version: 66.13
glider: 221
mission: 7
dive: 893
start: 1 21 119 2 8 6
data:
$ID,221
$MISSION,7
$DIVE,893
$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,12
$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,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
$GPS1,210119,001456,-7441.9062,-11235.1211,0,4164.7,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,396.72
$_SM_ANGLEo,5.5
$GPS2,210119,001456,-7441.9062,-11235.1211,0,4164.7,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideC1
$TGT_LATLONG,-7438.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,325.7,7659,-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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,11,-1.01,-107.1,2783,2806,3526,3519,0.0,0.0,0,24,0.00,0.00,-7.12,0.024,16390,0.000,0.000,2782,2805,3945,3938,3953,0,0,0,0,1,0,11.36,10.60,11.33
$GC,28,-1.01,-107.1,2783,2805,3942,3957,396.9,0.0,1,34,1.42,3.30,0.00,0.000,4612,0.135,0.041,2451,1378,3949,3942,3957,0,0,0,0,0,0,11.13,11.19,11.21
$GC,85,-1.01,-107.1,2455,1377,3951,3959,400.8,-6.8,12,92,0.00,3.40,0.00,0.000,1062,0.000,0.058,2452,2807,3955,3950,3960,0,0,0,0,0,0,11.24,11.17,11.26
$PING,403.2,10.5,9000.0,0.00,0.00
$PING,409.7,17.6,9000.0,0.00,0.00
$PING,422.4,30.7,30.8,1.05,1.00
$GC,390,-1.01,-107.1,2453,2808,3954,3966,424.8,-7.9,43,395,0.00,2.67,0.00,0.000,260,0.000,0.083,2448,3911,3959,3953,3965,0,0,0,0,0,0,11.36,11.16,11.36
$PING,428.6,37.2,37.2,1.04,1.00
$GC,467,-1.01,-107.1,2449,3912,3955,3965,431.1,-8.3,58,473,0.00,2.55,0.00,0.000,1030,0.000,0.044,2448,2790,3959,3953,3965,0,0,0,0,0,0,11.26,11.21,11.27
$GC,772,-1.01,-107.1,2448,2792,3955,3967,455.1,-7.8,89,778,0.00,3.25,0.00,0.000,516,0.000,0.045,2448,1388,3960,3954,3966,0,0,0,0,0,0,11.36,11.17,11.36
$GC,824,-1.01,-107.1,2448,1388,3956,3966,459.3,-8.0,99,831,0.00,3.38,0.00,0.000,1030,0.000,0.060,2442,2804,3960,3955,3966,0,0,0,0,0,0,11.21,11.17,11.24
$GC,1137,-1.01,-107.1,2441,2805,3955,3967,484.8,-8.1,131,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2804,3960,3955,3966,0,0,0,0,0,0,11.36,11.36,11.37
$GC,1437,-1.01,-107.1,2441,2805,3956,3967,508.9,-8.0,161,1438,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2804,3961,3955,3967,0,0,0,0,0,0,11.37,11.37,11.37
$GC,1737,-1.01,-107.1,2441,2805,3956,3967,533.5,-8.3,191,1743,0.00,3.28,0.00,0.000,516,0.000,0.044,2441,1381,3960,3954,3966,0,0,0,0,0,0,11.37,11.18,11.37
$GC,1769,-1.01,-107.1,2442,1381,3957,3966,536.3,-8.8,197,1775,0.00,3.40,0.00,0.000,1030,0.000,0.061,2440,2807,3961,3956,3966,0,0,0,0,0,0,11.25,11.18,11.26
$GC,2082,-1.01,-107.1,2440,2808,3957,3968,561.6,-8.0,229,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2807,3961,3956,3966,0,0,0,0,0,0,11.37,11.37,11.37
$GC,2382,-1.01,-107.1,2440,2808,3957,3967,585.4,-7.8,259,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2807,3961,3956,3966,0,0,0,0,0,0,11.37,11.37,11.37
$GC,2682,-1.01,-107.1,2440,2807,3958,3966,608.9,-7.7,289,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2807,3961,3956,3966,0,0,0,0,0,0,11.37,11.37,11.37
$GC,2983,-1.01,-107.1,2440,2808,3957,3967,632.4,-7.8,319,2988,0.00,3.30,0.00,0.000,516,0.000,0.045,2439,1386,3961,3956,3966,0,0,0,0,0,0,11.36,11.19,11.36
$GC,3049,-1.01,-107.1,2440,1385,3957,3966,637.8,-7.8,332,3056,0.00,3.40,0.00,0.000,1030,0.000,0.061,2439,2803,3966,3966,3967,0,0,0,0,0,0,11.25,11.18,11.26
$GC,3354,-1.01,-107.1,2440,2803,3957,3966,661.9,-8.0,363,3359,0.00,2.70,0.00,0.000,260,0.000,0.083,2436,3914,3961,3956,3966,0,0,0,0,0,0,11.37,11.16,11.36
$GC,3386,-1.01,-107.1,2437,3915,3958,3966,664.4,-8.4,369,3392,0.00,2.58,0.00,0.000,1030,0.000,0.045,2436,2789,3961,3956,3966,0,0,0,0,0,0,11.26,11.21,11.27
$GC,3699,-1.01,-107.1,2437,2789,3957,3967,688.9,-7.2,401,3708,0.00,3.20,0.00,0.000,548,0.000,0.044,2436,1375,3961,3956,3967,0,0,0,0,0,0,11.36,11.19,11.36
$GC,3769,-1.01,-107.1,2437,1375,3958,3966,694.0,-7.0,414,3776,0.00,3.42,0.00,0.000,1062,0.000,0.062,2436,2809,3961,3956,3966,0,0,0,0,0,0,11.25,11.17,11.26
$GC,4094,-1.01,-107.1,2437,2808,3957,3966,718.8,-7.4,431,4095,0.00,0.00,0.00,0.000,38,0.000,0.000,2436,2808,3961,3957,3966,0,0,0,0,0,0,11.37,11.37,11.36
$GC,4455,-1.01,-107.1,2436,2808,3958,3966,746.4,-7.8,443,4460,0.00,2.67,0.00,0.000,260,0.000,0.084,2428,3916,3962,3957,3967,0,0,0,0,0,0,11.37,11.17,11.37
$GC,4492,-1.01,-107.1,2428,3917,3957,3968,749.3,-8.5,450,4497,0.00,2.55,0.00,0.000,1030,0.000,0.046,2428,2795,3962,3957,3967,0,0,0,0,0,0,11.26,11.22,11.27
$PING,750.3,25.0,9000.0,-0.03,0.71
$PING,758.2,18.1,9000.0,-0.05,0.89
$PING,765.2,11.7,11.8,-0.89,1.00
$STATE,4728,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4728,begin apogee
$GC,4737,-0.23,0.0,2429,2539,3957,3968,767.5,-7.7,462,4939,1.35,0.00,195.75,3.007,10246,0.208,0.000,2697,2538,3492,3501,3483,0,0,0,0,0,0,11.10,11.01,10.02
$STATE,4940,end apogee,CONTROL_FINISHED_OK
$STATE,4940,begin climb
$GC,4944,1.01,107.1,2698,2538,3501,3482,770.6,0.0,469,5124,1.67,3.42,170.30,2.950,10500,0.107,0.084,3095,3915,3064,3083,3045,0,0,0,0,0,0,11.07,10.91,10.04
$GC,5166,1.01,107.1,3096,3916,3082,3041,749.2,15.4,507,5171,0.00,3.17,0.00,0.000,1030,0.000,0.046,3106,2541,3058,3076,3041,0,0,0,0,0,0,11.19,11.14,11.20
$GC,5533,1.01,107.1,3106,2542,3074,3037,697.9,13.7,524,5538,0.00,3.38,0.00,0.000,260,0.000,0.086,3106,3911,3055,3074,3036,0,0,0,0,0,0,11.32,11.12,11.32
$GC,5589,1.01,107.1,3107,3911,3075,3036,688.7,16.1,535,5596,0.00,3.15,0.00,0.000,1030,0.000,0.046,3117,2541,3055,3074,3036,0,0,0,0,0,0,11.22,11.17,11.24
$GC,5894,1.01,107.1,3118,2540,3074,3036,645.0,14.2,566,5904,0.00,3.25,0.00,0.000,516,0.000,0.057,3127,1147,3053,3072,3035,0,0,0,0,0,0,11.33,11.12,11.33
$GC,5925,1.01,107.1,3128,1147,3073,3034,640.7,14.4,571,5931,0.00,3.38,0.00,0.000,1030,0.000,0.060,3128,2561,3053,3072,3035,0,0,0,0,0,0,11.20,11.13,11.22
$GC,6230,1.01,107.1,3125,2561,3074,3035,596.2,14.4,602,6236,0.00,3.33,0.00,0.000,260,0.000,0.086,3128,3911,3054,3073,3035,0,0,0,0,0,0,11.34,11.12,11.34
$GC,6278,1.01,107.1,3128,3911,3074,3035,588.7,16.2,611,6287,0.22,3.15,0.00,0.000,5126,0.262,0.045,3101,2538,3054,3073,3035,0,0,0,0,0,0,11.06,11.19,11.21
$GC,6585,1.01,107.1,3101,2539,3073,3035,548.0,13.7,642,6586,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2538,3053,3073,3034,0,0,0,0,0,0,11.33,11.33,11.33
$GC,6885,1.01,107.1,3102,2538,3073,3035,507.9,13.2,672,6890,0.00,3.38,0.00,0.000,260,0.000,0.086,3101,3908,3053,3072,3035,0,0,0,0,0,0,11.31,11.13,11.33
$GC,6931,1.01,107.1,3101,3910,3073,3036,500.9,15.1,681,6938,0.00,3.12,0.00,0.000,1030,0.000,0.045,3111,2546,3054,3073,3035,0,0,0,0,0,0,11.24,11.19,11.26
$GC,7237,1.01,107.1,3112,2547,3073,3036,461.1,12.8,712,7242,0.00,3.35,0.00,0.000,260,0.000,0.086,3111,3910,3053,3072,3035,0,0,0,0,0,0,11.34,11.14,11.35
$GC,7298,1.01,107.1,3112,3911,3073,3037,452.2,14.8,724,7304,0.00,3.15,0.00,0.000,1030,0.000,0.045,3122,2540,3054,3073,3036,0,0,0,0,0,0,11.25,11.20,11.26
$PING,430.3,29.4,9000.0,-0.04,0.89
$PING,417.0,14.3,9000.0,-0.03,0.34
$GC,7610,1.01,107.1,3122,2540,3074,3036,411.8,13.0,756,7615,0.00,3.38,0.00,0.000,260,0.000,0.086,3122,3908,3054,3073,3036,0,0,0,0,0,0,11.36,11.14,11.36
$GC,7637,1.01,107.1,3122,3910,3073,3037,407.9,15.0,761,7644,0.17,3.15,0.00,0.000,5126,0.272,0.046,3105,2540,3054,3072,3036,0,0,0,0,0,0,11.07,11.20,11.23
$STATE,7831,end climb,NO_VERTICAL_VELOCITY
$STATE,7831,begin subsurface finish
$FINISH1,403.2,1.027450,3
$GC,7840,0.00,2.6,3106,2541,3074,3035,403.2,0.3,781,7846,1.45,1.23,-1.77,0.054,20739,0.151,0.115,2778,3032,3508,3512,3505,0,0,0,0,0,0,11.11,10.60,11.20
$FINISH2,403.2
$STATE,7847,end subsurface finish,NO_VERTICAL_VELOCITY
$STATE,7847,begin surface
$RAFOS_CLK,322
$RAFOS,2,1548040397,3.232241,3.221389,122,61,59,52,51,49,679,175,206,112,128,142
$RAFOS,1,1548040022,3.132666,3.117222,117,66,59,59,55,54,715,215,170,202,144,116
$RAFOS,0,1548039667,3.032355,3.018611,149,65,62,60,54,50,682,197,161,215,181,149
$RAFOS_FIX,-7440.891113,-11236.327148,210119,030316,3,129,0.18
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.045689,0.290612
$HUMID,50.47
$INTERNAL_PRESSURE,7.93895
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,765.2,11.8
$24V_AH,10.02,286.643
$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,6.300,99.200,366.050,0.000,0.000,0.000,0.000,0.000,28.000,0.000,0.000,0.000,5613.603,440.299,1637.633,281.850,0.000,1045.414,0.000,1122.073,720.000,204.259,0.000
$DEVICE_MAMPS,271.575,114.750,3007.215,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7858.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.247,0.000,0.000,0.000
$MEM,278872
$DATA_FILE_SIZE,26737,782
$CAP_FILE_SIZE,92840,0
$CFSIZE,1024409600,912998400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1454.3
$GPS,210119,031616,-7440.891,-11236.327,0,4129.3,0,53.5,0.0,0.0,0,0.0