version: 66.13
glider: 221
mission: 7
dive: 882
start: 1 19 119 9 24 59
data:
$ID,221
$MISSION,7
$DIVE,882
$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,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,23
$R_STBD_OVSHOOT,13
$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
$GPS1,190119,091440,-7437.8408,-11236.8154,0,4139.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,403.11
$_SM_ANGLEo,4.9
$GPS2,190119,091440,-7437.8408,-11236.8154,0,4139.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideC0
$TGT_LATLONG,-7438.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,41.6,3358,-28.8,-9.429,-30.53,764
$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
$GC,11,-1.37,-46.9,2781,2803,3535,3531,0.0,0.0,0,13,0.00,0.00,-0.70,0.100,16390,0.000,0.000,2780,2802,3696,3695,3698,0,0,0,0,0,0,11.35,10.60,11.31
$GC,17,-1.37,-46.9,2781,2803,3701,3704,0.0,0.0,0,24,1.83,2.72,0.00,0.000,4356,0.123,0.083,2341,3916,3701,3700,3703,0,0,0,0,0,0,11.13,11.16,11.24
$GC,81,-1.39,-64.5,2341,3917,3706,3704,406.9,-7.1,12,86,0.00,2.55,-0.28,0.249,17446,0.000,0.043,2341,2791,3774,3779,3770,0,0,0,0,0,0,11.26,11.21,11.26
$GC,393,-1.39,-64.5,2341,2792,3778,3780,435.4,-9.1,44,398,0.00,3.25,0.00,0.000,516,0.000,0.045,2341,1383,3782,3778,3786,0,0,0,0,0,0,11.35,11.18,11.35
$GC,528,-1.39,-64.5,2341,1384,3780,3780,447.6,-9.3,70,534,0.00,3.38,0.00,0.000,1030,0.000,0.057,2331,2805,3778,3778,3778,0,0,0,0,0,0,11.22,11.17,11.23
$GC,841,-1.39,-64.5,2332,2805,3779,3781,477.5,-9.5,102,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2805,3779,3779,3779,0,0,0,0,0,0,11.36,11.36,11.36
$GC,1141,-1.39,-64.5,2331,2806,3780,3783,505.9,-9.3,132,1146,0.00,3.30,0.00,0.000,516,0.000,0.044,2332,1382,3779,3779,3780,0,0,0,0,0,0,11.36,11.18,11.36
$GC,1203,-1.39,-64.5,2332,1382,3781,3779,511.6,-9.2,144,1208,0.00,3.40,0.00,0.000,1030,0.000,0.058,2329,2811,3780,3780,3780,0,0,0,0,0,0,11.25,11.18,11.26
$GC,1515,-1.39,-64.5,2329,2812,3780,3781,540.0,-9.0,176,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2810,3779,3779,3779,0,0,0,0,0,0,11.36,11.37,11.37
$GC,1815,-1.39,-64.5,2330,2811,3780,3780,566.9,-9.1,206,1820,0.00,3.30,0.00,0.000,516,0.000,0.044,2329,1391,3780,3780,3780,0,0,0,0,0,0,11.37,11.18,11.36
$GC,1871,-1.39,-64.5,2329,1392,3780,3780,572.0,-8.9,217,1878,0.00,3.35,0.00,0.000,1030,0.000,0.057,2321,2804,3779,3779,3780,0,0,0,0,0,0,11.25,11.18,11.26
$GC,2176,-1.39,-64.5,2321,2805,3780,3781,599.5,-8.9,248,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2805,3779,3779,3780,0,0,0,0,0,0,11.36,11.36,11.36
$GC,2476,-1.39,-64.5,2321,2805,3780,3779,626.1,-8.8,278,2482,0.00,3.30,0.00,0.000,516,0.000,0.043,2321,1388,3778,3779,3778,0,0,0,0,0,0,11.36,11.19,11.36
$GC,2518,-1.39,-64.5,2322,1388,3780,3779,629.8,-8.6,286,2523,0.00,3.38,0.00,0.000,1030,0.000,0.057,2313,2806,3778,3779,3778,0,0,0,0,0,0,11.25,11.18,11.26
$GC,2830,-1.39,-64.5,2314,2806,3781,3778,657.0,-8.8,318,2835,0.00,2.65,0.00,0.000,260,0.000,0.079,2308,3912,3778,3779,3777,0,0,0,0,0,0,11.37,11.17,11.37
$GC,2861,-1.39,-64.5,2308,3913,3780,3778,659.8,-9.4,324,2866,0.00,2.53,0.00,0.000,1030,0.000,0.044,2308,2798,3778,3779,3777,0,0,0,0,0,0,11.27,11.21,11.26
$GC,3173,-1.39,-64.5,2308,2799,3781,3778,686.8,-8.5,356,3178,0.00,3.25,0.00,0.000,516,0.000,0.044,2308,1384,3777,3779,3776,0,0,0,0,0,0,11.37,11.18,11.37
$GC,3224,-1.39,-64.5,2308,1384,3780,3778,691.2,-8.4,366,3229,0.00,3.38,0.00,0.000,1030,0.000,0.057,2299,2809,3778,3779,3777,0,0,0,0,0,0,11.25,11.18,11.26
$GC,3550,-1.39,-64.5,2299,2810,3780,3778,718.1,-8.3,385,3556,0.00,2.65,0.00,0.000,260,0.000,0.077,2290,3918,3779,3781,3777,0,0,0,0,0,0,11.36,11.17,11.36
$GC,3622,-1.39,-64.5,2290,3918,3780,3777,725.1,-9.3,399,3628,0.20,2.55,0.00,0.000,3078,0.295,0.044,2320,2795,3778,3779,3777,0,0,0,0,0,0,11.05,11.21,11.23
$GC,4004,-1.39,-64.5,2320,2795,3780,3776,754.8,-7.7,415,4009,0.00,3.22,0.00,0.000,516,0.000,0.044,2320,1390,3777,3779,3776,0,0,0,0,0,0,11.37,11.19,11.38
$GC,4091,-1.39,-64.5,2320,1390,3781,3776,761.5,-7.8,432,4097,0.00,3.38,0.00,0.000,1030,0.000,0.057,2311,2810,3779,3779,3780,0,0,0,0,0,0,11.26,11.18,11.26
$GC,4456,-1.39,-64.5,2311,2811,3780,3777,789.6,-7.6,445,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2810,3777,3779,3775,0,0,0,0,0,0,11.36,11.37,11.37
$GC,4816,-1.41,-80.7,2311,2811,3780,3776,816.7,-7.3,457,4822,0.00,2.65,0.00,0.000,292,0.000,0.080,2308,3916,3777,3779,3776,0,0,0,0,0,0,11.37,11.17,11.39
$GC,5014,-1.41,-80.7,2308,3917,3780,3777,832.2,-7.7,496,5019,0.00,2.55,0.00,0.000,1030,0.000,0.043,2308,2792,3777,3779,3775,0,0,0,0,0,0,11.26,11.22,11.27
$GC,5394,-1.43,-100.4,2308,2793,3780,3777,858.7,-6.8,511,5395,0.00,0.00,0.00,0.000,38,0.000,0.000,2305,2792,3777,3779,3775,0,0,0,0,0,0,11.37,11.37,11.37
$GC,5751,-1.44,-107.1,2307,2793,3779,3776,884.2,-7.1,523,5756,0.00,2.72,0.00,0.000,292,0.000,0.079,2301,3917,3777,3779,3775,0,0,0,0,0,0,11.37,11.17,11.40
$GC,5818,-1.44,-107.1,2301,3918,3780,3777,889.5,-7.8,536,5822,0.00,2.55,0.00,0.000,1030,0.000,0.044,2301,2790,3777,3779,3775,0,0,0,0,0,0,11.26,11.23,11.27
$GC,6207,-1.44,-107.1,2301,2792,3781,3776,917.5,-7.2,553,6213,0.00,3.22,0.00,0.000,548,0.000,0.043,2301,1383,3777,3779,3776,0,0,0,0,0,0,11.37,11.19,11.37
$GC,6295,-1.44,-107.1,2302,1383,3781,3775,923.9,-6.9,570,6302,0.00,3.38,0.00,0.000,1062,0.000,0.057,2289,2811,3777,3779,3775,0,0,0,0,0,0,11.26,11.19,11.26
$GC,6663,-1.44,-107.1,2290,2811,3780,3776,950.2,-7.2,583,6664,0.00,0.00,0.00,0.000,38,0.000,0.000,2289,2811,3777,3779,3775,0,0,0,0,0,0,11.36,11.37,11.36
$GC,7020,-1.44,-107.1,2289,2812,3780,3777,975.7,-7.0,595,7025,0.00,3.30,0.00,0.000,548,0.000,0.042,2289,1380,3777,3779,3775,0,0,0,0,0,0,11.37,11.19,11.38
$GC,7061,-1.44,-107.1,2290,1380,3781,3776,979.1,-6.9,603,7067,0.17,3.38,0.00,0.000,3110,0.304,0.057,2304,2809,3777,3778,3776,0,0,0,0,0,0,11.05,11.18,11.22
$STATE,7259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7259,begin apogee
$GC,7268,-0.23,0.0,2305,2538,3780,3777,991.8,-6.5,613,7395,2.10,0.00,123.22,3.091,10246,0.252,0.000,2693,2538,3492,3499,3486,0,0,0,0,0,0,11.08,11.02,9.99
$STATE,7396,end apogee,CONTROL_FINISHED_OK
$STATE,7396,begin climb
$PING,990.3,25.1,9000.0,0.00,0.00
$GC,7400,1.44,107.1,2694,2539,3499,3486,993.3,0.0,617,7588,2.25,3.45,172.73,3.103,10500,0.103,0.084,3233,3903,3064,3084,3044,0,0,0,0,0,0,11.06,11.03,9.99
$GC,7605,1.44,107.1,3233,3903,3084,3044,963.1,22.6,644,7610,0.00,3.12,0.00,0.000,1030,0.000,0.046,3243,2549,3062,3083,3042,0,0,0,0,0,0,11.18,11.14,11.19
$GC,7998,1.44,107.1,3243,2550,3076,3037,878.1,21.8,662,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2550,3056,3076,3036,0,0,0,0,0,0,11.32,11.31,11.31
$GC,8357,1.44,107.1,3243,2551,3076,3037,802.3,20.7,674,8364,0.00,3.25,0.00,0.000,516,0.000,0.057,3253,1149,3055,3075,3035,0,0,0,0,0,0,11.34,11.13,11.34
$GC,8380,1.44,107.1,3254,1149,3076,3033,797.4,21.1,678,8386,0.00,3.35,0.00,0.000,1030,0.000,0.060,3253,2553,3054,3075,3034,0,0,0,0,0,0,11.21,11.14,11.22
$GC,8753,1.44,107.1,3253,2554,3076,3035,719.0,21.1,692,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2552,3054,3075,3034,0,0,0,0,0,0,11.33,11.33,11.33
$GC,9113,1.44,107.1,3254,2553,3076,3035,644.3,20.6,720,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,2552,3055,3075,3035,0,0,0,0,0,0,11.33,11.33,11.33
$GC,9413,1.44,107.1,3254,2553,3077,3036,583.4,20.1,750,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2552,3055,3075,3035,0,0,0,0,0,0,11.33,11.34,11.34
$GC,9712,1.44,107.1,3254,2553,3077,3036,523.4,19.8,780,9719,0.00,3.33,0.00,0.000,516,0.000,0.057,3263,1144,3056,3075,3037,0,0,0,0,0,0,11.36,11.14,11.36
$GC,9745,1.44,107.1,3263,1144,3076,3037,517.1,19.8,786,9752,0.00,3.30,0.00,0.000,1030,0.000,0.060,3263,2557,3056,3075,3037,0,0,0,0,0,0,11.22,11.15,11.24
$PING,485.6,73.9,9000.0,0.00,0.00
$PING,477.9,66.0,9000.0,-0.09,0.97
$PING,462.4,50.0,50.0,1.03,1.00
$GC,10058,1.44,107.1,3264,2557,3077,3037,456.7,19.0,818,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2557,3056,3075,3037,0,0,0,0,0,0,11.36,11.36,11.36
$PING,454.8,42.2,42.2,1.03,1.00
$PING,447.2,34.2,34.3,1.04,1.00
$PING,439.7,26.7,26.6,1.03,1.00
$PING,432.1,18.5,18.6,1.04,1.00
$PING,424.5,10.7,10.6,1.05,1.00
$STATE,10245,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10245,begin subsurface finish
$FINISH1,420.6,1.027502,-0
$GC,10253,-0.00,-0.1,3264,2558,3076,3038,420.6,19.2,837,10271,2.70,3.38,-7.25,0.024,20996,0.283,0.067,2779,1147,3520,3526,3515,0,0,0,0,1,0,11.05,10.60,11.22
$FINISH2,417.6
$STATE,10272,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10272,begin surface
$RAFOS_CLK,2424
$RAFOS,1,1547899621,12.132667,12.116944,159,58,53,53,51,49,695,201,170,187,222,159
$RAFOS,0,1547899258,12.032354,12.016111,167,70,68,56,52,51,700,203,216,154,184,115
$RAFOS_FIX,-7437.263184,-11229.571289,190119,121236,2,163,0.35
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.049434,0.274883
$HUMID,51.26
$INTERNAL_PRESSURE,7.92918
$TCM_TEMP,13.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,424.5,10.6
$24V_AH,9.99,282.713
$10V_AH,10.36,0.000
$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,9.250,105.675,295.950,0.000,0.000,0.000,0.000,0.000,44.000,0.000,0.000,0.000,7906.998,379.998,1799.183,313.156,0.000,1019.723,0.000,1203.911,720.000,339.981,0.000
$DEVICE_MAMPS,304.470,84.150,3102.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10294.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.545,0.000,0.000,0.000
$MEM,278824
$DATA_FILE_SIZE,26689,840
$CAP_FILE_SIZE,110486,0
$CFSIZE,1024409600,914407424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1456.9
$GPS,190119,120936,-7437.263,-11229.571,0,3163.0,0,53.5,0.0,0.0,0,0.0