version: 66.13
glider: 221
mission: 7
dive: 795
start: 1 5 119 16 36 21
data:
$ID,221
$MISSION,7
$DIVE,795
$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,280
$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,37
$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
$GPS1,050119,151512,-7430.5645,-11206.5693,0,4121.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,366.77
$_SM_ANGLEo,4.1
$GPS2,050119,151512,-7430.5645,-11206.5693,0,4121.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideE
$TGT_LATLONG,-7430.000,-11150.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,29.3,8267,-19.3,-9.429,-21.50,1737
$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,11,-1.01,-107.1,2781,2803,3529,3524,0.0,0.0,0,13,0.00,0.00,-1.75,0.054,16390,0.000,0.000,2780,2803,3939,3932,3946,0,0,0,0,0,0,14.67,12.38,14.57
$GC,17,-1.01,-107.1,2780,2804,3940,3956,0.0,0.0,0,24,1.08,2.45,0.00,0.000,4612,0.142,0.046,2454,1379,3949,3942,3957,0,0,0,0,0,0,14.00,14.21,14.14
$PING,373.4,11.8,9000.0,0.00,0.00
$GC,110,-1.01,-107.1,2454,1379,3953,3961,374.4,-9.2,18,115,0.00,2.60,0.00,0.000,1030,0.000,0.064,2453,2804,3956,3951,3962,0,0,0,0,0,0,14.31,14.17,14.36
$PING,392.7,32.1,9000.0,0.00,0.00
$GC,421,-1.01,-107.1,2453,2805,3955,3966,402.4,-8.9,50,426,0.00,2.05,0.00,0.000,260,0.000,0.087,2450,3916,3957,3950,3965,0,0,0,0,0,0,14.71,14.07,14.71
$GC,492,-1.01,-107.1,2450,3916,3955,3965,409.2,-9.7,64,497,0.00,1.92,0.00,0.000,1030,0.000,0.047,2449,2791,3959,3954,3965,0,0,0,0,0,0,14.40,14.33,14.42
$GC,804,-1.01,-107.1,2451,2792,3956,3966,437.2,-8.7,96,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2791,3960,3955,3966,0,0,0,0,0,0,14.61,14.62,14.61
$GC,1104,-1.01,-107.1,2448,2792,3954,3969,462.7,-8.5,126,1109,0.00,2.50,0.00,0.000,516,0.000,0.047,2449,1392,3960,3955,3966,0,0,0,0,0,0,14.60,14.16,14.61
$GC,1141,-1.01,-107.1,2450,1393,3956,3967,466.0,-8.7,133,1148,0.00,2.58,0.00,0.000,1030,0.000,0.064,2448,2809,3961,3957,3966,0,0,0,0,0,0,14.27,14.13,14.33
$GC,1445,-1.01,-107.1,2448,2810,3958,3967,492.5,-8.9,164,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2809,3961,3956,3966,0,0,0,0,0,0,14.75,14.76,14.76
$GC,1745,-1.01,-107.1,2448,2808,3958,3966,517.8,-8.1,194,1750,0.00,2.03,0.00,0.000,260,0.000,0.087,2441,3906,3961,3956,3966,0,0,0,0,0,0,14.75,14.02,14.75
$GC,1787,-1.01,-107.1,2442,3906,3957,3966,521.4,-9.1,202,1791,0.00,1.92,0.00,0.000,1030,0.000,0.047,2441,2787,3961,3956,3966,0,0,0,0,0,0,14.36,14.29,14.38
$GC,2097,-1.01,-107.1,2442,2787,3965,3966,548.2,-8.7,234,2102,0.00,2.10,0.00,0.000,260,0.000,0.086,2439,3915,3960,3956,3965,0,0,0,0,0,0,14.77,13.93,14.78
$GC,2169,-1.01,-107.1,2439,3916,3956,3967,554.8,-9.2,248,2174,0.00,1.95,0.00,0.000,1030,0.000,0.047,2439,2786,3961,3956,3966,0,0,0,0,0,0,14.35,14.28,14.37
$GC,2480,-1.01,-107.1,2440,2787,3957,3967,581.4,-8.8,280,2485,0.00,2.47,0.00,0.000,516,0.000,0.047,2439,1386,3961,3956,3966,0,0,0,0,0,0,14.77,14.17,14.76
$GC,2512,-1.01,-107.1,2439,1387,3956,3967,583.9,-8.5,286,2517,0.00,2.55,0.00,0.000,1030,0.000,0.064,2438,2810,3961,3956,3966,0,0,0,0,0,0,14.17,14.03,14.22
$GC,2824,-1.01,-107.1,2438,2810,3956,3967,609.9,-8.0,318,2829,0.00,2.05,0.00,0.000,260,0.000,0.087,2432,3918,3960,3956,3965,0,0,0,0,0,0,14.60,14.02,14.61
$GC,2860,-1.01,-107.1,2432,3919,3957,3965,613.1,-8.3,325,2867,0.00,1.95,0.00,0.000,1030,0.000,0.047,2431,2788,3960,3956,3965,0,0,0,0,0,0,14.35,14.28,14.38
$GC,3165,-1.01,-107.1,2432,2788,3956,3965,637.6,-7.6,356,3171,0.00,2.12,0.00,0.000,260,0.000,0.086,2425,3916,3960,3956,3965,0,0,0,0,0,0,14.73,14.02,14.73
$GC,3247,-1.01,-107.1,2426,3916,3957,3964,644.4,-8.4,372,3251,0.00,1.95,0.00,0.000,1030,0.000,0.047,2425,2785,3957,3956,3959,0,0,0,0,0,0,14.37,14.29,14.39
$GC,3558,-1.01,-107.1,2426,2780,3957,3964,670.6,-8.6,404,3562,0.00,2.10,0.00,0.000,260,0.000,0.086,2424,3915,3960,3956,3964,0,0,0,0,0,0,14.78,13.93,14.78
$GC,3603,-1.01,-107.1,2424,3915,3956,3964,674.9,-9.5,413,3611,0.10,1.95,0.00,0.000,3078,0.254,0.047,2445,2785,3959,3955,3964,0,0,0,0,0,0,13.89,14.26,14.14
$GC,3909,-1.01,-107.1,2443,2786,3956,3966,700.5,-7.3,444,3915,0.00,2.42,0.00,0.000,548,0.000,0.046,2444,1397,3960,3956,3964,0,0,0,0,0,0,14.77,14.14,14.77
$GC,3951,-1.01,-107.1,2445,1397,3956,3965,704.1,-8.7,452,3957,0.00,2.55,0.00,0.000,1030,0.000,0.063,2439,2802,3960,3956,3964,0,0,0,0,0,0,14.11,14.04,14.13
$GC,4333,-1.01,-107.1,2440,2802,3957,3964,737.4,-8.7,468,4338,0.00,2.08,0.00,0.000,260,0.000,0.088,2439,3913,3960,3956,3964,0,0,0,0,0,0,14.77,13.81,14.78
$GC,4439,-1.01,-107.1,2440,3913,3957,3963,746.2,-7.9,489,4445,0.00,1.92,0.00,0.000,1030,0.000,0.047,2440,2796,3955,3948,3963,0,0,0,0,0,0,14.34,14.26,14.36
$PING,768.5,66.9,9000.0,0.12,0.90
$GC,4819,-1.01,-107.1,2440,2797,3955,3964,772.6,-7.1,504,4824,0.00,2.47,0.00,0.000,548,0.000,0.047,2439,1390,3959,3956,3962,0,0,0,0,0,0,14.73,14.11,14.73
$GC,4881,-1.01,-107.1,2440,1391,3957,3963,777.5,-7.2,516,4885,0.00,2.60,0.00,0.000,1062,0.000,0.065,2438,2811,3959,3956,3963,0,0,0,0,0,0,14.18,14.04,14.23
$PING,796.6,32.3,9000.0,0.04,0.20
$PING,805.2,22.0,21.9,-1.23,1.00
$GC,5272,-1.01,-107.1,2439,2812,3957,3967,806.9,-8.8,534,5277,0.00,2.50,0.00,0.000,516,0.000,0.046,2438,1399,3959,3956,3963,0,0,0,0,0,0,14.70,14.01,14.70
$PING,811.4,14.1,14.2,-1.23,1.00
$GC,5329,-1.01,-107.1,2439,1400,3956,3968,811.4,-8.5,545,5336,0.00,2.58,0.00,0.000,1030,0.000,0.065,2437,2803,3959,3956,3963,0,0,0,0,0,0,14.20,14.05,14.24
$STATE,5390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5390,begin apogee
$GC,5398,-0.23,0.0,2438,2538,3957,3963,816.3,-7.6,548,5544,1.00,0.00,140.60,3.094,10246,0.224,0.000,2695,2538,3491,3498,3484,0,0,0,0,0,0,13.73,12.74,11.55
$STATE,5545,end apogee,CONTROL_FINISHED_OK
$STATE,5545,begin climb
$GC,5549,1.01,107.1,2695,2538,3500,3482,818.1,0.0,553,5703,1.42,2.95,143.23,3.071,11012,0.119,0.059,3104,1158,3064,3082,3047,0,0,0,0,0,0,12.71,12.36,11.21
$GC,5765,1.01,107.1,3105,1157,3078,3040,797.8,12.7,591,5770,0.00,2.85,0.00,0.000,1030,0.000,0.063,3104,2551,3058,3077,3040,0,0,0,0,0,0,12.85,12.77,12.87
$GC,6151,1.01,107.1,3104,2551,3072,3034,744.3,14.4,608,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2551,3054,3072,3036,0,0,0,0,0,0,13.50,13.49,13.50
$GC,6514,1.01,107.1,3104,2552,3071,3036,694.0,13.2,622,6515,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2551,3052,3070,3035,0,0,0,0,0,0,13.93,13.92,13.93
$GC,6811,1.01,107.1,3104,2551,3071,3035,654.9,13.1,652,6816,0.00,2.62,0.00,0.000,260,0.000,0.087,3105,3921,3052,3070,3035,0,0,0,0,0,0,14.27,13.69,14.27
$GC,6847,1.01,107.1,3104,3922,3071,3036,649.8,14.5,659,6853,0.00,2.47,0.00,0.000,1030,0.000,0.047,3115,2542,3052,3070,3035,0,0,0,0,0,0,13.90,13.83,13.96
$GC,7153,1.01,107.1,3115,2543,3070,3036,610.0,13.3,690,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2542,3052,3070,3034,0,0,0,0,0,0,14.42,14.42,14.42
$GC,7452,1.01,107.1,3115,2542,3071,3034,569.6,13.5,720,7457,0.00,2.60,0.00,0.000,260,0.000,0.088,3115,3920,3052,3070,3035,0,0,0,0,0,0,14.52,13.98,14.52
$GC,7483,1.01,107.1,3115,3921,3071,3036,564.9,15.5,726,7489,0.00,2.42,0.00,0.000,1030,0.000,0.047,3126,2539,3052,3070,3035,0,0,0,0,0,0,14.23,14.16,14.26
$GC,7795,1.01,107.1,3125,2540,3071,3036,522.4,13.3,758,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2539,3052,3070,3035,0,0,0,0,0,0,14.56,14.57,14.57
$GC,8095,1.01,107.1,3126,2539,3071,3035,482.5,14.1,788,8100,0.00,2.58,0.00,0.000,260,0.000,0.087,3125,3914,3052,3070,3035,0,0,0,0,0,0,14.58,14.04,14.59
$GC,8161,1.01,107.1,3126,3915,3070,3036,472.3,16.0,801,8168,0.17,2.40,0.00,0.000,5126,0.281,0.047,3098,2544,3052,3070,3035,0,0,0,0,0,0,13.62,14.26,13.98
$GC,8468,1.01,107.1,3099,2544,3072,3036,434.7,11.7,832,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2544,3052,3070,3035,0,0,0,0,0,0,14.56,14.56,14.56
$GC,8767,1.01,107.1,3098,2545,3071,3037,400.1,10.9,862,8773,0.00,2.58,0.00,0.000,260,0.000,0.087,3097,3916,3053,3070,3036,0,0,0,0,0,0,14.58,14.09,14.58
$GC,8824,1.01,107.1,3097,3916,3072,3037,393.0,13.0,873,8831,0.00,2.42,0.00,0.000,1030,0.000,0.047,3109,2536,3053,3071,3036,0,0,0,0,0,0,14.39,14.32,14.41
$GC,9129,1.01,107.1,3109,2540,3071,3038,357.4,11.7,904,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2538,3053,3071,3036,0,0,0,0,0,0,14.73,14.73,14.73
$GC,9429,1.01,107.1,3110,2539,3071,3037,323.8,10.5,934,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2538,3053,3071,3036,0,0,0,0,0,0,14.74,14.74,14.74
$PING,318.2,57.6,9000.0,-0.08,0.97
$PING,305.8,35.9,9000.0,-0.06,0.73
$PING,299.6,22.2,9000.0,1.88,1.00
$PING,293.2,29.5,9000.0,0.49,0.20
$GC,9729,1.01,107.1,3109,2539,3071,3038,292.2,11.0,964,9730,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2538,3053,3071,3036,0,0,0,0,0,0,14.75,14.75,14.75
$PING,287.1,32.5,33.2,-0.83,0.95
$PING,280.6,26.0,9000.0,0.29,0.31
$FREEZE,279.88,-2.020,-2.072,2,36,0
$STATE,10016,end climb,FINISH_DEPTH_REACHED
$STATE,10016,begin subsurface finish
$FINISH1,279.9,1.027324,9
$GC,10024,0.01,8.9,3111,2540,3071,3038,279.9,3.3,993,10031,1.20,0.00,-2.00,0.055,20486,0.207,0.000,2783,2539,3476,3479,3473,0,0,0,0,0,0,13.82,12.42,14.02
$FINISH2,279.9
$STATE,10031,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10031,begin surface
$RAFOS_CLK,413
$RAFOS,2,1546712001,18.232241,18.222500,142,63,55,55,55,54,608,209,189,132,149,172
$RAFOS,1,1546711633,18.132666,18.120277,68,57,57,50,49,48,193,157,123,221,144,202
$RAFOS,0,1546711270,18.032354,18.019444,149,61,56,51,49,49,602,219,203,162,175,151
$RAFOS_FIX,-7431.331055,-11209.983398,050119,181832,2,146,0.20
$IRIDIUM_FIX,-7410.06,-11230.52,311218,020608
$TT8_MAMPS,0.038948,0.505575
$HUMID,52.48
$INTERNAL_PRESSURE,7.91941
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,811.4,14.2
$24V_AH,11.21,250.167
$10V_AH,11.01,0.000
$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,4.975,86.700,283.825,0.000,0.000,0.000,0.000,0.000,37.000,0.000,0.000,0.000,7429.251,365.211,2064.399,303.069,0.000,1098.345,0.000,1422.791,720.000,278.132,0.000
$DEVICE_MAMPS,280.755,87.975,3094.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10064.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.706,0.000,0.000,0.000
$MEM,279680
$DATA_FILE_SIZE,33342,994
$CAP_FILE_SIZE,114757,0
$CFSIZE,1024409600,925220864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,050119,181632,-7431.331,-11209.983,0,3145.5,0,53.5,0.0,0.0,0,0.0