3911,2181,2170,2192,0,0,0,0,0,0,14.31,14.08,14.32
$GC,2937,1.01,194.6,3050,3911,2171,2192,279.7,15.1,319,2946,0.00,2.40,0.00,0.000,1030,0.000,0.057,3060,2557,2181,2170,2192,0,0,0,0,0,0,14.21,14.17,14.22
$GC,3243,1.01,194.6,3060,2558,2171,2193,236.9,14.3,350,3243,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2557,2181,2170,2192,0,0,0,0,0,0,14.54,14.54,14.53
$GC,3543,1.01,194.6,3060,2558,2171,2193,195.8,13.0,380,3549,0.00,2.47,0.00,0.000,260,0.000,0.097,3060,3904,2181,2170,2192,0,0,0,0,0,0,14.65,14.41,14.65
$GC,3633,1.01,194.6,3060,3905,2171,2193,182.4,14.9,398,3639,0.00,2.35,0.00,0.000,1030,0.000,0.057,3071,2548,2181,2170,2192,0,0,0,0,0,0,14.51,14.47,14.52
$GC,3943,1.01,194.6,3071,2548,2171,2192,142.6,12.2,430,3949,0.00,2.47,0.00,0.000,260,0.000,0.098,3071,3906,2181,2171,2192,0,0,0,0,0,0,14.73,14.48,14.73
$GC,4033,1.01,194.6,3071,3906,2177,2192,129.9,13.9,448,4039,0.00,2.35,0.00,0.000,1030,0.000,0.057,3085,2543,2181,2170,2192,0,0,0,0,0,0,14.58,14.54,14.59
$GC,4343,1.01,194.6,3081,2543,2171,2192,88.7,14.6,480,4349,0.00,2.50,0.00,0.000,260,0.000,0.099,3081,3914,2181,2170,2192,0,0,0,0,0,0,14.78,14.54,14.78
$GC,4378,1.01,194.6,3081,3915,2169,2193,83.2,15.9,487,4387,0.15,2.33,0.00,0.000,5126,0.321,0.059,3061,2532,2181,2170,2192,0,0,0,0,0,0,14.42,14.60,14.64
$PING,74.6,78.0,9000.0,-0.11,0.66
$PING,56.7,58.4,9000.0,-0.08,0.62
$PING,48.1,51.5,9000.0,-0.07,0.48
$GC,4683,1.01,194.6,3061,2532,2171,2192,44.2,12.8,518,4689,0.00,2.50,0.00,0.000,260,0.000,0.098,3060,3909,2181,2170,2192,0,0,0,0,0,0,14.81,14.57,14.81
$PING,40.0,41.2,9000.0,-0.05,0.18
$GC,4758,1.01,194.6,3061,3907,2172,2192,33.6,13.6,533,4765,0.00,2.33,0.00,0.000,1030,0.000,0.057,3069,2553,2181,2170,2192,0,0,0,0,0,0,14.66,14.62,14.68
$PING,31.9,32.6,32.9,1.06,1.00
$PING,23.5,23.8,23.9,1.06,1.00
$PING,15.0,15.2,14.7,1.09,1.00
$FREEZE,9.43,-0.856,-1.863,2,1,0
$FREEZE,8.06,-0.855,-1.862,2,1,0
$PING,6.6,6.5,6.5,1.04,1.00
$FREEZE,6.60,-0.857,-1.861,2,1,0
$FREEZE,5.16,-0.859,-1.860,2,1,0
$FREEZE,3.85,-0.858,-1.859,2,1,0
$FREEZE,2.51,-0.858,-1.858,2,1,0
$FREEZE,1.19,-0.859,-1.857,2,1,0
$STATE,5002,end climb,SURFACE_DEPTH_REACHED
$STATE,5002,begin surface coast
$FREEZE,-0.07,-0.858,-1.856,2,1,0
$FINISH,-0.1,1.027215
$STATE,5012,end surface coast,CONTROL_FINISHED_OK
$STATE,5012,begin surface
$SM_CCo,5026,132.50,0.229,0,0,1573,350.17
$SM_GC,0.77,8.50,0.47,132.50,0.083,0.097,0.229,194,2812,1573,-7.88,-0.45,350.17,0,0,0,0,0,0,14.59,14.62,14.35
$RAFOS_CLK,201
$RAFOS,2,1517141584,12.233334,12.217778,130,65,57,55,55,54,627,207,169,130,197,184
$RAFOS,1,1517141224,12.133333,12.117778,103,59,57,57,56,55,649,154,203,175,226,122
$RAFOS,0,1517140864,12.033333,12.017777,76,65,58,58,57,53,685,218,169,204,145,92
$RAFOS_FIX,-7352.907715,-11318.497070,280118,121200,3,103,1.60
$IRIDIUM_FIX,-7355.64,-11308.86,280118,101145
$TT8_MAMPS,0.03745,0.242676
$HUMID,46.61
$INTERNAL_PRESSURE,7.81199
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,6.6,6.5
$24V_AH,12.22,21.104
$10V_AH,12.45,0.000
$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,23.150,42.100,388.000,132.500,0.000,0.000,0.000,182.050,19.750,0.000,5.643,0.000,3367.534,659.772,1367.835,48.336,0.000,1300.663,0.000,806.056,720.000,138.480,0.000
$DEVICE_MAMPS,491.895,98.685,2672.910,228.735,0.000,0.000,0.000,185.895,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5016.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.689,0.000,0.000,0.000
$MEM,280564
$DATA_FILE_SIZE,20113,559
$CAP_FILE_SIZE,72330,0
$CFSIZE,1024409600,1015840768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.7
$CURRENT,0.117,313.38,1
$GPS,280118,130810,-7354.668,-11315.748,13,1.3,16,53.6,0.3,328.4,4,5.1