version: 66.13
glider: 221
mission: 7
dive: 799
start: 1 6 119 4 3 17
data:
$ID,221
$MISSION,7
$DIVE,799
$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,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,53
$R_STBD_OVSHOOT,17
$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
$GPS1,060119,031408,-7430.8208,-11155.6006,0,4103.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,285.83
$_SM_ANGLEo,-1.5
$GPS2,060119,031408,-7430.8208,-11155.6006,0,4103.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideE
$TGT_LATLONG,-7430.000,-11150.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,7.8,3161,-30.4,-9.429,-32.06,683
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.44,-41.9,2771,2807,3497,3492,0.0,0.0,0,12,0.00,0.00,-0.93,0.092,16390,0.000,0.000,2770,2806,3675,3675,3676,0,0,0,0,0,0,13.27,11.31,13.22
$PING,285.9,56.0,9000.0,0.00,0.00
$GC,16,-1.44,-41.9,2770,2806,3680,3682,0.0,0.0,0,23,1.50,2.20,0.00,0.000,4356,0.072,0.084,2311,3913,3681,3680,3683,0,0,0,0,0,0,12.93,12.86,13.00
$GC,249,-1.51,-104.7,2312,3913,3687,3688,286.9,0.0,46,255,0.00,2.10,-1.17,0.071,17446,0.000,0.047,2311,2808,3931,3928,3934,0,0,0,0,0,0,13.27,13.21,13.30
$GC,561,-1.52,-107.1,2312,2808,3939,3952,287.0,-0.0,78,567,0.00,2.20,0.00,0.000,292,0.000,0.086,2310,3912,3944,3937,3952,0,0,0,0,0,0,13.80,13.30,13.80
$GC,793,-1.52,-107.1,2311,3912,3940,3953,287.0,-0.0,124,798,0.00,2.05,0.00,0.000,1062,0.000,0.047,2311,2786,3945,3938,3953,0,0,0,0,0,0,13.71,13.64,13.73
$GC,1104,-1.52,-107.1,2311,2787,3939,3954,287.1,0.0,156,1109,0.00,2.17,0.00,0.000,292,0.000,0.086,2311,3912,3946,3939,3953,0,0,0,0,0,0,14.35,13.69,14.35
$GC,1336,-1.52,-107.1,2311,3913,3941,3953,287.1,0.1,202,1340,0.00,2.00,0.00,0.000,1030,0.000,0.047,2311,2787,3946,3939,3953,0,0,0,0,0,0,14.07,14.00,14.10
$GC,1646,-1.52,-107.1,2311,2787,3940,3954,287.1,0.0,234,1652,0.00,2.12,0.00,0.000,260,0.000,0.087,2311,3915,3946,3939,3954,0,0,0,0,0,0,14.50,13.91,14.50
$GC,1878,-1.52,-107.1,2311,3915,3940,3953,287.1,-0.0,280,1883,0.00,1.98,0.00,0.000,1062,0.000,0.049,2311,2792,3950,3939,3961,0,0,0,0,0,0,14.20,14.12,14.23
$GC,2190,-1.52,-107.1,2311,2792,3940,3954,287.2,-0.0,312,2195,0.00,2.10,0.00,0.000,292,0.000,0.086,2311,3912,3946,3939,3954,0,0,0,0,0,0,14.62,13.96,14.61
$GC,2421,-1.52,-107.1,2311,3913,3940,3955,287.1,0.0,358,2426,0.00,1.95,0.00,0.000,1062,0.000,0.048,2310,2797,3946,3940,3953,0,0,0,0,0,0,14.25,14.18,14.28
$GC,2733,-1.52,-107.1,2311,2797,3940,3955,287.1,-0.0,390,2738,0.00,2.10,0.00,0.000,292,0.000,0.087,2311,3917,3947,3940,3954,0,0,0,0,0,0,14.63,13.92,14.63
$GC,2964,-1.52,-107.1,2311,3919,3940,3955,287.1,0.0,436,2970,0.00,2.00,0.00,0.000,1062,0.000,0.048,2311,2786,3946,3939,3954,0,0,0,0,0,0,14.19,14.12,14.22
$GC,3276,-1.52,-107.1,2311,2786,3941,3954,287.2,-0.0,468,3281,0.00,2.10,0.00,0.000,260,0.000,0.086,2311,3914,3947,3940,3954,0,0,0,0,0,0,14.64,14.03,14.64
$GC,3507,-1.52,-107.1,2311,3912,3941,3954,287.1,-0.0,514,3513,0.00,1.95,0.00,0.000,1062,0.000,0.049,2311,2789,3947,3940,3954,0,0,0,0,0,0,14.34,14.26,14.35
$GC,3819,-1.52,-107.1,2311,2790,3941,3955,287.2,0.0,546,3824,0.00,2.10,0.00,0.000,292,0.000,0.086,2311,3914,3946,3939,3954,0,0,0,0,0,0,14.73,14.04,14.73
$GC,4051,-1.52,-107.1,2311,3916,3941,3955,287.2,-0.8,592,4056,0.00,1.95,0.00,0.000,1030,0.000,0.048,2311,2793,3947,3941,3954,0,0,0,0,0,0,14.34,14.27,14.37
$GC,4362,-1.52,-107.1,2311,2795,3941,3956,287.2,0.0,624,4367,0.00,2.10,0.00,0.000,260,0.000,0.086,2311,3916,3948,3941,3955,0,0,0,0,0,0,14.72,14.04,14.72
$GC,4594,-1.52,-107.1,2311,3916,3942,3955,287.2,-0.0,670,4599,0.00,1.95,0.00,0.000,1062,0.000,0.049,2311,2795,3948,3941,3955,0,0,0,0,0,0,14.35,14.28,14.38
$GC,4905,-1.52,-107.1,2312,2796,3941,3956,287.3,-0.0,702,4910,0.00,2.10,0.00,0.000,292,0.000,0.087,2311,3917,3948,3941,3955,0,0,0,0,0,0,14.74,14.04,14.74
$GC,5136,-1.52,-107.1,2311,3918,3941,3956,287.2,-0.2,748,5141,0.00,1.95,0.00,0.000,1062,0.000,0.049,2311,2795,3948,3941,3955,0,0,0,0,0,0,14.35,14.28,14.39
$GC,5447,-1.52,-107.1,2311,2795,3942,3955,287.2,0.0,780,5453,0.00,2.10,0.00,0.000,292,0.000,0.087,2311,3920,3948,3941,3955,0,0,0,0,0,0,14.77,13.95,14.77
$GC,5679,-1.52,-107.1,2311,3921,3941,3957,287.2,0.0,826,5685,0.00,1.98,0.00,0.000,1062,0.000,0.050,2311,2787,3948,3941,3956,0,0,0,0,0,0,14.35,14.28,14.39
$GC,5991,-1.52,-107.1,2311,2787,3942,3956,287.3,-0.1,858,5996,0.00,2.10,0.00,0.000,260,0.000,0.086,2310,3917,3948,3941,3956,0,0,0,0,0,0,14.74,14.04,14.74
$GC,6222,-1.52,-107.1,2311,3918,3942,3957,287.3,0.0,904,6228,0.00,1.95,0.00,0.000,1062,0.000,0.051,2311,2800,3949,3942,3957,0,0,0,0,0,0,14.09,14.04,14.11
$GC,6534,-1.52,-107.1,2311,2802,3943,3957,287.3,0.0,936,6540,0.00,2.08,0.00,0.000,292,0.000,0.087,2311,3913,3948,3941,3956,0,0,0,0,0,0,14.73,14.04,14.73
$GC,6766,-1.52,-107.1,2311,3914,3943,3958,287.3,-0.1,982,6771,0.00,1.95,0.00,0.000,1030,0.000,0.050,2310,2794,3949,3942,3956,0,0,0,0,0,0,14.35,14.26,14.38
$GC,7077,-1.52,-107.1,2310,2795,3942,3957,287.3,0.0,1014,7082,0.00,2.10,0.00,0.000,260,0.000,0.087,2310,3914,3948,3941,3956,0,0,0,0,0,0,14.73,13.93,14.73
$GC,7309,-1.52,-107.1,2311,3916,3943,3958,287.3,0.0,1060,7314,0.00,1.98,0.00,0.000,1062,0.000,0.051,2310,2785,3949,3942,3956,0,0,0,0,0,0,14.35,14.27,14.38
$GC,7621,-1.52,-107.1,2311,2786,3943,3958,287.3,-0.0,1092,7625,0.00,2.10,0.00,0.000,292,0.000,0.086,2311,3913,3949,3942,3957,0,0,0,0,0,0,14.69,14.02,14.69
$GC,7852,-1.52,-107.1,2312,3912,3943,3958,287.3,-0.0,1138,7857,0.00,1.95,0.00,0.000,1062,0.000,0.050,2310,2791,3950,3943,3957,0,0,0,0,0,0,14.36,14.28,14.39
$GC,8163,-1.52,-107.1,2311,2791,3944,3957,287.3,-0.0,1170,8168,0.00,2.12,0.00,0.000,292,0.000,0.086,2311,3916,3950,3943,3957,0,0,0,0,0,0,14.78,13.83,14.78
$GC,8395,-1.52,-107.1,2311,3917,3943,3965,287.3,-0.3,1216,8401,0.00,1.95,0.00,0.000,1062,0.000,0.048,2310,2792,3950,3943,3957,0,0,0,0,0,0,14.35,14.28,14.39
$GC,8707,-1.52,-107.1,2311,2793,3943,3959,287.3,-0.0,1248,8712,0.00,2.10,0.00,0.000,260,0.000,0.087,2310,3920,3950,3943,3958,0,0,0,0,0,0,14.80,14.04,14.77
$GC,8938,-1.52,-107.1,2311,3921,3943,3959,287.3,-0.0,1294,8944,0.00,1.98,0.00,0.000,1062,0.000,0.049,2311,2785,3950,3943,3957,0,0,0,0,0,0,14.36,14.28,14.40
$GC,9250,-1.52,-107.1,2311,2786,3945,3958,287.5,0.0,1326,9255,0.00,2.10,0.00,0.000,292,0.000,0.087,2311,3914,3951,3944,3958,0,0,0,0,0,0,14.76,14.03,14.77
$GC,9481,-1.52,-107.1,2311,3915,3944,3959,287.3,-0.2,1372,9486,0.00,1.95,0.00,0.000,1030,0.000,0.049,2311,2789,3950,3943,3958,0,0,0,0,0,0,14.36,14.29,14.40
$GC,9792,-1.52,-107.1,2311,2790,3945,3960,287.3,0.0,1404,9798,0.00,2.12,0.00,0.000,260,0.000,0.088,2310,3920,3951,3944,3958,0,0,0,0,0,0,14.73,13.94,14.73
$GC,10024,-1.52,-107.1,2311,3918,3944,3960,287.4,0.2,1450,10029,0.00,1.98,0.00,0.000,1062,0.000,0.048,2310,2796,3951,3944,3958,0,0,0,0,0,0,14.35,14.27,14.38
$GC,10336,-1.52,-107.1,2311,2797,3945,3960,287.3,0.0,1482,10341,0.00,2.10,0.00,0.000,292,0.000,0.088,2310,3913,3952,3945,3959,0,0,0,0,0,0,14.70,14.02,14.70
$GC,10567,-1.52,-107.1,2310,3914,3945,3961,287.3,0.1,1528,10572,0.00,1.95,0.00,0.000,1062,0.000,0.049,2310,2792,3951,3944,3959,0,0,0,0,0,0,14.37,14.29,14.37
$GC,10878,-1.52,-107.1,2311,2788,3946,3959,287.3,-0.0,1560,10884,0.00,2.12,0.00,0.000,292,0.000,0.087,2311,3925,3952,3945,3959,0,0,0,0,0,0,14.77,14.03,14.77
$GC,11110,-1.52,-107.1,2311,3925,3946,3959,287.5,-0.0,1606,11116,0.00,1.98,0.00,0.000,1062,0.000,0.050,2310,2790,3952,3945,3959,0,0,0,0,0,0,14.36,14.28,14.38
$GC,11422,-1.52,-107.1,2311,2790,3946,3960,287.3,-0.0,1638,11427,0.00,2.10,0.00,0.000,260,0.000,0.088,2310,3914,3952,3945,3959,0,0,0,0,0,0,14.77,13.76,14.77
$GC,11654,-1.52,-107.1,2311,3916,3946,3962,287.3,0.0,1684,11659,0.00,1.95,0.00,0.000,1062,0.000,0.049,2311,2793,3951,3944,3959,0,0,0,0,0,0,14.37,14.30,14.40
$STATE,11712,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11712,begin apogee
$PING,287.3,17.2,9000.0,0.00,0.00
$GC,11720,-0.23,0.0,2312,2535,3947,3960,287.3,-0.0,1691,11849,1.35,0.00,125.70,2.677,10246,0.164,0.000,2698,2536,3491,3497,3486,0,0,0,0,0,0,13.81,13.09,12.00
$STATE,11850,end apogee,CONTROL_FINISHED_OK
$STATE,11850,begin climb
$PING,280.8,11.6,9000.0,2.91,0.17
$FREEZE,279.97,-1.998,-2.072,2,40,0
$GC,11854,1.52,107.1,2699,2537,3496,3485,287.3,0.0,1704,11986,2.03,0.00,124.82,2.572,10754,0.155,0.000,3253,2535,3079,3096,3062,0,0,0,0,0,0,13.01,28.83,13.12
$STATE,11987,end climb,FINISH_DEPTH_REACHED
$STATE,11987,begin subsurface finish
$FINISH1,280.0,1.027325,9
$GC,11995,0.01,8.9,3254,2537,3093,3058,280.0,10.8,1726,12011,2.20,2.83,-7.47,0.025,20996,0.282,0.073,2781,1157,3480,3483,3477,0,0,0,0,1,0,12.38,11.49,12.61
$FINISH2,276.6
$STATE,12011,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12011,begin surface
$RAFOS_CLK,502
$RAFOS,2,1546755181,6.232241,6.216944,115,63,60,55,53,52,713,201,231,184,215,142
$RAFOS,1,1546754825,6.132666,6.118055,124,68,61,53,52,52,663,206,190,178,225,120
$RAFOS,0,1546754461,6.032355,6.016944,143,69,66,61,59,53,645,202,189,160,216,148
$RAFOS_FIX,-7430.853027,-11154.681641,060119,060628,3,127,0.04
$IRIDIUM_FIX,-7410.06,-11230.52,311218,020608
$TT8_MAMPS,0.040446,0.822402
$HUMID,49.25
$INTERNAL_PRESSURE,7.90965
$TCM_TEMP,12.80
$XPDR_PINGS,1
$24V_AH,11.31,251.360
$10V_AH,11.38,0.000
$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,7.075,94.975,250.525,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,0.000,8210.351,344.743,3231.799,361.050,0.000,1532.944,0.000,2464.665,720.000,5.663,0.000
$DEVICE_MAMPS,281.520,87.975,2676.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12055.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.572,0.000,0.000,0.000
$MEM,279680
$DATA_FILE_SIZE,53221,1729
$CAP_FILE_SIZE,148767,12
$CFSIZE,1024409600,924614656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1443.0
$GPS,060119,061528,-7430.853,-11154.682,0,4127.3,0,53.5,0.0,0.0,0,0.0