version: 66.13
glider: 221
mission: 7
dive: 953
start: 1 30 119 9 49 38
data:
$ID,221
$MISSION,7
$DIVE,953
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,10
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,100
$T_MISSION,190
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,3600
$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,3
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,-15
$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,56
$R_STBD_OVSHOOT,23
$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,1
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,6.5
$MINV_10V,6.6999998
$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
$GPS1,300119,094501,-7408.0811,-11241.8877,3,1.1,28,53.5,0.3,260.2,9,5.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-62.2
$GPS2,300119,094858,-7408.0742,-11241.9004,3,0.9,4,53.5,0.0,0.0,11,10.0
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,hold4
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,351.6,11435,-20.3,-10.000,-22.30,1639
$D_GRID,300
$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,12,-1.05,-107.1,191,2819,1921,1800,0.0,0.0,0,142,0.00,0.00,-125.20,0.002,16390,0.000,0.000,190,2820,3923,3941,3906,0,0,0,0,0,0,11.16,9.87,11.14
$GC,147,-1.05,-107.1,190,2821,3944,3910,3.0,-4.4,13,177,21.75,2.75,0.00,0.000,2340,0.420,0.076,2421,3900,3935,3945,3925,0,0,0,0,0,0,10.17,10.55,10.49
$PING,13.5,15.1,9000.0,0.00,0.00
$PING,20.0,21.9,9000.0,0.00,0.00
$PING,26.1,28.0,28.0,1.03,1.00
$PING,32.6,34.6,34.6,1.00,1.00
$GC,408,-1.05,-107.1,2421,3901,3946,3935,40.5,-12.1,63,413,0.00,2.47,0.00,0.000,1030,0.000,0.041,2421,2820,3940,3946,3934,0,0,0,0,0,0,11.02,10.98,11.03
$PING,52.5,55.7,55.7,1.05,1.00
$PING,72.5,76.8,76.8,1.06,1.00
$GC,720,-1.05,-107.1,2421,2820,3947,3938,75.9,-11.2,95,725,0.00,2.67,0.00,0.000,260,0.000,0.081,2420,3897,3942,3946,3938,0,0,0,0,0,0,11.21,10.86,11.21
$PING,79.0,82.9,83.1,1.03,1.00
$GC,848,-1.05,-107.1,2421,3898,3947,3938,91.1,-12.1,120,854,0.00,2.53,0.00,0.000,1030,0.000,0.041,2420,2797,3941,3945,3938,0,0,0,0,0,0,11.02,11.00,11.03
$GC,1153,-1.05,-107.1,2420,2798,3946,3940,124.5,-11.1,151,1158,0.00,3.30,0.00,0.000,516,0.000,0.043,2420,1391,3942,3946,3938,0,0,0,0,0,0,11.21,10.91,11.21
$GC,1185,-1.05,-107.1,2420,1392,3946,3940,128.1,-10.7,157,1191,0.00,3.40,0.00,0.000,1030,0.000,0.058,2420,2795,3942,3946,3939,0,0,0,0,0,0,10.98,10.90,11.00
$GC,1499,-1.05,-107.1,2420,2794,3947,3940,162.6,-10.8,189,1499,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2797,3942,3946,3939,0,0,0,0,0,0,11.17,11.17,11.17
$GC,1799,-1.05,-107.1,2421,2795,3947,3939,195.4,-10.8,219,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2792,3943,3948,3939,0,0,0,0,0,0,11.17,11.17,11.17
$GC,2099,-1.05,-107.1,2420,2794,3947,3939,227.5,-10.5,249,2105,0.00,3.30,0.00,0.000,516,0.000,0.042,2420,1387,3942,3946,3939,0,0,0,0,0,0,11.17,10.93,11.19
$GC,2127,-1.05,-107.1,2421,1387,3947,3939,230.5,-10.4,254,2133,0.00,3.45,0.00,0.000,1030,0.000,0.057,2420,2808,3942,3946,3939,0,0,0,0,0,0,10.99,10.90,11.02
$GC,2432,-1.05,-107.1,2419,2809,3946,3939,261.9,-10.2,285,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2808,3942,3945,3939,0,0,0,0,0,0,11.21,11.21,11.21
$GC,2732,-1.05,-107.1,2421,2808,3946,3940,293.3,-10.2,315,2732,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2807,3942,3945,3939,0,0,0,0,0,0,11.20,11.20,11.21
$STATE,2798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2798,begin apogee
$GC,2807,-0.23,0.0,2420,2547,3946,3940,300.4,-10.2,322,3103,1.45,0.00,292.27,2.169,10246,0.210,0.000,2693,2546,3495,3504,3487,0,0,0,0,0,0,10.67,8.34,6.96
$STATE,3104,end apogee,CONTROL_FINISHED_OK
$STATE,3108,begin loiter
$GC,3402,-0.23,0.0,2693,2547,3499,3483,305.2,0.9,352,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,3490,3499,3482,0,0,0,0,0,0,11.12,11.12,11.12
$GC,3702,-0.23,0.0,2694,2547,3498,3482,302.3,1.0,367,3702,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2546,3489,3498,3481,0,0,0,0,0,0,11.19,11.19,11.19
$GC,4002,-0.23,0.0,2693,2547,3498,3482,300.0,0.7,382,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2546,3489,3498,3481,0,0,0,0,0,0,11.22,11.22,11.22
$GC,4305,-0.23,0.0,2694,2547,3498,3482,298.2,0.6,411,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,3489,3497,3481,0,0,0,0,0,0,11.20,11.21,11.21
$GC,4615,-0.23,0.0,2694,2546,3498,3480,296.5,0.5,442,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,3488,3497,3480,0,0,0,0,0,0,11.21,11.21,11.21
$GC,4926,-0.23,0.0,2694,2547,3497,3481,294.7,0.7,473,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,3488,3497,3480,0,0,0,0,0,0,11.22,11.22,11.22
$GC,5235,-0.23,0.0,2693,2547,3497,3481,292.7,0.7,504,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,3488,3496,3480,0,0,0,0,0,0,11.24,11.24,11.24
$GC,5545,-0.23,0.0,2694,2546,3498,3480,290.3,0.8,535,5551,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2546,3488,3496,3480,0,0,0,0,0,0,11.24,11.24,11.24
$GC,5852,-0.23,0.0,2694,2548,3496,3481,287.9,0.8,566,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2546,3488,3496,3480,0,0,0,0,0,0,11.26,11.26,11.26
$GC,6155,-0.23,0.0,2694,2546,3497,3480,285.8,0.6,596,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,3488,3496,3480,0,0,0,0,0,0,11.25,11.25,11.25
$GC,6465,-0.23,0.0,2692,2547,3496,3481,284.1,0.4,627,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2546,3488,3497,3480,0,0,0,0,0,0,11.26,11.25,11.26
$STATE,6707,end loiter,LOITER_COMPLETE
$STATE,6708,begin climb
$GC,6712,1.05,107.1,2693,2547,3497,3481,283.1,0.0,652,7009,1.80,4.15,283.02,2.163,10500,0.116,0.080,3109,3912,3067,3082,3053,0,0,0,0,0,0,10.80,8.18,6.72
$GC,7121,1.05,107.1,3109,3913,3087,3050,253.3,12.6,725,7128,0.00,3.30,0.00,0.000,1030,0.000,0.043,3119,2543,3063,3078,3048,0,0,0,0,0,0,10.74,10.69,10.75
$GC,7425,1.05,107.1,3120,2544,3076,3047,219.2,11.2,756,7430,0.00,3.42,0.00,0.000,516,0.000,0.054,3131,1142,3060,3074,3046,0,0,0,0,0,0,11.06,10.73,11.06
$GC,7457,1.05,107.1,3132,1141,3077,3045,215.7,10.7,762,7462,0.00,3.47,0.00,0.000,1030,0.000,0.057,3131,2559,3060,3075,3045,0,0,0,0,0,0,10.85,10.76,10.87
$GC,7769,1.05,107.1,3131,2560,3075,3046,181.2,11.0,794,7770,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2559,3059,3074,3045,0,0,0,0,0,0,11.12,11.12,11.12
$GC,8069,1.05,107.1,3130,2559,3075,3045,148.0,11.0,824,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2559,3059,3073,3045,0,0,0,0,0,0,11.14,11.14,11.14
$GC,8369,1.05,107.1,3131,2560,3073,3046,114.4,11.1,854,8375,0.00,3.38,0.00,0.000,516,0.000,0.052,3142,1141,3059,3073,3045,0,0,0,0,0,0,11.15,10.79,11.15
$GC,8422,1.05,107.1,3142,1143,3073,3045,108.5,11.2,864,8427,0.00,3.45,0.00,0.000,1030,0.000,0.056,3141,2561,3058,3073,3044,0,0,0,0,0,0,10.92,10.83,10.94
$PING,86.6,89.9,89.9,0.93,1.00
$PING,73.1,76.0,76.3,1.03,0.99
$GC,8735,1.05,107.1,3142,2561,3073,3045,73.1,11.2,896,8740,0.00,3.42,0.00,0.000,516,0.000,0.053,3152,1141,3058,3073,3044,0,0,0,0,0,0,11.12,10.82,11.12
$GC,8767,1.05,107.1,3152,1142,3073,3044,69.5,10.6,902,8772,0.22,3.45,0.00,0.000,5126,0.260,0.057,3118,2560,3058,3072,3044,0,0,0,0,0,0,10.62,10.84,10.83
$PING,53.1,55.0,55.1,1.04,1.00
$PING,46.3,48.1,48.0,1.04,1.00
$GC,9079,1.05,107.1,3119,2560,3074,3044,38.5,9.8,934,9085,0.00,3.40,0.00,0.000,260,0.000,0.082,3118,3911,3058,3072,3044,0,0,0,0,0,0,11.18,10.80,11.18
$PING,33.3,34.7,34.7,1.03,1.00
$GC,9156,1.05,107.1,3117,3912,3072,3045,30.0,11.1,949,9163,0.00,3.20,0.00,0.000,1030,0.000,0.043,3127,2540,3058,3072,3044,0,0,0,0,0,0,10.99,10.94,11.00
$PING,26.4,27.4,27.4,1.04,1.00
$PING,19.4,19.9,19.9,1.06,1.00
$PING,13.4,13.7,13.6,1.05,1.00
$FREEZE,10.00,-0.315,-1.858,2,1,0
$FREEZE,8.89,-0.023,-1.854,2,1,0
$FREEZE,7.88,0.140,-1.851,2,1,0
$PING,6.9,7.8,7.7,0.96,1.00
$FREEZE,6.93,0.199,-1.850,2,1,0
$FREEZE,6.03,0.184,-1.852,2,1,0
$FREEZE,5.13,0.249,-1.851,2,1,0
$FREEZE,4.23,0.257,-1.851,2,1,0
$FREEZE,3.33,0.269,-1.850,2,1,0
$FREEZE,2.41,0.272,-1.850,2,1,0
$FREEZE,1.50,0.262,-1.850,2,1,0
$STATE,9437,end climb,SURFACE_DEPTH_REACHED
$STATE,9438,begin surface coast
$FREEZE,0.72,0.263,-1.849,2,1,0
$FREEZE,0.03,0.268,-1.849,2,1,0
$FINISH,0.0,1.027057
$STATE,9462,end surface coast,CONTROL_FINISHED_OK
$STATE,9462,begin surface
$SM_CCo,9489,269.17,0.187,0,0,1899,399.91
$SM_GC,0.56,11.98,0.68,269.17,0.076,0.072,0.187,198,2802,1899,-8.03,-0.40,399.91,0,0,0,0,0,0,10.83,10.90,10.48
$RAFOS_CLK,400
$RAFOS,2,1548850382,12.232242,12.217222,74,66,59,57,57,54,545,214,205,146,112,189
$RAFOS,1,1548850024,12.132667,12.117778,117,60,59,59,55,54,529,192,217,135,205,114
$RAFOS,0,1548849664,12.032354,12.017777,130,59,58,53,51,50,568,179,161,231,141,120
$RAFOS_FIX,-7407.952637,-11237.718750,300119,121200,3,107,0.24
$IRIDIUM_FIX,-7409.58,-11255.37,300119,092830
$TT8_MAMPS,0.045689,0.274883
$HUMID,48.85
$INTERNAL_PRESSURE,7.77292
$TCM_TEMP,13.00
$XPDR_PINGS,230
$ALTIM_TOP_PING,6.9,7.7
$24V_AH,6.72,314.349
$10V_AH,6.89,0.000
$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,37.200,59.800,575.300,269.175,0.000,0.000,0.000,0.000,80.750,0.000,6.443,0.000,6631.661,972.405,1952.372,289.597,0.000,1732.995,0.000,1398.732,720.000,174.162,0.000
$DEVICE_MAMPS,419.985,81.855,2168.775,186.660,0.000,0.000,0.000,0.000,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5848.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.473,0.000,0.000,0.000
$MEM,280840
$DATA_FILE_SIZE,33324,980
$CAP_FILE_SIZE,431718,0
$CFSIZE,1024409600,905068544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.7
$CURRENT,0.059,259.96,1
$GPS,300119,123330,-7407.719,-11241.216,32,1.0,32,53.5,0.1,0.0,9,4.9