version: 66.13
glider: 221
mission: 7
dive: 189
start: 2 26 118 5 5 35
data:
$ID,221
$MISSION,7
$DIVE,189
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,330
$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,110
$T_MISSION,150
$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,0.059999999
$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,38
$R_STBD_OVSHOOT,27
$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
$GPS1,260218,045200,-7407.3950,-11319.6504,27,0.9,27,53.9,0.2,340.9,10,3.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.5
$GPS2,260218,050510,-7407.3491,-11319.6338,3,0.9,3,53.9,0.0,0.0,10,10.0
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,88.3,4188,-19.6,-10.000,-26.85,1770
$D_GRID,414
$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,-1.04,-121.7,190,2808,2233,2126,0.0,0.0,0,123,0.00,0.00,-108.05,0.003,16390,0.000,0.000,190,2808,3889,3900,3878,0,0,0,0,0,0,14.58,13.24,14.58
$GC,124,-1.04,-121.7,191,2809,3901,3880,2.6,-3.0,11,142,11.90,1.92,0.00,0.000,2340,0.467,0.080,2376,3902,3896,3902,3891,0,0,0,0,0,0,13.98,14.33,14.28
$GC,186,-1.04,-121.7,2376,3904,3903,3898,13.2,-13.9,23,192,0.00,1.90,0.00,0.000,1030,0.000,0.048,2376,2797,3899,3902,3897,0,0,0,0,0,0,14.44,14.40,14.46
$PING,21.1,22.3,9000.0,0.00,0.00
$PING,41.4,44.1,9000.0,0.00,0.00
$GC,496,-1.04,-121.7,2376,2798,3903,3903,54.4,-12.9,55,502,0.00,2.42,0.00,0.000,516,0.000,0.051,2376,1403,3902,3903,3902,0,0,0,0,0,0,14.73,14.42,14.73
$GC,536,-1.04,-121.7,2376,1403,3903,3903,59.5,-12.7,63,542,0.00,2.50,0.00,0.000,1030,0.000,0.069,2374,2795,3902,3902,3902,0,0,0,0,0,0,14.47,14.40,14.51
$GC,846,-1.04,-121.7,2375,2796,3903,3904,100.5,-13.3,95,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2795,3902,3902,3903,0,0,0,0,0,0,14.77,14.77,14.78
$GC,1146,-1.04,-121.7,2374,2795,3904,3902,139.8,-12.9,125,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2795,3905,3902,3908,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1446,-1.04,-121.7,2375,2796,3903,3904,177.6,-13.3,155,1452,0.00,2.03,0.00,0.000,260,0.000,0.093,2372,3909,3902,3903,3902,0,0,0,0,0,0,14.82,14.44,14.82
$GC,1581,-1.04,-121.7,2373,3911,3903,3904,196.1,-14.3,182,1588,0.00,1.88,0.00,0.000,1030,0.000,0.049,2372,2802,3902,3902,3902,0,0,0,0,0,0,14.59,14.57,14.62
$GC,1886,-1.04,-121.7,2372,2803,3903,3904,235.1,-12.9,213,1892,0.00,2.40,0.00,0.000,516,0.000,0.050,2372,1408,3902,3903,3902,0,0,0,0,0,0,14.83,14.50,14.83
$GC,1932,-1.04,-121.7,2373,1408,3904,3903,241.1,-13.0,222,1939,0.00,2.47,0.00,0.000,1030,0.000,0.070,2372,2796,3902,3902,3903,0,0,0,0,0,0,14.55,14.47,14.59
$GC,2237,-1.04,-121.7,2372,2796,3903,3903,279.4,-11.9,253,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2796,3903,3903,3903,0,0,0,0,0,0,14.84,14.84,14.84
$GC,2538,-1.04,-121.7,2372,2796,3904,3903,314.3,-11.3,277,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2796,3903,3903,3903,0,0,0,0,0,0,14.84,14.84,14.84
$STATE,2696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2700,-0.23,0.0,2372,2548,3904,3904,332.1,-11.2,285,2819,1.08,0.00,114.32,2.303,10246,0.265,0.000,2651,2547,3397,3402,3393,0,0,0,0,0,0,14.25,13.80,12.93
$STATE,2820,end apogee,CONTROL_FINISHED_OK
$STATE,2820,begin climb
$GC,2822,1.04,121.7,2652,2548,3402,3393,334.8,0.0,291,2939,1.40,0.00,111.72,2.210,10246,0.161,0.000,3054,2546,2912,2916,2908,0,0,0,0,0,0,13.73,13.34,12.52
$GC,3237,1.04,121.7,3054,2547,2905,2897,287.1,12.4,316,3242,0.00,2.53,0.00,0.000,260,0.000,0.093,3054,3907,2901,2905,2897,0,0,0,0,0,0,14.36,14.04,14.37
$GC,3257,1.04,121.7,3053,3907,2906,2896,284.5,13.0,320,3263,0.00,2.40,0.00,0.000,1030,0.000,0.057,3063,2560,2901,2905,2897,0,0,0,0,0,0,14.16,14.12,14.19
$GC,3567,1.04,121.7,3064,2560,2905,2896,244.1,12.8,352,3572,0.00,2.50,0.00,0.000,516,0.000,0.067,3074,1137,2899,2904,2895,0,0,0,0,0,0,14.62,14.28,14.62
$GC,3597,1.04,121.7,3074,1137,2905,2895,240.3,13.0,358,3603,0.00,2.50,0.00,0.000,1030,0.000,0.070,3074,2550,2899,2904,2895,0,0,0,0,0,0,14.44,14.33,14.45
$GC,3907,1.04,121.7,3073,2551,2904,2896,199.8,13.3,390,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2551,2899,2904,2895,0,0,0,0,0,0,14.73,14.73,14.73
$GC,4207,1.04,121.7,3074,2550,2906,2895,161.7,12.9,420,4212,0.00,2.47,0.00,0.000,260,0.000,0.097,3074,3904,2899,2904,2895,0,0,0,0,0,0,14.78,14.40,14.78
$GC,4252,1.04,121.7,3074,3906,2905,2897,155.5,14.0,429,4260,0.00,2.35,0.00,0.000,1030,0.000,0.057,3084,2542,2899,2904,2895,0,0,0,0,0,0,14.57,14.52,14.59
$GC,4557,1.04,121.7,3085,2542,2906,2896,117.4,12.3,460,4563,0.00,2.50,0.00,0.000,260,0.000,0.095,3084,3904,2900,2905,2895,0,0,0,0,0,0,14.83,14.43,14.83
$GC,4602,1.04,121.7,3084,3905,2907,2896,111.3,14.0,469,4610,0.10,2.35,0.00,0.000,5126,0.291,0.057,3069,2539,2901,2906,2896,0,0,0,0,0,0,14.24,14.56,14.47
$PING,104.7,108.6,108.8,1.03,1.00
$PING,84.3,87.9,87.8,1.02,1.00
$GC,4907,1.04,121.7,3070,2543,2907,2897,76.3,11.5,500,4913,0.00,2.45,0.00,0.000,516,0.000,0.067,3079,1157,2900,2905,2895,0,0,0,0,0,0,14.85,14.46,14.85
$GC,4952,1.04,121.7,3079,1158,2906,2896,71.2,11.5,509,4960,0.00,2.47,0.00,0.000,1030,0.000,0.070,3079,2551,2900,2905,2895,0,0,0,0,0,0,14.58,14.51,14.62
$PING,63.5,66.0,66.1,1.04,1.00
$PING,43.4,44.9,44.9,1.05,1.00
$GC,5257,1.04,121.7,3079,2552,2907,2896,35.2,11.8,540,5263,0.00,2.47,0.00,0.000,260,0.000,0.096,3079,3906,2899,2904,2895,0,0,0,0,0,0,14.86,14.47,14.86
$GC,5292,1.04,121.7,3079,3906,2907,2895,30.7,13.5,547,5299,0.00,2.33,0.00,0.000,1030,0.000,0.057,3089,2558,2900,2906,2895,0,0,0,0,0,0,14.62,14.59,14.66
$PING,22.6,23.3,23.3,1.04,1.00
$FREEZE,9.91,-1.610,-1.868,2,1,0
$FREEZE,8.64,-1.616,-1.867,2,1,0
$FREEZE,7.35,-1.630,-1.866,2,1,0
$FREEZE,6.03,-1.634,-1.865,2,1,0
$FREEZE,4.69,-1.635,-1.864,2,1,0
$FREEZE,3.42,-1.633,-1.863,2,1,0
$FREEZE,2.09,-1.624,-1.861,2,1,0
$FREEZE,0.81,-1.627,-1.861,2,1,0
$STATE,5526,end climb,SURFACE_DEPTH_REACHED
$STATE,5526,begin surface coast
$FREEZE,-0.05,-1.627,-1.860,2,1,0
$FINISH,-0.0,1.027290
$STATE,5536,end surface coast,CONTROL_FINISHED_OK
$STATE,5536,begin surface
$SM_CCo,5551,161.90,0.223,0,0,2204,300.18
$SM_GC,0.84,8.52,0.45,161.90,0.077,0.095,0.223,189,2804,2204,-7.90,-0.68,300.18,0,0,0,0,0,0,14.57,14.57,14.23
$RAFOS_CLK,226
$RAFOS,2,1519625581,6.233333,6.216944,133,69,59,57,55,55,624,218,198,168,184,117
$RAFOS,1,1519625222,6.133333,6.117222,66,65,56,56,55,55,177,592,186,130,117,618
$RAFOS,0,1519624861,6.032778,6.016944,121,56,54,53,47,47,648,196,182,165,74,214
$RAFOS_FIX,-7404.654297,-11314.243164,260218,060628,2,127,1.35
$IRIDIUM_FIX,-7408.22,-11327.41,260218,045827
$TT8_MAMPS,0.038199,0.281624
$HUMID,45.27
$INTERNAL_PRESSURE,7.78269
$TCM_TEMP,13.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,22.6,23.3
$24V_AH,12.52,68.213
$10V_AH,12.78,0.000
$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,23.000,47.700,226.050,161.900,0.000,0.000,0.000,500.025,8.500,0.000,4.727,0.000,4154.148,575.770,1668.854,114.482,0.000,1510.830,0.000,824.962,720.000,59.002,0.000
$DEVICE_MAMPS,467.415,97.155,2302.650,222.615,0.000,0.000,0.000,182.835,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5538.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.266,0.000,0.000,0.000
$MEM,280384
$DATA_FILE_SIZE,20041,572
$CAP_FILE_SIZE,75642,0
$CFSIZE,1024409600,998653952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.8
$CURRENT,0.114,39.09,1
$GPS,260218,064126,-7407.601,-11317.441,4,1.6,6,53.9,0.1,0.0,5,5.8