version: 66.13
glider: 221
mission: 7
dive: 866
start: 1 16 119 23 0 55
data:
$ID,221
$MISSION,7
$DIVE,866
$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,65
$EXEC_DT,0
$EXEC_T,9.3000002
$EXEC_N,13
$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,27
$R_STBD_OVSHOOT,14
$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
$GPS1,160119,211544,-7413.1338,-11228.8916,0,4137.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,396.21
$_SM_ANGLEo,4.3
$GPS2,160119,211544,-7413.1338,-11228.8916,0,4137.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,ip2
$TGT_LATLONG,-7414.250,-11230.000
$TGT_RADIUS,500.000
$MHEAD_RNG_PITCHd_Wd,141.6,2142,-41.5,-9.429,-42.75,368
$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,-1.92,-22.6,2781,2802,3528,3528,0.0,0.0,0,12,0.00,0.00,-0.32,0.216,16390,0.000,0.000,2781,2801,3596,3595,3598,0,0,0,0,0,0,11.34,10.60,11.28
$GC,16,-1.92,-22.6,2781,2802,3598,3602,0.0,0.0,0,29,2.55,3.28,0.00,0.000,4612,0.113,0.044,2157,1392,3597,3600,3595,0,0,0,0,0,0,11.15,11.17,11.24
$GC,146,-1.93,-33.3,2157,1393,3606,3598,403.6,-6.4,25,154,0.00,3.35,-0.17,0.390,17446,0.000,0.052,2153,2810,3641,3645,3638,0,0,0,0,0,0,11.23,11.17,11.24
$GC,451,-1.93,-33.3,2154,2810,3652,3642,430.3,-9.3,56,456,0.00,2.62,0.00,0.000,260,0.000,0.074,2148,3916,3646,3651,3642,0,0,0,0,0,0,11.35,11.16,11.34
$GC,548,-1.93,-33.3,2149,3916,3652,3642,439.9,-10.2,75,554,0.00,2.53,0.00,0.000,1030,0.000,0.040,2148,2793,3647,3652,3642,0,0,0,0,0,0,11.25,11.21,11.26
$GC,853,-1.93,-33.3,2148,2794,3652,3643,467.4,-8.5,106,858,0.00,3.20,0.00,0.000,516,0.000,0.042,2148,1396,3647,3651,3643,0,0,0,0,0,0,11.36,11.18,11.36
$GC,889,-1.93,-33.3,2149,1396,3652,3643,470.6,-8.6,113,896,0.00,3.33,0.00,0.000,1030,0.000,0.051,2141,2808,3647,3651,3643,0,0,0,0,0,0,11.24,11.17,11.26
$GC,1194,-1.93,-33.3,2141,2809,3652,3644,496.8,-8.4,144,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2809,3647,3651,3643,0,0,0,0,0,0,11.36,11.35,11.36
$GC,1494,-1.93,-33.3,2141,2810,3651,3644,520.8,-7.9,174,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2809,3647,3651,3643,0,0,0,0,0,0,11.36,11.36,11.36
$GC,1794,-1.93,-33.3,2141,2809,3650,3644,544.4,-7.7,204,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2808,3647,3651,3643,0,0,0,0,0,0,11.36,11.36,11.35
$GC,2094,-1.94,-41.6,2141,2809,3651,3644,566.4,-7.1,234,2100,0.00,3.28,0.00,0.000,548,0.000,0.041,2141,1388,3647,3651,3643,0,0,0,0,0,0,11.36,11.18,11.36
$GC,2146,-1.95,-50.7,2141,1388,3653,3643,570.0,-6.9,244,2151,0.00,3.33,0.00,0.000,1062,0.000,0.052,2133,2803,3646,3651,3642,0,0,0,0,0,0,11.23,11.17,11.24
$GC,2458,-1.96,-59.4,2133,2804,3652,3644,591.5,-7.0,276,2458,0.00,0.00,0.00,0.000,38,0.000,0.000,2133,2803,3644,3651,3638,0,0,0,0,0,0,11.36,11.36,11.36
$GC,2758,-1.97,-70.2,2135,2803,3652,3642,611.6,-6.4,306,2764,0.00,3.20,0.00,0.000,548,0.000,0.041,2134,1386,3646,3651,3642,0,0,0,0,0,0,11.36,11.17,11.36
$GC,2821,-1.99,-81.9,2135,1387,3651,3643,615.5,-6.2,318,2826,0.00,3.35,0.00,0.000,1062,0.000,0.052,2133,2809,3646,3651,3641,0,0,0,0,0,0,11.23,11.17,11.24
$GC,3133,-2.00,-95.0,2134,2810,3652,3643,634.3,-5.8,350,3138,0.00,2.62,0.00,0.000,292,0.000,0.072,2125,3916,3646,3651,3641,0,0,0,0,0,0,11.36,11.17,11.36
$GC,3194,-2.02,-105.6,2125,3916,3652,3640,638.2,-6.5,362,3199,0.00,2.53,0.00,0.000,1062,0.000,0.040,2130,2794,3646,3652,3640,0,0,0,0,0,0,11.25,11.21,11.26
$GC,3506,-2.02,-107.1,2131,2794,3652,3641,656.0,-5.6,394,3506,0.00,0.00,0.00,0.000,38,0.000,0.000,2130,2793,3646,3651,3641,0,0,0,0,0,0,11.36,11.36,11.36
$GC,3806,-2.02,-107.1,2130,2794,3652,3641,672.0,-5.0,424,3811,0.00,3.22,0.00,0.000,548,0.000,0.041,2131,1386,3645,3651,3640,0,0,0,0,0,0,11.35,11.17,11.35
$GC,3915,-2.02,-107.1,2131,1386,3652,3640,677.4,-4.9,445,3923,0.00,3.35,0.00,0.000,1062,0.000,0.051,2125,2807,3645,3650,3640,0,0,0,0,0,0,11.24,11.18,11.26
$GC,4220,-2.02,-107.1,2125,2807,3651,3642,692.8,-5.0,476,4220,0.00,0.00,0.00,0.000,38,0.000,0.000,2124,2807,3645,3651,3640,0,0,0,0,0,0,11.35,11.35,11.35
$GC,4523,-2.02,-107.1,2124,2808,3652,3640,707.5,-4.8,496,4528,0.00,2.62,0.00,0.000,292,0.000,0.071,2116,3917,3646,3652,3640,0,0,0,0,0,0,11.36,11.17,11.36
$GC,4675,-2.02,-107.1,2117,3917,3652,3639,715.6,-5.5,526,4680,0.00,2.53,0.00,0.000,1062,0.000,0.041,2117,2797,3645,3651,3639,0,0,0,0,0,0,11.25,11.21,11.26
$GC,5070,-2.02,-107.1,2118,2799,3652,3640,734.6,-4.8,544,5075,0.00,3.22,0.00,0.000,548,0.000,0.041,2116,1383,3645,3651,3639,0,0,0,0,0,0,11.36,11.19,11.36
$GC,5211,-2.02,-107.1,2117,1383,3652,3639,741.5,-4.7,572,5217,0.00,3.35,0.00,0.000,1062,0.000,0.051,2109,2811,3645,3652,3639,0,0,0,0,0,0,11.24,11.18,11.25
$GC,5583,-2.02,-107.1,2109,2812,3652,3640,757.9,-4.3,586,5588,0.00,2.60,0.00,0.000,292,0.000,0.071,2101,3911,3645,3651,3639,0,0,0,0,0,0,11.36,11.17,11.36
$GC,5775,-2.02,-107.1,2101,3912,3652,3638,766.3,-4.4,624,5780,0.00,2.53,0.00,0.000,1062,0.000,0.040,2101,2792,3644,3651,3638,0,0,0,0,0,0,11.26,11.21,11.26
$GC,6157,-2.02,-107.1,2101,2792,3652,3637,781.6,-3.8,640,6162,0.00,3.20,0.00,0.000,548,0.000,0.040,2101,1385,3644,3651,3638,0,0,0,0,0,0,11.36,11.19,11.36
$GC,6203,-2.02,-107.1,2102,1386,3655,3638,783.3,-3.6,649,6210,0.22,3.33,0.00,0.000,3110,0.321,0.049,2121,2809,3644,3651,3638,0,0,0,0,0,0,11.03,11.19,11.21
$GC,6585,-2.02,-107.1,2122,2808,3653,3638,796.1,-3.4,664,6590,0.00,2.60,0.00,0.000,292,0.000,0.071,2113,3907,3644,3651,3638,0,0,0,0,0,0,11.36,11.17,11.36
$GC,6817,-2.02,-107.1,2114,3907,3652,3638,803.5,-3.0,710,6822,0.00,2.50,0.00,0.000,1062,0.000,0.040,2114,2798,3644,3651,3638,0,0,0,0,0,0,11.24,11.20,11.26
$GC,7189,-2.02,-107.1,2116,2799,3651,3639,814.0,-2.8,724,7195,0.00,3.22,0.00,0.000,548,0.000,0.041,2113,1381,3644,3651,3638,0,0,0,0,0,0,11.35,11.19,11.35
$GC,7421,-2.02,-107.1,2114,1382,3652,3639,819.7,-2.4,770,7426,0.00,3.35,0.00,0.000,1062,0.000,0.052,2108,2808,3648,3658,3638,0,0,0,0,0,0,11.24,11.18,11.26
$GC,7793,-2.02,-107.1,2109,2807,3651,3638,828.5,-2.2,784,7798,0.00,3.25,0.00,0.000,548,0.000,0.040,2109,1389,3644,3651,3638,0,0,0,0,0,0,11.36,11.19,11.36
$GC,7913,-2.02,-107.1,2109,1390,3652,3638,830.7,-1.4,807,7920,0.00,3.33,0.00,0.000,1062,0.000,0.050,2098,2812,3644,3651,3638,0,0,0,0,0,0,11.24,11.18,11.23
$GC,8275,-2.02,-107.1,2099,2809,3652,3638,837.2,-1.5,820,8280,0.00,3.25,0.00,0.000,548,0.000,0.040,2098,1391,3644,3651,3638,0,0,0,0,0,0,11.36,11.19,11.36
$GC,8507,-2.02,-107.1,2099,1390,3652,3638,840.8,-1.6,866,8512,0.25,3.33,0.00,0.000,3110,0.327,0.050,2122,2813,3644,3651,3638,0,0,0,0,0,0,11.03,11.19,11.22
$GC,8879,-2.02,-107.1,2122,2813,3652,3638,845.9,-1.3,880,8884,0.00,3.28,0.00,0.000,548,0.000,0.040,2122,1382,3645,3651,3639,0,0,0,0,0,0,11.36,11.19,11.36
$GC,9004,-2.02,-107.1,2119,1383,3652,3640,847.4,-1.3,904,9009,0.00,3.35,0.00,0.000,1062,0.000,0.051,2113,2807,3645,3651,3639,0,0,0,0,0,0,11.25,11.18,11.26
$GC,9396,-2.02,-107.1,2113,2808,3652,3639,851.8,-1.0,922,9401,0.00,2.62,0.00,0.000,292,0.000,0.073,2107,3916,3645,3651,3639,0,0,0,0,0,0,11.36,11.17,11.36
$GC,9628,-2.02,-107.1,2108,3916,3654,3639,854.2,-1.2,968,9633,0.00,2.55,0.00,0.000,1062,0.000,0.041,2107,2794,3644,3650,3639,0,0,0,0,0,0,11.25,11.21,11.26
$STATE,9996,end dive,NO_VERTICAL_VELOCITY
$STATE,9997,begin apogee
$GC,10005,-0.23,0.0,2108,2541,3651,3640,857.9,0.0,982,10078,3.58,0.00,67.47,3.053,10246,0.314,0.000,2692,2541,3492,3497,3487,0,0,0,0,0,0,11.05,11.03,10.05
$STATE,10079,end apogee,CONTROL_FINISHED_OK
$STATE,10079,begin climb
$GC,10083,2.02,107.1,2693,2541,3498,3488,857.9,0.0,984,10266,2.97,3.33,171.80,3.062,10756,0.099,0.060,3435,1151,3064,3081,3047,0,0,0,0,0,0,11.08,10.93,10.06
$GC,10343,2.02,107.1,3435,1152,3077,3042,804.3,27.8,1033,10351,0.00,3.38,0.00,0.000,1030,0.000,0.063,3435,2553,3058,3076,3041,0,0,0,0,0,0,11.14,11.10,11.17
$GC,10733,2.02,107.1,3435,2555,3071,3038,692.5,28.5,1050,10739,0.00,3.33,0.00,0.000,260,0.000,0.083,3436,3917,3053,3070,3037,0,0,0,0,0,0,11.31,11.12,11.31
$GC,10756,2.02,107.1,3435,3917,3072,3038,685.7,29.7,1054,10761,0.00,3.15,0.00,0.000,1030,0.000,0.048,3445,2551,3054,3071,3037,0,0,0,0,0,0,11.22,11.16,11.21
$GC,11068,2.02,107.1,3446,2551,3071,3037,595.8,28.5,1086,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2551,3053,3070,3037,0,0,0,0,0,0,11.33,11.33,11.33
$GC,11368,2.02,107.1,3446,2552,3069,3038,512.0,27.6,1116,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2551,3053,3070,3037,0,0,0,0,0,0,11.34,11.34,11.34
$GC,11668,2.02,107.1,3446,2551,3071,3037,431.7,26.2,1146,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2551,3053,3070,3037,0,0,0,0,0,0,11.34,11.34,11.34
$FREEZE,397.61,-1.007,-2.175,2,3,0
$STATE,11798,end climb,FINISH_DEPTH_REACHED
$STATE,11798,begin subsurface finish
$FINISH1,397.6,1.027499,0
$GC,11807,0.00,0.0,3446,2551,3071,3037,397.6,26.1,1159,11825,4.15,3.38,-7.38,0.023,20740,0.334,0.099,2782,3917,3522,3524,3521,0,0,0,0,1,0,11.02,10.58,11.21
$FINISH2,392.3
$STATE,11826,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11826,begin surface
$RAFOS_CLK,485
$RAFOS,2,1547683982,0.232241,0.217222,132,65,63,62,58,56,586,196,187,220,208,139
$RAFOS,1,1547683622,0.132666,0.117222,95,59,57,52,51,51,551,201,172,211,190,157
$RAFOS,0,1547683268,0.032355,0.018889,122,69,57,55,55,54,520,206,151,133,165,177
$RAFOS_FIX,-7414.078125,-11228.299805,170119,000056,3,116,0.17
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.04494,0.287616
$HUMID,50.74
$INTERNAL_PRESSURE,7.93895
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,10.05,276.577
$10V_AH,10.30,0.000
$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,13.725,120.925,239.275,0.000,0.000,0.000,0.000,0.000,33.000,0.000,0.000,0.000,8938.180,331.902,2330.058,347.855,0.000,1181.493,0.000,1659.381,720.000,250.949,0.000
$DEVICE_MAMPS,333.540,99.450,3062.295,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11853.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.541,0.000,0.000,0.000
$MEM,278824
$DATA_FILE_SIZE,40009,1162
$CAP_FILE_SIZE,128262,0
$CFSIZE,1024409600,916422656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1458.0
$GPS,170119,001456,-7414.078,-11228.300,0,4116.3,0,53.5,0.0,0.0,0,0.0