version: 66.13
glider: 221
mission: 7
dive: 558
start: 11 24 118 23 56 20
data:
$ID,221
$MISSION,7
$DIVE,558
$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,24
$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
$GPS1,241118,234101,-7408.0732,-11315.6777,27,0.9,27,53.9,0.2,0.0,10,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-68.0
$GPS2,241118,235553,-7408.0107,-11315.7578,2,0.8,2,53.9,0.4,272.6,10,8.4
$SPEED_LIMITS,0.100,0.187
$TGT_NAME,W1
$TGT_LATLONG,-7407.500,-11325.000
$TGT_RADIUS,1200.000
$MHEAD_RNG_PITCHd_Wd,233.4,4777,-21.3,-10.000,-28.20,1570
$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,11,-1.10,-107.1,183,2805,2423,2318,0.0,0.0,0,114,0.00,0.00,-101.55,0.003,16390,0.000,0.000,184,2805,3962,3975,3950,0,0,0,0,0,0,14.72,12.42,14.73
$GC,117,-1.10,-107.1,184,2806,3978,3956,1.2,-1.4,3,133,11.32,2.50,0.00,0.000,2564,0.435,0.044,2370,1393,3969,3977,3962,0,0,0,0,0,0,13.81,14.39,14.34
$PING,10.7,12.0,9000.0,0.00,0.00
$PING,21.7,23.4,9000.0,0.00,0.00
$PING,31.8,34.2,34.1,1.05,1.00
$PING,42.4,45.6,45.6,1.07,1.00
$GC,355,-1.10,-107.1,2371,1392,3977,3969,43.5,-15.4,38,363,0.00,2.55,0.00,0.000,1030,0.000,0.064,2370,2801,3972,3976,3969,0,0,0,0,0,0,14.40,14.31,14.45
$PING,53.5,58.2,58.1,1.11,1.00
$PING,79.8,85.5,85.7,1.06,1.00
$PING,93.2,99.1,99.2,1.03,1.00
$GC,699,-1.10,-107.1,2371,2801,3977,3971,97.5,-15.8,51,705,0.00,2.50,0.00,0.000,516,0.000,0.047,2370,1392,3973,3975,3971,0,0,0,0,0,0,14.90,14.34,14.90
$GC,727,-1.10,-107.1,2371,1393,3976,3972,101.7,-15.1,55,733,0.00,2.58,0.00,0.000,1030,0.000,0.063,2370,2811,3973,3976,3971,0,0,0,0,0,0,14.39,14.32,14.45
$GC,1091,-1.10,-107.1,2370,2811,3977,3971,158.2,-16.0,71,1097,0.00,2.53,0.00,0.000,516,0.000,0.047,2370,1389,3973,3976,3971,0,0,0,0,0,0,14.92,14.34,14.91
$GC,1175,-1.10,-107.1,2373,1391,3976,3972,171.1,-14.9,83,1181,0.00,2.58,0.00,0.000,1030,0.000,0.064,2369,2808,3973,3976,3971,0,0,0,0,0,0,14.40,14.31,14.45
$GC,1541,-1.10,-107.1,2369,2809,3976,3972,227.6,-15.6,96,1546,0.00,2.00,0.00,0.000,260,0.000,0.086,2362,3912,3973,3975,3971,0,0,0,0,0,0,14.93,14.33,14.92
$GC,1637,-1.10,-107.1,2363,3913,3976,3971,243.3,-16.0,110,1643,0.00,1.95,0.00,0.000,1030,0.000,0.045,2362,2788,3973,3976,3971,0,0,0,0,0,0,14.59,14.56,14.61
$GC,1987,-1.10,-107.1,2362,2788,3977,3972,297.0,-15.4,118,1993,0.00,2.08,0.00,0.000,260,0.000,0.085,2360,3906,3973,3976,3970,0,0,0,0,0,0,14.95,14.25,14.94
$GC,2091,-1.10,-107.1,2361,3906,3977,3971,314.6,-17.0,133,2101,0.00,1.95,0.00,0.000,1030,0.000,0.046,2360,2782,3973,3976,3971,0,0,0,0,0,0,14.62,14.57,14.65
$GC,2435,-1.10,-107.1,2360,2783,3976,3972,366.4,-14.9,140,2441,0.00,2.42,0.00,0.000,516,0.000,0.047,2360,1402,3973,3976,3971,0,0,0,0,0,0,14.95,14.34,14.95
$GC,2463,-1.10,-107.1,2361,1402,3977,3971,370.6,-14.9,144,2469,0.00,2.55,0.00,0.000,1030,0.000,0.065,2359,2802,3974,3976,3972,0,0,0,0,0,0,14.38,14.29,14.42
$GC,2827,-1.10,-107.1,2361,2802,3977,3971,421.8,-13.9,154,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2802,3974,3977,3971,0,0,0,0,0,0,14.95,14.95,14.95
$PING,430.0,51.0,9000.0,-0.12,0.91
$PING,446.1,36.6,9000.0,-0.16,0.97
$PING,461.7,20.9,21.2,-0.95,1.00
$GC,3163,-1.10,-107.1,2359,2803,3975,3973,469.4,-13.9,160,3169,0.00,2.47,0.00,0.000,516,0.000,0.047,2359,1397,3973,3976,3971,0,0,0,0,0,0,14.95,14.33,14.95
$PING,472.3,11.0,10.8,-0.98,1.00
$STATE,3188,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3188,begin apogee
$PING,476.6,8.2,7.8,-0.87,0.99
$GC,3196,-0.23,0.0,2361,2570,3977,3972,473.2,-13.7,164,3309,1.15,0.00,109.38,2.898,10246,0.262,0.000,2649,2569,3599,3606,3592,0,0,0,0,0,0,13.81,13.64,12.19
$STATE,3310,end apogee,CONTROL_FINISHED_OK
$STATE,3310,begin climb
$GC,3312,1.10,107.1,2650,2569,3607,3591,478.4,0.0,166,3450,1.50,2.83,126.50,2.809,10500,0.155,0.091,3079,3900,3170,3183,3157,0,0,0,0,0,0,13.63,12.90,11.48
$GC,3487,1.11,107.1,3079,3901,3181,3155,469.1,9.1,178,3492,0.00,2.55,0.00,0.000,1094,0.000,0.051,3089,2557,3167,3181,3154,0,0,0,0,0,0,13.38,13.32,13.40
$PING,466.0,25.1,9000.0,-1.65,0.93
$PING,445.3,56.6,9000.0,-1.54,1.00
$GC,3866,1.13,107.1,3089,2558,3174,3150,435.1,9.2,190,3871,0.00,2.53,0.00,0.000,580,0.000,0.060,3099,1137,3161,3174,3149,0,0,0,0,0,0,14.71,14.34,14.71
$GC,3954,1.17,107.1,3100,1137,3175,3149,427.6,8.1,203,3960,0.00,2.55,0.00,0.000,1094,0.000,0.067,3099,2547,3161,3174,3148,0,0,0,0,0,0,14.45,14.36,14.48
$GC,4311,1.19,107.1,3100,2547,3175,3148,395.0,9.0,212,4317,0.00,2.53,0.00,0.000,324,0.000,0.093,3099,3905,3160,3173,3147,0,0,0,0,0,0,14.90,14.34,14.90
$GC,4339,1.19,107.1,3100,3905,3174,3149,392.3,9.7,216,4345,0.00,2.40,0.00,0.000,1030,0.000,0.050,3111,2532,3160,3173,3148,0,0,0,0,0,0,14.56,14.52,14.59
$GC,4704,1.20,107.1,3111,2532,3175,3148,358.2,9.3,226,4709,0.00,2.42,0.00,0.000,580,0.000,0.061,3121,1150,3160,3173,3148,0,0,0,0,0,0,14.87,14.45,14.88
$GC,4738,1.23,107.1,3121,1151,3174,3149,355.1,8.8,231,4744,0.00,2.53,0.00,0.000,1094,0.000,0.067,3121,2548,3160,3173,3148,0,0,0,0,0,0,14.45,14.34,14.48
$GC,5096,1.25,107.1,3121,2549,3174,3149,322.8,9.0,240,5101,0.00,2.47,0.00,0.000,580,0.000,0.060,3132,1149,3160,3173,3148,0,0,0,0,0,0,14.88,14.43,14.88
$GC,5214,1.26,107.1,3132,1149,3175,3148,312.0,9.3,257,5221,0.00,2.55,0.00,0.000,1094,0.000,0.068,3131,2557,3160,3173,3148,0,0,0,0,0,0,14.47,14.38,14.52
$GC,5599,1.28,107.1,3132,2557,3169,3148,276.2,9.2,270,5605,0.00,2.53,0.00,0.000,324,0.000,0.093,3131,3911,3160,3173,3148,0,0,0,0,0,0,14.95,14.31,14.95
$GC,5697,1.28,107.1,3133,3912,3174,3148,265.8,10.4,284,5703,0.00,2.38,0.00,0.000,1030,0.000,0.050,3143,2551,3160,3173,3148,0,0,0,0,0,0,14.57,14.52,14.59
$GC,6047,1.29,107.1,3142,2552,3174,3149,233.2,9.1,292,6048,0.00,0.00,0.00,0.000,70,0.000,0.000,3142,2551,3160,3173,3148,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6384,1.29,107.1,3143,2551,3175,3149,201.5,9.5,298,6389,0.00,2.55,0.00,0.000,260,0.000,0.093,3142,3910,3159,3171,3148,0,0,0,0,0,0,14.88,14.29,14.88
$GC,6487,1.29,107.1,3144,3910,3175,3149,189.6,11.6,313,6496,0.00,2.40,0.00,0.000,1030,0.000,0.050,3153,2534,3161,3174,3148,0,0,0,0,0,0,14.56,14.52,14.58
$GC,6831,1.29,107.1,3151,2536,3175,3150,155.7,9.5,326,6837,0.00,2.58,0.00,0.000,260,0.000,0.092,3153,3912,3161,3173,3149,0,0,0,0,0,0,14.95,14.27,14.95
$GC,6921,1.29,107.1,3153,3913,3175,3150,146.1,11.3,339,6928,0.00,2.38,0.00,0.000,1030,0.000,0.050,3163,2551,3161,3174,3149,0,0,0,0,0,0,14.54,14.50,14.57
$GC,7281,1.32,107.1,3163,2551,3176,3149,112.6,8.9,354,7286,0.00,2.47,0.00,0.000,580,0.000,0.061,3173,1155,3161,3174,3149,0,0,0,0,0,0,14.94,14.39,14.93
$GC,7342,1.35,107.1,3173,1156,3175,3150,107.2,8.6,363,7348,0.00,2.55,0.00,0.000,1094,0.000,0.066,3173,2563,3160,3175,3146,0,0,0,0,0,0,14.42,14.33,14.47
$PING,92.8,97.2,9000.0,-0.16,0.85
$PING,80.7,84.3,9000.0,-0.09,0.89
$GC,7701,1.37,107.1,3173,2564,3175,3150,75.7,8.7,378,7702,0.00,0.00,0.00,0.000,70,0.000,0.000,3173,2563,3162,3175,3149,0,0,0,0,0,0,14.93,14.93,14.93
$PING,70.6,75.9,75.5,0.96,1.00
$PING,58.8,61.5,62.1,1.05,0.99
$PING,47.1,49.1,48.8,1.14,1.00
$GC,8038,1.40,107.1,3174,2563,3176,3149,47.1,8.3,390,8043,0.00,2.53,0.00,0.000,580,0.000,0.060,3184,1142,3161,3174,3149,0,0,0,0,0,0,14.87,14.38,14.86
$GC,8112,1.44,138.6,3185,1142,3176,3149,40.9,7.9,401,8140,0.00,2.55,22.77,0.340,9254,0.000,0.067,3184,2552,3044,3062,3027,0,0,0,0,0,0,14.40,14.31,13.83
$PING,35.1,36.7,36.7,1.05,1.00
$PING,23.0,24.0,24.0,1.04,1.00
$PING,9.9,10.1,10.1,1.06,1.00
$FREEZE,9.86,-1.449,-1.867,2,1,0
$FREEZE,6.58,-1.449,-1.865,2,1,0
$FREEZE,3.44,-1.448,-1.862,2,1,0
$FREEZE,0.64,-1.450,-1.860,2,1,0
$STATE,8480,end climb,SURFACE_DEPTH_REACHED
$STATE,8480,begin surface coast
$FREEZE,-0.44,-1.451,-1.859,2,1,0
$FINISH,-0.4,1.027279
$STATE,8509,end surface coast,CONTROL_FINISHED_OK
$STATE,8509,begin surface
$SM_CCo,8529,130.20,0.219,0,0,2404,300.18
$SM_GC,0.50,8.93,0.47,130.20,0.076,0.089,0.219,185,2813,2404,-7.91,-0.45,300.18,0,0,0,0,0,0,14.38,14.44,14.03
$RAFOS_CLK,354
$RAFOS,2,1543104785,0.233333,0.218056,107,63,60,53,53,52,601,189,206,147,134,123
$RAFOS,1,1543104421,0.133333,0.116944,100,71,64,63,56,53,593,191,177,209,162,220
$RAFOS,0,1543104064,0.032778,0.017778,133,69,66,60,59,59,636,147,761,160,196,216
$RAFOS_FIX,-7407.468262,-11310.808594,251118,000056,3,113,2.37
$IRIDIUM_FIX,-7407.96,-11309.85,241118,205048
$TT8_MAMPS,0.038948,0.261401
$HUMID,47.87
$INTERNAL_PRESSURE,7.79246
$TCM_TEMP,13.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,9.9,10.1
$ALTIM_BOTTOM_PING,472.3,10.8
$24V_AH,11.48,179.668
$10V_AH,11.86,0.000
$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,22.900,83.500,258.650,130.200,0.000,0.000,0.000,575.875,20.500,0.000,3.997,0.000,7019.471,628.707,1476.620,435.780,0.000,1562.696,0.000,606.208,720.000,138.348,0.000
$DEVICE_MAMPS,434.520,93.330,2897.820,218.790,0.000,0.000,0.000,216.495,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8488.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.114,0.000,0.000,0.000
$MEM,279988
$DATA_FILE_SIZE,13432,419
$CAP_FILE_SIZE,84799,0
$CFSIZE,1024409600,954499072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.0
$CURRENT,0.077,338.47,1
$GPS,251118,022138,-7407.473,-11318.804,19,1.0,19,53.9,0.3,267.4,7,7.6