version: 66.13
glider: 221
mission: 7
dive: 552
start: 11 24 118 3 19 26
data:
$ID,221
$MISSION,7
$DIVE,552
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,330
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,120
$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,40
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3600
$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,0
$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
$GPS1,241118,030300,-7408.4985,-11248.6641,29,0.9,29,53.6,0.9,310.8,8,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-64.5
$GPS2,241118,031853,-7408.3657,-11249.0586,2,0.7,4,53.6,0.8,285.8,12,5.3
$SPEED_LIMITS,0.100,0.187
$TGT_NAME,WMM0
$TGT_LATLONG,-7408.900,-11254.810
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,152.6,3073,-40.8,-10.000,-45.00,547
$D_GRID,990
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,12,-1.90,-36.0,194,2817,2421,2319,0.0,0.0,0,104,0.00,0.00,-90.70,0.003,16390,0.000,0.000,193,2816,3746,3765,3727,0,0,0,0,0,0,14.71,12.43,14.71
$GC,107,-1.90,-36.0,194,2817,3767,3731,1.4,-1.2,3,123,10.18,2.47,0.00,0.000,2564,0.441,0.040,2114,1380,3754,3768,3741,0,0,0,0,0,0,13.77,14.26,14.12
$PING,21.7,23.6,9000.0,0.00,0.00
$PING,32.8,35.1,9000.0,0.00,0.00
$GC,282,-1.90,-36.0,2113,1381,3768,3752,34.2,-19.9,29,290,0.00,2.58,0.00,0.000,1030,0.000,0.060,2113,2812,3760,3769,3751,0,0,0,0,0,0,14.39,14.31,14.43
$PING,58.5,63.3,63.2,1.08,1.00
$GC,635,-1.90,-36.0,2114,2813,3771,3754,100.8,-19.2,43,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2813,3762,3770,3754,0,0,0,0,0,0,14.81,14.80,14.81
$GC,969,-1.90,-36.0,2114,2812,3771,3755,161.4,-18.2,55,975,0.00,2.50,0.00,0.000,516,0.000,0.045,2113,1390,3763,3771,3755,0,0,0,0,0,0,14.92,14.32,14.92
$GC,1045,-1.90,-36.0,2114,1390,3772,3755,175.0,-17.5,66,1053,0.00,2.55,0.00,0.000,1030,0.000,0.061,2112,2804,3762,3770,3755,0,0,0,0,0,0,14.39,14.31,14.43
$GC,1419,-1.90,-36.0,2112,2804,3771,3757,239.9,-17.1,76,1425,0.00,2.45,0.00,0.000,516,0.000,0.044,2112,1389,3762,3770,3755,0,0,0,0,0,0,14.92,14.40,14.92
$GC,1507,-1.90,-36.0,2113,1389,3772,3755,254.4,-15.8,89,1515,0.00,2.55,0.00,0.000,1030,0.000,0.059,2112,2807,3763,3771,3755,0,0,0,0,0,0,14.38,14.30,14.42
$GC,1864,-1.90,-36.0,2112,2807,3774,3755,310.4,-15.7,98,1871,0.00,2.00,0.00,0.000,260,0.000,0.078,2105,3903,3763,3771,3755,0,0,0,0,0,0,14.94,14.27,14.94
$GC,1899,-1.90,-36.0,2106,3905,3772,3757,316.0,-16.4,103,1906,0.00,1.92,0.00,0.000,1030,0.000,0.040,2105,2776,3763,3771,3755,0,0,0,0,0,0,14.60,14.56,14.60
$GC,2256,-1.90,-36.0,2106,2776,3772,3756,372.6,-15.8,112,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2777,3763,3771,3755,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2593,-1.90,-36.0,2105,2775,3772,3755,423.0,-14.9,118,2599,0.00,2.08,0.00,0.000,260,0.000,0.078,2098,3913,3763,3771,3755,0,0,0,0,0,0,14.93,14.23,14.93
$GC,2648,-1.90,-36.0,2099,3914,3771,3756,432.0,-16.3,126,2655,0.00,1.90,0.00,0.000,1030,0.000,0.040,2099,2795,3763,3771,3755,0,0,0,0,0,0,14.56,14.51,14.55
$GC,3043,-1.90,-36.0,2099,2796,3771,3756,494.7,-16.1,140,3049,0.00,2.42,0.00,0.000,516,0.000,0.045,2099,1393,3763,3771,3755,0,0,0,0,0,0,14.92,14.38,14.91
$GC,3082,-1.90,-36.0,2099,1393,3772,3755,501.6,-16.6,146,3089,0.00,2.55,0.00,0.000,1030,0.000,0.060,2098,2805,3763,3771,3755,0,0,0,0,0,0,14.35,14.26,14.40
$GC,3432,-1.90,-36.0,2098,2806,3771,3761,557.3,-15.6,154,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2805,3763,3771,3755,0,0,0,0,0,0,14.93,14.93,14.93
$GC,3768,-1.90,-36.0,2099,2805,3771,3755,610.0,-15.5,160,3775,0.00,2.45,0.00,0.000,516,0.000,0.043,2098,1404,3763,3771,3755,0,0,0,0,0,0,14.94,14.32,14.94
$GC,3838,-1.90,-36.0,2099,1404,3772,3755,620.1,-14.2,170,3845,0.00,2.53,0.00,0.000,1030,0.000,0.060,2098,2805,3763,3771,3755,0,0,0,0,0,0,14.34,14.26,14.38
$GC,4217,-1.90,-36.0,2098,2805,3772,3756,672.8,-13.8,182,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2805,3763,3771,3755,0,0,0,0,0,0,14.93,14.92,14.93
$GC,4552,-1.90,-36.0,2098,2806,3771,3756,717.8,-13.4,188,4559,0.00,2.00,0.00,0.000,260,0.000,0.076,2091,3912,3762,3771,3754,0,0,0,0,0,0,14.94,14.23,14.94
$GC,4671,-1.90,-36.0,2091,3912,3772,3754,735.6,-15.4,205,4679,0.15,1.92,0.00,0.000,3078,0.378,0.041,2121,2792,3762,3771,3754,0,0,0,0,0,0,13.56,14.52,13.90
$PING,772.0,31.1,9000.0,-0.02,0.33
$PING,784.7,13.3,9000.0,-0.06,0.89
$GC,5060,-1.90,-36.0,2121,2792,3772,3754,784.7,-12.2,218,5065,0.00,2.40,0.00,0.000,516,0.000,0.045,2121,1396,3762,3770,3754,0,0,0,0,0,0,14.83,14.37,14.83
$GC,5294,-1.96,-89.1,2121,1395,3772,3757,795.8,-0.0,252,5301,0.00,2.55,0.00,0.000,1062,0.000,0.063,2118,2801,3763,3771,3756,0,0,0,0,0,0,14.30,14.21,14.35
$STATE,5306,end dive,NO_VERTICAL_VELOCITY
$STATE,5306,begin apogee
$GC,5312,-0.23,0.0,2118,2551,3771,3758,795.8,0.0,254,5367,2.12,0.00,48.75,3.030,10246,0.259,0.000,2653,2550,3599,3607,3591,0,0,0,0,0,0,13.71,14.01,12.48
$STATE,5368,end apogee,CONTROL_FINISHED_OK
$STATE,5368,begin climb
$GC,5371,1.96,89.1,2654,2550,3607,3591,796.0,0.0,255,5484,2.30,2.75,103.20,3.083,10500,0.138,0.092,3358,3910,3243,3260,3226,0,0,0,0,0,0,14.00,13.21,11.69
$PING,785.5,14.5,9000.0,-1.31,0.99
$GC,5715,1.96,89.1,3356,3911,3255,3219,736.7,23.1,305,5723,0.00,2.42,0.00,0.000,1030,0.000,0.054,3368,2550,3236,3254,3218,0,0,0,0,0,0,14.29,14.25,14.31
$GC,6096,1.96,89.1,3369,2550,3251,3217,660.5,19.9,317,6102,0.00,2.50,0.00,0.000,260,0.000,0.096,3368,3908,3233,3249,3217,0,0,0,0,0,0,14.81,14.36,14.81
$GC,6247,1.96,89.1,3368,3907,3251,3216,627.3,21.6,339,6254,0.00,2.40,0.00,0.000,1030,0.000,0.053,3378,2538,3233,3250,3216,0,0,0,0,0,0,14.54,14.50,14.57
$GC,6597,1.96,89.1,3379,2539,3251,3216,560.8,18.7,347,6607,0.00,2.50,0.00,0.000,516,0.000,0.066,3389,1149,3233,3249,3217,0,0,0,0,0,0,14.92,14.35,14.92
$GC,6670,1.96,89.1,3389,1149,3251,3217,548.5,17.5,357,6676,0.00,2.50,0.00,0.000,1030,0.000,0.071,3389,2553,3233,3250,3216,0,0,0,0,0,0,14.57,14.43,14.63
$GC,7047,1.96,89.1,3389,2553,3251,3216,480.0,18.1,369,7057,0.00,2.53,0.00,0.000,516,0.000,0.063,3399,1151,3232,3248,3216,0,0,0,0,0,0,14.95,14.35,14.95
$GC,7112,1.96,89.1,3399,1151,3250,3217,469.0,16.7,378,7120,0.15,2.55,0.00,0.000,5126,0.354,0.070,3366,2554,3232,3249,3216,0,0,0,0,0,0,13.77,14.36,14.12
$GC,7499,1.96,89.1,3366,2555,3250,3217,404.0,17.2,391,7505,0.00,2.50,0.00,0.000,516,0.000,0.065,3375,1149,3232,3249,3216,0,0,0,0,0,0,14.86,14.40,14.88
$GC,7588,1.96,89.1,3376,1148,3251,3217,388.1,17.3,404,7594,0.00,2.55,0.00,0.000,1030,0.000,0.070,3376,2554,3232,3249,3216,0,0,0,0,0,0,14.45,14.35,14.50
$GC,7945,1.96,89.1,3375,2554,3250,3216,324.0,18.1,413,7953,0.00,2.53,0.00,0.000,516,0.000,0.063,3383,1151,3233,3249,3217,0,0,0,0,0,0,14.96,14.35,14.96
$GC,8183,1.96,89.1,3387,1151,3251,3217,285.7,15.9,447,8189,0.00,2.55,0.00,0.000,1030,0.000,0.072,3386,2551,3233,3250,3216,0,0,0,0,0,0,14.42,14.32,14.47
$GC,8561,1.96,89.1,3387,2551,3251,3217,229.2,14.4,459,8567,0.00,2.53,0.00,0.000,516,0.000,0.062,3396,1147,3233,3250,3217,0,0,0,0,0,0,14.96,14.32,14.96
$GC,8800,1.96,89.1,3396,1149,3250,3218,196.2,13.9,493,8807,0.17,2.53,0.00,0.000,5126,0.358,0.072,3364,2557,3233,3250,3217,0,0,0,0,0,0,13.74,14.38,14.29
$GC,9152,1.96,89.1,3364,2558,3250,3218,150.9,12.4,507,9157,0.00,2.50,0.00,0.000,516,0.000,0.065,3374,1147,3233,3249,3218,0,0,0,0,0,0,14.87,14.36,14.87
$GC,9379,1.96,89.1,3373,1148,3250,3218,121.6,12.7,540,9386,0.00,2.55,0.00,0.000,1030,0.000,0.070,3374,2551,3233,3250,3217,0,0,0,0,0,0,14.40,14.31,14.45
$PING,118.9,125.2,9000.0,-0.17,1.00
$PING,107.2,111.0,9000.0,-0.15,0.98
$PING,95.3,100.2,99.6,1.06,0.99
$PING,83.7,87.0,87.4,1.03,1.00
$PING,71.9,74.6,74.4,1.09,1.00
$GC,9737,1.96,89.1,3374,2551,3251,3217,71.9,14.0,555,9743,0.00,2.55,0.00,0.000,260,0.000,0.093,3373,3913,3233,3250,3217,0,0,0,0,0,0,14.85,14.22,14.85
$PING,61.2,63.8,63.7,1.03,1.00
$PING,50.3,52.5,52.6,1.02,1.00
$GC,9887,1.96,89.1,3373,3914,3250,3218,50.3,14.2,576,9892,0.00,2.38,0.00,0.000,1030,0.000,0.053,3384,2536,3233,3250,3217,0,0,0,0,0,0,14.59,14.51,14.62
$PING,40.0,42.0,42.0,1.03,1.00
$PING,29.3,30.9,30.9,1.03,1.00
$PING,15.7,16.5,16.5,1.05,1.00
$FREEZE,8.04,-1.483,-1.867,2,1,0
$FREEZE,4.85,-1.481,-1.865,2,1,0
$GC,10242,1.96,89.1,3383,2538,3250,3218,4.8,13.2,591,10247,0.00,2.47,0.00,0.000,516,0.000,0.063,3394,1139,3233,3249,3217,0,0,0,0,0,0,14.84,14.33,14.84
$FREEZE,3.13,-1.481,-1.863,2,1,0
$FREEZE,2.30,-1.481,-1.863,2,1,0
$FREEZE,1.43,-1.481,-1.862,2,1,0
$STATE,10266,end climb,SURFACE_DEPTH_REACHED
$STATE,10266,begin surface coast
$FREEZE,0.64,-1.481,-1.862,2,1,0
$FINISH,0.6,1.027303
$STATE,10273,end surface coast,CONTROL_FINISHED_OK
$STATE,10273,begin surface
$SM_CCo,10296,168.07,0.219,0,0,2403,300.18
$SM_GC,0.49,9.52,3.05,168.07,0.076,0.067,0.219,197,2806,2403,-7.88,-0.51,300.18,0,0,0,0,0,0,14.33,14.33,14.02
$RAFOS_CLK,418
$RAFOS,1,1543039637,6.133333,6.121389,129,61,56,55,52,50,472,197,166,154,206,231
$RAFOS,0,1543039273,6.032778,6.020278,87,57,57,55,53,50,545,204,155,169,213,224
$RAFOS,0,1543028512,3.032778,3.031111,60,59,58,58,55,49,201,159,170,219,184,318
$RAFOS_FIX,-7409.373047,-11251.477539,241118,060604,2,108,0.22
$IRIDIUM_FIX,-7410.38,-11248.11,231118,215715
$TT8_MAMPS,0.03745,0.259154
$HUMID,46.85
$INTERNAL_PRESSURE,7.80222
$TCM_TEMP,13.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,15.7,16.5
$24V_AH,11.69,177.906
$10V_AH,12.12,0.000
$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,24.600,93.075,151.950,168.075,0.000,0.000,0.000,616.700,31.750,0.000,5.477,0.000,8507.893,567.616,1864.232,481.322,0.000,1670.344,0.000,856.066,480.000,231.880,0.000
$DEVICE_MAMPS,441.405,95.625,3082.950,218.790,0.000,0.000,0.000,220.320,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10295.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.033,0.000,0.000,0.000
$MEM,279904
$DATA_FILE_SIZE,20091,596
$CAP_FILE_SIZE,102889,0
$CFSIZE,1024409600,955072512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1450.3
$CURRENT,0.152,312.31,1
$GPS,241118,061500,-7408.424,-11252.625,32,0.7,32,53.6,1.2,317.5,10,3.9