version: 66.13
glider: 221
mission: 7
dive: 676
start: 12 15 118 10 16 11
data:
$ID,221
$MISSION,7
$DIVE,676
$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,400
$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,46
$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,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
$GPS1,151218,091440,-7412.9922,-11222.7744,0,3149.0,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,394.93
$_SM_ANGLEo,4.1
$GPS2,151218,091440,-7412.9922,-11222.7744,0,3149.0,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11230.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,183.9,4318,-22.7,-9.429,-24.64,1256
$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,-1.13,-77.3,2782,2814,3533,3535,0.0,0.0,0,15,0.00,0.00,-1.17,0.076,16390,0.000,0.000,2781,2813,3818,3813,3823,0,0,0,0,0,0,14.83,12.67,14.73
$GC,18,-1.13,-77.3,2782,2814,3820,3831,0.0,0.0,0,25,1.17,2.42,0.00,0.000,4612,0.142,0.046,2417,1386,3827,3821,3833,0,0,0,0,0,0,14.17,14.39,14.29
$GC,66,-1.16,-107.1,2418,1387,3829,3836,397.1,-5.6,9,73,0.00,2.55,-0.43,0.219,17446,0.000,0.063,2413,2814,3938,3934,3943,0,0,0,0,0,0,14.50,14.38,14.55
$GC,371,-1.16,-107.1,2413,2815,3943,3954,424.4,-9.5,40,376,0.00,2.45,0.00,0.000,516,0.000,0.047,2412,1393,3948,3943,3953,0,0,0,0,0,0,14.87,14.37,14.88
$GC,412,-1.16,-107.1,2413,1393,3943,3953,428.2,-9.5,48,417,0.00,2.53,0.00,0.000,1030,0.000,0.064,2411,2810,3948,3944,3953,0,0,0,0,0,0,14.50,14.36,14.55
$GC,722,-1.16,-107.1,2411,2811,3945,3953,457.0,-9.0,80,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2810,3948,3944,3953,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1023,-1.16,-107.1,2412,2810,3946,3953,484.4,-9.1,110,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2811,3948,3944,3953,0,0,0,0,0,0,14.79,14.79,14.79
$GC,1322,-1.16,-107.1,2411,2810,3945,3953,511.3,-9.1,140,1327,0.00,2.45,0.00,0.000,516,0.000,0.046,2411,1394,3949,3945,3953,0,0,0,0,0,0,14.92,14.15,14.92
$GC,1403,-1.16,-107.1,2411,1395,3945,3955,518.5,-8.8,156,1408,0.00,2.53,0.00,0.000,1030,0.000,0.065,2408,2802,3948,3944,3953,0,0,0,0,0,0,14.45,14.31,14.50
$GC,1714,-1.16,-107.1,2409,2804,3945,3955,545.8,-9.0,188,1719,0.00,2.03,0.00,0.000,260,0.000,0.086,2400,3914,3949,3945,3953,0,0,0,0,0,0,14.95,14.12,14.92
$GC,1789,-1.16,-107.1,2401,3914,3946,3953,553.3,-10.1,203,1796,0.00,1.90,0.00,0.000,1030,0.000,0.047,2400,2788,3949,3945,3953,0,0,0,0,0,0,14.54,14.48,14.60
$GC,2095,-1.16,-107.1,2401,2788,3946,3953,581.4,-9.2,234,2100,0.00,2.42,0.00,0.000,516,0.000,0.046,2400,1387,3948,3944,3953,0,0,0,0,0,0,14.91,14.36,14.91
$GC,2136,-1.16,-107.1,2401,1388,3946,3953,585.2,-9.4,242,2141,0.00,2.55,0.00,0.000,1030,0.000,0.064,2398,2806,3948,3944,3953,0,0,0,0,0,0,14.45,14.31,14.50
$GC,2447,-1.16,-107.1,2399,2806,3945,3953,612.8,-8.5,274,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2806,3948,3944,3953,0,0,0,0,0,0,14.88,14.88,14.88
$GC,2746,-1.16,-107.1,2399,2806,3946,3952,638.9,-8.8,304,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2806,3948,3944,3952,0,0,0,0,0,0,14.88,14.88,14.88
$GC,3048,-1.16,-107.1,2399,2806,3945,3951,665.8,-9.0,334,3053,0.00,2.45,0.00,0.000,516,0.000,0.046,2398,1395,3948,3945,3951,0,0,0,0,0,0,14.76,14.26,14.76
$GC,3093,-1.16,-107.1,2399,1394,3945,3948,670.0,-9.0,343,3100,0.00,2.55,0.00,0.000,1030,0.000,0.064,2397,2803,3947,3944,3950,0,0,0,0,0,0,14.22,14.07,14.28
$GC,3400,-1.16,-107.1,2398,2805,3945,3953,696.5,-8.7,374,3405,0.00,2.03,0.00,0.000,260,0.000,0.086,2392,3922,3947,3944,3951,0,0,0,0,0,0,14.76,14.21,14.76
$GC,3461,-1.16,-107.1,2391,3922,3945,3952,702.6,-11.3,386,3466,0.00,1.90,0.00,0.000,1030,0.000,0.046,2392,2791,3947,3944,3950,0,0,0,0,0,0,14.50,14.46,14.55
$GC,3855,-1.16,-107.1,2392,2793,3945,3948,737.0,-8.7,404,3860,0.00,2.40,0.00,0.000,516,0.000,0.046,2392,1398,3947,3944,3951,0,0,0,0,0,0,14.87,14.33,14.87
$GC,3895,-1.16,-107.1,2392,1398,3945,3950,740.9,-8.6,412,3900,0.00,2.53,0.00,0.000,1030,0.000,0.063,2384,2804,3947,3944,3950,0,0,0,0,0,0,14.42,14.28,14.47
$GC,4279,-1.16,-107.1,2384,2807,3944,3951,774.5,-8.8,428,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2805,3947,3944,3950,0,0,0,0,0,0,14.86,14.85,14.85
$GC,4636,-1.16,-107.1,2384,2807,3944,3952,805.4,-8.6,440,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2806,3947,3944,3950,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4996,-1.16,-107.1,2384,2806,3944,3951,836.2,-8.5,452,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2806,3947,3944,3950,0,0,0,0,0,0,14.88,14.88,14.88
$GC,5356,-1.16,-107.1,2385,2807,3945,3952,866.8,-8.5,464,5361,0.00,2.47,0.00,0.000,516,0.000,0.044,2384,1391,3947,3944,3950,0,0,0,0,0,0,14.88,14.29,14.88
$GC,5412,-1.16,-107.1,2384,1392,3945,3951,871.1,-8.2,475,5418,0.00,2.58,0.00,0.000,1030,0.000,0.063,2384,2812,3947,3944,3950,0,0,0,0,0,0,14.38,14.24,14.42
$GC,5777,-1.16,-107.1,2384,2813,3945,3952,902.1,-8.6,488,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2812,3950,3950,3951,0,0,0,0,0,0,14.88,14.88,14.88
$GC,6137,-1.16,-107.1,2384,2813,3945,3951,932.2,-7.9,500,6142,0.00,2.00,0.00,0.000,260,0.000,0.086,2377,3912,3947,3944,3950,0,0,0,0,0,0,14.88,14.15,14.88
$GC,6192,-1.16,-107.1,2377,3912,3945,3952,937.0,-8.9,511,6199,0.00,1.90,0.00,0.000,1030,0.000,0.046,2377,2793,3947,3944,3950,0,0,0,0,0,0,14.46,14.39,14.49
$GC,6557,-1.16,-107.1,2378,2793,3946,3950,967.7,-8.2,524,6562,0.00,2.42,0.00,0.000,516,0.000,0.045,2377,1396,3947,3944,3950,0,0,0,0,0,0,14.90,14.20,14.90
$GC,6608,-1.16,-107.1,2376,1396,3944,3952,971.7,-8.2,534,6613,0.00,2.55,0.00,0.000,1030,0.000,0.063,2374,2812,3947,3944,3950,0,0,0,0,0,0,14.39,14.25,14.44
$STATE,6857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6857,begin apogee
$GC,6864,-0.23,0.0,2376,2541,3946,3951,992.6,-8.3,544,7002,1.25,0.00,135.27,3.096,10246,0.233,0.000,2700,2541,3491,3498,3485,0,0,0,0,0,0,13.81,13.15,11.76
$STATE,7003,end apogee,CONTROL_FINISHED_OK
$STATE,7003,begin climb
$GC,7007,1.16,107.1,2701,2541,3498,3485,994.5,0.0,548,7152,1.50,0.00,141.52,3.097,10758,0.109,0.000,3148,2540,3065,3077,3053,0,0,0,0,0,0,13.21,12.26,10.88
$GC,7525,1.16,107.1,3149,2540,3068,3043,916.1,16.4,576,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2541,3055,3067,3043,0,0,0,0,0,0,14.66,14.67,14.67
$GC,7888,1.16,107.1,3148,2542,3066,3042,856.3,16.6,588,7894,0.00,2.47,0.00,0.000,260,0.000,0.087,3148,3913,3053,3066,3041,0,0,0,0,0,0,14.88,14.40,14.88
$GC,7914,1.16,107.1,3149,3913,3067,3041,851.0,18.5,593,7921,0.00,2.30,0.00,0.000,1030,0.000,0.048,3158,2546,3052,3064,3041,0,0,0,0,0,0,14.66,14.59,14.68
$GC,8282,1.16,107.1,3159,2547,3066,3040,788.8,17.1,606,8288,0.00,2.45,0.00,0.000,516,0.000,0.060,3168,1150,3052,3065,3039,0,0,0,0,0,0,14.88,14.43,14.89
$GC,8299,1.16,107.1,3169,1150,3066,3039,785.5,17.2,609,8305,0.00,2.47,0.00,0.000,1030,0.000,0.064,3169,2553,3051,3064,3039,0,0,0,0,0,0,14.60,14.47,14.64
$GC,8675,1.16,107.1,3169,2552,3065,3039,721.8,17.2,624,8680,0.00,2.47,0.00,0.000,260,0.000,0.089,3169,3916,3051,3064,3039,0,0,0,0,0,0,14.91,14.38,14.92
$GC,8696,1.16,107.1,3170,3915,3066,3039,718.1,17.9,628,8701,0.00,2.33,0.00,0.000,1030,0.000,0.048,3179,2537,3052,3065,3039,0,0,0,0,0,0,14.64,14.57,14.69
$GC,9067,1.16,107.1,3179,2537,3066,3038,654.4,17.3,658,9068,0.15,0.00,0.00,0.000,4102,0.319,0.000,3149,2537,3051,3064,3038,0,0,0,0,0,0,13.97,14.45,14.38
$GC,9367,1.16,107.1,3149,2538,3065,3039,607.7,15.6,688,9372,0.00,2.50,0.00,0.000,260,0.000,0.088,3149,3910,3051,3064,3038,0,0,0,0,0,0,14.92,14.35,14.92
$GC,9402,1.16,107.1,3150,3911,3066,3039,601.4,18.2,695,9409,0.00,2.33,0.00,0.000,1030,0.000,0.047,3159,2536,3051,3064,3038,0,0,0,0,0,0,14.62,14.55,14.65
$GC,9708,1.16,107.1,3159,2536,3066,3039,552.9,15.7,726,9713,0.00,2.42,0.00,0.000,516,0.000,0.060,3169,1158,3051,3064,3038,0,0,0,0,0,0,14.82,14.37,14.82
$GC,9734,1.16,107.1,3169,1159,3064,3039,548.8,15.5,731,9740,0.00,2.47,0.00,0.000,1030,0.000,0.065,3169,2554,3051,3064,3038,0,0,0,0,0,0,14.54,14.40,14.59
$GC,10039,1.16,107.1,3169,2556,3065,3039,501.4,15.6,762,10044,0.00,2.47,0.00,0.000,260,0.000,0.090,3169,3912,3051,3064,3038,0,0,0,0,0,0,14.92,14.11,14.93
$GC,10080,1.16,107.1,3169,3912,3065,3039,494.3,17.9,770,10085,0.00,2.33,0.00,0.000,1030,0.000,0.049,3179,2544,3053,3064,3042,0,0,0,0,0,0,14.52,14.45,14.55
$GC,10392,1.16,107.1,3179,2546,3065,3039,444.4,16.3,802,10393,0.15,0.00,0.00,0.000,4102,0.320,0.000,3149,2545,3051,3064,3038,0,0,0,0,0,0,13.81,14.27,14.19
$GC,10691,1.16,107.1,3150,2545,3065,3038,401.5,13.6,832,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2545,3051,3064,3039,0,0,0,0,0,0,14.92,14.92,14.92
$FREEZE,398.78,-0.957,-2.178,2,3,0
$STATE,10708,end climb,FINISH_DEPTH_REACHED
$STATE,10708,begin subsurface finish
$FINISH1,398.8,1.027516,-1
$GC,10715,-0.00,-0.8,3151,2545,3065,3038,398.8,13.6,834,10722,1.40,0.00,-1.85,0.058,20486,0.246,0.000,2777,2545,3521,3521,3521,0,0,0,0,0,0,13.95,12.73,14.19
$FINISH2,397.5
$STATE,10722,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10723,begin surface
$RAFOS_CLK,435
$RAFOS,2,1544875989,12.232242,12.219167,67,62,59,58,54,50,199,173,145,184,215,122
$RAFOS,1,1544875649,12.132667,12.124722,85,67,58,57,56,54,392,207,137,196,152,124
$RAFOS,0,1544875286,12.032354,12.023889,161,67,60,54,52,51,422,216,151,207,165,131
$RAFOS_FIX,-7453.109375,-11240.441406,151218,121236,2,123,7.13
$IRIDIUM_FIX,-7410.85,-11223.24,141218,223050
$TT8_MAMPS,0.038948,0.258405
$HUMID,50.70
$INTERNAL_PRESSURE,7.95848
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,10.88,213.368
$10V_AH,11.27,0.000
$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,5.625,81.525,276.800,0.000,0.000,0.000,0.000,0.000,41.750,0.000,0.000,0.000,8414.429,364.728,1821.388,249.025,0.000,993.499,0.000,1197.075,720.000,309.960,0.000
$DEVICE_MAMPS,319.770,90.270,3096.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10763.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.678,0.000,0.000,0.000
$MEM,279804
$DATA_FILE_SIZE,26748,835
$CAP_FILE_SIZE,110149,0
$CFSIZE,1024409600,940294144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1456.5
$GPS,151218,091440,-7412.992,-11222.774,0,3149.0,0,53.4,0.0,0.0,0,0.0