version: 66.13
glider: 221
mission: 7
dive: 157
start: 2 24 118 0 53 26
data:
$ID,221
$MISSION,7
$DIVE,157
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,210
$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,78
$T_MISSION,95
$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
$GPS1,240218,004600,-7400.8296,-11235.0820,25,0.7,25,53.3,0.5,329.3,10,3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-63.4
$GPS2,240218,005257,-7400.8013,-11235.0146,2,0.8,3,53.3,0.7,334.6,10,7.4
$SPEED_LIMITS,0.090,0.189
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,178.3,23223,-17.1,-8.974,-25.37,1937
$D_GRID,846
$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,-0.93,-121.7,192,2807,2230,2151,0.0,0.0,0,121,0.00,0.00,-105.88,0.003,16390,0.000,0.000,190,2805,3890,3901,3879,0,0,0,0,0,0,14.60,12.96,14.60
$GC,123,-0.93,-121.7,191,2806,3902,3879,4.0,-7.0,11,141,12.05,2.42,0.00,0.000,2596,0.469,0.045,2419,1391,3896,3903,3889,0,0,0,0,0,0,14.01,14.36,14.30
$PING,20.6,22.2,9000.0,0.00,0.00
$GC,240,-0.93,-121.7,2419,1391,3904,3897,23.0,-12.3,34,247,0.00,2.50,0.00,0.000,1030,0.000,0.070,2417,2803,3900,3903,3897,0,0,0,0,0,0,14.48,14.37,14.51
$PING,41.1,43.4,9000.0,0.00,0.00
$GC,546,-0.93,-121.7,2417,2804,3904,3900,61.4,-12.6,65,552,0.00,1.95,0.00,0.000,260,0.000,0.094,2413,3905,3901,3903,3900,0,0,0,0,0,0,14.70,14.41,14.70
$GC,620,-0.93,-121.7,2413,3906,3905,3901,71.7,-13.8,80,628,0.00,1.90,0.00,0.000,1030,0.000,0.049,2412,2788,3901,3903,3900,0,0,0,0,0,0,14.55,14.52,14.57
$PING,81.6,87.0,86.8,1.06,1.00
$GC,926,-0.93,-121.7,2413,2788,3904,3901,112.0,-13.1,111,931,0.00,2.38,0.00,0.000,516,0.000,0.051,2413,1409,3902,3903,3902,0,0,0,0,0,0,14.80,14.48,14.80
$GC,965,-0.93,-121.7,2413,1409,3904,3903,117.1,-12.5,119,972,0.00,2.47,0.00,0.000,1030,0.000,0.072,2412,2793,3903,3904,3902,0,0,0,0,0,0,14.53,14.45,14.57
$GC,1276,-0.93,-121.7,2413,2793,3905,3902,155.7,-12.2,151,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2793,3902,3903,3902,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1576,-0.93,-121.7,2413,2794,3904,3903,191.4,-11.5,181,1582,0.00,2.00,0.00,0.000,260,0.000,0.093,2410,3900,3902,3903,3902,0,0,0,0,0,0,14.84,14.46,14.84
$GC,1646,-0.93,-121.7,2411,3900,3905,3902,200.3,-12.8,195,1652,0.00,1.85,0.00,0.000,1030,0.000,0.050,2411,2804,3902,3903,3902,0,0,0,0,0,0,14.62,14.58,14.64
$STATE,1735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1735,begin apogee
$GC,1739,-0.23,0.0,2411,2549,3904,3903,211.0,-11.8,205,1850,0.90,0.00,107.82,2.127,10246,0.247,0.000,2650,2548,3399,3403,3395,0,0,0,0,0,0,14.29,13.87,13.07
$STATE,1850,end apogee,CONTROL_FINISHED_OK
$STATE,1851,begin climb
$GC,1852,0.93,121.7,2650,2549,3401,3394,214.5,0.0,216,1967,1.27,2.60,105.45,1.813,10756,0.163,0.064,3031,1158,2908,2909,2907,0,0,0,0,0,0,13.80,13.48,12.97
$GC,1997,0.93,121.7,3032,1157,2905,2903,206.3,8.5,242,2002,0.00,2.65,0.00,0.000,1030,0.000,0.068,3032,2577,2903,2904,2903,0,0,0,0,0,0,13.74,13.65,13.76
$GC,2307,0.93,121.7,3032,2577,2898,2896,174.7,9.8,274,2312,0.00,2.45,0.00,0.000,260,0.000,0.096,3032,3909,2898,2899,2897,0,0,0,0,0,0,14.44,14.14,14.43
$GC,2331,0.93,121.7,3032,3909,2899,2897,172.1,10.4,279,2339,0.00,2.40,0.00,0.000,1030,0.000,0.054,3042,2550,2897,2897,2897,0,0,0,0,0,0,14.26,14.22,14.28
$GC,2637,0.93,121.7,3043,2550,2898,2896,143.2,10.0,310,2642,0.00,2.47,0.00,0.000,516,0.000,0.066,3052,1159,2896,2897,2895,0,0,0,0,0,0,14.64,14.32,14.65
$GC,2707,0.93,121.7,3052,1160,2897,2896,136.0,10.4,324,2713,0.00,2.50,0.00,0.000,1030,0.000,0.070,3052,2548,2896,2896,2896,0,0,0,0,0,0,14.45,14.36,14.47
$PING,109.1,113.6,114.3,1.04,1.00
$GC,3017,0.93,121.7,3053,2549,2898,2896,103.8,10.7,356,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2548,2896,2896,2896,0,0,0,0,0,0,14.76,14.75,14.75
$GC,3317,0.93,121.7,3052,2549,2897,2897,72.7,10.4,386,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2548,2895,2896,2895,0,0,0,0,0,0,14.80,14.79,14.79
$PING,67.4,70.3,71.1,1.03,1.00
$PING,46.7,49.0,48.9,1.04,1.00
$GC,3617,0.93,121.7,3052,2547,2897,2896,41.6,10.2,416,3623,0.00,2.47,0.00,0.000,260,0.000,0.097,3052,3905,2896,2896,2896,0,0,0,0,0,0,14.83,14.47,14.83
$GC,3652,0.93,121.7,3053,3904,2897,2898,37.7,11.5,423,3659,0.10,2.33,0.00,0.000,5126,0.284,0.054,3036,2547,2896,2896,2896,0,0,0,0,0,0,14.27,14.57,14.49
$PING,26.5,27.3,27.4,1.05,1.00
$FREEZE,9.79,-1.625,-1.867,2,1,0
$GC,3957,0.93,121.7,3036,2547,2897,2896,9.8,8.7,454,3958,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2547,2894,2893,2896,0,0,0,0,0,0,14.85,14.85,14.85
$FREEZE,8.81,-1.627,-1.867,2,1,0
$FREEZE,7.81,-1.626,-1.866,2,1,0
$FREEZE,6.82,-1.625,-1.865,2,1,0
$FREEZE,5.95,-1.625,-1.864,2,1,0
$FREEZE,5.05,-1.625,-1.864,2,1,0
$FREEZE,4.15,-1.625,-1.863,2,1,0
$FREEZE,3.25,-1.625,-1.862,2,1,0
$FREEZE,2.38,-1.625,-1.862,2,1,0
$FREEZE,1.53,-1.630,-1.861,2,1,0
$STATE,4046,end climb,SURFACE_DEPTH_REACHED
$STATE,4046,begin surface coast
$FREEZE,0.70,-1.642,-1.861,2,1,0
$FREEZE,-0.19,-1.645,-1.860,2,1,0
$FINISH,-0.2,1.027293
$STATE,4067,end surface coast,CONTROL_FINISHED_OK
$STATE,4067,begin surface
$SM_CCo,4081,159.55,0.224,0,0,2204,300.18
$SM_GC,0.71,8.20,0.47,159.55,0.060,0.083,0.224,198,2805,2204,-7.87,-0.54,300.18,0,0,0,0,0,0,14.54,14.56,14.25
$RAFOS_CLK,168
$RAFOS_FIX,-7401.047852,-11234.648438,240218,020239,0,1,0.12
$IRIDIUM_FIX,-7401.04,-11225.78,240218,004749
$TT8_MAMPS,0.03745,0.427679
$HUMID,45.23
$INTERNAL_PRESSURE,7.77292
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,26.5,27.4
$24V_AH,12.96,61.955
$10V_AH,12.57,0.000
$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,22.525,38.225,213.275,159.550,0.000,0.000,0.000,263.300,5.250,0.000,4.897,0.000,2863.263,511.160,1222.901,78.650,0.000,1151.839,0.000,672.633,0.000,38.434,0.000
$DEVICE_MAMPS,468.945,97.155,2127.465,224.145,0.000,0.000,0.000,175.185,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4073.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.263,0.000,0.000,0.000
$MEM,280568
$DATA_FILE_SIZE,16753,465
$CAP_FILE_SIZE,58572,0
$CFSIZE,1024409600,1001816064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1442.5
$CURRENT,0.073,19.44,1
$GPS,240218,020442,-7400.889,-11236.054,2,1.0,3,53.3,0.7,13.2,7,6.9