version: 66.13
glider: 221
mission: 7
dive: 200
start: 2 26 118 23 27 15
data:
$ID,221
$MISSION,7
$DIVE,200
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,260218,231814,-7407.7998,-11317.8486,3,1.1,5,53.9,0.4,42.2,6,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.2
$GPS2,260218,232646,-7407.7637,-11317.8359,3,1.0,4,53.9,0.3,317.2,6,5.4
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,74.2,3073,-19.6,-10.000,-26.85,1770
$D_GRID,465
$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,-121.7,186,2823,2231,2128,0.0,0.0,0,122,0.00,0.00,-106.55,0.003,16390,0.000,0.000,185,2822,3890,3902,3879,0,0,0,0,0,0,14.56,12.92,14.56
$GC,124,-1.04,-121.7,186,2823,3903,3881,3.0,-4.1,11,142,12.15,1.98,0.00,0.000,2340,0.475,0.080,2381,3913,3898,3904,3892,0,0,0,0,0,0,13.96,14.32,14.38
$PING,10.4,11.4,9000.0,0.00,0.00
$PING,20.5,21.7,9000.0,0.00,0.00
$GC,276,-1.04,-121.7,2382,3914,3904,3902,25.9,-13.9,41,283,0.00,1.92,0.00,0.000,1030,0.000,0.047,2381,2790,3902,3904,3901,0,0,0,0,0,0,14.46,14.42,14.47
$PING,41.3,43.8,43.8,1.05,1.00
$PING,51.4,54.2,54.3,1.05,1.00
$GC,587,-1.04,-121.7,2382,2791,3905,3905,64.8,-12.0,73,594,0.00,2.05,0.00,0.000,260,0.000,0.090,2372,3909,3904,3904,3904,0,0,0,0,0,0,14.73,14.38,14.73
$GC,633,-1.04,-121.7,2374,3908,3905,3904,70.8,-13.5,82,640,0.00,1.90,0.00,0.000,1030,0.000,0.047,2373,2789,3904,3904,3904,0,0,0,0,0,0,14.50,14.47,14.52
$GC,938,-1.04,-121.7,2373,2789,3905,3905,108.4,-12.3,113,944,0.00,2.40,0.00,0.000,516,0.000,0.050,2374,1399,3904,3904,3905,0,0,0,0,0,0,14.78,14.46,14.78
$GC,983,-1.04,-121.7,2374,1400,3905,3905,113.8,-11.5,122,991,0.00,2.53,0.00,0.000,1030,0.000,0.069,2371,2802,3907,3904,3911,0,0,0,0,0,0,14.47,14.39,14.50
$GC,1289,-1.04,-121.7,2372,2802,3905,3905,152.5,-12.9,153,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2802,3904,3904,3905,0,0,0,0,0,0,14.79,14.79,14.79
$GC,1589,-1.04,-121.7,2371,2809,3904,3906,190.6,-12.6,183,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2802,3904,3904,3905,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1889,-1.04,-121.7,2372,2802,3905,3905,227.4,-12.1,213,1895,0.00,2.42,0.00,0.000,516,0.000,0.050,2371,1402,3904,3904,3905,0,0,0,0,0,0,14.81,14.49,14.81
$GC,1925,-1.04,-121.7,2371,1403,3904,3906,231.6,-11.9,220,1931,0.00,2.47,0.00,0.000,1030,0.000,0.069,2370,2809,3904,3904,3905,0,0,0,0,0,0,14.62,14.50,14.65
$GC,2230,-1.04,-121.7,2370,2810,3904,3906,267.8,-11.9,251,2235,0.00,1.98,0.00,0.000,260,0.000,0.091,2368,3903,3904,3904,3905,0,0,0,0,0,0,14.81,14.42,14.81
$GC,2294,-1.04,-121.7,2368,3903,3905,3905,276.3,-13.5,264,2301,0.00,1.88,0.00,0.000,1030,0.000,0.049,2368,2799,3905,3904,3906,0,0,0,0,0,0,14.59,14.54,14.60
$GC,2599,-1.04,-121.7,2372,2799,3905,3905,312.4,-11.6,290,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2798,3904,3904,3905,0,0,0,0,0,0,14.81,14.81,14.81
$STATE,2759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2759,begin apogee
$GC,2763,-0.23,0.0,2368,2532,3904,3906,331.0,-11.7,298,2882,1.10,0.00,115.62,2.300,10246,0.271,0.000,2650,2531,3397,3402,3393,0,0,0,0,0,0,14.21,13.78,12.88
$STATE,2883,end apogee,CONTROL_FINISHED_OK
$STATE,2883,begin climb
$GC,2885,1.04,121.7,2651,2532,3401,3393,334.7,0.0,304,3008,1.40,2.67,111.75,2.205,10756,0.162,0.066,3065,1156,2910,2915,2906,0,0,0,0,0,0,13.69,13.30,12.50
$GC,3017,1.04,121.7,3065,1156,2914,2904,324.8,10.5,329,3024,0.00,2.70,0.00,0.000,1030,0.000,0.070,3065,2546,2906,2911,2902,0,0,0,0,0,0,13.54,13.43,13.55
$GC,3323,1.04,121.7,3065,2546,2905,2895,286.0,12.5,352,3329,0.00,2.55,0.00,0.000,260,0.000,0.095,3065,3919,2899,2904,2895,0,0,0,0,0,0,14.38,14.08,14.38
$GC,3348,1.04,121.7,3065,3921,2905,2895,282.4,14.5,357,3356,0.00,2.40,0.00,0.000,1030,0.000,0.058,3075,2552,2899,2904,2895,0,0,0,0,0,0,14.24,14.17,14.26
$GC,3653,1.04,121.7,3075,2551,2903,2895,239.7,14.1,388,3659,0.00,2.47,0.00,0.000,516,0.000,0.068,3085,1143,2898,2903,2893,0,0,0,0,0,0,14.63,14.31,14.63
$GC,3678,1.04,121.7,3086,1144,2903,2894,236.4,13.1,393,3686,0.00,2.55,0.00,0.000,1030,0.000,0.072,3085,2553,2897,2903,2892,0,0,0,0,0,0,14.38,14.31,14.41
$GC,3983,1.04,121.7,3086,2553,2904,2893,195.5,13.3,424,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2553,2898,2903,2893,0,0,0,0,0,0,14.73,14.73,14.73
$GC,4283,1.04,121.7,3086,2554,2904,2893,154.4,13.3,454,4289,0.00,2.45,0.00,0.000,516,0.000,0.067,3096,1147,2897,2903,2892,0,0,0,0,0,0,14.78,14.47,14.78
$GC,4313,1.04,121.7,3097,1147,2904,2893,150.4,13.4,460,4319,0.10,2.53,0.00,0.000,5126,0.265,0.072,3068,2555,2897,2903,2892,0,0,0,0,0,0,14.25,14.46,14.45
$GC,4624,1.04,121.7,3070,2555,2904,2893,112.8,12.2,492,4629,0.00,2.47,0.00,0.000,516,0.000,0.067,3079,1135,2897,2903,2892,0,0,0,0,0,0,14.82,14.48,14.82
$GC,4678,1.04,121.7,3079,1135,2904,2892,106.1,11.8,503,4686,0.00,2.53,0.00,0.000,1030,0.000,0.070,3079,2550,2897,2903,2892,0,0,0,0,0,0,14.56,14.47,14.59
$GC,4984,1.04,121.7,3080,2550,2905,2893,69.8,11.9,534,4989,0.00,2.45,0.00,0.000,260,0.000,0.096,3079,3916,2897,2903,2892,0,0,0,0,0,0,14.84,14.50,14.84
$GC,5024,1.04,121.7,3079,3916,2904,2894,64.2,14.1,542,5029,0.00,2.38,0.00,0.000,1030,0.000,0.057,3089,2539,2897,2903,2892,0,0,0,0,0,0,14.62,14.57,14.64
$PING,62.9,65.3,65.4,1.00,1.00
$PING,51.6,53.4,53.9,1.01,0.99
$PING,29.5,30.1,30.0,1.05,1.00
$GC,5334,1.04,121.7,3090,2540,2904,2893,22.4,14.1,574,5340,0.00,2.53,0.00,0.000,260,0.000,0.096,3090,3912,2897,2903,2892,0,0,0,0,0,0,14.85,14.47,14.85
$PING,18.8,19.0,19.0,1.04,1.00
$GC,5374,1.04,121.7,3089,3912,2905,2893,16.5,15.5,582,5380,0.17,2.33,0.00,0.000,5126,0.299,0.057,3062,2536,2898,2903,2893,0,0,0,0,0,0,14.28,14.61,14.61
$FREEZE,9.05,-1.679,-1.867,2,1,0
$PING,8.0,8.0,8.0,1.03,1.00
$FREEZE,8.04,-1.690,-1.867,2,1,0
$FREEZE,6.82,-1.681,-1.865,2,1,0
$FREEZE,5.67,-1.694,-1.865,2,1,0
$FREEZE,4.50,-1.685,-1.864,2,1,0
$FREEZE,3.37,-1.681,-1.863,2,1,0
$FREEZE,2.07,-1.694,-1.862,2,1,0
$FREEZE,0.95,-1.699,-1.861,2,1,0
$STATE,5503,end climb,SURFACE_DEPTH_REACHED
$STATE,5503,begin surface coast
$FREEZE,-0.01,-1.698,-1.726,2,1,0
$FINISH,-0.0,1.025387
$STATE,5513,end surface coast,FINISH_DEPTH_REACHED
$STATE,5513,begin surface
$SM_CCo,5528,163.15,0.223,0,0,2204,300.18
$SM_GC,0.81,8.45,0.50,163.15,0.077,0.099,0.223,191,2805,2204,-7.89,-0.54,300.18,0,0,0,0,0,0,14.55,14.54,14.23
$RAFOS_CLK,225
$RAFOS,2,1519690394,0.233333,0.220556,62,58,58,57,55,54,209,165,221,110,124,188
$RAFOS,1,1519690024,0.133333,0.117778,76,63,62,59,59,58,583,173,214,150,193,110
$RAFOS,0,1519689664,0.032778,0.017778,107,68,65,60,59,57,639,217,200,190,145,169
$RAFOS_FIX,-7409.136230,-11318.265625,270218,000032,2,92,1.02
$IRIDIUM_FIX,-7409.04,-11320.18,260218,213752
$TT8_MAMPS,0.038199,0.371504
$HUMID,44.52
$INTERNAL_PRESSURE,7.78269
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,8.0,8.0
$24V_AH,12.50,70.422
$10V_AH,12.62,0.000
$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,23.375,57.450,227.375,163.150,0.000,0.000,0.000,400.675,15.500,0.000,5.938,0.000,3887.956,569.326,1616.430,147.178,0.000,1440.368,0.000,860.299,720.000,111.514,0.000
$DEVICE_MAMPS,475.065,98.685,2299.590,222.615,0.000,0.000,0.000,170.595,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5528.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.345,0.000,0.000,0.000
$MEM,280408
$DATA_FILE_SIZE,20120,597
$CAP_FILE_SIZE,80201,0
$CFSIZE,1024409600,997376000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.6
$CURRENT,0.059,56.73,1
$GPS,270218,010300,-7408.087,-11315.538,20,1.8,20,53.9,0.1,0.0,5,7.0