version: 66.13
glider: 221
mission: 7
dive: 865
start: 1 16 119 19 55 55
data:
$ID,221
$MISSION,7
$DIVE,865
$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,65
$EXEC_DT,0
$EXEC_T,9.3000002
$EXEC_N,13
$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,27
$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,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
$GPS1,160119,181424,-7412.1611,-11231.0352,0,4116.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,396.35
$_SM_ANGLEo,4.1
$GPS2,160119,181424,-7412.1611,-11231.0352,0,4116.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11230.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,118.9,3904,-25.0,-9.429,-26.89,1022
$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,-1.22,-62.8,2779,2809,3533,3532,0.0,0.0,0,13,0.00,0.00,-0.98,0.076,16390,0.000,0.000,2779,2808,3761,3758,3765,0,0,0,0,0,0,11.34,10.60,11.32
$GC,17,-1.22,-62.8,2779,2809,3766,3771,0.0,0.0,0,24,1.67,2.62,0.00,0.000,4356,0.133,0.085,2389,3910,3769,3766,3772,0,0,0,0,0,0,11.12,11.14,11.19
$GC,80,-1.24,-83.9,2390,3911,3773,3774,400.2,-7.3,12,85,0.00,2.53,-0.30,0.228,17446,0.000,0.044,2390,2799,3843,3841,3846,0,0,0,0,0,0,11.24,11.19,11.26
$GC,393,-1.24,-83.9,2390,2801,3850,3858,428.0,-8.9,44,398,0.00,3.25,0.00,0.000,516,0.000,0.046,2390,1390,3853,3849,3857,0,0,0,0,0,0,11.34,11.17,11.34
$GC,444,-1.24,-83.9,2390,1389,3851,3857,432.8,-9.1,54,449,0.00,3.38,0.00,0.000,1030,0.000,0.060,2380,2807,3853,3849,3857,0,0,0,0,0,0,11.24,11.17,11.25
$GC,756,-1.24,-83.9,2380,2807,3852,3858,461.5,-9.2,86,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2807,3853,3850,3857,0,0,0,0,0,0,11.36,11.36,11.36
$GC,1056,-1.24,-83.9,2380,2807,3852,3858,489.5,-9.2,116,1061,0.00,3.30,0.00,0.000,516,0.000,0.045,2380,1386,3854,3850,3858,0,0,0,0,0,0,11.36,11.17,11.36
$GC,1117,-1.24,-83.9,2380,1385,3851,3858,495.1,-9.0,128,1122,0.00,3.38,0.00,0.000,1030,0.000,0.059,2371,2805,3854,3851,3858,0,0,0,0,0,0,11.24,11.17,11.25
$GC,1429,-1.24,-83.9,2370,2805,3852,3858,523.2,-9.2,160,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2804,3854,3850,3858,0,0,0,0,0,0,11.36,11.36,11.36
$GC,1730,-1.24,-83.9,2371,2805,3851,3859,550.9,-9.1,190,1735,0.00,3.28,0.00,0.000,516,0.000,0.044,2371,1392,3854,3851,3858,0,0,0,0,0,0,11.34,11.17,11.35
$GC,1801,-1.24,-83.9,2371,1393,3852,3857,557.4,-8.8,204,1806,0.00,3.38,0.00,0.000,1030,0.000,0.060,2369,2811,3854,3851,3857,0,0,0,0,0,0,11.23,11.15,11.24
$GC,2113,-1.24,-83.9,2371,2811,3852,3857,584.5,-8.5,236,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2811,3854,3851,3857,0,0,0,0,0,0,11.36,11.36,11.36
$GC,2413,-1.24,-83.9,2370,2811,3852,3858,610.4,-8.6,266,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2811,3854,3851,3857,0,0,0,0,0,0,11.36,11.36,11.36
$GC,2713,-1.24,-83.9,2371,2811,3852,3859,636.2,-8.5,296,2718,0.00,3.30,0.00,0.000,516,0.000,0.044,2370,1389,3854,3851,3857,0,0,0,0,0,0,11.36,11.17,11.36
$GC,2770,-1.24,-83.9,2371,1391,3851,3858,641.2,-8.6,307,2776,0.00,3.40,0.00,0.000,1030,0.000,0.059,2367,2811,3854,3851,3857,0,0,0,0,0,0,11.24,11.17,11.25
$GC,3075,-1.24,-83.9,2367,2812,3851,3858,667.1,-8.4,338,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2811,3854,3851,3857,0,0,0,0,0,0,11.36,11.36,11.36
$GC,3375,-1.24,-83.9,2367,2811,3852,3857,692.3,-8.2,368,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2811,3854,3851,3857,0,0,0,0,0,0,11.36,11.36,11.36
$GC,3689,-1.24,-83.9,2367,2812,3851,3858,718.0,-8.2,385,3695,0.00,3.30,0.00,0.000,516,0.000,0.044,2367,1388,3853,3851,3856,0,0,0,0,0,0,11.35,11.16,11.36
$GC,3737,-1.24,-83.9,2367,1389,3852,3856,722.2,-8.3,394,3742,0.00,3.38,0.00,0.000,1030,0.000,0.059,2359,2806,3853,3851,3856,0,0,0,0,0,0,11.24,11.17,11.26
$GC,4116,-1.24,-83.9,2358,2807,3851,3858,752.7,-8.1,409,4122,0.00,3.28,0.00,0.000,516,0.000,0.044,2359,1391,3853,3851,3856,0,0,0,0,0,0,11.36,11.17,11.35
$GC,4159,-1.24,-83.9,2359,1393,3851,3857,756.5,-8.2,417,4165,0.00,3.38,0.00,0.000,1030,0.000,0.060,2358,2810,3853,3850,3856,0,0,0,0,0,0,11.24,11.17,11.26
$GC,4541,-1.24,-83.9,2358,2811,3851,3857,786.6,-8.0,433,4547,0.00,3.30,0.00,0.000,516,0.000,0.044,2358,1385,3853,3851,3856,0,0,0,0,0,0,11.36,11.17,11.36
$GC,4609,-1.24,-83.9,2358,1385,3851,3857,792.0,-7.9,446,4614,0.00,3.38,0.00,0.000,1030,0.000,0.060,2357,2801,3853,3851,3856,0,0,0,0,0,0,11.24,11.17,11.26
$GC,4996,-1.24,-83.9,2358,2801,3852,3856,823.0,-7.9,463,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2801,3852,3851,3853,0,0,0,0,0,0,11.35,11.35,11.35
$GC,5356,-1.24,-83.9,2357,2803,3851,3857,851.0,-7.6,475,5362,0.00,3.28,0.00,0.000,516,0.000,0.044,2357,1387,3853,3850,3856,0,0,0,0,0,0,11.33,11.18,11.35
$GC,5453,-1.24,-83.9,2357,1388,3851,3857,858.4,-7.5,494,5458,0.00,3.38,0.00,0.000,1030,0.000,0.060,2352,2806,3853,3851,3856,0,0,0,0,0,0,11.24,11.17,11.26
$GC,5843,-1.24,-83.9,2352,2807,3851,3857,887.5,-7.5,511,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2352,2806,3853,3851,3856,0,0,0,0,0,0,11.36,11.36,11.36
$GC,6201,-1.27,-107.1,2352,2806,3852,3856,912.3,-6.5,523,6206,0.00,3.28,0.00,0.000,548,0.000,0.044,2352,1389,3853,3851,3855,0,0,0,0,0,0,11.36,11.18,11.36
$GC,6336,-1.27,-107.1,2353,1388,3852,3856,921.0,-6.9,549,6342,0.00,3.38,0.00,0.000,1062,0.000,0.060,2351,2805,3853,3851,3856,0,0,0,0,0,0,11.24,11.17,11.26
$GC,6722,-1.27,-107.1,2350,2806,3851,3857,948.0,-7.1,565,6728,0.00,3.28,0.00,0.000,548,0.000,0.044,2351,1387,3853,3851,3856,0,0,0,0,0,0,11.36,11.18,11.36
$GC,6754,-1.27,-107.1,2351,1388,3851,3857,950.4,-2.6,571,6759,0.00,3.38,0.00,0.000,1062,0.000,0.060,2351,2806,3853,3851,3856,0,0,0,0,0,0,11.24,11.17,11.26
$GC,7149,-1.27,-107.1,2352,2806,3851,3856,977.7,-7.1,589,7150,0.00,0.00,0.00,0.000,38,0.000,0.000,2351,2806,3853,3851,3856,0,0,0,0,0,0,11.36,11.36,11.36
$STATE,7322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7322,begin apogee
$GC,7331,-0.23,0.0,2352,2549,3852,3857,990.7,-7.2,595,7487,1.80,0.00,153.02,3.099,10246,0.238,0.000,2693,2548,3492,3498,3487,0,0,0,0,0,0,11.07,11.02,9.99
$STATE,7488,end apogee,CONTROL_FINISHED_OK
$STATE,7488,begin climb
$GC,7492,1.27,107.1,2693,2548,3498,3488,992.1,0.0,600,7670,2.00,0.00,173.27,3.103,10758,0.106,0.000,3173,2548,3064,3076,3053,0,0,0,0,0,0,11.05,11.02,10.01
$GC,8016,1.27,107.1,3174,2548,3068,3045,906.5,18.0,628,8022,0.00,3.30,0.00,0.000,260,0.000,0.086,3173,3907,3054,3064,3045,0,0,0,0,0,0,11.32,11.11,11.32
$GC,8058,1.27,107.1,3173,3910,3069,3044,897.6,21.3,636,8063,0.00,3.15,0.00,0.000,1030,0.000,0.047,3183,2542,3055,3067,3044,0,0,0,0,0,0,11.21,11.17,11.22
$GC,8440,1.27,107.1,3183,2543,3066,3044,827.8,18.0,652,8446,0.00,3.38,0.00,0.000,260,0.000,0.086,3183,3909,3054,3066,3043,0,0,0,0,0,0,11.33,11.11,11.33
$GC,8473,1.27,107.1,3184,3910,3067,3043,821.2,23.3,658,8479,0.00,3.12,0.00,0.000,1030,0.000,0.047,3193,2550,3053,3066,3040,0,0,0,0,0,0,11.18,11.15,11.19
$GC,8866,1.27,107.1,3193,2551,3066,3044,748.7,18.4,676,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2550,3054,3065,3043,0,0,0,0,0,0,11.34,11.34,11.35
$GC,9226,1.27,107.1,3194,2550,3066,3043,683.3,17.7,694,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2550,3054,3065,3043,0,0,0,0,0,0,11.34,11.34,11.34
$GC,9526,1.27,107.1,3194,2550,3066,3043,630.0,17.8,724,9532,0.00,3.35,0.00,0.000,260,0.000,0.087,3193,3908,3054,3065,3043,0,0,0,0,0,0,11.35,11.13,11.34
$GC,9583,1.27,107.1,3194,3908,3066,3043,618.6,20.1,735,9590,0.00,3.15,0.00,0.000,1030,0.000,0.047,3204,2538,3054,3065,3043,0,0,0,0,0,0,11.24,11.19,11.25
$GC,9889,1.27,107.1,3205,2539,3065,3042,564.2,17.7,766,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2539,3053,3065,3042,0,0,0,0,0,0,11.34,11.34,11.34
$GC,10189,1.27,107.1,3204,2539,3066,3042,511.8,17.1,796,10195,0.00,3.35,0.00,0.000,260,0.000,0.086,3203,3906,3053,3065,3042,0,0,0,0,0,0,11.34,11.12,11.34
$GC,10237,1.27,107.1,3204,3906,3067,3043,502.9,19.0,805,10244,0.20,3.12,0.00,0.000,5126,0.317,0.047,3187,2546,3053,3065,3042,0,0,0,0,0,0,11.02,11.19,11.21
$GC,10543,1.27,107.1,3187,2546,3066,3042,453.8,15.9,836,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2545,3053,3065,3042,0,0,0,0,0,0,11.33,11.34,11.34
$GC,10842,1.27,107.1,3187,2546,3066,3044,407.2,15.4,866,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2546,3053,3065,3042,0,0,0,0,0,0,11.36,11.36,11.35
$PING,404.1,89.3,9000.0,0.00,0.00
$FREEZE,399.51,-1.132,-2.176,2,2,0
$STATE,10888,end climb,FINISH_DEPTH_REACHED
$STATE,10888,begin subsurface finish
$FINISH1,399.5,1.027492,0
$GC,10897,0.00,0.4,3187,2546,3068,3042,399.5,15.4,871,10912,2.15,0.00,-7.32,0.023,20486,0.264,0.000,2781,2546,3514,3515,3514,0,0,0,0,1,0,11.06,10.74,11.22
$FINISH2,397.1
$STATE,10913,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10913,begin surface
$RAFOS_CLK,455
$RAFOS,2,1547673182,21.232241,21.217222,110,72,62,62,62,57,580,220,198,152,186,168
$RAFOS,1,1547672823,21.132666,21.117500,144,71,64,62,58,56,542,115,176,202,190,144
$RAFOS,0,1547672485,21.032354,21.023611,157,63,59,56,56,53,424,162,204,136,180,121
$RAFOS_FIX,-7413.133789,-11228.891602,160119,212144,3,137,0.19
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.044191,0.282373
$HUMID,50.86
$INTERNAL_PRESSURE,7.94871
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,9.99,276.305
$10V_AH,10.29,0.000
$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,7.825,98.950,326.300,0.000,0.000,0.000,0.000,0.000,41.250,0.000,0.000,0.000,8447.894,412.246,1866.392,320.363,0.000,1061.504,0.000,1250.992,720.000,306.161,0.000
$DEVICE_MAMPS,316.710,87.210,3102.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10949.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.560,0.000,0.000,0.000
$MEM,278872
$DATA_FILE_SIZE,30058,873
$CAP_FILE_SIZE,109539,0
$CFSIZE,1024409600,916570112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1457.0
$GPS,160119,211544,-7413.134,-11228.892,0,4137.0,0,53.5,0.0,0.0,0,0.0