version: 66.13
glider: 221
mission: 7
dive: 675
start: 12 15 118 7 10 3
data:
$ID,221
$MISSION,7
$DIVE,675
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,400
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,350
$T_MISSION,390
$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,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,20
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0042300001
$HD_B,0.0085000005
$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,399.91037
$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,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2775
$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,30
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3492
$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,7
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,6
$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
$GPS1,151218,061528,-7411.9082,-11228.0283,0,4116.0,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,395.06
$_SM_ANGLEo,4.9
$GPS2,151218,061528,-7411.9082,-11228.0283,0,4116.0,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11230.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,139.5,4449,-22.0,-9.429,-23.99,1338
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-1.10,-82.3,2780,2797,3536,3537,0.0,0.0,0,15,0.00,0.00,-1.25,0.072,16390,0.000,0.000,2780,2795,3839,3834,3845,0,0,0,0,0,0,14.83,12.69,14.73
$GC,19,-1.10,-82.3,2780,2796,3844,3853,0.0,0.0,0,25,1.15,2.40,0.00,0.000,4612,0.138,0.045,2423,1387,3848,3843,3854,0,0,0,0,0,0,14.20,14.38,14.31
$GC,66,-1.13,-107.1,2423,1386,3851,3857,397.2,-5.7,9,73,0.00,2.55,-0.35,0.265,17446,0.000,0.063,2417,2815,3940,3936,3945,0,0,0,0,0,0,14.51,14.38,14.56
$GC,371,-1.13,-107.1,2423,2815,3947,3954,423.8,-9.3,40,376,0.00,2.00,0.00,0.000,260,0.000,0.087,2419,3916,3950,3946,3954,0,0,0,0,0,0,14.86,14.28,14.85
$GC,417,-1.13,-107.1,2420,3916,3947,3954,428.4,-10.2,49,424,0.00,1.90,0.00,0.000,1030,0.000,0.047,2419,2790,3950,3946,3954,0,0,0,0,0,0,14.57,14.50,14.60
$GC,722,-1.13,-107.1,2419,2791,3947,3955,456.0,-8.6,80,727,0.00,2.42,0.00,0.000,516,0.000,0.046,2419,1390,3951,3947,3955,0,0,0,0,0,0,14.90,14.38,14.90
$GC,753,-1.13,-107.1,2420,1390,3949,3955,458.7,-8.9,86,758,0.00,2.55,0.00,0.000,1030,0.000,0.063,2417,2814,3951,3947,3955,0,0,0,0,0,0,14.41,14.28,14.46
$GC,1064,-1.13,-107.1,2417,2814,3947,3956,485.4,-8.6,118,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2814,3951,3947,3956,0,0,0,0,0,0,14.91,14.91,14.93
$GC,1363,-1.13,-107.1,2417,2814,3948,3955,511.0,-8.4,148,1368,0.00,2.50,0.00,0.000,516,0.000,0.046,2417,1391,3951,3947,3956,0,0,0,0,0,0,14.92,14.21,14.92
$GC,1405,-1.13,-107.1,2418,1390,3949,3956,514.5,-8.7,156,1410,0.00,2.55,0.00,0.000,1030,0.000,0.063,2413,2813,3951,3947,3956,0,0,0,0,0,0,14.45,14.31,14.50
$GC,1716,-1.13,-107.1,2412,2813,3949,3956,541.9,-8.8,188,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2813,3951,3947,3955,0,0,0,0,0,0,14.90,14.90,14.90
$GC,2016,-1.13,-107.1,2411,2814,3948,3957,568.2,-9.0,218,2021,0.00,2.47,0.00,0.000,516,0.000,0.047,2412,1394,3951,3947,3955,0,0,0,0,0,0,14.86,14.34,14.86
$GC,2051,-1.13,-107.1,2413,1394,3949,3956,571.5,-8.8,225,2058,0.00,2.55,0.00,0.000,1030,0.000,0.065,2411,2814,3951,3947,3955,0,0,0,0,0,0,14.45,14.31,14.48
$GC,2356,-1.13,-107.1,2409,2818,3948,3956,599.8,-9.2,256,2362,0.00,2.03,0.00,0.000,260,0.000,0.087,2407,3919,3951,3947,3956,0,0,0,0,0,0,14.90,14.22,14.90
$GC,2387,-1.13,-107.1,2407,3919,3948,3956,602.7,-9.9,262,2393,0.00,1.92,0.00,0.000,1030,0.000,0.047,2407,2793,3951,3947,3956,0,0,0,0,0,0,14.52,14.45,14.54
$GC,2698,-1.13,-107.1,2407,2794,3948,3956,630.2,-8.8,294,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2793,3951,3947,3955,0,0,0,0,0,0,14.91,14.92,14.92
$GC,2998,-1.13,-107.1,2407,2793,3948,3954,656.3,-8.6,324,3003,0.00,2.45,0.00,0.000,516,0.000,0.046,2407,1391,3950,3947,3954,0,0,0,0,0,0,14.92,14.33,14.92
$GC,3044,-1.13,-107.1,2407,1391,3948,3953,660.4,-8.8,333,3051,0.00,2.58,0.00,0.000,1030,0.000,0.063,2400,2807,3950,3947,3954,0,0,0,0,0,0,14.31,14.17,14.35
$GC,3349,-1.13,-107.1,2400,2807,3949,3952,687.5,-8.6,364,3354,0.00,2.50,0.00,0.000,516,0.000,0.047,2400,1387,3950,3947,3953,0,0,0,0,0,0,14.92,14.33,14.92
$GC,3380,-1.13,-107.1,2401,1387,3948,3952,690.2,-8.5,370,3385,0.00,2.55,0.00,0.000,1030,0.000,0.065,2397,2803,3948,3947,3950,0,0,0,0,0,0,14.42,14.28,14.46
$GC,3712,-1.13,-107.1,2399,2803,3948,3953,719.1,-8.8,390,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2803,3950,3947,3953,0,0,0,0,0,0,14.74,14.75,14.74
$GC,4072,-1.13,-107.1,2398,2804,3947,3954,749.9,-8.6,402,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2803,3950,3947,3953,0,0,0,0,0,0,14.75,14.75,14.75
$GC,4432,-1.13,-107.1,2398,2804,3948,3954,780.3,-8.1,414,4437,0.00,2.47,0.00,0.000,516,0.000,0.046,2398,1389,3950,3947,3953,0,0,0,0,0,0,14.74,14.31,14.74
$GC,4468,-1.13,-107.1,2398,1389,3948,3954,783.4,-8.5,421,4474,0.00,2.58,0.00,0.000,1030,0.000,0.064,2398,2814,3950,3947,3953,0,0,0,0,0,0,14.34,14.18,14.40
$GC,4857,-1.13,-107.1,2398,2814,3946,3953,815.0,-8.0,438,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2814,3950,3947,3953,0,0,0,0,0,0,14.85,14.85,14.85
$GC,5214,-1.13,-107.1,2398,2814,3948,3952,843.8,-8.1,450,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2814,3950,3947,3953,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5574,-1.13,-107.1,2398,2815,3947,3954,872.5,-7.7,462,5579,0.00,2.50,0.00,0.000,516,0.000,0.046,2398,1385,3948,3947,3949,0,0,0,0,0,0,14.88,14.27,14.88
$GC,5640,-1.13,-107.1,2399,1385,3948,3952,877.7,-6.9,475,5645,0.00,2.58,0.00,0.000,1062,0.000,0.065,2397,2809,3950,3947,3953,0,0,0,0,0,0,14.35,14.22,14.40
$GC,6029,-1.13,-107.1,2398,2810,3948,3953,907.1,-7.8,492,6033,0.00,2.47,0.00,0.000,516,0.000,0.046,2398,1397,3949,3946,3952,0,0,0,0,0,0,14.86,14.28,14.86
$GC,6069,-1.13,-107.1,2398,1397,3948,3953,910.5,-9.1,500,6074,0.00,2.55,0.00,0.000,1030,0.000,0.064,2393,2807,3950,3947,3953,0,0,0,0,0,0,14.38,14.23,14.42
$GC,6452,-1.13,-107.1,2390,2805,3948,3953,941.7,-8.2,516,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2807,3950,3947,3953,0,0,0,0,0,0,14.88,14.88,14.88
$PING,961.0,53.4,9000.0,0.00,0.00
$GC,6810,-1.13,-107.1,2394,2808,3947,3954,970.5,-7.8,528,6816,0.00,2.50,0.00,0.000,516,0.000,0.045,2394,1390,3950,3947,3953,0,0,0,0,0,0,14.88,14.26,14.87
$PING,974.6,40.3,9000.0,0.00,0.00
$GC,6881,-1.13,-107.1,2394,1391,3948,3954,976.1,-7.7,542,6886,0.00,2.58,0.00,0.000,1030,0.000,0.063,2385,2816,3950,3947,3953,0,0,0,0,0,0,14.37,14.22,14.41
$PING,989.4,31.3,9000.0,-0.78,0.98
$STATE,7079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7079,begin apogee
$GC,7086,-0.23,0.0,2386,2533,3948,3954,991.9,-7.8,552,7225,1.20,0.00,135.90,3.096,10246,0.232,0.000,2699,2532,3492,3498,3486,0,0,0,0,0,0,13.81,13.14,11.74
$STATE,7226,end apogee,CONTROL_FINISHED_OK
$STATE,7226,begin climb
$GC,7229,1.13,107.1,2700,2532,3499,3486,993.6,0.0,556,7374,1.48,0.00,141.82,3.097,10246,0.109,0.000,3138,2531,3066,3077,3055,0,0,0,0,0,0,13.19,12.26,10.84
$GC,7712,1.13,107.1,3138,2531,3066,3044,921.4,16.4,573,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2531,3055,3067,3044,0,0,0,0,0,0,14.54,14.54,14.55
$GC,8075,1.13,107.1,3138,2532,3065,3044,862.3,16.2,585,8084,0.00,2.50,0.00,0.000,260,0.000,0.087,3138,3910,3054,3065,3043,0,0,0,0,0,0,14.90,14.32,14.86
$GC,8099,1.13,107.1,3137,3911,3065,3044,857.3,17.9,589,8105,0.00,2.33,0.00,0.000,1030,0.000,0.047,3147,2536,3055,3065,3045,0,0,0,0,0,0,14.65,14.58,14.67
$GC,8471,1.13,107.1,3148,2537,3065,3042,796.0,16.4,603,8479,0.00,2.42,0.00,0.000,516,0.000,0.060,3158,1150,3057,3064,3050,0,0,0,0,0,0,14.92,14.44,14.92
$GC,8495,1.13,107.1,3158,1151,3064,3042,792.0,16.7,607,8500,0.00,2.50,0.00,0.000,1030,0.000,0.064,3158,2555,3052,3063,3042,0,0,0,0,0,0,14.52,14.38,14.55
$GC,8869,1.13,107.1,3158,2556,3064,3042,728.9,17.3,621,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2555,3052,3063,3041,0,0,0,0,0,0,14.89,14.89,14.89
$GC,9226,1.13,107.1,3158,2556,3063,3042,668.9,16.0,645,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2555,3052,3063,3041,0,0,0,0,0,0,14.90,14.90,14.91
$GC,9526,1.13,107.1,3158,2556,3063,3042,620.6,16.0,675,9531,0.00,2.47,0.00,0.000,516,0.000,0.060,3167,1159,3052,3063,3041,0,0,0,0,0,0,14.90,14.38,14.90
$GC,9552,1.13,107.1,3168,1160,3064,3041,616.5,15.8,680,9558,0.00,2.47,0.00,0.000,1030,0.000,0.063,3168,2555,3051,3062,3041,0,0,0,0,0,0,14.54,14.40,14.59
$GC,9858,1.13,107.1,3168,2555,3064,3041,567.8,15.8,711,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2555,3050,3063,3038,0,0,0,0,0,0,14.82,14.82,14.82
$GC,10158,1.13,107.1,3168,2555,3064,3039,520.2,15.7,741,10159,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2555,3052,3063,3041,0,0,0,0,0,0,14.90,14.89,14.89
$GC,10458,1.13,107.1,3168,2556,3063,3042,473.1,15.4,771,10463,0.00,2.47,0.00,0.000,260,0.000,0.089,3168,3913,3052,3063,3041,0,0,0,0,0,0,14.78,14.31,14.78
$GC,10484,1.13,107.1,3168,3913,3064,3041,468.6,16.7,776,10490,0.17,2.33,0.00,0.000,5126,0.323,0.048,3143,2545,3052,3063,3041,0,0,0,0,0,0,13.88,14.46,14.32
$GC,10789,1.13,107.1,3143,2546,3064,3042,425.3,13.8,807,10795,0.00,2.45,0.00,0.000,516,0.000,0.060,3153,1144,3052,3063,3041,0,0,0,0,0,0,14.92,14.26,14.92
$GC,10811,1.13,107.1,3152,1144,3064,3042,422.3,13.2,811,10816,0.00,2.53,0.00,0.000,1030,0.000,0.063,3152,2566,3051,3063,3040,0,0,0,0,0,0,14.52,14.38,14.57
$FREEZE,399.01,-1.521,-2.176,2,2,0
$STATE,10971,end climb,FINISH_DEPTH_REACHED
$STATE,10971,begin subsurface finish
$FINISH1,399.0,1.027511,-1
$GC,10978,-0.00,-0.6,3153,2568,3064,3042,399.0,14.6,828,10988,1.40,0.00,-1.83,0.060,20486,0.246,0.000,2780,2566,3522,3522,3522,0,0,0,0,0,0,13.95,12.77,14.19
$FINISH2,397.3
$STATE,10989,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10989,begin surface
$RAFOS_CLK,451
$RAFOS,2,1544865184,9.232242,9.217778,133,64,58,58,52,50,569,185,215,197,165,131
$RAFOS,1,1544864823,9.132667,9.117500,59,58,57,56,54,53,143,161,207,180,191,216
$RAFOS,0,1544864461,9.032354,9.016945,165,62,58,57,54,54,550,213,201,159,128,138
$RAFOS_FIX,-7412.992188,-11222.774414,151218,090940,2,149,0.31
$IRIDIUM_FIX,-7410.85,-11223.24,141218,223050
$TT8_MAMPS,0.038948,0.435169
$HUMID,50.74
$INTERNAL_PRESSURE,7.93895
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,10.84,213.061
$10V_AH,11.34,0.000
$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,5.400,85.050,277.725,0.000,0.000,0.000,0.000,0.000,41.750,0.000,0.000,0.000,8650.271,390.072,1806.109,256.071,0.000,1008.201,0.000,1189.909,720.000,309.409,0.000
$DEVICE_MAMPS,322.830,88.740,3096.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11016.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.650,0.000,0.000,0.000
$MEM,279900
$DATA_FILE_SIZE,26664,829
$CAP_FILE_SIZE,110609,0
$CFSIZE,1024409600,940408832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.2
$GPS,151218,091440,-7412.992,-11222.774,0,3149.0,0,53.4,0.0,0.0,0,0.0