version: 66.13
glider: 221
mission: 7
dive: 798
start: 1 6 119 0 39 23
data:
$ID,221
$MISSION,7
$DIVE,798
$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,32
$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
$GPS1,060119,001456,-7431.1816,-11156.5908,0,4144.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,280.21
$_SM_ANGLEo,3.3
$GPS2,060119,001456,-7431.1816,-11156.5908,0,4144.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideE
$TGT_LATLONG,-7430.000,-11150.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,2.7,3928,-24.9,-9.429,-26.75,1035
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$PING,280.6,43.9,9000.0,0.00,0.00
$GC,11,-1.21,-63.6,2782,2792,3495,3492,0.0,0.0,0,24,0.00,0.00,-6.78,0.028,16390,0.000,0.000,2781,2792,3764,3762,3766,0,0,0,0,1,0,13.38,11.95,13.28
$GC,27,-1.21,-63.6,2782,2792,3765,3769,280.6,0.0,1,33,1.52,2.78,0.00,0.000,4612,0.194,0.050,2394,1385,3767,3765,3770,0,0,0,0,0,0,12.83,13.09,13.12
$GC,260,-1.26,-107.1,2393,1386,3771,3777,280.7,0.0,47,265,0.00,2.80,-0.80,0.107,17446,0.000,0.064,2393,2812,3935,3929,3942,0,0,0,0,0,0,13.38,13.25,13.41
$GC,572,-1.26,-107.1,2394,2813,3940,3957,280.9,0.0,79,577,0.00,2.67,0.00,0.000,548,0.000,0.048,2393,1374,3947,3939,3956,0,0,0,0,0,0,14.05,13.61,14.04
$GC,803,-1.26,-107.1,2394,1374,3942,3956,280.8,0.0,125,808,0.00,2.70,0.00,0.000,1062,0.000,0.066,2393,2806,3948,3941,3956,0,0,0,0,0,0,13.71,13.58,13.74
$GC,1115,-1.26,-107.1,2393,2807,3942,3957,280.8,0.0,157,1120,0.00,2.58,0.00,0.000,548,0.000,0.047,2391,1382,3948,3941,3956,0,0,0,0,0,0,14.40,13.96,14.40
$GC,1346,-1.26,-107.1,2394,1383,3943,3957,280.9,0.3,203,1352,0.00,2.65,0.00,0.000,1062,0.000,0.067,2393,2813,3948,3941,3956,0,0,0,0,0,0,14.13,14.00,14.18
$GC,1658,-1.26,-107.1,2393,2814,3942,3958,280.8,0.0,235,1663,0.00,2.58,0.00,0.000,516,0.000,0.050,2393,1374,3949,3941,3957,0,0,0,0,0,0,14.57,13.99,14.57
$GC,1889,-1.26,-107.1,2394,1374,3942,3957,281.0,0.0,281,1895,0.00,2.65,0.00,0.000,1062,0.000,0.066,2384,2814,3949,3941,3957,0,0,0,0,0,0,14.21,14.07,14.26
$GC,2201,-1.26,-107.1,2384,2814,3942,3959,281.1,-0.0,313,2207,0.00,2.55,0.00,0.000,548,0.000,0.047,2384,1384,3949,3941,3957,0,0,0,0,0,0,14.64,14.13,14.64
$GC,2433,-1.26,-107.1,2385,1384,3942,3954,281.8,-0.1,359,2438,0.00,2.58,0.00,0.000,1062,0.000,0.055,2373,2815,3947,3941,3953,0,0,0,0,0,0,14.19,14.08,14.23
$GC,2745,-1.26,-107.1,2372,2816,3941,3955,281.8,-0.0,391,2752,0.00,2.58,0.00,0.000,548,0.000,0.041,2373,1369,3947,3941,3953,0,0,0,0,0,0,14.70,14.07,14.70
$GC,2979,-1.26,-107.1,2373,1371,3942,3954,281.8,-0.0,437,2984,0.00,2.60,0.00,0.000,1062,0.000,0.057,2370,2812,3947,3941,3953,0,0,0,0,0,0,14.28,14.16,14.33
$GC,3290,-1.26,-107.1,2371,2812,3943,3953,281.8,0.0,469,3295,0.00,2.53,0.00,0.000,548,0.000,0.042,2370,1381,3947,3941,3953,0,0,0,0,0,0,14.73,14.20,14.73
$GC,3522,-1.26,-107.1,2370,1382,3942,3954,281.8,0.0,515,3527,0.00,2.55,0.00,0.000,1062,0.000,0.054,2360,2806,3947,3941,3953,0,0,0,0,0,0,14.31,14.19,14.35
$GC,3833,-1.26,-107.1,2361,2806,3942,3953,281.9,0.1,547,3838,0.00,2.53,0.00,0.000,516,0.000,0.042,2360,1374,3947,3941,3953,0,0,0,0,0,0,14.71,14.12,14.70
$GC,4065,-1.26,-107.1,2361,1374,3942,3953,281.9,-0.1,593,4070,0.00,2.60,0.00,0.000,1062,0.000,0.056,2352,2809,3946,3940,3953,0,0,0,0,0,0,14.32,14.21,14.37
$GC,4376,-1.26,-107.1,2353,2809,3941,3954,281.9,-0.0,625,4382,0.00,2.53,0.00,0.000,548,0.000,0.042,2353,1376,3947,3941,3953,0,0,0,0,0,0,14.70,14.18,14.69
$GC,4608,-1.26,-107.1,2353,1378,3942,3954,281.9,0.0,671,4614,0.00,2.58,0.00,0.000,1030,0.000,0.056,2344,2810,3946,3941,3952,0,0,0,0,0,0,14.31,14.18,14.35
$GC,4920,-1.26,-107.1,2345,2811,3942,3954,282.0,0.0,703,4925,0.00,2.53,0.00,0.000,548,0.000,0.042,2349,1376,3947,3941,3953,0,0,0,0,0,0,14.75,14.19,14.75
$GC,5030,-1.26,-107.1,2349,1377,3942,3954,281.9,0.2,724,5036,0.00,2.58,0.00,0.000,1062,0.000,0.055,2340,2812,3947,3941,3953,0,0,0,0,0,0,14.31,14.19,14.35
$GC,5333,-1.26,-107.1,2340,2812,3942,3953,282.0,-0.0,755,5337,0.00,2.00,0.00,0.000,292,0.000,0.075,2331,3916,3947,3941,3953,0,0,0,0,0,0,14.71,14.11,14.71
$GC,5564,-1.26,-107.1,2331,3917,3942,3953,282.0,-0.2,801,5570,0.15,1.98,0.00,0.000,3110,0.386,0.038,2362,2768,3947,3942,3952,0,0,0,0,0,0,13.35,14.19,13.92
$GC,5876,-1.26,-107.1,2363,2768,3944,3952,282.0,0.0,833,5881,0.00,2.10,0.00,0.000,292,0.000,0.073,2354,3917,3947,3943,3952,0,0,0,0,0,0,14.71,14.12,14.71
$GC,6108,-1.26,-107.1,2354,3918,3943,3953,282.0,-0.1,879,6114,0.00,1.92,0.00,0.000,1062,0.000,0.038,2355,2784,3946,3940,3952,0,0,0,0,0,0,14.40,14.33,14.42
$GC,6420,-1.26,-107.1,2355,2785,3943,3953,282.0,0.3,911,6425,0.00,2.05,0.00,0.000,260,0.000,0.073,2348,3913,3947,3943,3952,0,0,0,0,0,0,14.76,14.12,14.76
$GC,6652,-1.26,-107.1,2347,3914,3943,3953,282.1,-0.2,957,6659,0.00,1.90,0.00,0.000,1062,0.000,0.037,2350,2794,3946,3943,3949,0,0,0,0,0,0,14.38,14.33,14.40
$GC,6965,-1.26,-107.1,2350,2796,3943,3954,282.0,0.0,989,6971,0.00,2.05,0.00,0.000,292,0.000,0.072,2341,3909,3947,3943,3952,0,0,0,0,0,0,14.76,14.06,14.76
$GC,7198,-1.26,-107.1,2343,3910,3944,3954,282.1,-0.1,1035,7202,0.00,1.90,0.00,0.000,1030,0.000,0.038,2342,2789,3947,3943,3952,0,0,0,0,0,0,14.40,14.34,14.42
$GC,7508,-1.26,-107.1,2342,2790,3945,3953,282.1,0.0,1067,7515,0.00,2.05,0.00,0.000,260,0.000,0.072,2335,3916,3948,3944,3952,0,0,0,0,0,0,14.78,14.02,14.78
$GC,7742,-1.26,-107.1,2335,3917,3945,3953,282.1,-0.1,1113,7747,0.17,1.92,0.00,0.000,3110,0.388,0.037,2364,2788,3948,3944,3952,0,0,0,0,0,0,13.32,14.32,13.94
$GC,8053,-1.26,-107.1,2364,2789,3945,3952,282.1,0.0,1145,8058,0.00,2.05,0.00,0.000,292,0.000,0.073,2355,3915,3948,3944,3952,0,0,0,0,0,0,14.73,14.03,14.73
$GC,8285,-1.26,-107.1,2356,3916,3945,3953,282.2,-0.2,1191,8290,0.00,1.95,0.00,0.000,1062,0.000,0.037,2355,2785,3948,3944,3952,0,0,0,0,0,0,14.37,14.29,14.40
$GC,8596,-1.26,-107.1,2356,2785,3946,3952,282.1,0.0,1223,8602,0.00,2.05,0.00,0.000,292,0.000,0.072,2347,3915,3948,3945,3952,0,0,0,0,0,0,14.66,14.11,14.66
$GC,8828,-1.26,-107.1,2348,3915,3946,3952,282.2,-0.2,1269,8835,0.00,1.90,0.00,0.000,1062,0.000,0.037,2347,2795,3948,3945,3952,0,0,0,0,0,0,14.31,14.26,14.33
$GC,9141,-1.26,-107.1,2349,2796,3945,3953,282.1,0.3,1301,9146,0.00,2.05,0.00,0.000,260,0.000,0.073,2341,3917,3948,3945,3952,0,0,0,0,0,0,14.76,14.12,14.76
$GC,9373,-1.26,-107.1,2341,3917,3946,3952,282.2,-0.1,1347,9379,0.00,1.92,0.00,0.000,1062,0.000,0.038,2341,2787,3948,3944,3952,0,0,0,0,0,0,14.31,14.26,14.33
$GC,9686,-1.26,-107.1,2341,2788,3946,3953,282.2,-0.0,1379,9693,0.00,2.05,0.00,0.000,292,0.000,0.071,2333,3908,3949,3946,3952,0,0,0,0,0,0,14.76,14.12,14.76
$GC,9919,-1.26,-107.1,2339,3909,3946,3953,282.3,-0.3,1425,9924,0.17,1.90,0.00,0.000,3078,0.397,0.037,2364,2788,3949,3946,3952,0,0,0,0,0,0,13.28,14.35,13.93
$GC,10230,-1.26,-107.1,2364,2788,3947,3955,285.9,-0.0,1457,10235,0.00,2.08,0.00,0.000,260,0.000,0.077,2360,3912,3950,3946,3955,0,0,0,0,0,0,14.77,14.06,14.77
$GC,10462,-1.26,-107.1,2358,3913,3946,3955,285.7,-0.0,1503,10467,0.00,1.90,0.00,0.000,1062,0.000,0.045,2358,2799,3950,3945,3955,0,0,0,0,0,0,14.36,14.30,14.40
$GC,10773,-1.26,-107.1,2359,2798,3947,3955,285.7,-0.0,1535,10778,0.00,2.03,0.00,0.000,292,0.000,0.075,2351,3909,3950,3946,3955,0,0,0,0,0,0,14.73,13.99,14.73
$GC,11005,-1.26,-107.1,2351,3909,3946,3956,285.9,0.0,1581,11010,0.00,1.92,0.00,0.000,1030,0.000,0.044,2351,2803,3950,3946,3955,0,0,0,0,0,0,14.23,14.17,14.26
$GC,11316,-1.26,-107.1,2351,2804,3946,3956,286.1,-0.0,1613,11321,0.00,2.03,0.00,0.000,292,0.000,0.080,2343,3903,3950,3946,3955,0,0,0,0,0,0,14.71,14.04,14.71
$GC,11548,-1.26,-107.1,2344,3903,3946,3955,286.1,0.0,1659,11553,0.00,1.92,0.00,0.000,1062,0.000,0.047,2343,2789,3950,3946,3954,0,0,0,0,0,0,14.31,14.31,14.33
$STATE,11705,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11705,begin apogee
$GC,11713,-0.23,0.0,2344,2535,3946,3956,286.1,-0.0,1676,11840,1.50,0.00,122.93,2.671,10246,0.298,0.000,2694,2535,3493,3504,3482,0,0,0,0,0,0,13.61,13.14,12.05
$STATE,11841,end apogee,CONTROL_FINISHED_OK
$STATE,11841,begin climb
$GC,11845,1.26,107.1,2694,2536,3503,3482,286.0,0.0,1689,11986,2.12,2.83,126.97,2.560,10756,0.287,0.054,3170,1170,3062,3084,3040,0,0,0,0,0,0,12.96,12.42,11.36
$STATE,11994,end climb,NO_VERTICAL_VELOCITY
$STATE,11994,begin subsurface finish
$FINISH1,286.0,1.027321,9
$GC,12004,0.01,9.1,3164,2551,3081,3038,286.0,0.2,1715,12010,1.30,1.17,-1.98,0.051,20995,0.066,0.083,2771,1953,3479,3486,3473,0,0,0,0,0,0,12.59,11.43,12.64
$FINISH2,285.9
$STATE,12011,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,12011,begin surface
$RAFOS_CLK,503
$RAFOS,2,1546744383,3.232241,3.217500,105,65,65,63,62,57,703,235,193,135,151,203
$RAFOS,1,1546744022,3.132666,3.117222,93,62,62,60,56,54,679,210,163,199,188,146
$RAFOS,0,1546743667,3.032355,3.018611,112,64,62,60,50,49,616,215,192,167,145,201
$RAFOS_FIX,-7430.820801,-11155.600586,060119,030308,3,103,0.08
$IRIDIUM_FIX,-7410.06,-11230.52,311218,020608
$TT8_MAMPS,0.041944,0.283122
$HUMID,49.96
$INTERNAL_PRESSURE,7.90965
$TCM_TEMP,12.80
$XPDR_PINGS,1
$24V_AH,11.36,251.084
$10V_AH,11.42,0.000
$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,6.950,109.200,249.900,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,0.000,8185.389,364.315,3234.172,356.768,0.000,1545.027,0.000,2453.989,720.000,4.354,0.000
$DEVICE_MAMPS,397.035,82.620,2671.380,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12048.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.519,0.000,0.000,0.000
$MEM,279756
$DATA_FILE_SIZE,56472,1716
$CAP_FILE_SIZE,146407,15
$CFSIZE,1024409600,924794880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1442.8
$GPS,060119,031408,-7430.821,-11155.601,0,4103.3,0,53.5,0.0,0.0,0,0.0