version: 66.13
glider: 221
mission: 7
dive: 678
start: 12 15 118 16 49 13
data:
$ID,221
$MISSION,7
$DIVE,678
$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,41
$R_STBD_OVSHOOT,23
$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
$GPS1,151218,151512,-7413.7637,-11233.2910,0,4133.0,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,395.99
$_SM_ANGLEo,5.0
$GPS2,151218,151512,-7413.7637,-11233.2910,0,4133.0,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11230.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,65.1,1885,-43.8,-9.429,-45.00,333
$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,-2.02,-20.4,2780,2795,3536,3536,0.0,0.0,0,14,0.00,0.00,-0.25,0.351,16390,0.000,0.000,2779,2794,3586,3584,3589,0,0,0,0,0,0,14.84,12.69,14.57
$GC,18,-2.02,-20.4,2780,2795,3589,3592,0.0,0.0,0,24,2.00,2.05,0.00,0.000,4356,0.112,0.086,2121,3917,3589,3589,3589,0,0,0,0,0,0,14.35,14.33,14.52
$GC,215,-2.03,-27.1,2121,3918,3597,3586,408.8,-7.4,39,222,0.00,1.90,-0.10,0.925,17446,0.000,0.038,2121,2773,3615,3621,3610,0,0,0,0,0,0,14.59,14.54,14.07
$GC,520,-2.03,-27.1,2122,2772,3626,3614,431.3,-7.5,70,525,0.00,2.05,0.00,0.000,260,0.000,0.075,2117,3923,3619,3624,3614,0,0,0,0,0,0,14.91,14.34,14.92
$GC,736,-2.03,-27.1,2117,3924,3625,3615,448.4,-7.5,113,742,0.00,1.88,0.00,0.000,1030,0.000,0.040,2116,2786,3619,3625,3614,0,0,0,0,0,0,14.57,14.52,14.60
$GC,1041,-2.04,-35.7,2117,2786,3626,3615,470.3,-6.8,144,1046,0.00,2.03,-0.10,0.925,16676,0.000,0.098,2114,3919,3651,3656,3646,0,0,0,0,0,0,14.87,12.86,14.14
$GC,1122,-2.04,-35.7,2114,3919,3660,3647,477.2,-9.5,160,1127,0.00,1.88,0.00,0.000,1030,0.000,0.038,2114,2787,3653,3659,3648,0,0,0,0,0,0,14.58,14.52,14.61
$GC,1433,-2.04,-35.7,2114,2788,3661,3649,504.7,-8.4,192,1438,0.00,2.38,0.00,0.000,516,0.000,0.041,2114,1404,3654,3659,3649,0,0,0,0,0,0,14.92,14.33,14.92
$GC,1566,-2.04,-35.7,2114,1405,3661,3650,515.6,-8.3,218,1572,0.00,2.45,0.00,0.000,1030,0.000,0.056,2112,2802,3654,3660,3649,0,0,0,0,0,0,14.40,14.34,14.44
$GC,1878,-2.04,-35.7,2112,2803,3660,3650,540.9,-8.1,250,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2802,3654,3660,3649,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2178,-2.04,-35.7,2112,2803,3661,3650,564.9,-7.8,280,2183,0.00,1.98,0.00,0.000,260,0.000,0.076,2110,3916,3654,3659,3649,0,0,0,0,0,0,14.92,14.22,14.92
$GC,2234,-2.04,-35.7,2110,3916,3661,3649,569.5,-8.2,291,2240,0.00,1.88,0.00,0.000,1030,0.000,0.040,2110,2795,3654,3660,3648,0,0,0,0,0,0,14.52,14.44,14.54
$GC,2540,-2.04,-42.3,2111,2795,3661,3649,592.7,-7.4,322,2545,0.00,2.38,0.00,0.000,548,0.000,0.042,2109,1404,3654,3660,3649,0,0,0,0,0,0,14.78,14.39,14.78
$GC,2674,-2.06,-51.7,2111,1404,3661,3649,602.0,-6.5,348,2679,0.00,2.50,0.00,0.000,1062,0.000,0.054,2102,2813,3654,3660,3649,0,0,0,0,0,0,14.35,14.23,14.38
$GC,2985,-2.07,-59.2,2102,2814,3661,3650,623.7,-7.1,380,2986,0.00,0.00,0.00,0.000,38,0.000,0.000,2102,2813,3654,3660,3648,0,0,0,0,0,0,14.76,14.76,14.76
$GC,3285,-2.08,-69.0,2102,2813,3661,3648,643.4,-6.4,410,3289,0.00,1.95,0.00,0.000,292,0.000,0.076,2097,3909,3653,3660,3647,0,0,0,0,0,0,14.86,14.28,14.87
$GC,3435,-2.09,-77.2,2097,3910,3659,3648,653.3,-6.9,440,3440,0.00,1.88,0.00,0.000,1062,0.000,0.040,2097,2787,3653,3660,3647,0,0,0,0,0,0,14.52,14.45,14.54
$GC,3746,-2.10,-89.7,2098,2787,3661,3647,671.9,-5.6,472,3751,0.00,2.38,0.00,0.000,548,0.000,0.041,2097,1396,3653,3660,3647,0,0,0,0,0,0,14.86,14.35,14.86
$GC,3837,-2.12,-103.5,2098,1396,3661,3647,676.8,-5.2,490,3842,0.00,2.47,0.00,0.000,1062,0.000,0.054,2088,2806,3653,3660,3647,0,0,0,0,0,0,14.47,14.34,14.50
$GC,4148,-2.12,-107.1,2088,2807,3661,3648,693.5,-5.1,522,4149,0.00,0.00,0.00,0.000,38,0.000,0.000,2088,2805,3653,3659,3647,0,0,0,0,0,0,14.91,14.91,14.91
$GC,4460,-2.12,-107.1,2088,2807,3660,3647,709.2,-5.0,541,4461,0.00,0.00,0.00,0.000,38,0.000,0.000,2088,2806,3653,3660,3646,0,0,0,0,0,0,14.83,14.83,14.83
$GC,4819,-2.12,-107.1,2088,2807,3660,3647,727.1,-4.8,553,4825,0.00,1.98,0.00,0.000,292,0.000,0.075,2080,3917,3653,3660,3646,0,0,0,0,0,0,14.75,14.25,14.75
$GC,4896,-2.12,-107.1,2081,3918,3660,3648,731.0,-5.2,568,4900,0.00,1.90,0.00,0.000,1062,0.000,0.039,2081,2784,3652,3660,3645,0,0,0,0,0,0,14.50,14.44,14.52
$GC,5274,-2.12,-107.1,2081,2785,3661,3646,749.5,-4.8,583,5279,0.00,2.03,0.00,0.000,292,0.000,0.073,2073,3915,3654,3659,3649,0,0,0,0,0,0,14.83,14.23,14.84
$GC,5373,-2.12,-107.1,2073,3915,3654,3646,754.2,-4.0,602,5378,0.00,1.88,0.00,0.000,1062,0.000,0.039,2073,2785,3652,3660,3645,0,0,0,0,0,0,14.44,14.44,14.44
$GC,5762,-2.12,-107.1,2074,2785,3661,3646,770.9,-4.2,619,5767,0.00,2.38,0.00,0.000,548,0.000,0.040,2072,1391,3652,3660,3645,0,0,0,0,0,0,14.76,14.35,14.77
$GC,5911,-2.12,-107.1,2073,1393,3660,3646,776.8,-4.0,648,5920,0.00,2.50,0.00,0.000,1062,0.000,0.054,2071,2810,3653,3660,3646,0,0,0,0,0,0,14.42,14.31,14.46
$GC,6274,-2.12,-107.1,2074,2807,3662,3646,790.4,-3.6,661,6280,0.00,1.98,0.00,0.000,292,0.000,0.073,2063,3910,3653,3660,3646,0,0,0,0,0,0,14.76,14.11,14.76
$GC,6505,-2.12,-107.1,2062,3911,3661,3646,798.8,-3.2,707,6511,0.15,1.88,0.00,0.000,3110,0.350,0.040,2091,2791,3652,3660,3645,0,0,0,0,0,0,13.67,14.42,14.12
$GC,6880,-2.12,-107.1,2091,2792,3661,3646,809.5,-2.6,721,6886,0.00,2.00,0.00,0.000,292,0.000,0.073,2082,3910,3653,3660,3646,0,0,0,0,0,0,14.73,14.22,14.74
$GC,7112,-2.12,-107.1,2083,3910,3661,3646,815.9,-2.7,767,7117,0.00,1.85,0.00,0.000,1062,0.000,0.039,2083,2797,3653,3660,3646,0,0,0,0,0,0,14.50,14.45,14.52
$GC,7483,-2.12,-107.1,2082,2798,3660,3648,824.4,-2.1,781,7489,0.00,2.00,0.00,0.000,292,0.000,0.073,2074,3913,3653,3660,3646,0,0,0,0,0,0,14.87,14.14,14.87
$GC,7715,-2.12,-107.1,2074,3914,3660,3646,829.9,-1.3,827,7720,0.00,1.90,0.00,0.000,1062,0.000,0.039,2081,2785,3653,3661,3645,0,0,0,0,0,0,14.50,14.43,14.51
$GC,8086,-2.12,-107.1,2081,2787,3660,3647,837.4,-1.8,841,8092,0.00,2.03,0.00,0.000,292,0.000,0.073,2072,3916,3652,3659,3646,0,0,0,0,0,0,14.86,14.21,14.87
$GC,8317,-2.12,-107.1,2072,3917,3660,3647,841.7,-1.9,887,8322,0.00,1.88,0.00,0.000,1062,0.000,0.040,2076,2791,3653,3660,3646,0,0,0,0,0,0,14.50,14.43,14.51
$GC,8688,-2.12,-107.1,2076,2792,3661,3641,847.6,-1.6,901,8694,0.00,2.00,0.00,0.000,292,0.000,0.072,2068,3907,3652,3659,3646,0,0,0,0,0,0,14.88,14.21,14.88
$GC,8920,-2.12,-107.1,2068,3908,3661,3646,851.2,-1.6,947,8925,0.00,1.88,0.00,0.000,1062,0.000,0.039,2067,2782,3653,3660,3646,0,0,0,0,0,0,14.50,14.44,14.52
$STATE,9137,end dive,NO_VERTICAL_VELOCITY
$STATE,9137,begin apogee
$GC,9145,-0.23,0.0,2066,2537,3661,3646,853.0,0.0,956,9202,2.75,0.00,48.92,3.032,10246,0.323,0.000,2696,2538,3491,3497,3486,0,0,0,0,0,0,13.79,13.97,12.58
$STATE,9203,end apogee,CONTROL_FINISHED_OK
$STATE,9203,begin climb
$PING,846.2,35.6,9000.0,0.00,0.00
$GC,9206,2.12,107.1,2697,2538,3498,3486,853.0,0.0,958,9347,2.38,2.83,126.55,3.092,10500,0.106,0.086,3458,3896,3064,3085,3043,0,0,0,0,0,0,14.07,12.97,11.60
$GC,9383,2.12,107.1,3458,3896,3083,3039,815.8,32.6,991,9388,0.00,2.53,0.00,0.000,1030,0.000,0.050,3467,2556,3060,3081,3039,0,0,0,0,0,0,13.43,13.35,13.44
$GC,9760,2.12,107.1,3468,2556,3075,3032,701.3,30.2,1006,9765,0.00,2.47,0.00,0.000,516,0.000,0.063,3478,1147,3052,3073,3032,0,0,0,0,0,0,14.78,14.38,14.79
$GC,9801,2.12,107.1,3479,1148,3074,3032,689.1,28.9,1014,9807,0.00,2.47,0.00,0.000,1030,0.000,0.067,3478,2551,3052,3073,3032,0,0,0,0,0,0,14.51,14.43,14.55
$GC,10113,2.12,107.1,3478,2553,3073,3032,596.0,29.5,1046,10118,0.00,2.50,0.00,0.000,516,0.000,0.063,3488,1141,3051,3072,3031,0,0,0,0,0,0,14.89,14.45,14.91
$GC,10175,2.12,107.1,3488,1141,3073,3032,578.4,28.9,1058,10180,0.17,2.53,0.00,0.000,5126,0.358,0.067,3456,2569,3051,3072,3031,0,0,0,0,0,0,13.94,14.42,14.42
$GC,10486,2.12,107.1,3457,2570,3073,3032,491.0,27.5,1090,10492,0.00,2.50,0.00,0.000,516,0.000,0.067,3471,1152,3051,3072,3031,0,0,0,0,0,0,14.92,14.38,14.92
$GC,10508,2.12,107.1,3467,1152,3073,3031,484.7,28.1,1094,10513,0.00,2.50,0.00,0.000,1030,0.000,0.067,3467,2555,3051,3071,3031,0,0,0,0,0,0,14.59,14.47,14.64
$FREEZE,399.74,-0.924,-2.178,2,5,0
$STATE,10818,end climb,FINISH_DEPTH_REACHED
$STATE,10820,begin subsurface finish
$FINISH1,399.7,1.027512,-1
$GC,10827,-0.00,-0.6,3467,2556,3073,3033,399.7,26.5,1126,10839,2.95,2.50,-1.88,0.048,20996,0.338,0.079,2788,1145,3517,3520,3515,0,0,0,0,0,0,14.00,13.04,14.45
$FINISH2,395.6
$STATE,10839,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10839,begin surface
$RAFOS_CLK,436
$RAFOS,2,1544897582,18.232241,18.217222,144,58,56,53,53,48,585,190,206,222,112,126
$RAFOS,1,1544897220,18.132666,18.116667,130,66,55,54,52,51,553,192,153,219,77,124
$RAFOS,0,1544896859,18.032354,18.016388,139,61,61,56,53,53,577,215,142,226,184,159
$RAFOS_FIX,-7414.073730,-11234.786133,151218,181824,3,138,0.09
$IRIDIUM_FIX,-7410.85,-11223.24,141218,223050
$TT8_MAMPS,0.03745,0.572985
$HUMID,49.64
$INTERNAL_PRESSURE,7.95848
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,11.60,213.877
$10V_AH,12.02,0.000
$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,10.400,91.175,175.475,0.000,0.000,0.000,0.000,0.000,32.250,0.000,0.000,0.000,8140.434,273.988,2282.520,271.136,0.000,1098.287,0.000,1610.978,720.000,234.671,0.000
$DEVICE_MAMPS,358.020,97.920,3092.130,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10881.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.666,0.000,0.000,0.000
$MEM,279804
$DATA_FILE_SIZE,36624,1128
$CAP_FILE_SIZE,121010,0
$CFSIZE,1024409600,940015616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.7
$GPS,151218,181424,-7414.074,-11234.786,0,4137.7,0,53.4,0.0,0.0,0,0.0