version: 66.13
glider: 221
mission: 7
dive: 710
start: 12 20 118 17 45 27
data:
$ID,221
$MISSION,7
$DIVE,710
$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,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$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,4
$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,37
$R_STBD_OVSHOOT,21
$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
$GPS1,201218,151512,-7425.0298,-11233.7568,0,4125.0,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,314.55
$_SM_ANGLEo,4.7
$GPS2,201218,151512,-7425.0298,-11233.7568,0,4125.0,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,out0
$TGT_LATLONG,-7412.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,311.1,24205,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-1.01,-107.1,2779,2809,3512,3509,0.0,0.0,0,16,0.00,0.00,-1.95,0.047,16390,0.000,0.000,2779,2808,3936,3929,3944,0,0,0,0,0,0,14.83,12.71,14.75
$GC,20,-1.01,-107.1,2780,2809,3936,3954,0.0,0.0,0,26,1.05,2.42,0.00,0.000,4612,0.142,0.047,2455,1380,3946,3939,3954,0,0,0,0,0,0,14.19,14.38,14.32
$GC,87,-1.01,-107.1,2455,1381,3949,3961,319.1,-7.4,13,94,0.00,2.55,0.00,0.000,1062,0.000,0.065,2455,2809,3954,3949,3959,0,0,0,0,0,0,14.49,14.35,14.54
$PING,327.5,14.3,9000.0,0.00,0.00
$PING,334.2,20.9,9000.0,0.00,0.00
$PING,341.1,28.1,28.0,1.02,1.00
$GC,392,-1.01,-107.1,2455,2810,3952,3964,344.5,-8.6,44,397,0.00,2.00,0.00,0.000,260,0.000,0.089,2453,3912,3957,3952,3963,0,0,0,0,0,0,14.99,14.21,14.99
$PING,347.3,33.6,33.8,0.97,1.00
$GC,438,-1.01,-107.1,2453,3913,3952,3964,348.7,-9.4,53,444,0.00,1.90,0.00,0.000,1030,0.000,0.049,2453,2791,3957,3952,3963,0,0,0,0,0,0,14.53,14.45,14.56
$GC,743,-1.01,-107.1,2453,2792,3954,3965,374.9,-8.5,84,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2792,3958,3953,3964,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1043,-1.01,-107.1,2454,2791,3954,3964,400.4,-8.5,114,1048,0.00,2.42,0.00,0.000,516,0.000,0.048,2453,1394,3958,3953,3963,0,0,0,0,0,0,14.95,14.28,14.95
$GC,1085,-1.01,-107.1,2453,1395,3955,3964,403.8,-8.5,122,1090,0.00,2.55,0.00,0.000,1030,0.000,0.066,2453,2809,3959,3954,3964,0,0,0,0,0,0,14.38,14.23,14.44
$GC,1395,-1.01,-107.1,2453,2809,3955,3964,428.8,-7.8,154,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2809,3959,3954,3964,0,0,0,0,0,0,14.95,14.95,14.95
$GC,1695,-1.01,-107.1,2453,2810,3954,3965,452.6,-8.1,184,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2809,3959,3954,3964,0,0,0,0,0,0,14.95,14.96,14.95
$GC,1995,-1.01,-107.1,2453,2809,3955,3964,477.1,-8.2,214,2000,0.00,2.50,0.00,0.000,516,0.000,0.048,2453,1389,3959,3954,3964,0,0,0,0,0,0,14.99,14.26,14.99
$GC,2031,-1.01,-107.1,2453,1389,3954,3965,480.0,-8.2,221,2038,0.00,2.58,0.00,0.000,1030,0.000,0.065,2452,2816,3958,3954,3963,0,0,0,0,0,0,14.37,14.21,14.42
$GC,2336,-1.01,-107.1,2453,2816,3955,3964,504.0,-7.7,252,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2816,3959,3954,3964,0,0,0,0,0,0,14.99,14.99,15.00
$GC,2636,-1.01,-107.1,2452,2816,3954,3965,527.4,-7.7,282,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2816,3959,3954,3964,0,0,0,0,0,0,14.99,15.00,14.99
$GC,2936,-1.01,-107.1,2452,2817,3954,3965,550.8,-8.0,312,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2816,3958,3953,3964,0,0,0,0,0,0,14.98,14.98,14.99
$GC,3236,-1.01,-107.1,2452,2817,3954,3965,574.3,-7.7,342,3242,0.00,2.53,0.00,0.000,516,0.000,0.048,2452,1387,3959,3954,3964,0,0,0,0,0,0,14.99,14.22,14.99
$GC,3272,-1.01,-107.1,2452,1388,3954,3965,577.1,-7.7,349,3280,0.00,2.60,0.00,0.000,1030,0.000,0.066,2451,2814,3957,3953,3962,0,0,0,0,0,0,14.33,14.18,14.37
$GC,3578,-1.01,-107.1,2451,2816,3954,3964,599.9,-7.4,380,3578,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2814,3958,3953,3963,0,0,0,0,0,0,14.99,14.99,14.99
$GC,3878,-1.01,-107.1,2451,2816,3954,3964,622.4,-7.5,410,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2814,3958,3954,3963,0,0,0,0,0,0,14.99,14.98,14.99
$GC,4178,-1.01,-107.1,2452,2814,3955,3963,644.6,-7.4,440,4179,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2814,3958,3954,3963,0,0,0,0,0,0,14.99,14.98,14.98
$GC,4478,-1.01,-107.1,2451,2815,3954,3963,666.1,-7.2,470,4483,0.00,2.50,0.00,0.000,548,0.000,0.047,2451,1392,3958,3954,3962,0,0,0,0,0,0,14.98,14.21,14.99
$GC,4513,-1.01,-107.1,2452,1391,3955,3962,668.8,-7.6,477,4520,0.00,2.58,0.00,0.000,1030,0.000,0.066,2450,2812,3958,3954,3962,0,0,0,0,0,0,14.31,14.16,14.35
$GC,4819,-1.01,-107.1,2451,2813,3954,3962,691.2,-7.3,508,4820,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2812,3958,3954,3962,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5121,-1.01,-107.1,2451,2813,3954,3963,712.8,-7.0,526,5122,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2812,3958,3954,3962,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5480,-1.01,-107.1,2451,2813,3954,3963,737.1,-6.8,538,5485,0.00,2.53,0.00,0.000,548,0.000,0.048,2451,1386,3957,3953,3962,0,0,0,0,0,0,14.71,14.16,14.72
$GC,5516,-1.01,-107.1,2451,1387,3954,3963,739.7,-7.2,545,5522,0.00,2.60,0.00,0.000,1062,0.000,0.066,2450,2804,3958,3954,3962,0,0,0,0,0,0,14.27,14.12,14.31
$GC,5905,-1.01,-107.1,2451,2804,3955,3962,767.5,-7.3,562,5906,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2805,3958,3954,3962,0,0,0,0,0,0,14.97,14.97,14.97
$GC,6263,-1.01,-107.1,2450,2804,3955,3962,792.9,-7.1,574,6264,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2804,3957,3954,3961,0,0,0,0,0,0,15.00,15.00,15.00
$GC,6623,-1.01,-107.1,2450,2805,3954,3962,817.2,-6.6,586,6624,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2804,3958,3954,3962,0,0,0,0,0,0,14.99,15.00,15.00
$GC,6983,-1.01,-107.1,2450,2806,3954,3963,841.1,-6.7,598,6988,0.00,2.53,0.00,0.000,548,0.000,0.047,2450,1387,3957,3954,3961,0,0,0,0,0,0,15.00,14.12,15.00
$GC,7029,-1.01,-107.1,2450,1388,3954,3963,844.8,-6.9,607,7034,0.00,2.60,0.00,0.000,1062,0.000,0.066,2450,2804,3957,3954,3961,0,0,0,0,0,0,14.24,14.09,14.28
$GC,7408,-1.01,-107.1,2450,2806,3954,3963,869.1,-6.6,622,7409,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2805,3957,3953,3961,0,0,0,0,0,0,14.98,14.97,14.98
$GC,7765,-1.01,-107.1,2451,2806,3955,3963,893.1,-6.6,634,7770,0.00,2.50,0.00,0.000,548,0.000,0.047,2450,1388,3957,3954,3961,0,0,0,0,0,0,15.00,14.11,15.00
$GC,7796,-1.01,-107.1,2450,1389,3955,3962,895.8,-7.0,640,7801,0.00,2.60,0.00,0.000,1062,0.000,0.065,2450,2809,3957,3953,3962,0,0,0,0,0,0,14.23,14.08,14.28
$GC,8190,-1.01,-107.1,2450,2809,3955,3962,920.6,-6.3,658,8191,0.00,0.00,0.00,0.000,38,0.000,0.000,2449,2809,3957,3953,3961,0,0,0,0,0,0,14.97,14.97,14.97
$GC,8547,-1.01,-107.1,2450,2809,3955,3961,943.2,-6.3,670,8548,0.00,0.00,0.00,0.000,38,0.000,0.000,2449,2809,3957,3954,3961,0,0,0,0,0,0,15.00,15.00,15.00
$GC,8907,-1.01,-107.1,2450,2809,3954,3962,965.3,-6.1,682,8912,0.00,2.50,0.00,0.000,548,0.000,0.047,2450,1392,3958,3954,3962,0,0,0,0,0,0,15.00,14.12,15.00
$GC,8949,-1.01,-107.1,2450,1393,3954,3963,968.7,-6.4,690,8954,0.00,2.58,0.00,0.000,1062,0.000,0.066,2449,2804,3957,3953,3961,0,0,0,0,0,0,14.23,14.06,14.26
$STATE,9330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9330,begin apogee
$PING,993.0,35.4,9000.0,0.01,0.48
$GC,9337,-0.23,0.0,2450,2540,3954,3963,991.3,-6.1,706,9480,0.95,0.00,137.77,3.097,10246,0.204,0.000,2702,2539,3492,3499,3485,0,0,0,0,0,0,13.75,13.09,11.75
$STATE,9481,end apogee,CONTROL_FINISHED_OK
$STATE,9481,begin climb
$GC,9484,1.01,107.1,2703,2540,3499,3485,993.0,0.0,711,9632,1.35,0.00,142.45,3.097,10758,0.111,0.000,3099,2539,3065,3082,3048,0,0,0,0,0,0,13.11,12.23,10.91
$GC,9990,1.01,107.1,3099,2540,3071,3038,925.3,14.8,733,9996,0.00,2.58,0.00,0.000,260,0.000,0.089,3099,3916,3054,3071,3037,0,0,0,0,0,0,14.43,14.09,14.43
$GC,10022,1.01,107.1,3098,3916,3071,3038,919.8,19.3,739,10028,0.00,2.38,0.00,0.000,1030,0.000,0.050,3109,2541,3054,3071,3037,0,0,0,0,0,0,14.40,14.34,14.42
$GC,10414,1.01,107.1,3110,2542,3070,3035,860.4,15.1,757,10420,0.00,2.45,0.00,0.000,516,0.000,0.062,3120,1145,3051,3069,3034,0,0,0,0,0,0,14.88,14.47,14.88
$GC,10441,1.01,107.1,3121,1145,3070,3033,856.3,14.9,762,10447,0.00,2.50,0.00,0.000,1030,0.000,0.065,3121,2554,3051,3069,3033,0,0,0,0,0,0,14.62,14.49,14.65
$GC,10809,1.01,107.1,3121,2554,3070,3033,800.9,15.3,775,10814,0.00,2.50,0.00,0.000,260,0.000,0.091,3121,3915,3051,3069,3033,0,0,0,0,0,0,14.87,14.34,14.88
$GC,10845,1.01,107.1,3121,3919,3069,3033,794.2,17.0,782,10850,0.15,2.35,0.00,0.000,5126,0.289,0.050,3098,2532,3051,3069,3033,0,0,0,0,0,0,14.16,14.58,14.51
$GC,11231,1.01,107.1,3098,2532,3070,3032,740.2,14.0,799,11232,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2532,3050,3068,3032,0,0,0,0,0,0,14.91,14.90,14.90
$GC,11591,1.01,107.1,3098,2533,3069,3033,690.5,13.8,815,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2532,3050,3068,3032,0,0,0,0,0,0,14.91,14.91,14.91
$GC,11891,1.01,107.1,3098,2533,3069,3033,649.3,13.6,845,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2532,3049,3068,3031,0,0,0,0,0,0,14.89,14.89,14.89
$GC,12191,1.01,107.1,3098,2533,3071,3032,609.7,13.1,875,12196,0.00,2.55,0.00,0.000,260,0.000,0.090,3097,3910,3049,3068,3031,0,0,0,0,0,0,14.89,14.33,14.90
$GC,12222,1.01,107.1,3097,3911,3069,3032,605.2,15.0,881,12228,0.00,2.35,0.00,0.000,1030,0.000,0.050,3109,2540,3049,3068,3031,0,0,0,0,0,0,14.54,14.47,14.57
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$STATE,14094,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,14094,begin subsurface finish
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$STATE,14113,end subsurface finish,CONTROL_FINISHED_OK
$STATE,14113,begin surface
$RAFOS_CLK,601
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$RAFOS,1,1545329220,18.132666,18.116667,130,60,59,59,55,51,608,175,208,165,226,148
$RAFOS,0,1545328868,18.032354,18.018888,156,61,58,56,52,50,564,194,172,215,119,156
$RAFOS_FIX,-7422.275391,-11231.511719,201218,212144,3,133,0.24
$IRIDIUM_FIX,-7410.85,-11223.24,141218,223050
$TT8_MAMPS,0.038199,0.587216
$HUMID,51.33
$INTERNAL_PRESSURE,7.92918
$TCM_TEMP,13.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,367.2,9.6
$24V_AH,10.91,223.865
$10V_AH,11.32,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,289.170,111.690,3096.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4673.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.958,0.000,0.000,0.000
$MEM,279804
$DATA_FILE_SIZE,36648,1076
$CAP_FILE_SIZE,135020,0
$CFSIZE,1024409600,935837696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.2
$GPS,201218,211544,-7422.275,-11231.512,0,4133.3,0,53.4,0.0,0.0,0,0.0