version: 66.13
glider: 221
mission: 7
dive: 956
start: 2 8 119 0 52 27
data:
$ID,221
$MISSION,7
$DIVE,956
$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,10
$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,215
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,900
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$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,270
$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,-15
$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,18
$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,5.8000002
$MINV_10V,5.8000002
$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
$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
$GPS1,080219,004747,-7345.1196,-11704.5469,1,0.8,3,55.6,0.3,125.6,12,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-63.4
$GPS2,080219,005154,-7345.1162,-11704.6387,2,0.8,4,55.6,0.5,272.9,12,9.0
$SPEED_LIMITS,0.100,0.244
$TGT_NAME,HEADING
$TGT_LATLONG,-7345.116,-11743.235
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,208.4,20000,-20.3,-10.000,-22.30,1639
$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,7,end surface,CONTROL_FINISHED_OK
$STATE,7,begin dive
$GC,12,-1.05,-107.1,194,2817,1936,1815,0.0,0.0,0,142,0.00,0.00,-126.62,0.002,16390,0.000,0.000,193,2817,3922,3940,3905,0,0,0,0,0,0,11.17,9.80,11.17
$GC,147,-1.05,-107.1,193,2818,3943,3908,2.1,-2.4,13,177,22.65,2.75,0.00,0.000,2340,0.429,0.080,2420,3911,3934,3945,3924,0,0,0,0,0,0,10.19,10.59,10.52
$GC,183,-1.05,-107.1,2421,3912,3946,3926,10.7,-23.6,19,188,0.00,2.58,0.00,0.000,1030,0.000,0.043,2420,2801,3936,3945,3927,0,0,0,0,0,0,10.94,10.84,10.96
$GC,495,-1.05,-107.1,2420,2802,3946,3935,42.1,-9.9,51,500,0.00,3.30,0.00,0.000,516,0.000,0.046,2420,1392,3939,3945,3934,0,0,0,0,0,0,11.23,10.94,11.23
$GC,567,-1.05,-107.1,2421,1392,3946,3934,49.2,-9.8,65,573,0.00,3.42,0.00,0.000,1030,0.000,0.062,2420,2798,3938,3945,3931,0,0,0,0,0,0,10.98,10.89,11.00
$GC,879,-1.05,-107.1,2420,2798,3946,3939,79.5,-10.0,97,885,0.00,2.75,0.00,0.000,260,0.000,0.083,2420,3912,3941,3944,3939,0,0,0,0,0,0,11.23,10.85,11.22
$GC,937,-1.05,-107.1,2420,3912,3946,3939,85.6,-10.9,108,943,0.00,2.58,0.00,0.000,1030,0.000,0.043,2419,2792,3942,3945,3939,0,0,0,0,0,0,11.03,10.98,11.05
$GC,1242,-1.05,-107.1,2420,2793,3946,3947,116.1,-9.8,139,1247,0.00,3.30,0.00,0.000,516,0.000,0.046,2420,1391,3942,3945,3940,0,0,0,0,0,0,11.20,10.87,11.20
$GC,1304,-1.05,-107.1,2420,1392,3946,3940,122.2,-9.9,151,1309,0.00,3.45,0.00,0.000,1030,0.000,0.060,2419,2803,3942,3945,3940,0,0,0,0,0,0,10.99,10.90,11.01
$GC,1616,-1.05,-107.1,2420,2804,3946,3942,153.2,-9.9,183,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2803,3943,3945,3941,0,0,0,0,0,0,11.24,11.24,11.26
$GC,1920,-1.05,-107.1,2420,2804,3946,3942,182.1,-9.6,213,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2803,3943,3945,3941,0,0,0,0,0,0,11.22,11.22,11.22
$GC,2230,-1.05,-107.1,2419,2804,3946,3942,212.0,-9.5,244,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2803,3943,3945,3942,0,0,0,0,0,0,11.22,11.22,11.22
$GC,2540,-1.05,-107.1,2420,2803,3946,3942,240.7,-9.2,275,2545,0.00,3.33,0.00,0.000,516,0.000,0.045,2419,1391,3943,3945,3941,0,0,0,0,0,0,11.22,10.92,11.21
$GC,2602,-1.05,-107.1,2420,1391,3946,3942,246.7,-9.1,287,2607,0.00,3.45,0.00,0.000,1030,0.000,0.061,2420,2804,3943,3945,3942,0,0,0,0,0,0,10.94,10.86,10.97
$GC,2914,-1.05,-107.1,2420,2804,3946,3942,274.9,-9.0,319,2919,0.00,3.35,0.00,0.000,516,0.000,0.045,2419,1387,3943,3945,3942,0,0,0,0,0,0,11.25,10.91,11.25
$GC,2950,-1.05,-107.1,2420,1388,3946,3943,278.4,-9.3,326,2957,0.00,3.47,0.00,0.000,1030,0.000,0.060,2419,2813,3943,3945,3941,0,0,0,0,0,0,10.99,10.90,11.02
$GC,3266,-1.05,-107.1,2420,2813,3946,3943,307.6,-9.4,354,3271,0.00,3.38,0.00,0.000,516,0.000,0.047,2419,1388,3943,3945,3942,0,0,0,0,0,0,11.25,10.93,11.25
$GC,3322,-1.05,-107.1,2420,1389,3946,3943,313.0,-9.4,365,3330,0.00,3.47,0.00,0.000,1030,0.000,0.061,2419,2810,3942,3944,3941,0,0,0,0,0,0,10.99,10.90,11.01
$GC,3628,-1.05,-107.1,2420,2811,3953,3943,340.5,-8.8,381,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2810,3943,3945,3942,0,0,0,0,0,0,11.25,11.25,11.25
$GC,3927,-1.05,-107.1,2420,2810,3945,3941,366.5,-8.8,396,3933,0.00,3.35,0.00,0.000,516,0.000,0.047,2419,1391,3943,3945,3941,0,0,0,0,0,0,11.25,10.93,11.25
$GC,4014,-1.05,-107.1,2420,1391,3946,3941,374.2,-8.9,413,4020,0.00,3.45,0.00,0.000,1030,0.000,0.061,2420,2801,3943,3945,3941,0,0,0,0,0,0,11.00,10.90,11.02
$GC,4332,-1.05,-107.1,2420,2801,3946,3940,402.7,-8.9,431,4337,0.00,3.33,0.00,0.000,516,0.000,0.045,2419,1393,3942,3945,3940,0,0,0,0,0,0,11.23,10.92,11.23
$GC,4364,-1.05,-107.1,2420,1393,3946,3940,405.6,-8.9,437,4370,0.00,3.45,0.00,0.000,1030,0.000,0.061,2419,2804,3942,3944,3940,0,0,0,0,0,0,11.00,10.90,11.02
$GC,4677,-1.05,-107.1,2420,2804,3946,3939,433.4,-9.1,454,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2804,3942,3945,3939,0,0,0,0,0,0,11.23,11.24,11.23
$STATE,4873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4873,begin apogee
$GC,4882,-0.23,0.0,2420,2547,3946,3939,451.8,-9.4,464,5243,1.45,0.00,356.80,2.218,10246,0.205,0.000,2697,2547,3492,3500,3484,0,0,0,0,0,0,10.66,7.86,6.29
$STATE,5244,end apogee,CONTROL_FINISHED_OK
$STATE,5244,begin loiter
$GC,5537,-0.23,0.0,2698,2548,3496,3482,454.1,2.2,497,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2547,3488,3496,3481,0,0,0,0,0,0,11.05,11.05,11.05
$GC,5837,-0.23,0.0,2698,2547,3496,3480,448.6,1.8,512,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2547,3487,3495,3480,0,0,0,0,0,0,11.15,11.15,11.15
$STATE,6133,end loiter,LOITER_COMPLETE
$STATE,6133,begin climb
$GC,6137,1.05,107.1,2698,2548,3494,3480,443.1,0.0,527,6492,1.75,4.28,339.95,2.081,11012,0.101,0.054,3122,1144,3068,3081,3055,0,0,0,0,0,0,10.71,7.08,5.92
$GC,6695,1.05,107.1,3122,1144,3077,3049,392.2,11.7,635,6700,0.00,3.60,0.00,0.000,1030,0.000,0.058,3122,2560,3065,3081,3049,0,0,0,0,0,0,10.55,10.47,10.58
$GC,7017,1.05,107.1,3123,2560,3076,3049,352.3,12.4,654,7022,0.00,3.47,0.00,0.000,260,0.000,0.086,3122,3909,3062,3075,3049,0,0,0,0,0,0,11.00,10.58,11.00
$GC,7068,1.05,107.1,3122,3910,3076,3050,345.2,14.2,664,7075,0.00,3.25,0.00,0.000,1030,0.000,0.044,3132,2543,3062,3075,3049,0,0,0,0,0,0,10.81,10.75,10.82
$GC,7382,1.05,107.1,3133,2544,3075,3050,304.2,13.3,681,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,3132,2543,3062,3075,3049,0,0,0,0,0,0,11.06,11.06,11.06
$GC,7685,1.05,107.1,3133,2543,3076,3049,264.0,13.2,709,7690,0.00,3.53,0.00,0.000,260,0.000,0.086,3132,3916,3061,3074,3049,0,0,0,0,0,0,11.06,10.66,11.06
$GC,7742,1.05,107.1,3133,3916,3076,3049,255.0,15.2,720,7749,0.00,3.25,0.00,0.000,1030,0.000,0.044,3143,2542,3062,3075,3049,0,0,0,0,0,0,10.88,10.83,10.88
$GC,8047,1.05,107.1,3143,2540,3076,3049,213.0,13.6,751,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2543,3061,3074,3049,0,0,0,0,0,0,11.12,11.12,11.13
$GC,8347,1.05,107.1,3144,2543,3076,3049,173.0,13.0,781,8348,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2542,3061,3074,3049,0,0,0,0,0,0,11.14,11.14,11.14
$GC,8651,1.05,107.1,3143,2543,3075,3051,135.7,11.8,811,8656,0.00,3.50,0.00,0.000,260,0.000,0.086,3143,3909,3061,3074,3049,0,0,0,0,0,0,11.11,10.70,11.11
$GC,8677,1.05,107.1,3144,3909,3076,3049,131.8,13.1,816,8685,0.25,3.22,0.00,0.000,5126,0.289,0.044,3118,2543,3061,3074,3049,0,0,0,0,0,0,10.48,10.86,10.74
$GC,8982,1.05,107.1,3118,2543,3076,3049,100.4,10.4,847,8988,0.00,3.50,0.00,0.000,260,0.000,0.085,3117,3916,3061,3074,3049,0,0,0,0,0,0,11.14,10.71,11.14
$GC,8999,1.05,107.1,3118,3916,3075,3049,98.5,10.8,850,9005,0.00,3.22,0.00,0.000,1030,0.000,0.044,3127,2547,3062,3076,3049,0,0,0,0,0,0,10.93,10.86,10.94
$GC,9304,1.05,107.1,3128,2547,3074,3049,64.7,11.3,881,9310,0.00,3.50,0.00,0.000,260,0.000,0.085,3127,3915,3060,3073,3048,0,0,0,0,0,0,11.11,10.69,11.11
$GC,9401,1.05,107.1,3128,3916,3075,3049,52.8,11.8,900,9408,0.00,3.22,0.00,0.000,1030,0.000,0.044,3138,2550,3061,3074,3049,0,0,0,0,0,0,10.93,10.88,10.95
$GC,9706,1.05,107.1,3139,2546,3073,3047,17.5,12.1,931,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2546,3059,3072,3047,0,0,0,0,0,0,11.17,11.17,11.17
$FREEZE,8.96,0.687,-1.869,2,1,0
$FREEZE,7.77,0.689,-1.868,2,1,0
$FREEZE,6.60,0.683,-1.867,2,1,0
$FREEZE,5.41,0.671,-1.866,2,1,0
$FREEZE,4.21,0.676,-1.865,2,1,0
$FREEZE,2.96,0.681,-1.864,2,1,0
$FREEZE,1.73,0.680,-1.863,2,1,0
$STATE,9832,end climb,SURFACE_DEPTH_REACHED
$STATE,9832,begin surface coast
$FREEZE,0.47,0.677,-1.863,2,1,0
$FINISH,0.5,1.027221
$STATE,9843,end surface coast,CONTROL_FINISHED_OK
$STATE,9843,begin surface
$SM_CCo,9873,271.45,0.190,0,0,1900,399.91
$SM_GC,0.52,11.93,0.68,271.45,0.068,0.080,0.190,199,2802,1900,-8.03,-0.37,399.91,0,0,0,0,0,0,10.73,10.84,10.36
$RAFOS_CLK,419
$RAFOS,2,1549595581,3.232241,3.216944,58,58,56,55,53,52,140,217,184,200,152,173
$RAFOS,1,1549595221,3.132666,3.116945,75,70,63,57,54,52,195,209,120,171,151,131
$RAFOS,0,1549594861,3.032355,3.016944,65,57,53,53,52,47,171,157,188,210,119,1290
$RAFOS_FIX,-7345.264160,-11703.338867,080219,030327,0,1,0.07
$IRIDIUM_FIX,-7347.42,-11637.35,080219,002941
$TT8_MAMPS,0.045689,0.562499
$HUMID,50.35
$INTERNAL_PRESSURE,7.78269
$TCM_TEMP,13.20
$XPDR_PINGS,11
$24V_AH,5.92,318.025
$10V_AH,6.13,0.000
$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,38.025,100.975,696.750,271.450,0.000,0.000,0.000,0.000,2.750,0.000,6.269,0.000,7038.774,1096.293,1816.917,272.830,0.000,1859.749,0.000,1352.301,720.000,0.536,0.000
$DEVICE_MAMPS,429.165,86.445,2217.735,190.485,0.000,0.000,0.000,0.000,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8944.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.267,0.000,0.000,0.000
$MEM,281028
$DATA_FILE_SIZE,33402,945
$CAP_FILE_SIZE,111592,0
$CFSIZE,1024409600,904871936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.7
$CURRENT,0.096,272.79,1
$GPS,080219,034238,-7345.238,-11710.329,25,1.1,25,55.7,0.3,0.0,9,10.0