version: 66.13
glider: 221
mission: 7
dive: 688
start: 12 17 118 6 53 26
data:
$ID,221
$MISSION,7
$DIVE,688
$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,49
$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
$GPS1,171218,061528,-7428.2109,-11234.4395,0,4130.3,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,352.83
$_SM_ANGLEo,4.0
$GPS2,171218,061528,-7428.2109,-11234.4395,0,4130.3,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,inside0
$TGT_LATLONG,-7430.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,93.0,3975,-24.6,-9.429,-26.48,1060
$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,-1.20,-65.2,2782,2803,3525,3522,0.0,0.0,0,15,0.00,0.00,-1.10,0.081,16390,0.000,0.000,2781,2803,3772,3769,3776,0,0,0,0,0,0,14.83,12.69,14.72
$GC,18,-1.20,-65.2,2782,2803,3776,3782,0.0,0.0,0,25,1.25,2.00,0.00,0.000,4356,0.133,0.086,2391,3909,3780,3776,3784,0,0,0,0,0,0,14.17,14.23,14.30
$GC,128,-1.20,-65.2,2391,3909,3787,3787,360.7,-8.9,21,134,0.00,1.88,0.00,0.000,1030,0.000,0.045,2392,2797,3786,3785,3787,0,0,0,0,0,0,14.47,14.44,14.50
$GC,430,-1.20,-65.2,2392,2797,3789,3791,385.6,-8.3,52,435,0.00,2.42,0.00,0.000,516,0.000,0.046,2392,1399,3789,3788,3790,0,0,0,0,0,0,14.90,14.38,14.89
$GC,486,-1.20,-65.2,2392,1399,3790,3790,390.1,-8.2,63,493,0.00,2.53,0.00,0.000,1030,0.000,0.063,2385,2804,3789,3788,3791,0,0,0,0,0,0,14.47,14.33,14.52
$GC,791,-1.20,-65.2,2385,2805,3789,3792,416.0,-8.7,94,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2804,3790,3790,3791,0,0,0,0,0,0,14.89,14.90,14.89
$GC,1091,-1.20,-65.2,2385,2805,3790,3793,441.1,-8.3,124,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2804,3790,3789,3791,0,0,0,0,0,0,14.89,14.89,14.89
$GC,1391,-1.20,-65.2,2385,2804,3790,3791,465.6,-8.1,154,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2804,3790,3789,3792,0,0,0,0,0,0,14.88,14.88,14.89
$GC,1691,-1.20,-65.2,2385,2805,3791,3792,489.3,-7.9,184,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2804,3790,3789,3792,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1991,-1.20,-65.2,2385,2805,3790,3793,512.8,-7.8,214,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2804,3790,3789,3791,0,0,0,0,0,0,14.90,14.91,14.91
$GC,2291,-1.20,-65.2,2385,2804,3789,3793,536.6,-7.9,244,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2804,3790,3789,3791,0,0,0,0,0,0,14.91,14.90,14.91
$GC,2591,-1.20,-65.2,2385,2805,3790,3793,560.1,-7.8,274,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2804,3789,3789,3790,0,0,0,0,0,0,14.91,14.90,14.91
$GC,2891,-1.20,-65.2,2385,2806,3790,3793,583.6,-7.7,304,2896,0.00,2.45,0.00,0.000,516,0.000,0.045,2385,1396,3789,3788,3791,0,0,0,0,0,0,14.90,14.33,14.90
$GC,2932,-1.20,-65.2,2386,1397,3790,3791,586.7,-7.6,312,2937,0.00,2.53,0.00,0.000,1030,0.000,0.063,2381,2802,3790,3789,3792,0,0,0,0,0,0,14.35,14.21,14.41
$GC,3243,-1.20,-65.2,2382,2802,3790,3791,610.5,-7.8,344,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2802,3790,3789,3791,0,0,0,0,0,0,14.91,14.91,14.91
$GC,3543,-1.20,-65.2,2382,2802,3790,3790,633.5,-7.6,374,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2802,3789,3789,3790,0,0,0,0,0,0,14.90,14.91,14.90
$GC,3843,-1.23,-89.0,2381,2802,3789,3791,655.3,-7.1,404,3844,0.00,0.00,0.00,0.000,38,0.000,0.000,2381,2801,3792,3789,3795,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4144,-1.25,-107.1,2382,2802,3790,3789,676.1,-6.9,434,4145,0.00,0.00,0.00,0.000,38,0.000,0.000,2381,2802,3788,3789,3788,0,0,0,0,0,0,14.75,14.75,14.75
$GC,4443,-1.25,-107.1,2382,2803,3789,3790,696.8,-6.9,464,4444,0.00,0.00,0.00,0.000,38,0.000,0.000,2381,2802,3788,3789,3788,0,0,0,0,0,0,14.90,14.90,14.90
$GC,4764,-1.25,-107.1,2381,2803,3789,3790,718.6,-6.8,478,4769,0.00,2.45,0.00,0.000,548,0.000,0.044,2382,1398,3788,3789,3788,0,0,0,0,0,0,14.86,14.31,14.86
$GC,4820,-1.25,-107.1,2382,1398,3790,3788,722.3,-7.2,489,4827,0.00,2.53,0.00,0.000,1062,0.000,0.063,2382,2805,3788,3789,3788,0,0,0,0,0,0,14.40,14.26,14.45
$GC,5187,-1.25,-107.1,2379,2805,3790,3788,747.3,-6.8,502,5192,0.00,2.00,0.00,0.000,292,0.000,0.084,2372,3908,3788,3789,3788,0,0,0,0,0,0,14.83,14.17,14.83
$GC,5239,-1.25,-107.1,2373,3909,3789,3788,751.2,-7.5,512,5244,0.00,1.90,0.00,0.000,1030,0.000,0.044,2374,2785,3788,3789,3787,0,0,0,0,0,0,14.50,14.44,14.51
$GC,5612,-1.25,-107.1,2374,2787,3790,3789,776.5,-6.6,526,5613,0.00,0.00,0.00,0.000,38,0.000,0.000,2374,2786,3788,3789,3787,0,0,0,0,0,0,14.85,14.85,14.85
$GC,5970,-1.25,-107.1,2374,2786,3790,3787,799.5,-6.3,538,5970,0.00,0.00,0.00,0.000,38,0.000,0.000,2374,2786,3784,3788,3781,0,0,0,0,0,0,14.86,14.87,14.87
$GC,6330,-1.25,-107.1,2375,2786,3790,3788,821.8,-6.0,550,6330,0.00,0.00,0.00,0.000,38,0.000,0.000,2374,2786,3787,3789,3785,0,0,0,0,0,0,14.87,14.87,14.87
$GC,6690,-1.25,-107.1,2374,2786,3790,3788,843.1,-5.8,562,6690,0.00,0.00,0.00,0.000,38,0.000,0.000,2373,2786,3787,3789,3786,0,0,0,0,0,0,14.86,14.87,14.86
$GC,7050,-1.25,-107.1,2374,2787,3789,3789,865.0,-6.1,574,7050,0.00,0.00,0.00,0.000,38,0.000,0.000,2374,2786,3788,3789,3788,0,0,0,0,0,0,14.86,14.86,14.86
$GC,7410,-1.25,-107.1,2374,2787,3790,3789,886.1,-5.8,586,7411,0.00,0.00,0.00,0.000,38,0.000,0.000,2374,2786,3788,3789,3788,0,0,0,0,0,0,14.83,14.85,14.85
$GC,7770,-1.25,-107.1,2374,2787,3789,3789,906.4,-5.5,598,7771,0.00,0.00,0.00,0.000,38,0.000,0.000,2373,2786,3788,3789,3788,0,0,0,0,0,0,14.83,14.83,14.83
$GC,8130,-1.25,-107.1,2374,2787,3790,3790,925.5,-5.3,610,8135,0.00,2.40,0.00,0.000,548,0.000,0.043,2374,1399,3788,3789,3788,0,0,0,0,0,0,14.83,14.28,14.83
$GC,8191,-1.25,-107.1,2374,1399,3790,3788,928.8,-5.4,622,8196,0.00,2.53,0.00,0.000,1062,0.000,0.062,2373,2804,3787,3789,3785,0,0,0,0,0,0,14.38,14.23,14.42
$GC,8584,-1.25,-107.1,2373,2805,3790,3793,949.5,-5.2,640,8585,0.00,0.00,0.00,0.000,38,0.000,0.000,2373,2804,3789,3789,3789,0,0,0,0,0,0,14.84,14.85,14.85
$GC,8942,-1.25,-107.1,2373,2804,3790,3790,969.1,-5.4,652,8942,0.00,0.00,0.00,0.000,38,0.000,0.000,2372,2804,3789,3789,3789,0,0,0,0,0,0,14.90,14.89,14.90
$GC,9302,-1.25,-107.1,2373,2804,3790,3787,988.6,-5.3,664,9303,0.00,0.00,0.00,0.000,38,0.000,0.000,2373,2804,3788,3788,3789,0,0,0,0,0,0,14.89,14.89,14.89
$STATE,9328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9328,begin apogee
$GC,9336,-0.23,0.0,2374,2544,3790,3789,990.2,-5.4,665,9426,1.25,0.00,87.78,3.076,10246,0.236,0.000,2695,2545,3492,3499,3486,0,0,0,0,0,0,13.78,13.62,12.23
$STATE,9427,end apogee,CONTROL_FINISHED_OK
$STATE,9427,begin climb
$GC,9430,1.25,107.1,2696,2545,3499,3487,991.3,0.0,668,9577,1.58,2.97,135.35,3.096,10500,0.112,0.086,3175,3903,3066,3083,3049,0,0,0,0,0,0,13.66,12.47,11.07
$GC,9598,1.25,107.1,3175,3904,3082,3045,970.0,19.8,692,9603,0.00,2.65,0.00,0.000,1030,0.000,0.047,3185,2544,3062,3080,3045,0,0,0,0,0,0,12.90,12.84,12.92
$GC,9969,1.25,107.1,3185,2545,3072,3038,900.3,18.5,706,9981,0.00,2.45,0.00,0.000,516,0.000,0.060,3196,1142,3053,3071,3036,0,0,0,0,0,0,14.72,14.35,14.72
$GC,10002,1.25,107.1,3196,1143,3072,3037,894.3,17.0,711,10008,0.00,2.50,0.00,0.000,1030,0.000,0.063,3196,2554,3053,3071,3036,0,0,0,0,0,0,14.53,14.41,14.57
$GC,10370,1.25,107.1,3196,2554,3071,3035,825.7,18.8,724,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2554,3052,3070,3035,0,0,0,0,0,0,14.84,14.84,14.84
$GC,10730,1.25,107.1,3195,2555,3070,3035,759.0,18.5,736,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2554,3051,3069,3033,0,0,0,0,0,0,14.85,14.85,14.85
$GC,11087,1.25,107.1,3196,2554,3070,3033,693.2,17.9,750,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2554,3051,3069,3033,0,0,0,0,0,0,14.92,14.92,14.92
$GC,11388,1.25,107.1,3196,2554,3070,3032,640.0,17.8,780,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2558,3050,3069,3032,0,0,0,0,0,0,14.82,14.83,14.82
$GC,11687,1.25,107.1,3196,2554,3070,3033,587.6,17.5,810,11692,0.00,2.47,0.00,0.000,516,0.000,0.057,3206,1143,3050,3069,3032,0,0,0,0,0,0,14.92,14.40,14.92
$GC,11708,1.25,107.1,3206,1145,3069,3034,584.0,17.4,814,11713,0.00,2.50,0.00,0.000,1030,0.000,0.063,3206,2557,3050,3068,3032,0,0,0,0,0,0,14.55,14.42,14.59
$GC,12020,1.25,107.1,3207,2557,3070,3033,529.7,17.5,846,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2561,3051,3069,3033,0,0,0,0,0,0,14.82,14.82,14.81
$GC,12319,1.25,107.1,3207,2557,3071,3033,477.9,17.1,876,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2557,3051,3069,3033,0,0,0,0,0,0,14.90,14.90,14.90
$PING,461.0,70.4,9000.0,0.00,0.00
$PING,454.3,63.3,9000.0,0.00,0.00
$PING,447.6,56.7,56.6,1.03,1.00
$PING,441.0,49.8,49.9,1.02,1.00
$PING,427.9,36.5,36.4,1.02,1.00
$GC,12620,1.25,107.1,3207,2557,3070,3033,427.9,16.3,906,12621,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2557,3051,3069,3033,0,0,0,0,0,0,14.81,14.82,14.81
$PING,421.5,29.3,29.5,1.04,1.00
$PING,415.0,23.1,23.0,1.03,1.00
$PING,408.4,16.2,16.3,1.00,1.00
$PING,401.7,8.6,8.7,1.10,1.00
$STATE,12786,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,12786,begin subsurface finish
$FINISH1,400.0,1.027509,-0
$GC,12793,-0.00,-0.5,3207,2557,3071,3034,400.0,16.5,923,12800,1.62,0.00,-1.90,0.046,20486,0.267,0.000,2777,2557,3516,3518,3514,0,0,0,0,0,0,14.00,12.77,14.40
$FINISH2,398.6
$STATE,12800,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12800,begin surface
$RAFOS_CLK,526
$RAFOS,2,1545038006,9.232242,9.223889,164,59,59,57,54,53,561,188,165,131,178,218
$RAFOS,1,1545037643,9.132667,9.123055,69,66,62,60,59,59,528,174,192,165,119,202
$RAFOS,0,1545037283,9.032354,9.023056,152,61,58,56,56,54,522,216,191,181,147,138
$RAFOS_FIX,-7429.457520,-11231.071289,171218,090940,3,128,0.26
$IRIDIUM_FIX,-7410.85,-11223.24,141218,223050
$TT8_MAMPS,0.03745,0.255409
$HUMID,50.78
$INTERNAL_PRESSURE,7.93895
$TCM_TEMP,13.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,401.7,8.7
$24V_AH,11.07,217.273
$10V_AH,11.51,0.000
$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,5.700,44.075,223.125,0.000,0.000,0.000,0.000,0.000,43.000,0.000,0.000,0.000,10401.114,266.438,1986.888,276.428,0.000,936.932,0.000,1324.410,720.000,315.060,0.000
$DEVICE_MAMPS,266.985,86.445,3095.955,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12829.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.656,0.000,0.000,0.000
$MEM,279804
$DATA_FILE_SIZE,30049,924
$CAP_FILE_SIZE,115116,0
$CFSIZE,1024409600,938688512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,9969.56,0x234cda,1,24
$SOUNDSPEED,1455.2
$GPS,171218,091440,-7429.458,-11231.071,0,4128.3,0,53.4,0.0,0.0,0,0.0