version: 66.13
glider: 221
mission: 7
dive: 906
start: 1 22 119 18 7 54
data:
$ID,221
$MISSION,7
$DIVE,906
$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,65
$EXEC_DT,0
$EXEC_T,9.3000002
$EXEC_N,12
$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,26
$R_STBD_OVSHOOT,15
$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
$GPS1,220119,180428,-7438.2461,-11207.5518,0,1001.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,419.77
$_SM_ANGLEo,3.8
$GPS2,220119,180428,-7438.2461,-11207.5518,0,1001.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideE
$TGT_LATLONG,-7438.000,-11200.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,29.5,3734,-26.1,-9.429,-27.93,936
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,12,-1.26,-57.5,2785,2808,3527,3516,0.0,0.0,0,14,0.00,0.00,-0.90,0.078,16390,0.000,0.000,2783,2809,3738,3737,3740,0,0,0,0,0,0,11.34,10.58,11.31
$GC,18,-1.26,-57.5,2784,2809,3744,3746,0.0,0.0,0,25,1.73,0.00,0.00,0.000,4102,0.125,0.000,2378,2809,3745,3744,3747,0,0,0,0,0,0,11.12,11.21,11.19
$GC,324,-1.26,-57.5,2378,2810,3753,3753,445.9,-9.2,31,329,0.00,2.65,0.00,0.000,260,0.000,0.081,2370,3913,3752,3753,3751,0,0,0,0,0,0,11.33,11.14,11.33
$GC,420,-1.26,-57.5,2370,3914,3754,3753,455.2,-9.6,50,426,0.00,2.55,0.00,0.000,1030,0.000,0.044,2369,2792,3752,3753,3752,0,0,0,0,0,0,11.24,11.19,11.26
$GC,725,-1.26,-57.5,2370,2793,3755,3754,479.5,-7.9,81,731,0.00,2.72,0.00,0.000,260,0.000,0.080,2362,3911,3753,3754,3752,0,0,0,0,0,0,11.36,11.15,11.36
$GC,752,-1.26,-57.5,2362,3912,3754,3754,481.8,-8.4,86,759,0.00,2.55,0.00,0.000,1030,0.000,0.044,2362,2790,3753,3754,3752,0,0,0,0,0,0,11.24,11.19,11.25
$GC,1058,-1.26,-57.5,2362,2791,3754,3753,507.2,-8.9,117,1064,0.00,3.25,0.00,0.000,516,0.000,0.044,2362,1382,3753,3754,3752,0,0,0,0,0,0,11.36,11.18,11.36
$GC,1151,-1.26,-57.5,2360,1383,3755,3752,515.1,-8.3,135,1156,0.00,3.40,0.00,0.000,1030,0.000,0.059,2358,2810,3752,3753,3752,0,0,0,0,0,0,11.24,11.17,11.25
$GC,1462,-1.26,-57.5,2358,2811,3754,3753,539.6,-8.2,167,1467,0.00,2.67,0.00,0.000,260,0.000,0.081,2351,3916,3753,3755,3752,0,0,0,0,0,0,11.36,11.14,11.36
$GC,1524,-1.26,-57.5,2351,3917,3755,3753,545.1,-9.0,179,1529,0.00,2.55,0.00,0.000,1030,0.000,0.044,2351,2794,3753,3754,3752,0,0,0,0,0,0,11.25,11.21,11.26
$GC,1835,-1.26,-57.5,2356,2794,3755,3753,572.1,-8.5,211,1841,0.00,3.20,0.00,0.000,516,0.000,0.044,2351,1382,3753,3754,3752,0,0,0,0,0,0,11.36,11.17,11.36
$GC,1893,-1.26,-57.5,2352,1383,3755,3753,577.0,-8.7,222,1899,0.00,3.40,0.00,0.000,1030,0.000,0.059,2351,2808,3753,3754,3752,0,0,0,0,0,0,11.24,11.17,11.26
$GC,2198,-1.26,-57.5,2351,2809,3754,3753,602.6,-8.4,253,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2807,3753,3754,3753,0,0,0,0,0,0,11.36,11.37,11.36
$GC,2498,-1.26,-57.5,2352,2808,3754,3753,626.4,-7.8,283,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2808,3753,3754,3752,0,0,0,0,0,0,11.36,11.37,11.36
$GC,2798,-1.26,-57.5,2351,2809,3755,3752,649.9,-7.7,313,2804,0.00,3.30,0.00,0.000,516,0.000,0.044,2351,1389,3752,3754,3751,0,0,0,0,0,0,11.36,11.18,11.36
$GC,2865,-1.28,-77.8,2351,1390,3755,3752,654.8,-7.2,326,2872,0.00,3.38,0.00,0.000,1062,0.000,0.058,2350,2806,3752,3754,3751,0,0,0,0,0,0,11.25,11.17,11.26
$GC,3171,-1.32,-104.3,2351,2807,3754,3752,674.5,-6.5,357,3171,0.00,0.00,0.00,0.000,38,0.000,0.000,2351,2806,3752,3754,3751,0,0,0,0,0,0,11.36,11.36,11.40
$GC,3471,-1.32,-107.1,2351,2806,3755,3751,694.4,-6.6,387,3477,0.00,3.30,0.00,0.000,548,0.000,0.044,2348,1386,3752,3754,3750,0,0,0,0,0,0,11.35,11.17,11.36
$GC,3508,-1.32,-107.1,2351,1387,3755,3749,696.9,-6.7,394,3514,0.00,3.38,0.00,0.000,1062,0.000,0.059,2351,2803,3752,3754,3750,0,0,0,0,0,0,11.25,11.18,11.26
$GC,3838,-1.32,-107.1,2351,2803,3755,3750,720.0,-7.3,409,3844,0.00,3.30,0.00,0.000,548,0.000,0.044,2351,1382,3751,3754,3749,0,0,0,0,0,0,11.36,11.19,11.36
$GC,3885,-1.32,-107.1,2351,1382,3755,3750,723.7,-6.9,418,3890,0.00,3.40,0.00,0.000,1062,0.000,0.059,2349,2810,3751,3754,3749,0,0,0,0,0,0,11.25,11.18,11.26
$GC,4265,-1.32,-107.1,2350,2811,3755,3749,749.5,-7.0,433,4271,0.00,2.65,0.00,0.000,292,0.000,0.080,2343,3914,3751,3754,3749,0,0,0,0,0,0,11.37,11.17,11.37
$GC,4303,-1.32,-107.1,2343,3916,3755,3750,752.7,-7.5,440,4308,0.00,2.55,0.00,0.000,1030,0.000,0.044,2343,2792,3750,3754,3746,0,0,0,0,0,0,11.26,11.21,11.27
$GC,4693,-1.32,-107.1,2343,2792,3755,3748,780.5,-7.1,457,4699,0.00,2.70,0.00,0.000,292,0.000,0.080,2337,3909,3751,3754,3749,0,0,0,0,0,0,11.37,11.17,11.37
$GC,4745,-1.32,-107.1,2337,3910,3755,3750,785.6,-8.5,467,4750,0.00,2.55,0.00,0.000,1030,0.000,0.044,2337,2794,3751,3754,3748,0,0,0,0,0,0,11.26,11.21,11.27
$GC,5120,-1.32,-107.1,2337,2795,3754,3750,812.7,-6.9,481,5126,0.00,3.25,0.00,0.000,548,0.000,0.044,2337,1385,3751,3754,3749,0,0,0,0,0,0,11.37,11.19,11.37
$GC,5236,-1.32,-107.1,2338,1385,3755,3748,820.0,-6.5,503,5241,0.00,3.38,0.00,0.000,1062,0.000,0.058,2331,2804,3751,3754,3748,0,0,0,0,0,0,11.25,11.18,11.26
$GC,5608,-1.32,-107.1,2332,2804,3755,3748,844.5,-6.5,517,5614,0.00,3.30,0.00,0.000,548,0.000,0.044,2331,1381,3751,3754,3748,0,0,0,0,0,0,11.38,11.19,11.38
$GC,5671,-1.32,-107.1,2332,1381,3755,3748,848.5,-7.3,529,5677,0.00,3.38,0.00,0.000,1062,0.000,0.058,2323,2805,3750,3753,3748,0,0,0,0,0,0,11.25,11.19,11.26
$GC,6067,-1.32,-107.1,2323,2806,3754,3749,872.9,-6.2,547,6067,0.00,0.00,0.00,0.000,38,0.000,0.000,2323,2805,3751,3754,3748,0,0,0,0,0,0,11.37,11.37,11.37
$GC,6424,-1.32,-107.1,2324,2806,3754,3750,894.6,-5.4,559,6429,0.00,3.30,0.00,0.000,548,0.000,0.043,2323,1380,3751,3754,3748,0,0,0,0,0,0,11.38,11.19,11.37
$PING,895.6,30.8,9000.0,0.00,0.00
$GC,6491,-1.32,-107.1,2324,1380,3755,3748,898.2,-7.6,572,6496,0.20,3.38,0.00,0.000,3078,0.301,0.057,2346,2801,3751,3754,3748,0,0,0,0,0,0,11.06,11.18,11.23
$PING,901.6,12.0,9000.0,0.00,0.00
$GC,6881,-1.32,-107.1,2346,2803,3756,3748,909.5,-0.9,589,6888,0.00,2.67,0.00,0.000,292,0.000,0.078,2337,3914,3751,3754,3748,0,0,0,0,0,0,11.37,11.17,11.37
$STATE,6995,end dive,NO_VERTICAL_VELOCITY
$STATE,6999,begin apogee
$GC,7010,-0.23,0.0,2339,2541,3754,3748,909.3,0.0,612,7126,2.00,0.00,112.12,3.087,10246,0.273,0.000,2695,2541,3492,3500,3484,0,0,0,0,0,0,11.05,10.98,9.95
$STATE,7127,end apogee,CONTROL_FINISHED_OK
$STATE,7127,begin climb
$PING,902.8,18.3,9000.0,-2.18,0.78
$PING,896.4,14.7,9000.0,0.25,0.07
$PING,889.9,23.2,9000.0,-0.38,0.33
$GC,7131,1.32,107.1,2696,2540,3500,3484,908.7,0.0,616,7317,2.05,3.38,173.18,3.090,10756,0.103,0.058,3205,1152,3063,3085,3042,0,0,0,0,0,0,11.06,10.99,9.93
$PING,883.0,24.6,9000.0,-0.73,0.84
$PING,876.5,22.8,9000.0,0.03,0.04
$PING,870.1,25.0,9000.0,-0.03,0.03
$GC,7420,1.32,107.1,3205,1153,3079,3037,869.2,18.2,671,7425,0.00,3.38,0.00,0.000,1030,0.000,0.061,3204,2555,3057,3079,3036,0,0,0,0,0,0,11.19,11.11,11.20
$PING,858.7,24.7,9000.0,-0.09,0.47
$GC,7807,1.32,107.1,3205,2557,3076,3033,796.7,18.7,688,7815,0.00,3.28,0.00,0.000,516,0.000,0.057,3215,1153,3053,3075,3031,0,0,0,0,0,0,11.33,11.12,11.33
$GC,7836,1.32,107.1,3216,1154,3076,3031,791.2,18.5,693,7843,0.00,3.38,0.00,0.000,1030,0.000,0.060,3215,2564,3052,3075,3030,0,0,0,0,0,0,11.21,11.13,11.22
$GC,8203,1.32,107.1,3216,2565,3074,3032,719.2,20.5,706,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2564,3052,3074,3031,0,0,0,0,0,0,11.33,11.33,11.33
$GC,8562,1.32,107.1,3215,2565,3074,3031,651.0,19.1,734,8567,0.00,3.35,0.00,0.000,516,0.000,0.057,3226,1149,3051,3073,3030,0,0,0,0,0,0,11.33,11.14,11.33
$GC,8619,1.32,107.1,3226,1150,3073,3030,640.5,18.1,745,8626,0.00,3.38,0.00,0.000,1030,0.000,0.061,3226,2554,3051,3073,3030,0,0,0,0,0,0,11.23,11.14,11.24
$GC,8924,1.32,107.1,3226,2555,3074,3031,583.9,17.3,776,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2554,3051,3073,3030,0,0,0,0,0,0,11.35,11.35,11.35
$GC,9224,1.32,107.1,3226,2555,3074,3031,532.4,17.7,806,9225,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2554,3051,3073,3030,0,0,0,0,0,0,11.35,11.35,11.35
$GC,9524,1.32,107.1,3226,2555,3073,3031,478.9,17.4,836,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2554,3051,3073,3030,0,0,0,0,0,0,11.37,11.36,11.36
$PING,466.5,59.3,9000.0,-0.09,1.00
$PING,459.3,51.8,9000.0,-0.08,0.95
$PING,451.7,44.2,44.2,1.02,1.00
$PING,444.0,35.8,35.9,1.05,1.00
$PING,436.4,27.8,27.7,1.07,1.00
$PING,429.0,20.0,20.0,1.05,1.00
$PING,422.7,13.5,13.4,1.05,1.00
$GC,9824,1.32,107.1,3227,2554,3074,3030,423.7,17.7,866,9831,0.00,3.28,0.00,0.000,516,0.000,0.056,3237,1145,3051,3073,3030,0,0,0,0,0,0,11.36,11.15,11.36
$GC,9848,1.32,107.1,3237,1146,3074,3031,419.6,17.1,870,9853,0.22,3.38,0.00,0.000,5126,0.289,0.061,3203,2560,3052,3074,3030,0,0,0,0,0,0,11.03,11.15,11.21
$STATE,9867,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,9867,begin subsurface finish
$FINISH1,415.8,1.027470,2
$GC,9876,0.00,1.5,3204,2560,3074,3030,415.8,17.4,873,9892,2.28,3.33,-7.30,0.023,20740,0.270,0.098,2780,3916,3512,3516,3509,0,0,0,0,1,0,11.05,10.58,11.21
$FINISH2,413.2
$STATE,9893,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9893,begin surface
$RAFOS_CLK,412
$RAFOS,2,1548180784,18.232241,18.217777,121,66,61,55,55,53,747,192,216,149,118,232
$RAFOS,0,1548180061,18.032354,18.016945,87,60,57,53,51,50,699,207,156,195,168,218
$RAFOS_FIX,-7438.646484,-11204.131836,220119,181824,2,104,3.08
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.046438,0.278628
$HUMID,50.63
$INTERNAL_PRESSURE,7.92918
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,422.7,13.4
$24V_AH,9.93,291.098
$10V_AH,10.23,0.000
$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,8.475,119.400,285.300,0.000,0.000,0.000,0.000,0.000,35.000,0.000,0.000,0.000,7490.368,378.792,1822.634,327.713,0.000,1052.205,0.000,1254.300,240.000,259.326,0.000
$DEVICE_MAMPS,301.410,97.920,3089.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9920.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.716,0.000,0.000,0.000
$MEM,278824
$DATA_FILE_SIZE,30021,876
$CAP_FILE_SIZE,109847,0
$CFSIZE,1024409600,911425536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1456.7
$GPS,220119,180428,-7438.246,-11207.552,0,1001.0,0,53.5,0.0,0.0,0,0.0