version: 66.13
glider: 221
mission: 7
dive: 764
start: 12 31 118 21 8 37
data:
$ID,221
$MISSION,7
$DIVE,764
$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,5
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,311218,181008,-7413.1274,-11229.9609,0,3162.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,394.45
$_SM_ANGLEo,3.8
$GPS2,311218,181008,-7413.1274,-11229.9609,0,3162.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11230.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,127.1,2080,-42.4,-9.429,-43.59,354
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.95,-21.7,2778,2814,3532,3528,0.0,0.0,0,11,0.00,0.00,-0.30,0.295,16390,0.000,0.000,2778,2814,3592,3592,3593,0,0,0,0,0,0,14.77,12.75,14.56
$GC,15,-1.95,-21.7,2778,2814,3596,3598,0.0,0.0,0,22,1.98,0.00,0.00,0.000,4102,0.120,0.000,2145,2813,3594,3596,3593,0,0,0,0,0,0,14.29,14.45,14.40
$GC,321,-1.96,-30.2,2146,2813,3604,3592,415.1,-7.0,31,322,0.00,0.00,-0.12,0.743,16422,0.000,0.000,2146,2813,3626,3632,3621,0,0,0,0,0,0,14.77,12.74,14.26
$GC,621,-1.96,-30.2,2146,2813,3637,3627,439.7,-8.6,61,628,0.00,1.95,0.00,0.000,260,0.000,0.080,2142,3914,3631,3637,3626,0,0,0,0,0,0,14.78,14.29,14.78
$GC,752,-1.96,-30.2,2143,3915,3638,3627,450.7,-8.4,86,758,0.00,1.90,0.00,0.000,1030,0.000,0.041,2142,2770,3632,3637,3627,0,0,0,0,0,0,14.54,14.47,14.56
$GC,1054,-1.96,-30.2,2142,2770,3638,3629,475.4,-8.1,117,1060,0.00,2.33,0.00,0.000,516,0.000,0.044,2142,1405,3632,3637,3627,0,0,0,0,0,0,14.78,14.36,14.78
$GC,1151,-1.96,-30.2,2143,1406,3638,3627,483.0,-7.6,136,1157,0.00,2.47,0.00,0.000,1030,0.000,0.056,2139,2813,3632,3638,3627,0,0,0,0,0,0,14.45,14.34,14.50
$GC,1456,-1.96,-30.2,2139,2813,3639,3626,506.2,-7.8,167,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2813,3632,3637,3627,0,0,0,0,0,0,14.75,14.76,14.76
$GC,1757,-1.96,-30.2,2139,2814,3640,3628,528.9,-7.6,197,1762,0.00,1.95,0.00,0.000,260,0.000,0.078,2133,3913,3632,3638,3627,0,0,0,0,0,0,14.69,14.26,14.69
$GC,1848,-1.96,-30.2,2134,3913,3641,3627,536.5,-8.1,215,1853,0.00,1.85,0.00,0.000,1030,0.000,0.041,2133,2797,3632,3638,3627,0,0,0,0,0,0,14.42,14.35,14.45
$GC,2159,-1.97,-38.7,2133,2798,3638,3628,558.8,-7.0,247,2160,0.00,0.00,0.00,0.000,38,0.000,0.000,2133,2797,3632,3638,3627,0,0,0,0,0,0,14.81,14.81,14.81
$GC,2460,-1.99,-48.0,2133,2798,3638,3628,579.4,-6.7,277,2466,0.00,2.00,0.00,0.000,292,0.000,0.076,2125,3914,3632,3638,3627,0,0,0,0,0,0,14.66,14.23,14.66
$GC,2517,-1.99,-55.0,2125,3914,3639,3626,583.6,-7.4,288,2523,0.00,1.88,0.00,0.000,1062,0.000,0.041,2125,2788,3631,3637,3626,0,0,0,0,0,0,14.47,14.42,14.52
$GC,2822,-2.01,-64.5,2124,2788,3634,3627,604.1,-6.7,319,2828,0.00,2.03,0.00,0.000,292,0.000,0.073,2118,3921,3631,3637,3626,0,0,0,0,0,0,14.78,14.23,14.78
$GC,2859,-2.01,-64.5,2118,3921,3639,3625,606.8,-7.4,326,2865,0.00,1.90,0.00,0.000,1030,0.000,0.041,2119,2785,3631,3637,3625,0,0,0,0,0,0,14.47,14.42,14.50
$GC,3164,-2.02,-75.1,2119,2785,3638,3626,627.5,-6.3,357,3170,0.00,2.03,0.00,0.000,292,0.000,0.074,2112,3913,3631,3637,3625,0,0,0,0,0,0,14.76,14.21,14.76
$GC,3231,-2.03,-84.2,2112,3914,3638,3625,631.9,-6.8,370,3237,0.00,1.88,0.00,0.000,1062,0.000,0.041,2111,2790,3631,3638,3624,0,0,0,0,0,0,14.45,14.39,14.47
$GC,3536,-2.04,-94.8,2112,2791,3639,3624,652.1,-6.4,401,3542,0.00,2.40,0.00,0.000,548,0.000,0.043,2111,1390,3630,3637,3624,0,0,0,0,0,0,14.76,14.26,14.76
$GC,3646,-2.06,-106.4,2112,1390,3639,3624,658.6,-6.1,422,3652,0.00,2.50,0.00,0.000,1062,0.000,0.054,2101,2810,3630,3637,3624,0,0,0,0,0,0,14.39,14.28,14.42
$GC,3948,-2.06,-107.1,2102,2810,3639,3623,677.0,-6.1,453,3949,0.00,0.00,0.00,0.000,38,0.000,0.000,2101,2810,3628,3636,3620,0,0,0,0,0,0,14.81,14.81,14.81
$GC,4248,-2.06,-107.1,2102,2811,3639,3623,693.1,-5.0,483,4253,0.00,1.98,0.00,0.000,292,0.000,0.076,2099,3915,3629,3637,3622,0,0,0,0,0,0,14.79,14.12,14.80
$GC,4479,-2.06,-107.1,2099,3916,3638,3623,704.6,-4.8,529,4486,0.00,1.88,0.00,0.000,1062,0.000,0.042,2099,2797,3629,3637,3621,0,0,0,0,0,0,14.43,14.38,14.47
$GC,4855,-2.06,-107.1,2098,2797,3639,3622,719.4,-3.7,543,4860,0.00,2.03,0.00,0.000,292,0.000,0.074,2090,3915,3629,3637,3621,0,0,0,0,0,0,14.75,14.15,14.75
$GC,5087,-2.06,-107.1,2091,3915,3639,3622,727.9,-3.8,589,5092,0.00,1.90,0.00,0.000,1062,0.000,0.042,2089,2783,3629,3637,3621,0,0,0,0,0,0,14.41,14.35,14.43
$GC,5459,-2.06,-107.1,2093,2785,3638,3623,738.7,-2.6,603,5464,0.00,2.05,0.00,0.000,292,0.000,0.073,2082,3912,3629,3637,3621,0,0,0,0,0,0,14.79,14.12,14.79
$GC,5690,-2.06,-107.1,2082,3912,3638,3621,744.1,-2.8,649,5696,0.15,1.88,0.00,0.000,3110,0.344,0.041,2109,2795,3633,3637,3629,0,0,0,0,0,0,13.66,14.34,14.09
$GC,6063,-2.06,-107.1,2109,2795,3639,3621,751.9,-2.1,663,6068,0.00,2.42,0.00,0.000,548,0.000,0.043,2109,1391,3629,3638,3621,0,0,0,0,0,0,14.76,13.98,14.77
$GC,6294,-2.06,-107.1,2109,1391,3638,3621,756.2,-1.7,709,6300,0.00,2.50,0.00,0.000,1062,0.000,0.054,2103,2804,3629,3637,3621,0,0,0,0,0,0,14.32,14.19,14.35
$GC,6666,-2.06,-107.1,2100,2804,3639,3621,761.4,-1.3,723,6671,0.00,2.42,0.00,0.000,548,0.000,0.041,2100,1399,3629,3637,3621,0,0,0,0,0,0,14.70,14.22,14.71
$GC,6897,-2.06,-107.1,2100,1400,3638,3622,764.0,-1.0,769,6903,0.00,2.50,0.00,0.000,1062,0.000,0.054,2089,2812,3629,3637,3621,0,0,0,0,0,0,14.24,14.12,14.28
$STATE,7085,end dive,NO_VERTICAL_VELOCITY
$STATE,7085,begin apogee
$PING,765.3,31.0,9000.0,0.00,0.00
$GC,7093,-0.23,0.0,2090,2535,3638,3622,765.7,0.0,777,7140,2.67,0.00,42.50,3.016,10246,0.327,0.000,2697,2534,3492,3498,3487,0,0,0,0,0,0,13.81,14.02,12.76
$STATE,7141,end apogee,CONTROL_FINISHED_OK
$STATE,7141,begin climb
$GC,7144,2.06,107.1,2697,2535,3498,3487,765.3,0.0,778,7288,2.38,2.90,129.38,3.073,10500,0.113,0.086,3434,3904,3063,3083,3044,0,0,0,0,0,0,13.88,12.69,11.49
$GC,7352,2.06,107.1,3434,3905,3079,3039,722.7,31.2,817,7357,0.00,2.58,0.00,0.000,1030,0.000,0.050,3445,2562,3061,3079,3043,0,0,0,0,0,0,13.07,13.00,13.09
$GC,7721,2.06,107.1,3446,2563,3075,3034,616.7,28.0,851,7730,0.00,2.53,0.00,0.000,516,0.000,0.063,3456,1140,3051,3070,3032,0,0,0,0,0,0,14.46,14.03,14.46
$GC,7746,2.06,107.1,3456,1141,3071,3033,608.9,27.8,855,7753,0.00,2.53,0.00,0.000,1030,0.000,0.066,3456,2552,3051,3071,3032,0,0,0,0,0,0,14.19,14.11,14.22
$GC,8059,2.06,107.1,3456,2552,3072,3032,522.1,27.0,887,8060,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2552,3051,3071,3032,0,0,0,0,0,0,14.78,14.78,14.78
$GC,8359,2.06,107.1,3456,2553,3071,3033,442.1,27.0,917,8364,0.00,2.50,0.00,0.000,516,0.000,0.062,3466,1137,3051,3071,3031,0,0,0,0,0,0,14.81,14.37,14.81
$GC,8395,2.06,107.1,3466,1138,3071,3033,432.8,26.1,924,8403,0.17,2.53,0.00,0.000,5126,0.372,0.066,3435,2556,3051,3071,3032,0,0,0,0,0,0,13.90,14.39,14.40
$FREEZE,398.32,-1.373,-2.175,2,5,0
$STATE,8527,end climb,FINISH_DEPTH_REACHED
$STATE,8527,begin subsurface finish
$FINISH1,398.3,1.027500,0
$GC,8535,0.00,0.0,3435,2557,3071,3033,398.3,25.4,938,8542,2.75,0.00,-1.90,0.047,20486,0.334,0.000,2779,2557,3512,3515,3509,0,0,0,0,0,0,14.04,12.83,14.45
$FINISH2,396.0
$STATE,8542,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8542,begin surface
$RAFOS_CLK,348
$RAFOS,2,1546290786,21.232241,21.218334,150,66,59,57,54,53,572,213,202,192,145,178
$RAFOS_FIX,-7415.113281,-11230.241211,311218,212144,2,154,0.33
$IRIDIUM_FIX,-7410.06,-11230.52,311218,020608
$TT8_MAMPS,0.038948,0.669606
$HUMID,50.59
$INTERNAL_PRESSURE,7.92918
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,11.49,240.056
$10V_AH,11.87,0.000
$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,10.100,67.075,171.875,0.000,0.000,0.000,0.000,0.000,26.500,0.000,0.000,0.000,6255.719,251.778,1891.032,257.914,0.000,941.300,0.000,1343.539,240.000,194.765,0.000
$DEVICE_MAMPS,371.790,86.445,3073.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8570.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.117,0.000,0.000,0.000
$MEM,279756
$DATA_FILE_SIZE,30022,939
$CAP_FILE_SIZE,100071,0
$CFSIZE,1024409600,929447936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$GPS,311218,211544,-7415.113,-11230.241,0,3154.0,0,53.5,0.0,0.0,0,0.0