version: 66.13
glider: 221
mission: 7
dive: 216
start: 2 28 118 4 34 45
data:
$ID,221
$MISSION,7
$DIVE,216
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,150
$D_CALL,2
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,170
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,0.00184
$HD_B,0.0133
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,4
$CALL_TRIES,3
$CALL_WAIT,45
$CAPUPLOAD,0
$CAPMAXSIZE,10000
$HEAPDBG,0
$T_GPS,3
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2730
$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,15
$R_PORT_OVSHOOT,40
$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,3400
$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,883
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,280218,042749,-7406.2124,-11254.2402,32,1.1,32,53.6,0.2,0.0,9,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.7
$GPS2,280218,043346,-7406.1631,-11254.3057,3,1.1,3,53.6,0.2,0.0,9,9.6
$SPEED_LIMITS,0.088,0.188
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,43.5,15429,-16.7,-8.824,-25.14,1966
$D_GRID,634
$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,9,-0.91,-121.7,185,2809,2232,2126,0.0,0.0,0,122,0.00,0.00,-108.82,0.003,16390,0.000,0.000,185,2809,3890,3901,3879,0,0,0,0,0,0,14.60,12.86,14.60
$GC,125,-0.91,-121.7,186,2809,3902,3879,2.7,-3.4,11,142,12.02,1.95,0.00,0.000,2340,0.460,0.079,2423,3914,3898,3903,3893,0,0,0,0,0,0,13.94,14.33,14.26
$PING,10.3,11.4,9000.0,0.00,0.00
$PING,20.7,22.0,9000.0,0.00,0.00
$GC,316,-0.91,-121.7,2423,3915,3905,3903,28.0,-13.3,49,323,0.00,1.90,0.00,0.000,1030,0.000,0.049,2422,2796,3903,3903,3903,0,0,0,0,0,0,14.47,14.44,14.50
$PING,30.8,32.7,32.7,1.04,1.00
$PING,52.3,55.3,55.3,1.05,1.00
$GC,627,-0.91,-121.7,2423,2797,3904,3906,62.0,-11.3,81,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2797,3904,3903,3906,0,0,0,0,0,0,14.76,14.76,14.76
$PING,94.2,98.8,98.8,1.04,1.00
$GC,928,-0.91,-121.7,2423,2798,3903,3908,94.2,-10.8,111,933,0.00,2.00,0.00,0.000,260,0.000,0.093,2419,3917,3905,3903,3907,0,0,0,0,0,0,14.73,14.42,14.73
$GC,977,-0.91,-121.7,2419,3917,3903,3909,100.0,-11.8,121,984,0.00,1.90,0.00,0.000,1030,0.000,0.051,2419,2795,3905,3903,3907,0,0,0,0,0,0,14.55,14.52,14.57
$GC,1288,-0.91,-121.7,2420,2796,3900,3909,133.4,-10.0,153,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2795,3905,3904,3907,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1588,-0.91,-121.7,2420,2796,3903,3909,163.8,-10.0,183,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2795,3905,3902,3908,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1888,-0.91,-121.7,2420,2795,3905,3909,193.7,-9.8,213,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2795,3905,3903,3907,0,0,0,0,0,0,14.83,14.83,14.82
$GC,2188,-0.91,-121.7,2420,2796,3904,3909,224.1,-10.0,243,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2795,3906,3904,3908,0,0,0,0,0,0,14.84,14.84,14.84
$GC,2488,-0.91,-121.7,2420,2795,3905,3908,253.1,-9.4,273,2494,0.00,2.40,0.00,0.000,516,0.000,0.052,2420,1371,3905,3903,3907,0,0,0,0,0,0,14.85,14.49,14.85
$GC,2518,-0.91,-121.7,2422,1372,3904,3910,255.9,-9.4,279,2524,0.00,2.53,0.00,0.000,1030,0.000,0.070,2419,2815,3905,3903,3908,0,0,0,0,0,0,14.62,14.48,14.65
$GC,2828,-0.91,-121.7,2420,2815,3905,3908,286.0,-10.0,311,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2814,3905,3903,3908,0,0,0,0,0,0,14.84,14.84,14.84
$GC,3140,-0.91,-121.7,2420,2815,3905,3908,316.1,-9.6,334,3145,0.00,2.40,0.00,0.000,516,0.000,0.051,2419,1392,3905,3903,3908,0,0,0,0,0,0,14.81,14.52,14.81
$GC,3184,-0.91,-121.7,2419,1397,3904,3909,320.5,-9.3,343,3190,0.00,2.53,0.00,0.000,1030,0.000,0.070,2419,2806,3905,3903,3908,0,0,0,0,0,0,14.54,14.46,14.57
$GC,3502,-0.91,-121.7,2420,2806,3905,3908,350.1,-9.2,361,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2806,3905,3903,3908,0,0,0,0,0,0,14.81,14.81,14.81
$GC,3800,-0.91,-121.7,2420,2807,3904,3909,377.0,-8.8,376,3805,0.00,2.40,0.00,0.000,516,0.000,0.052,2419,1394,3905,3903,3908,0,0,0,0,0,0,14.86,14.52,14.87
$GC,3829,-0.91,-121.7,2419,1394,3904,3909,379.6,-8.7,382,3835,0.00,2.53,0.00,0.000,1030,0.000,0.070,2417,2810,3906,3904,3908,0,0,0,0,0,0,14.54,14.46,14.58
$GC,4140,-0.91,-121.7,2418,2810,3905,3908,406.2,-8.5,399,4145,0.00,1.95,0.00,0.000,260,0.000,0.093,2415,3920,3905,3903,3908,0,0,0,0,0,0,14.86,14.46,14.86
$GC,4195,-0.91,-121.7,2415,3919,3904,3908,411.3,-9.5,410,4201,0.00,1.90,0.00,0.000,1030,0.000,0.050,2415,2801,3905,3903,3908,0,0,0,0,0,0,14.60,14.56,14.62
$GC,4500,-0.91,-121.7,2416,2801,3905,3908,438.4,-8.8,426,4505,0.00,2.35,0.00,0.000,516,0.000,0.051,2415,1398,3905,3903,3908,0,0,0,0,0,0,14.88,14.53,14.88
$GC,4540,-0.91,-121.7,2415,1398,3904,3907,442.1,-9.3,434,4546,0.00,2.50,0.00,0.000,1030,0.000,0.070,2415,2806,3905,3903,3908,0,0,0,0,0,0,14.54,14.46,14.59
$STATE,4639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4639,begin apogee
$PING,451.8,36.6,9000.0,-0.10,0.44
$GC,4643,-0.23,0.0,2415,2536,3904,3909,450.9,-8.8,442,4765,0.90,0.00,119.72,2.477,10246,0.248,0.000,2652,2535,3399,3403,3395,0,0,0,0,0,0,14.23,13.71,12.76
$STATE,4766,end apogee,CONTROL_FINISHED_OK
$STATE,4766,begin climb
$GC,4768,0.91,121.7,2653,2536,3402,3393,453.1,0.0,448,4888,1.25,0.00,115.93,2.366,10758,0.158,0.000,3016,2534,2914,2920,2909,0,0,0,0,0,0,13.64,13.27,12.39
$GC,5181,0.91,121.7,3016,2536,2906,2896,411.0,11.8,484,5186,0.00,2.55,0.00,0.000,260,0.000,0.095,3016,3911,2900,2906,2895,0,0,0,0,0,0,14.33,14.02,14.33
$GC,5206,0.91,121.7,3017,3912,2908,2895,407.6,13.3,489,5213,0.00,2.38,0.00,0.000,1030,0.000,0.057,3027,2549,2900,2906,2895,0,0,0,0,0,0,14.19,14.12,14.21
$GC,5523,0.91,121.7,3027,2550,2902,2895,367.8,12.5,507,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2549,2898,2903,2894,0,0,0,0,0,0,14.62,14.62,14.62
$GC,5822,0.91,121.7,3027,2549,2905,2895,332.1,11.7,522,5828,0.00,2.45,0.00,0.000,516,0.000,0.067,3037,1138,2899,2905,2894,0,0,0,0,0,0,14.73,14.39,14.72
$GC,5847,0.91,121.7,3037,1139,2905,2894,329.2,11.3,527,5853,0.00,2.53,0.00,0.000,1030,0.000,0.070,3037,2554,2899,2905,2893,0,0,0,0,0,0,14.47,14.39,14.57
$GC,6152,0.91,121.7,3038,2554,2906,2893,292.2,12.5,547,6158,0.00,2.45,0.00,0.000,260,0.000,0.097,3037,3915,2899,2905,2893,0,0,0,0,0,0,14.78,14.43,14.78
$GC,6193,0.91,121.7,3037,3917,2906,2894,286.5,14.4,555,6198,0.00,2.30,0.00,0.000,1030,0.000,0.057,3047,2545,2899,2905,2893,0,0,0,0,0,0,14.56,14.52,14.59
$GC,6502,0.91,121.7,3048,2545,2906,2894,247.5,12.3,587,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2544,2899,2905,2894,0,0,0,0,0,0,14.83,14.83,14.83
$GC,6803,0.91,121.7,3048,2546,2907,2894,211.6,11.2,617,6809,0.00,2.40,0.00,0.000,516,0.000,0.067,3058,1151,2899,2906,2893,0,0,0,0,0,0,14.81,14.49,14.80
$GC,6833,0.91,121.7,3058,1151,2907,2893,208.1,11.0,623,6839,0.15,2.47,0.00,0.000,5126,0.281,0.071,3025,2574,2898,2904,2893,0,0,0,0,0,0,14.27,14.50,14.59
$GC,7143,0.91,121.7,3024,2574,2906,2894,174.5,11.0,655,7149,0.00,2.38,0.00,0.000,260,0.000,0.094,3025,3910,2899,2906,2893,0,0,0,0,0,0,14.85,14.49,14.85
$GC,7168,0.91,121.7,3026,3913,2908,2893,171.4,12.4,660,7175,0.00,2.35,0.00,0.000,1030,0.000,0.056,3035,2539,2899,2906,2893,0,0,0,0,0,0,14.62,14.56,14.63
$GC,7473,0.91,121.7,3034,2539,2907,2893,137.2,11.0,691,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2539,2899,2905,2893,0,0,0,0,0,0,14.87,14.86,14.86
$PING,128.4,133.4,9000.0,-0.22,0.81
$GC,7773,0.91,121.7,3035,2540,2907,2894,105.3,10.9,721,7780,0.00,2.40,0.00,0.000,516,0.000,0.066,3045,1147,2899,2906,2893,0,0,0,0,0,0,14.88,14.50,14.88
$GC,7799,0.91,121.7,3046,1147,2907,2893,102.4,10.8,726,7806,0.00,2.50,0.00,0.000,1030,0.000,0.071,3045,2555,2899,2906,2893,0,0,0,0,0,0,14.58,14.50,14.62
$PING,97.2,101.1,9000.0,-0.23,0.84
$PING,86.8,90.3,90.3,1.04,1.00
$PING,76.3,79.2,79.2,1.05,1.00
$GC,8104,0.91,121.7,3045,2555,2907,2893,67.4,11.4,757,8111,0.00,2.42,0.00,0.000,260,0.000,0.097,3045,3914,2899,2906,2893,0,0,0,0,0,0,14.87,14.49,14.87
$PING,66.1,68.6,68.5,1.05,1.00
$GC,8130,0.91,121.7,3045,3914,2908,2893,64.0,13.2,762,8137,0.10,2.35,0.00,0.000,5126,0.278,0.057,3015,2543,2900,2907,2893,0,0,0,0,0,0,14.25,14.57,14.59
$PING,55.4,57.7,57.6,1.03,1.00
$PING,44.5,46.4,46.5,1.02,1.00
$PING,34.4,35.5,35.6,1.06,1.00
$GC,8435,0.91,121.7,3016,2543,2908,2893,31.4,10.3,793,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2543,2899,2906,2893,0,0,0,0,0,0,14.87,14.87,14.87
$PING,24.0,24.6,24.5,1.06,1.00
$PING,12.8,13.1,13.1,1.04,1.00
$FREEZE,9.46,-1.798,-1.868,2,1,0
$FREEZE,8.42,-1.797,-1.868,2,1,0
$FREEZE,7.52,-1.801,-1.867,2,1,0
$FREEZE,6.62,-1.801,-1.866,2,1,0
$FREEZE,5.56,-1.801,-1.866,2,1,0
$FREEZE,4.58,-1.804,-1.865,2,1,0
$FREEZE,3.59,-1.805,-1.864,2,1,0
$STATE,8694,end climb,FINISH_DEPTH_REACHED
$STATE,8694,begin subsurface finish
$FINISH1,3.6,1.027317,9
$GC,8698,0.01,9.3,3016,2544,2907,2894,3.6,9.9,819,8730,1.00,2.45,-23.58,0.006,20740,0.220,0.116,2737,3911,3369,3363,3375,0,0,0,0,0,0,14.32,12.90,14.60
$FINISH2,2.7
$STATE,8730,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8730,begin surface
$RAFOS_CLK,353
$RAFOS,2,1519798386,6.233333,6.218333,63,62,60,59,57,56,544,622,198,141,219,167
$RAFOS,1,1519798027,6.133333,6.118611,138,65,63,62,60,54,529,215,206,161,185,137
$RAFOS,0,1519797664,6.032778,6.017778,137,67,58,57,56,55,582,218,195,151,133,161
$RAFOS_FIX,-7407.458496,-11244.800781,280218,060628,3,113,0.88
$IRIDIUM_FIX,-7406.86,-11259.54,280218,015229
$TT8_MAMPS,0.03745,0.244923
$HUMID,48.11
$INTERNAL_PRESSURE,7.87058
$TCM_TEMP,12.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,12.8,13.1
$24V_AH,12.39,74.048
$10V_AH,12.55,0.000
$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,15.425,68.050,235.650,0.000,0.000,0.000,0.000,232.425,21.250,0.000,4.905,0.000,6594.592,434.229,1937.300,158.462,0.000,1292.511,0.000,1182.864,720.000,152.472,0.000
$DEVICE_MAMPS,459.765,115.515,2477.070,0.000,0.000,0.000,0.000,201.195,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8749.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.921,0.000,0.000,0.000
$MEM,280104
$DATA_FILE_SIZE,26708,824
$CAP_FILE_SIZE,102086,0
$CFSIZE,1024409600,995786752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.1
$CURRENT,0.618,124.16,1
$GPS,280218,061528,-7407.458,-11244.801,0,4112.7,0,53.6,0.0,0.0,0,0.0