version: 66.13
glider: 221
mission: 7
dive: 962
start: 2 11 119 21 7 30
data:
$ID,221
$MISSION,7
$DIVE,962
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,110
$T_BOOST,0
$D_FINISH,0
$D_PITCH,3
$D_SAFE,500
$D_CALL,2
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,150
$T_MISSION,270
$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,0
$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,0
$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,-60
$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,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,1
$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,0
$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,0
$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,0.090000004
$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
$GPS1,110219,210228,-7356.6367,-11833.1465,20,1.4,32,56.9,0.2,0.0,5,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-53.2
$GPS2,110219,210700,-7356.6011,-11833.3184,19,0.9,19,56.9,1.8,240.2,10,9.9
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,HEADING
$TGT_LATLONG,-7345.802,-11833.318
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,319.3,20000,-43.9,-10.000,-45.00,342
$D_GRID,450
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,13,-2.02,-22.2,200,2799,1921,1823,0.0,0.0,0,44,0.00,0.00,-30.25,0.005,16386,0.000,0.000,199,2799,2354,2379,2329,0,0,0,0,0,0,11.03,28.83,11.02
$GC,49,-2.02,-22.2,199,2800,2386,2330,3.3,-8.6,3,169,22.42,2.88,-90.00,0.003,18692,0.409,0.096,2118,3909,3584,3586,3582,0,0,0,0,0,0,9.48,9.24,9.85
$GC,397,-2.02,-22.2,2118,3910,3596,3586,35.2,-8.6,70,403,0.00,2.58,0.00,0.000,1030,0.000,0.034,2118,2784,3590,3596,3584,0,0,0,0,0,0,10.81,10.76,10.83
$GC,702,-2.02,-22.2,2119,2784,3596,3585,62.8,-9.5,101,708,0.00,2.85,0.00,0.000,260,0.000,0.073,2115,3914,3590,3596,3585,0,0,0,0,0,0,11.10,10.59,11.10
$GC,935,-2.02,-22.2,2116,3914,3597,3584,84.0,-9.1,147,940,0.00,2.58,0.00,0.000,1030,0.000,0.037,2116,2808,3590,3596,3585,0,0,0,0,0,0,10.82,10.78,10.83
$GC,1247,-2.02,-22.2,2116,2809,3597,3587,111.6,-8.7,179,1252,0.00,2.80,0.00,0.000,260,0.000,0.073,2115,3914,3590,3596,3585,0,0,0,0,0,0,11.09,10.57,11.08
$GC,1479,-2.02,-22.2,2115,3916,3597,3586,132.4,-9.0,225,1485,0.00,2.60,0.00,0.000,1030,0.000,0.037,2115,2797,3591,3597,3585,0,0,0,0,0,0,10.83,10.78,10.84
$GC,1792,-2.02,-22.2,2115,2798,3597,3586,160.5,-8.9,257,1798,0.00,2.83,0.00,0.000,260,0.000,0.074,2114,3914,3591,3597,3585,0,0,0,0,0,0,11.12,10.60,11.12
$GC,2010,-2.02,-22.2,2114,3914,3598,3586,180.2,-8.8,300,2016,0.00,2.60,0.00,0.000,1030,0.000,0.037,2114,2797,3591,3597,3585,0,0,0,0,0,0,10.83,10.79,10.85
$GC,2315,-2.02,-22.2,2114,2797,3598,3586,207.6,-9.2,331,2320,0.00,3.35,0.00,0.000,516,0.000,0.041,2114,1392,3591,3598,3585,0,0,0,0,0,0,11.12,10.67,11.13
$GC,2548,-2.02,-22.2,2115,1392,3599,3586,228.4,-9.4,377,2554,0.00,3.47,0.00,0.000,1030,0.000,0.052,2114,2811,3591,3599,3584,0,0,0,0,0,0,10.75,10.66,10.78
$GC,2861,-2.02,-22.2,2114,2811,3600,3585,256.4,-9.1,409,2867,0.00,2.78,0.00,0.000,260,0.000,0.075,2113,3913,3592,3599,3585,0,0,0,0,0,0,11.14,10.60,11.14
$GC,2963,-2.02,-22.2,2114,3913,3600,3586,265.6,-9.1,429,2969,0.00,2.60,0.00,0.000,1030,0.000,0.037,2113,2796,3592,3599,3585,0,0,0,0,0,0,10.84,10.79,10.86
$GC,3276,-2.02,-22.2,2114,2796,3600,3585,293.9,-8.9,461,3282,0.00,3.35,0.00,0.000,516,0.000,0.041,2113,1391,3592,3599,3586,0,0,0,0,0,0,11.12,10.62,11.12
$GC,3349,-2.02,-22.2,2114,1392,3599,3586,300.5,-8.4,475,3355,0.00,3.47,0.00,0.000,1030,0.000,0.052,2113,2804,3592,3599,3585,0,0,0,0,0,0,10.75,10.67,10.81
$GC,3662,-2.02,-22.2,2113,2804,3601,3585,327.8,-8.4,492,3667,0.00,2.78,0.00,0.000,260,0.000,0.075,2113,3907,3592,3599,3585,0,0,0,0,0,0,11.14,10.57,11.14
$GC,3774,-2.02,-22.2,2113,3907,3600,3585,337.8,-8.9,514,3779,0.00,2.60,0.00,0.000,1030,0.000,0.037,2113,2792,3592,3599,3585,0,0,0,0,0,0,10.84,10.79,10.86
$GC,4086,-2.02,-22.2,2114,2791,3600,3585,364.8,-8.6,531,4091,0.00,3.35,0.00,0.000,516,0.000,0.041,2112,1391,3592,3600,3585,0,0,0,0,0,0,11.14,10.68,11.14
$GC,4288,-2.02,-22.2,2113,1392,3600,3586,383.0,-9.1,571,4294,0.00,3.50,0.00,0.000,1030,0.000,0.053,2112,2806,3592,3599,3585,0,0,0,0,0,0,10.75,10.66,10.79
$GC,4610,-2.02,-22.2,2113,2805,3600,3585,412.0,-9.3,590,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2805,3592,3599,3585,0,0,0,0,0,0,11.14,11.14,11.14
$GC,4911,-2.02,-22.2,2113,2805,3600,3584,438.8,-8.7,605,4917,0.00,3.40,0.00,0.000,516,0.000,0.040,2112,1389,3592,3599,3585,0,0,0,0,0,0,11.14,10.70,11.14
$STATE,5038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5038,begin apogee
$GC,5049,-0.23,0.0,2113,2554,3600,3585,450.2,-8.7,630,5167,4.28,0.00,101.53,1.713,10246,0.314,0.000,2693,2554,3528,3533,3524,0,0,0,0,2,0,9.74,6.48,4.07
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin loiter
$GC,5458,-0.23,0.0,2692,2555,3532,3525,412.7,9.2,651,5499,0.00,0.00,35.42,1.759,8198,0.000,0.000,2693,2554,3504,3508,3501,0,0,0,0,0,0,11.10,5.96,4.24
$GC,5799,-0.23,0.0,2694,2554,3509,3501,382.8,8.8,668,5838,0.00,0.00,32.55,1.745,8198,0.000,0.000,2693,2554,3482,3486,3479,0,0,0,0,0,0,11.12,6.56,4.35
$GC,6138,-0.23,0.0,2694,2554,3487,3478,352.3,8.9,685,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2554,3482,3486,3478,0,0,0,0,0,0,11.13,11.13,11.13
$GC,6438,-0.23,0.0,2693,2555,3486,3479,325.3,8.3,700,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2554,3481,3485,3478,0,0,0,0,0,0,11.18,11.18,11.18
$GC,6738,-0.23,0.0,2693,2554,3485,3477,298.8,8.8,715,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2554,3480,3484,3476,0,0,0,0,0,0,11.21,11.20,11.20
$GC,7042,-0.23,0.0,2693,2555,3485,3478,272.0,9.0,745,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2554,3480,3484,3477,0,0,0,0,0,0,11.17,11.17,11.17
$GC,7352,-0.23,0.0,2693,2554,3485,3477,244.4,9.0,776,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2554,3480,3483,3477,0,0,0,0,0,0,11.19,11.19,11.19
$GC,7662,-0.23,0.0,2693,2554,3482,3476,216.6,9.2,807,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2554,3480,3483,3477,0,0,0,0,0,0,11.19,11.19,11.19
$GC,7972,-0.23,0.0,2693,2555,3483,3477,188.4,9.1,838,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2554,3479,3482,3476,0,0,0,0,0,0,11.20,11.20,11.20
$GC,8282,-0.23,0.0,2693,2554,3482,3477,160.4,9.2,869,8288,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2554,3479,3482,3476,0,0,0,0,0,0,11.19,11.19,11.20
$GC,8592,-0.23,0.0,2694,2554,3483,3476,132.8,8.9,900,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2553,3478,3481,3476,0,0,0,0,0,0,11.21,11.21,11.21
$STATE,8764,end loiter,LOITER_COMPLETE
$STATE,8764,begin climb
$GC,8768,2.02,22.2,2693,2554,3482,3476,116.8,0.0,918,8838,3.08,4.57,55.70,1.726,10500,0.099,0.075,3420,3904,3443,3450,3436,0,0,0,0,0,0,10.56,5.91,4.10
$GC,8991,2.04,22.2,3420,3905,3451,3435,96.8,9.1,957,9077,0.00,3.30,71.57,0.998,9286,0.000,0.046,3430,2557,3427,3436,3418,0,0,0,0,1,0,10.58,10.52,4.07
$GC,9377,2.06,22.2,3431,2557,3436,3417,62.0,9.1,1002,9472,0.00,4.57,75.62,1.026,8516,0.000,0.076,3430,3901,3406,3415,3397,0,0,0,0,1,0,10.98,5.93,4.18
$GC,9585,2.07,22.2,3430,3902,3416,3397,43.5,9.1,1040,9590,0.00,3.33,0.00,0.000,1094,0.000,0.046,3440,2544,3405,3415,3396,0,0,0,0,0,0,10.60,10.55,10.62
$GC,9897,2.10,22.2,3440,2545,3415,3396,15.3,8.9,1072,9902,0.00,3.47,0.00,0.000,580,0.000,0.057,3451,1149,3405,3415,3396,0,0,0,0,0,0,11.02,10.52,11.02
$GC,10017,2.11,22.2,3451,1149,3416,3397,4.8,9.1,1095,10024,0.00,3.53,0.00,0.000,1094,0.000,0.058,3451,2551,3405,3415,3396,0,0,0,0,0,0,10.64,10.55,10.67
$STATE,10046,end climb,SURFACE_DEPTH_REACHED
$STATE,10046,begin surface coast
$FINISH,0.0,1.027461
$STATE,10066,end surface coast,CONTROL_FINISHED_OK
$STATE,10066,begin surface
$SM_CCo,10072,689.85,1.346,6,1,2921,138.41
$SM_CCo,10797,570.55,1.045,1,0,1891,399.91
$SM_GC,0.49,15.75,0.73,0.00,0.077,0.057,0.000,205,2806,1880,-8.02,-0.28,404.93,0,0,0,0,0,0,9.41,9.45,9.53
$RAFOS_CLK,468
$RAFOS,2,1549919578,21.232241,21.216110,61,54,54,54,50,49,203,161,134,216,93,110
$RAFOS,1,1549919272,21.132666,21.131111,63,63,59,56,55,52,198,213,231,164,144,123
$RAFOS_FIX,-7356.377930,-11833.445312,110219,232353,0,1,0.04
$IRIDIUM_FIX,-7359.48,-11750.59,110219,195830
$TT8_MAMPS,0.053179,0.280126
$HUMID,50.23
$INTERNAL_PRESSURE,7.80222
$TCM_TEMP,12.70
$XPDR_PINGS,90
$24V_AH,3.98,321.930
$10V_AH,5.05,0.000
$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,45.525,82.750,372.400,1260.400,0.000,0.000,0.000,0.000,22.500,0.000,20.688,0.000,7329.282,1821.905,2124.928,305.154,0.000,2699.800,0.000,1603.698,480.000,0.537,0.000
$DEVICE_MAMPS,408.510,95.625,1758.735,1346.400,0.000,0.000,0.000,0.000,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6459.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.646,0.000,0.000,0.000
$MEM,280564
$DATA_FILE_SIZE,36642,1101
$CAP_FILE_SIZE,140881,10
$CFSIZE,1024409600,904232960
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,11,0,21
$SOUNDSPEED,1444.7
$CURRENT,0.039,323.84,1
$GPS,120219,002031,-7356.179,-11833.422,48,0.9,49,56.9,0.3,0.0,9,8.0