version: 66.13
glider: 221
mission: 7
dive: 199
start: 2 26 118 21 41 44
data:
$ID,221
$MISSION,7
$DIVE,199
$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,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,20
$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
$GPS1,260218,213555,-7407.7632,-11320.6592,31,1.6,31,54.0,0.0,0.0,9,6.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-63.0
$GPS2,260218,214116,-7407.7358,-11320.6172,2,1.1,3,54.0,0.4,11.8,11,8.5
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,57.9,4454,-19.6,-10.000,-26.85,1770
$D_GRID,381
$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,-121.7,195,2802,2235,2129,0.0,0.0,0,122,0.00,0.00,-106.55,0.003,16390,0.000,0.000,194,2802,3890,3902,3879,0,0,0,0,0,0,14.59,12.94,14.58
$GC,124,-1.04,-121.7,195,2803,3903,3879,2.8,-3.2,11,142,12.05,2.03,0.00,0.000,2340,0.474,0.080,2384,3916,3897,3904,3890,0,0,0,0,0,0,13.97,14.33,14.40
$PING,10.6,11.9,9000.0,0.00,0.00
$PING,21.0,22.4,9000.0,0.00,0.00
$PING,31.5,33.1,33.1,1.02,1.00
$GC,366,-1.04,-121.7,2384,3917,3904,3903,36.6,-13.1,59,372,0.00,1.92,0.00,0.000,1030,0.000,0.048,2384,2791,3902,3904,3901,0,0,0,0,0,0,14.49,14.46,14.51
$PING,42.7,44.9,44.8,1.04,1.00
$PING,53.5,56.8,56.7,1.07,1.00
$GC,676,-1.04,-121.7,2385,2792,3905,3903,74.1,-12.2,91,683,0.00,2.42,0.00,0.000,516,0.000,0.051,2384,1391,3903,3903,3903,0,0,0,0,0,0,14.76,14.44,14.76
$GC,722,-1.04,-121.7,2385,1391,3905,3903,79.9,-12.4,100,729,0.00,2.55,0.00,0.000,1030,0.000,0.070,2382,2812,3904,3904,3904,0,0,0,0,0,0,14.50,14.42,14.53
$PING,85.5,89.8,89.9,1.04,1.00
$GC,1027,-1.04,-121.7,2383,2813,3903,3906,118.8,-12.2,131,1033,0.00,2.00,0.00,0.000,260,0.000,0.090,2375,3915,3903,3903,3904,0,0,0,0,0,0,14.81,14.42,14.79
$GC,1057,-1.04,-121.7,2375,3915,3904,3905,122.9,-13.3,137,1064,0.00,1.90,0.00,0.000,1030,0.000,0.048,2375,2798,3903,3903,3904,0,0,0,0,0,0,14.57,14.54,14.60
$GC,1368,-1.04,-121.7,2375,2798,3905,3904,161.3,-12.5,169,1375,0.00,2.42,0.00,0.000,516,0.000,0.051,2375,1395,3904,3904,3904,0,0,0,0,0,0,14.81,14.47,14.81
$GC,1424,-1.04,-121.7,2375,1396,3904,3906,168.0,-11.8,180,1431,0.00,2.55,0.00,0.000,1030,0.000,0.069,2373,2809,3904,3904,3904,0,0,0,0,0,0,14.49,14.41,14.52
$GC,1729,-1.04,-121.7,2373,2810,3904,3905,205.4,-12.2,211,1735,0.00,2.00,0.00,0.000,260,0.000,0.092,2371,3911,3904,3904,3904,0,0,0,0,0,0,14.82,14.44,14.82
$GC,1790,-1.04,-121.7,2373,3912,3904,3904,213.3,-13.5,223,1795,0.00,1.88,0.00,0.000,1030,0.000,0.049,2372,2785,3904,3904,3904,0,0,0,0,0,0,14.65,14.59,14.67
$GC,2099,-1.04,-121.7,2372,2785,3905,3904,251.4,-12.1,255,2105,0.00,2.05,0.00,0.000,260,0.000,0.090,2370,3904,3903,3903,3904,0,0,0,0,0,0,14.81,14.43,14.81
$GC,2159,-1.04,-121.7,2370,3905,3903,3905,259.0,-13.1,267,2165,0.00,1.90,0.00,0.000,1030,0.000,0.049,2371,2790,3903,3903,3904,0,0,0,0,0,0,14.58,14.55,14.61
$GC,2469,-1.04,-121.7,2370,2791,3904,3905,294.0,-10.7,299,2475,0.00,2.05,0.00,0.000,260,0.000,0.090,2370,3911,3903,3903,3904,0,0,0,0,0,0,14.81,14.43,14.81
$GC,2514,-1.04,-121.7,2370,3912,3905,3903,299.4,-12.3,308,2521,0.00,1.90,0.00,0.000,1030,0.000,0.049,2370,2795,3903,3903,3904,0,0,0,0,0,0,14.59,14.55,14.60
$STATE,2789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2789,begin apogee
$GC,2793,-0.23,0.0,2370,2541,3904,3904,331.2,-11.1,323,2912,1.10,0.00,115.12,2.307,10246,0.268,0.000,2654,2541,3399,3403,3395,0,0,0,0,0,0,14.23,13.78,12.89
$STATE,2913,end apogee,CONTROL_FINISHED_OK
$STATE,2913,begin climb
$GC,2915,1.04,121.7,2655,2541,3405,3395,334.6,0.0,329,3032,1.42,0.00,112.15,2.202,10758,0.161,0.000,3067,2541,2912,2917,2907,0,0,0,0,0,0,13.71,13.33,12.50
$GC,3329,1.04,121.7,3068,2542,2906,2896,286.3,13.6,370,3336,0.00,2.55,0.00,0.000,260,0.000,0.094,3067,3909,2900,2905,2896,0,0,0,0,0,0,14.35,14.06,14.35
$GC,3370,1.04,121.7,3067,3909,2906,2896,280.2,15.6,378,3377,0.00,2.42,0.00,0.000,1030,0.000,0.057,3077,2522,2900,2905,2895,0,0,0,0,0,0,14.26,14.19,14.28
$GC,3681,1.04,121.7,3078,2522,2905,2895,238.0,12.9,410,3687,0.00,2.42,0.00,0.000,516,0.000,0.067,3088,1143,2899,2904,2895,0,0,0,0,0,0,14.63,14.33,14.63
$GC,3696,1.04,121.7,3088,1143,2905,2894,236.0,12.4,413,3705,0.00,2.55,0.00,0.000,1030,0.000,0.070,3088,2551,2899,2904,2894,0,0,0,0,0,0,14.40,14.36,14.43
$GC,4002,1.04,121.7,3088,2553,2905,2895,194.9,13.3,444,4007,0.00,2.47,0.00,0.000,260,0.000,0.096,3088,3918,2899,2905,2894,0,0,0,0,0,0,14.73,14.41,14.73
$GC,4088,1.04,121.7,3089,3919,2906,2894,182.0,15.2,461,4094,0.17,2.35,0.00,0.000,5126,0.304,0.057,3061,2540,2899,2905,2894,0,0,0,0,0,0,14.18,14.52,14.50
$GC,4392,1.04,121.7,3061,2540,2906,2894,145.0,12.1,492,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2540,2899,2905,2894,0,0,0,0,0,0,14.79,14.80,14.79
$PING,139.1,144.3,144.4,1.02,1.00
$PING,118.3,122.7,123.0,1.02,1.00
$GC,4692,1.04,121.7,3061,2541,2905,2898,110.0,11.7,522,4698,0.00,2.45,0.00,0.000,516,0.000,0.066,3070,1155,2899,2905,2894,0,0,0,0,0,0,14.83,14.47,14.83
$PING,108.2,112.6,112.5,1.03,1.00
$GC,4768,1.04,121.7,3071,1155,2906,2893,101.3,11.3,537,4774,0.00,2.45,0.00,0.000,1030,0.000,0.070,3070,2553,2899,2904,2894,0,0,0,0,0,0,14.62,14.52,14.62
$PING,86.6,89.8,89.8,1.04,1.00
$PING,65.0,67.4,67.3,1.05,1.00
$GC,5073,1.04,121.7,3071,2554,2906,2894,65.0,11.9,568,5078,0.00,2.45,0.00,0.000,516,0.000,0.067,3080,1150,2899,2905,2894,0,0,0,0,0,0,14.81,14.52,14.81
$GC,5108,1.04,121.7,3081,1150,2906,2894,60.9,11.9,575,5114,0.00,2.47,0.00,0.000,1030,0.000,0.071,3080,2559,2899,2905,2893,0,0,0,0,0,0,14.60,14.49,14.64
$PING,54.2,56.3,56.2,1.03,1.00
$PING,43.4,44.7,44.8,1.05,1.00
$PING,32.4,33.4,33.3,1.05,1.00
$GC,5412,1.04,121.7,3080,2560,2906,2895,23.6,12.4,606,5419,0.00,2.47,0.00,0.000,260,0.000,0.098,3080,3910,2899,2905,2894,0,0,0,0,0,0,14.86,14.47,14.85
$PING,22.2,22.6,22.6,1.05,1.00
$GC,5474,1.04,121.7,3080,3911,2906,2895,14.7,15.2,618,5480,0.00,2.35,0.00,0.000,1030,0.000,0.057,3090,2548,2900,2906,2894,0,0,0,0,0,0,14.62,14.58,14.65
$PING,11.5,11.7,11.6,1.04,1.00
$FREEZE,8.70,-1.620,-1.867,2,1,0
$FREEZE,7.34,-1.601,-1.865,2,1,0
$FREEZE,5.98,-1.597,-1.864,2,1,0
$FREEZE,4.60,-1.589,-1.863,2,1,0
$FREEZE,3.21,-1.588,-1.862,2,1,0
$FREEZE,1.83,-1.592,-1.861,2,1,0
$STATE,5563,end climb,SURFACE_DEPTH_REACHED
$STATE,5563,begin surface coast
$FREEZE,0.56,-1.599,-1.860,2,1,0
$FINISH,0.6,1.027291
$STATE,5575,end surface coast,CONTROL_FINISHED_OK
$STATE,5575,begin surface
$SM_CCo,5591,162.95,0.222,0,0,2203,300.18
$SM_GC,0.82,8.55,0.50,162.95,0.077,0.093,0.222,185,2821,2203,-7.91,-0.23,300.18,0,0,0,0,0,0,14.54,14.57,14.23
$RAFOS_CLK,227
$RAFOS_FIX,-7407.982422,-11321.235352,260218,232314,0,1,0.10
$IRIDIUM_FIX,-7409.04,-11320.18,260218,195955
$TT8_MAMPS,0.03745,0.201481
$HUMID,45.43
$INTERNAL_PRESSURE,7.77292
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,11.5,11.6
$24V_AH,12.50,70.207
$10V_AH,12.64,0.000
$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,23.300,59.900,227.275,162.950,0.000,0.000,0.000,210.975,15.750,0.000,5.138,0.000,3893.808,575.386,1507.417,112.303,0.000,1278.659,0.000,905.766,0.000,112.385,0.000
$DEVICE_MAMPS,474.300,97.920,2307.240,221.850,0.000,0.000,0.000,188.190,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5590.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.336,0.000,0.000,0.000
$MEM,280380
$DATA_FILE_SIZE,20079,629
$CAP_FILE_SIZE,81168,0
$CFSIZE,1024409600,997670912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.8
$CURRENT,0.089,48.93,1
$GPS,260218,231814,-7407.800,-11317.849,3,1.1,5,53.9,0.4,42.2,6,8.5