version: 66.13
glider: 221
mission: 7
dive: 910
start: 1 23 119 5 36 26
data:
$ID,221
$MISSION,7
$DIVE,910
$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,25
$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
$GPS1,230119,031616,-7439.5698,-11201.9268,0,4121.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,399.20
$_SM_ANGLEo,0.4
$GPS2,230119,031616,-7439.5698,-11201.9268,0,4121.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideC2
$TGT_LATLONG,-7438.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,228.4,14081,-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,-107.1,2784,2809,3077,3037,0.0,0.0,0,16,0.00,0.00,-3.53,0.021,16390,0.000,0.000,2782,2810,3937,3931,3944,0,0,0,0,0,0,11.36,10.59,11.35
$GC,20,-1.01,-107.1,2784,2809,3941,3957,0.0,0.0,0,27,1.42,3.28,0.00,0.000,4612,0.138,0.044,2456,1382,3952,3945,3959,0,0,0,0,0,0,11.12,11.17,11.20
$GC,78,-1.01,-107.1,2458,1383,3953,3963,403.0,-7.5,11,85,0.00,3.40,0.00,0.000,1030,0.000,0.060,2453,2809,3957,3952,3963,0,0,0,0,0,0,11.24,11.17,11.26
$PING,411.9,13.3,9000.0,0.00,0.00
$PING,425.6,27.6,9000.0,0.00,0.00
$GC,384,-1.01,-107.1,2454,2809,3958,3968,431.3,-9.4,42,390,0.00,2.65,0.00,0.000,260,0.000,0.085,2452,3910,3961,3955,3968,0,0,0,0,0,0,11.36,11.14,11.36
$GC,456,-1.01,-107.1,2459,3911,3957,3969,438.6,-10.5,56,461,0.00,2.55,0.00,0.000,1030,0.000,0.045,2452,2789,3965,3962,3968,0,0,0,0,0,0,11.26,11.21,11.27
$GC,768,-1.01,-107.1,2453,2790,3958,3970,467.1,-9.1,88,773,0.00,2.75,0.00,0.000,260,0.000,0.083,2445,3915,3963,3957,3969,0,0,0,0,0,0,11.36,11.16,11.36
$GC,800,-1.01,-107.1,2445,3917,3958,3970,470.1,-10.1,94,805,0.00,2.58,0.00,0.000,1030,0.000,0.045,2445,2790,3963,3957,3970,0,0,0,0,0,0,11.26,11.21,11.27
$GC,1112,-1.01,-107.1,2445,2790,3960,3970,498.7,-9.1,126,1117,0.00,3.25,0.00,0.000,516,0.000,0.046,2445,1383,3964,3959,3970,0,0,0,0,0,0,11.36,11.17,11.36
$GC,1144,-1.01,-107.1,2446,1383,3960,3970,501.7,-9.4,132,1149,0.00,3.40,0.00,0.000,1030,0.000,0.060,2439,2809,3964,3959,3970,0,0,0,0,0,0,11.25,11.18,11.26
$GC,1455,-1.01,-107.1,2440,2809,3959,3970,530.8,-9.5,164,1460,0.00,2.67,0.00,0.000,260,0.000,0.084,2439,3916,3964,3959,3970,0,0,0,0,0,0,11.36,11.16,11.36
$GC,1492,-1.01,-107.1,2440,3916,3960,3971,534.4,-10.2,171,1498,0.00,2.55,0.00,0.000,1030,0.000,0.047,2441,2797,3964,3959,3970,0,0,0,0,0,0,11.26,11.21,11.27
$GC,1797,-1.01,-107.1,2441,2797,3961,3970,562.5,-9.1,202,1802,0.00,3.25,0.00,0.000,516,0.000,0.047,2440,1387,3964,3959,3970,0,0,0,0,0,0,11.36,11.18,11.37
$GC,1819,-1.01,-107.1,2440,1388,3961,3971,564.5,-9.2,206,1825,0.00,3.33,0.00,0.000,1030,0.000,0.061,2439,2804,3964,3959,3970,0,0,0,0,0,0,11.24,11.16,11.26
$GC,2132,-1.01,-107.1,2439,2804,3960,3970,594.1,-9.5,238,2137,0.00,3.30,0.00,0.000,516,0.000,0.046,2439,1386,3965,3960,3970,0,0,0,0,0,0,11.37,11.18,11.37
$GC,2174,-1.01,-107.1,2439,1386,3961,3972,598.1,-9.7,246,2179,0.00,3.40,0.00,0.000,1030,0.000,0.061,2439,2808,3965,3960,3970,0,0,0,0,0,0,11.25,11.17,11.26
$GC,2486,-1.01,-107.1,2440,2809,3960,3967,627.9,-9.8,278,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2809,3965,3960,3970,0,0,0,0,0,0,11.36,11.36,11.37
$GC,2785,-1.01,-107.1,2439,2810,3961,3972,656.0,-9.2,308,2790,0.00,2.67,0.00,0.000,260,0.000,0.085,2436,3917,3965,3959,3971,0,0,0,0,0,0,11.37,11.16,11.37
$GC,2822,-1.01,-107.1,2437,3917,3961,3970,659.6,-10.0,315,2828,0.00,2.55,0.00,0.000,1030,0.000,0.046,2436,2797,3965,3960,3970,0,0,0,0,0,0,11.24,11.20,11.26
$GC,3127,-1.01,-107.1,2435,2798,3960,3973,688.5,-9.3,346,3133,0.00,3.20,0.00,0.000,516,0.000,0.047,2436,1385,3965,3960,3970,0,0,0,0,0,0,11.37,11.18,11.37
$GC,3165,-1.01,-107.1,2437,1385,3961,3971,692.0,-9.3,353,3172,0.00,3.40,0.00,0.000,1030,0.000,0.062,2432,2805,3965,3960,3971,0,0,0,0,0,0,11.25,11.18,11.26
$GC,3474,-1.01,-107.1,2431,2807,3961,3972,719.7,-8.9,370,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2806,3965,3960,3971,0,0,0,0,0,0,11.36,11.36,11.36
$GC,3831,-1.01,-107.1,2432,2807,3961,3972,752.1,-8.6,382,3836,0.00,2.67,0.00,0.000,260,0.000,0.084,2425,3914,3965,3960,3971,0,0,0,0,0,0,11.36,11.17,11.36
$GC,3867,-1.01,-107.1,2427,3914,3961,3971,755.6,-9.7,389,3873,0.00,2.55,0.00,0.000,1030,0.000,0.046,2426,2802,3965,3960,3971,0,0,0,0,0,0,11.25,11.20,11.26
$GC,4259,-1.01,-107.1,2427,2797,3961,3970,789.5,-8.9,406,4264,0.00,3.28,0.00,0.000,516,0.000,0.047,2426,1381,3965,3960,3971,0,0,0,0,0,0,11.36,11.19,11.36
$GC,4316,-1.01,-107.1,2427,1381,3961,3972,794.7,-8.9,417,4323,0.00,3.42,0.00,0.000,1030,0.000,0.062,2425,2811,3965,3960,3971,0,0,0,0,0,0,11.24,11.17,11.25
$GC,4684,-1.01,-107.1,2425,2811,3961,3973,826.1,-8.5,430,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2810,3966,3961,3971,0,0,0,0,0,0,11.37,11.37,11.37
$GC,5041,-1.01,-107.1,2426,2811,3961,3971,856.8,-8.7,442,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2810,3965,3960,3971,0,0,0,0,0,0,11.37,11.38,11.38
$GC,5401,-1.01,-107.1,2426,2810,3961,3972,885.8,-7.8,454,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2810,3966,3961,3972,0,0,0,0,0,0,11.37,11.37,11.38
$PING,887.8,29.3,9000.0,0.02,0.36
$PING,895.3,21.7,9000.0,-0.00,0.10
$GC,5765,-1.01,-107.1,2425,2810,3962,3973,913.4,-7.4,466,5770,0.00,3.33,0.00,0.000,548,0.000,0.044,2425,1376,3966,3960,3973,0,0,0,0,0,0,11.36,11.20,11.37
$STATE,5923,end dive,NO_VERTICAL_VELOCITY
$STATE,5923,begin apogee
$GC,5934,-0.23,0.0,2427,2559,3961,3975,913.2,0.0,498,6138,1.25,0.00,201.35,3.107,10246,0.164,0.000,2695,2558,3492,3503,3481,0,0,0,0,0,0,11.12,10.97,9.93
$STATE,6139,end apogee,CONTROL_FINISHED_OK
$STATE,6139,begin climb
$PING,901.4,16.3,16.2,-0.96,1.00
$GC,6143,1.01,107.1,2697,2558,3504,3482,913.2,0.0,505,6325,1.62,3.38,170.62,3.087,10500,0.093,0.086,3096,3914,3065,3085,3045,0,0,0,0,0,0,11.05,10.98,9.93
$GC,6408,1.01,107.1,3098,3916,3081,3041,886.6,14.7,555,6413,0.00,3.17,0.00,0.000,1030,0.000,0.047,3107,2540,3059,3080,3039,0,0,0,0,0,0,11.19,11.14,11.20
$GC,6790,1.01,107.1,3108,2540,3077,3034,834.8,13.4,571,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2540,3054,3075,3034,0,0,0,0,0,0,11.33,11.33,11.33
$GC,7154,1.01,107.1,3107,2541,3076,3033,788.4,12.8,583,7159,0.00,3.40,0.00,0.000,260,0.000,0.086,3107,3915,3053,3074,3033,0,0,0,0,0,0,11.33,11.12,11.33
$GC,7195,1.01,107.1,3108,3916,3075,3032,781.8,14.9,591,7200,0.00,3.15,0.00,0.000,1030,0.000,0.047,3118,2546,3052,3073,3032,0,0,0,0,0,0,11.21,11.17,11.21
$GC,7578,1.01,107.1,3118,2547,3073,3033,731.7,13.6,607,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2547,3051,3072,3031,0,0,0,0,0,0,11.33,11.33,11.33
$GC,7937,1.01,107.1,3119,2543,3073,3032,683.5,13.0,627,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2547,3051,3072,3031,0,0,0,0,0,0,11.35,11.35,11.35
$GC,8237,1.01,107.1,3119,2547,3073,3029,644.7,12.5,657,8242,0.00,3.33,0.00,0.000,516,0.000,0.058,3129,1140,3051,3072,3031,0,0,0,0,0,0,11.35,11.14,11.35
$GC,8264,1.01,107.1,3128,1141,3072,3030,641.4,12.3,662,8272,0.00,3.38,0.00,0.000,1030,0.000,0.060,3129,2552,3051,3072,3031,0,0,0,0,0,0,11.23,11.15,11.24
$GC,8570,1.01,107.1,3129,2553,3072,3031,602.3,12.6,693,8575,0.00,3.33,0.00,0.000,260,0.000,0.086,3129,3912,3051,3072,3030,0,0,0,0,0,0,11.34,11.14,11.34
$GC,8606,1.01,107.1,3129,3912,3073,3031,597.0,14.6,700,8614,0.22,3.15,0.00,0.000,5126,0.257,0.045,3102,2537,3051,3072,3030,0,0,0,0,0,0,11.07,11.20,11.22
$GC,8911,1.01,107.1,3102,2538,3072,3031,561.6,10.9,731,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2537,3051,3072,3030,0,0,0,0,0,0,11.35,11.36,11.36
$GC,9211,1.01,107.1,3102,2538,3072,3032,528.6,11.0,761,9216,0.00,3.40,0.00,0.000,260,0.000,0.086,3102,3918,3050,3071,3030,0,0,0,0,0,0,11.36,11.14,11.36
$GC,9243,1.01,107.1,3102,3920,3072,3031,524.7,13.0,767,9248,0.00,3.15,0.00,0.000,1030,0.000,0.046,3113,2543,3051,3072,3030,0,0,0,0,0,0,11.25,11.20,11.26
$GC,9556,1.01,107.1,3113,2544,3072,3031,489.2,11.2,799,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2543,3051,3072,3030,0,0,0,0,0,0,11.35,11.34,11.35
$PING,455.4,48.5,9000.0,-0.07,0.98
$GC,9856,1.01,107.1,3113,2544,3072,3031,455.4,11.3,829,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2544,3051,3072,3030,0,0,0,0,0,0,11.35,11.35,11.35
$PING,448.6,41.4,9000.0,-0.06,0.95
$PING,441.9,33.9,34.0,1.08,1.00
$PING,435.1,26.7,26.6,1.09,1.00
$PING,428.2,19.4,19.4,1.06,1.00
$PING,421.4,12.3,12.2,1.05,1.00
$GC,10156,1.01,107.1,3112,2544,3071,3032,421.4,11.3,859,10161,0.00,3.33,0.00,0.000,516,0.000,0.057,3124,1139,3050,3071,3030,0,0,0,0,0,0,11.35,11.16,11.35
$GC,10182,1.01,107.1,3124,1140,3071,3031,418.3,11.3,864,10189,0.00,3.38,0.00,0.000,1030,0.000,0.059,3124,2558,3051,3072,3030,0,0,0,0,0,0,11.24,11.17,11.26
$STATE,10204,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10204,begin subsurface finish
$FINISH1,415.6,1.027502,-0
$GC,10213,-0.00,-0.1,3125,2559,3073,3030,415.6,10.9,867,10225,1.70,3.35,-1.83,0.041,20740,0.228,0.099,2779,3906,3516,3520,3512,0,0,0,0,0,0,11.09,10.58,11.22
$FINISH2,414.1
$STATE,10225,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10225,begin surface
$RAFOS_CLK,419
$RAFOS,2,1548223978,6.232241,6.216111,157,62,60,55,54,53,776,144,218,179,125,197
$RAFOS,1,1548223625,6.132666,6.118055,150,60,59,56,55,51,699,181,155,210,195,132
$RAFOS,0,1548223260,6.032355,6.016667,168,64,60,53,52,50,709,209,184,128,226,148
$RAFOS_FIX,-7439.638184,-11210.497070,230119,060628,3,158,0.39
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.045689,0.2247
$HUMID,51.18
$INTERNAL_PRESSURE,7.93895
$TCM_TEMP,13.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,421.4,12.2
$24V_AH,9.93,292.577
$10V_AH,10.21,0.000
$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,6.225,115.850,371.975,0.000,0.000,0.000,0.000,0.000,36.750,0.000,0.000,0.000,7734.890,446.076,1834.258,337.614,0.000,1119.294,0.000,1245.710,720.000,272.751,0.000
$DEVICE_MAMPS,257.040,98.685,3106.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10257.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.712,0.000,0.000,0.000
$MEM,278824
$DATA_FILE_SIZE,29982,869
$CAP_FILE_SIZE,111089,0
$CFSIZE,1024409600,910966784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.6
$GPS,230119,061528,-7439.638,-11210.497,0,4158.3,0,53.5,0.0,0.0,0,0.0