version: 66.13
glider: 221
mission: 7
dive: 857
start: 1 15 119 11 42 48
data:
$ID,221
$MISSION,7
$DIVE,857
$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,10
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,25
$SURFACE_URGENCY_TRY,25
$SURFACE_URGENCY_FORCE,50
$T_DIVE,330
$T_MISSION,420
$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,0.1
$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,2
$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,3
$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,10
$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,24
$R_STBD_OVSHOOT,14
$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,48
$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
$GPS1,150119,113001,-7404.0659,-11224.0430,36,0.7,38,53.2,0.1,0.0,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-61.6
$GPS2,150119,114212,-7404.1040,-11224.4219,3,0.9,6,53.2,0.2,0.0,10,8.5
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,hold3
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,269.0,351,-43.9,-10.000,-45.00,342
$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,-2.02,-22.2,197,2808,1938,1802,0.0,0.0,0,114,0.00,0.00,-101.97,0.003,16390,0.000,0.000,197,2808,3582,3602,3562,0,0,0,0,0,0,11.31,10.57,11.31
$GC,118,-2.06,-51.1,198,2807,3607,3564,1.2,-1.3,10,147,15.32,2.70,-4.93,0.015,18724,0.422,0.093,2099,3910,3699,3706,3693,0,0,0,0,0,0,10.97,10.55,11.17
$PING,30.7,32.5,9000.0,0.00,0.00
$PING,37.2,39.6,9000.0,0.00,0.00
$GC,377,-2.06,-51.1,2099,3911,3714,3700,40.6,-16.7,60,382,0.00,2.53,0.00,0.000,1030,0.000,0.036,2099,2780,3706,3713,3699,0,0,0,0,0,0,11.23,11.19,11.24
$GC,690,-2.06,-51.1,2100,2779,3716,3703,89.1,-15.0,92,695,0.00,2.72,0.00,0.000,260,0.000,0.070,2091,3916,3708,3715,3702,0,0,0,0,0,0,11.32,11.14,11.33
$GC,923,-2.06,-51.1,2091,3917,3717,3700,128.0,-16.2,138,928,0.00,2.50,0.00,0.000,1030,0.000,0.037,2091,2797,3709,3716,3702,0,0,0,0,0,0,11.24,11.20,11.25
$GC,1235,-2.06,-51.1,2091,2798,3717,3704,176.3,-15.6,170,1240,0.00,2.67,0.00,0.000,260,0.000,0.070,2082,3915,3709,3716,3703,0,0,0,0,0,0,11.34,11.14,11.34
$GC,1467,-2.06,-51.1,2083,3916,3718,3703,214.7,-16.6,216,1472,0.20,2.50,0.00,0.000,3078,0.327,0.037,2109,2796,3709,3716,3703,0,0,0,0,0,0,11.02,11.20,11.24
$GC,1779,-2.06,-51.1,2110,2796,3717,3703,260.0,-14.0,248,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2796,3709,3716,3703,0,0,0,0,0,0,11.33,11.33,11.33
$GC,2080,-2.06,-51.1,2110,2796,3718,3703,301.0,-13.7,278,2085,0.00,3.20,0.00,0.000,516,0.000,0.042,2110,1399,3709,3716,3703,0,0,0,0,0,0,11.33,11.16,11.33
$GC,2232,-2.06,-51.1,2111,1399,3718,3703,321.4,-12.6,308,2237,0.00,3.30,0.00,0.000,1030,0.000,0.051,2100,2806,3709,3716,3703,0,0,0,0,0,0,11.22,11.16,11.24
$GC,2543,-2.06,-51.1,2100,2805,3718,3703,363.0,-13.1,325,2549,0.00,2.62,0.00,0.000,260,0.000,0.073,2092,3913,3709,3716,3703,0,0,0,0,0,0,11.34,11.15,11.35
$GC,2585,-2.06,-51.1,2093,3913,3717,3702,368.6,-13.7,333,2591,0.00,2.50,0.00,0.000,1030,0.000,0.037,2093,2796,3709,3716,3703,0,0,0,0,0,0,11.24,11.20,11.25
$GC,2908,-2.06,-51.1,2092,2796,3717,3703,410.1,-12.9,352,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2797,3710,3716,3704,0,0,0,0,0,0,11.35,11.35,11.35
$GC,3211,-2.06,-51.1,2093,2798,3717,3704,448.0,-12.6,367,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2796,3709,3716,3703,0,0,0,0,0,0,11.35,11.35,11.35
$GC,3511,-2.06,-51.1,2093,2795,3718,3702,485.2,-12.3,382,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2795,3711,3716,3706,0,0,0,0,0,0,11.35,11.35,11.34
$GC,3832,-2.06,-51.1,2093,2796,3718,3702,523.2,-11.9,395,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2795,3708,3716,3701,0,0,0,0,0,0,11.37,11.35,11.35
$GC,4192,-2.06,-51.1,2093,2796,3717,3700,565.0,-11.2,407,4197,0.00,3.22,0.00,0.000,516,0.000,0.041,2092,1396,3708,3716,3700,0,0,0,0,0,0,11.35,11.17,11.34
$GC,4384,-2.06,-51.1,2093,1396,3717,3699,586.3,-10.8,445,4390,0.20,3.30,0.00,0.000,3078,0.325,0.051,2109,2802,3707,3716,3699,0,0,0,0,0,0,11.02,11.16,11.21
$GC,4766,-2.06,-51.1,2109,2803,3715,3700,624.5,-9.7,461,4772,0.00,2.62,0.00,0.000,260,0.000,0.072,2102,3910,3707,3715,3700,0,0,0,0,0,0,11.36,11.16,11.36
$GC,4876,-2.06,-51.1,2102,3910,3716,3698,635.5,-10.2,482,4882,0.00,2.53,0.00,0.000,1030,0.000,0.039,2101,2794,3706,3715,3698,0,0,0,0,0,0,11.25,11.20,11.26
$GC,5256,-2.06,-51.1,2102,2795,3716,3699,670.2,-8.9,497,5265,0.00,3.20,0.00,0.000,516,0.000,0.041,2102,1388,3707,3716,3698,0,0,0,0,0,0,11.35,11.16,11.35
$GC,5332,-2.06,-51.1,2102,1389,3715,3699,677.2,-8.8,511,5338,0.00,3.33,0.00,0.000,1030,0.000,0.050,2091,2807,3706,3715,3698,0,0,0,0,0,0,11.24,11.17,11.25
$GC,5717,-2.06,-51.1,2091,2808,3715,3699,711.7,-9.1,527,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2807,3706,3714,3698,0,0,0,0,0,0,11.35,11.35,11.35
$GC,6074,-2.06,-51.1,2092,2807,3716,3698,743.6,-8.7,539,6079,0.00,3.25,0.00,0.000,516,0.000,0.040,2091,1394,3706,3714,3698,0,0,0,0,0,0,11.35,11.17,11.36
$GC,6095,-2.06,-51.1,2092,1394,3716,3698,745.5,-9.0,543,6101,0.20,3.30,0.00,0.000,3078,0.327,0.050,2108,2803,3706,3714,3698,0,0,0,0,0,0,11.02,11.17,11.21
$GC,6471,-2.07,-59.4,2108,2805,3715,3699,774.2,-7.5,557,6477,0.00,3.25,0.00,0.000,548,0.000,0.039,2108,1388,3706,3714,3698,0,0,0,0,0,0,11.35,11.17,11.35
$GC,6504,-2.08,-67.4,2108,1389,3715,3699,776.9,-7.6,563,6509,0.00,3.33,0.00,0.000,1062,0.000,0.051,2099,2805,3706,3714,3698,0,0,0,0,0,0,11.24,11.16,11.25
$PING,790.6,38.7,9000.0,0.00,0.15
$PING,797.6,36.5,9000.0,-0.00,0.56
$PING,804.0,25.8,27.3,-0.96,0.86
$GC,6895,-2.09,-76.3,2099,2805,3715,3698,806.4,-7.3,581,6901,0.00,2.62,0.00,0.000,292,0.000,0.072,2091,3915,3703,3710,3697,0,0,0,0,0,0,11.36,11.16,11.36
$PING,810.3,17.7,9000.0,-1.49,0.99
$GC,6977,-2.10,-83.0,2092,3915,3716,3698,812.7,-8.0,597,6984,0.00,2.53,0.00,0.000,1062,0.000,0.040,2091,2798,3706,3715,3698,0,0,0,0,0,0,11.25,11.21,11.26
$PING,818.6,15.8,9000.0,-0.66,0.83
$STATE,7106,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7106,begin apogee
$GC,7115,-0.23,0.0,2092,2535,3715,3699,823.0,-7.4,603,7212,3.70,0.00,91.43,3.070,10246,0.314,0.000,2695,2535,3491,3498,3485,0,0,0,0,0,0,11.03,11.02,10.03
$STATE,7213,end apogee,CONTROL_FINISHED_OK
$STATE,7213,begin climb
$PING,817.0,16.0,9000.0,-0.24,0.99
$PING,810.2,24.9,24.7,-1.15,0.97
$PING,803.4,25.1,9000.0,-0.67,0.77
$GC,7217,2.10,83.0,2696,2536,3499,3487,823.6,0.0,606,7362,3.05,3.38,131.85,3.051,10756,0.099,0.060,3456,1147,3159,3174,3144,0,0,0,0,0,0,11.07,11.02,10.04
$GC,7388,2.10,83.0,3457,1147,3173,3142,794.2,25.9,637,7395,0.00,3.38,0.00,0.000,1030,0.000,0.060,3456,2554,3156,3171,3142,0,0,0,0,0,0,11.17,11.10,11.18
$GC,7777,2.10,83.0,3456,2554,3166,3141,689.7,26.7,654,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2554,3153,3166,3140,0,0,0,0,0,0,11.31,11.31,11.31
$GC,8137,2.10,83.0,3457,2555,3166,3140,595.1,26.5,666,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2554,3152,3166,3139,0,0,0,0,0,0,11.31,11.32,11.32
$GC,8497,2.10,83.0,3457,2554,3167,3139,504.1,24.7,678,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2554,3152,3166,3139,0,0,0,0,0,0,11.33,11.32,11.33
$GC,8866,2.10,83.0,3456,2555,3166,3141,415.4,23.8,696,8872,0.00,3.25,0.00,0.000,260,0.000,0.082,3457,3912,3153,3166,3140,0,0,0,0,0,0,11.34,11.13,11.33
$GC,8909,2.10,83.0,3456,3914,3167,3141,404.6,25.8,704,8914,0.00,3.12,0.00,0.000,1030,0.000,0.046,3468,2550,3153,3166,3140,0,0,0,0,0,0,11.23,11.19,11.24
$GC,9230,2.10,83.0,3467,2551,3167,3141,328.5,23.3,723,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,2548,3153,3166,3140,0,0,0,0,0,0,11.34,11.34,11.35
$GC,9531,2.10,83.0,3467,2552,3166,3141,260.8,22.1,746,9536,0.00,3.33,0.00,0.000,260,0.000,0.083,3467,3909,3153,3166,3140,0,0,0,0,0,0,11.34,11.14,11.34
$GC,9583,2.10,83.0,3466,3910,3166,3142,249.0,23.1,756,9588,0.20,3.12,0.00,0.000,5126,0.363,0.046,3452,2549,3153,3166,3140,0,0,0,0,0,0,11.00,11.19,11.21
$GC,9895,2.10,83.0,3452,2550,3166,3141,183.2,21.0,788,9900,0.00,3.33,0.00,0.000,516,0.000,0.058,3463,1143,3152,3165,3140,0,0,0,0,0,0,11.34,11.14,11.34
$GC,9947,2.10,83.0,3463,1141,3167,3140,172.6,20.5,798,9953,0.00,3.40,0.00,0.000,1030,0.000,0.063,3462,2562,3153,3166,3140,0,0,0,0,0,0,11.22,11.15,11.24
$GC,10259,2.10,83.0,3462,2562,3166,3142,108.8,20.5,830,10260,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2562,3153,3166,3141,0,0,0,0,0,0,11.35,11.35,11.35
$PING,82.4,86.3,9000.0,-0.08,1.00
$PING,74.4,76.2,9000.0,-0.08,0.97
$PING,66.4,69.3,68.8,1.06,0.99
$PING,52.5,55.7,55.9,0.94,1.00
$GC,10559,2.10,83.0,3462,2562,3167,3140,48.5,19.9,860,10565,0.00,3.30,0.00,0.000,260,0.000,0.084,3462,3910,3155,3170,3140,0,0,0,0,0,0,11.35,11.14,11.35
$PING,46.2,47.5,48.1,1.06,0.99
$GC,10596,2.10,83.0,3462,3910,3167,3140,40.8,21.2,867,10604,0.00,3.12,0.00,0.000,1030,0.000,0.047,3472,2550,3153,3166,3140,0,0,0,0,0,0,11.24,11.19,11.25
$PING,31.9,33.2,33.0,1.07,1.00
$PING,24.3,24.5,24.8,1.04,1.00
$PING,17.0,16.8,16.7,1.11,1.00
$PING,9.9,9.9,9.8,1.01,1.00
$FREEZE,9.87,0.608,-1.860,2,1,0
$FREEZE,8.19,0.604,-1.860,2,1,0
$FREEZE,6.55,0.610,-1.859,2,1,0
$FREEZE,4.93,0.614,-1.858,2,1,0
$FREEZE,3.21,0.621,-1.857,2,1,0
$FREEZE,1.69,0.616,-1.857,2,1,0
$STATE,10807,end climb,SURFACE_DEPTH_REACHED
$STATE,10808,begin surface coast
$FREEZE,0.19,0.595,-1.857,2,1,0
$FINISH,0.2,1.027156
$STATE,10818,end surface coast,CONTROL_FINISHED_OK
$STATE,10818,begin surface
$SM_CCo,10844,268.10,0.194,0,0,1899,399.91
$SM_GC,0.58,12.98,0.65,268.10,0.076,0.074,0.194,196,2809,1899,-8.04,-0.28,399.91,0,0,0,0,0,0,11.15,11.17,11.04
$RAFOS_CLK,449
$RAFOS,2,1547554383,12.232242,12.217500,123,64,59,53,51,47,495,187,210,167,141,229
$RAFOS,1,1547554022,12.132667,12.117222,155,63,59,55,52,51,580,209,218,171,138,195
$RAFOS,0,1547553660,12.032354,12.016666,101,63,63,58,56,55,590,214,186,135,200,157
$RAFOS_FIX,-7404.266602,-11223.896484,150119,121236,2,128,0.25
$IRIDIUM_FIX,-7406.44,-11217.25,150119,080056
$TT8_MAMPS,0.04494,0.242676
$HUMID,47.91
$INTERNAL_PRESSURE,7.76316
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.9,9.8
$ALTIM_BOTTOM_PING,804.0,27.3
$24V_AH,10.03,273.187
$10V_AH,10.27,0.000
$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,35.850,97.675,223.275,268.100,0.000,0.000,0.000,494.350,56.500,0.000,7.433,0.000,8294.938,677.760,2383.957,498.098,0.000,1855.577,0.000,1275.398,720.000,422.782,0.000
$DEVICE_MAMPS,421.515,93.330,3069.945,193.545,0.000,0.000,0.000,240.975,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.839,0.000,0.000,0.000
$MEM,279300
$DATA_FILE_SIZE,30017,890
$CAP_FILE_SIZE,131373,0
$CFSIZE,1024409600,917553152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1449.7
$CURRENT,0.061,254.67,1
$GPS,150119,144931,-7403.469,-11227.691,41,1.0,42,53.2,0.2,0.0,7,10.0