version: 66.13
glider: 221
mission: 7
dive: 911
start: 1 23 119 8 29 59
data:
$ID,221
$MISSION,7
$DIVE,911
$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,23
$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
$GPS1,230119,061528,-7439.6382,-11210.4971,0,4158.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,414.19
$_SM_ANGLEo,3.5
$GPS2,230119,061528,-7439.6382,-11210.4971,0,4158.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideC2
$TGT_LATLONG,-7438.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,234.1,10041,-19.3,-9.429,-21.50,1737
$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,11,-1.01,-107.1,2779,2798,3531,3525,0.0,0.0,0,14,0.00,0.00,-1.65,0.043,16390,0.000,0.000,2779,2797,3941,3934,3948,0,0,0,0,0,0,11.35,10.59,11.33
$GC,18,-1.01,-107.1,2779,2798,3941,3959,0.0,0.0,0,25,1.38,3.22,0.00,0.000,4612,0.126,0.044,2456,1378,3951,3943,3959,0,0,0,0,0,0,11.14,11.18,11.20
$PING,420.8,11.7,9000.0,0.00,0.00
$GC,136,-1.01,-107.1,2457,1378,3955,3965,423.8,-8.8,23,143,0.00,3.42,0.00,0.000,1030,0.000,0.060,2453,2812,3959,3953,3965,0,0,0,0,0,0,11.23,11.16,11.24
$PING,433.5,24.5,9000.0,0.00,0.00
$PING,439.9,30.9,30.9,1.01,1.00
$PING,446.1,36.9,37.0,0.98,1.00
$GC,442,-1.01,-107.1,2454,2812,3956,3967,451.6,-9.0,54,447,0.00,3.33,0.00,0.000,516,0.000,0.046,2453,1382,3962,3957,3967,0,0,0,0,0,0,11.36,11.17,11.36
$PING,452.6,42.2,42.4,0.89,1.00
$GC,484,-1.01,-107.1,2454,1382,3958,3967,455.4,-9.2,62,489,0.00,3.40,0.00,0.000,1030,0.000,0.061,2452,2807,3961,3956,3967,0,0,0,0,0,0,11.24,11.17,11.26
$GC,796,-1.01,-107.1,2453,2807,3958,3967,484.2,-9.2,94,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2806,3962,3957,3967,0,0,0,0,0,0,11.36,11.36,11.36
$GC,1096,-1.01,-107.1,2452,2807,3957,3968,511.7,-9.2,124,1101,0.00,3.30,0.00,0.000,516,0.000,0.045,2453,1386,3962,3957,3967,0,0,0,0,0,0,11.36,11.18,11.36
$GC,1128,-1.01,-107.1,2453,1386,3958,3969,514.6,-9.0,130,1133,0.00,3.40,0.00,0.000,1030,0.000,0.060,2452,2805,3962,3957,3967,0,0,0,0,0,0,11.24,11.17,11.26
$GC,1441,-1.01,-107.1,2453,2804,3958,3968,543.8,-9.4,162,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2805,3962,3957,3968,0,0,0,0,0,0,11.36,11.35,11.35
$GC,1740,-1.01,-107.1,2453,2805,3958,3967,571.9,-9.2,192,1745,0.00,3.30,0.00,0.000,516,0.000,0.045,2452,1386,3962,3957,3967,0,0,0,0,0,0,11.37,11.18,11.37
$GC,1796,-1.01,-107.1,2452,1387,3958,3969,577.1,-9.1,203,1803,0.00,3.40,0.00,0.000,1030,0.000,0.061,2447,2808,3962,3957,3967,0,0,0,0,0,0,11.24,11.17,11.25
$GC,2102,-1.01,-107.1,2447,2810,3958,3969,604.8,-9.1,234,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2809,3962,3957,3967,0,0,0,0,0,0,11.36,11.36,11.36
$GC,2402,-1.01,-107.1,2447,2810,3958,3969,631.6,-8.8,264,2407,0.00,3.33,0.00,0.000,516,0.000,0.046,2446,1381,3962,3957,3967,0,0,0,0,0,0,11.36,11.17,11.36
$GC,2443,-1.01,-107.1,2448,1381,3958,3968,635.4,-9.0,272,2448,0.00,3.40,0.00,0.000,1030,0.000,0.060,2439,2805,3962,3957,3968,0,0,0,0,0,0,11.24,11.17,11.26
$GC,2755,-1.01,-107.1,2440,2805,3958,3967,664.1,-9.2,304,2760,0.00,2.70,0.00,0.000,260,0.000,0.083,2433,3917,3962,3957,3967,0,0,0,0,0,0,11.36,11.16,11.36
$GC,2807,-1.01,-107.1,2433,3918,3958,3968,669.0,-9.9,314,2812,0.00,2.58,0.00,0.000,1030,0.000,0.045,2432,2787,3962,3957,3967,0,0,0,0,0,0,11.26,11.21,11.26
$GC,3120,-1.01,-107.1,2434,2787,3958,3967,696.9,-9.0,346,3125,0.00,3.22,0.00,0.000,516,0.000,0.046,2433,1387,3962,3957,3967,0,0,0,0,0,0,11.36,11.19,11.36
$GC,3151,-1.01,-107.1,2433,1387,3958,3969,700.0,-9.8,352,3157,0.00,3.40,0.00,0.000,1030,0.000,0.061,2430,2810,3962,3957,3967,0,0,0,0,0,0,11.24,11.17,11.25
$GC,3467,-1.01,-107.1,2430,2811,3957,3969,728.6,-9.2,364,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2810,3962,3957,3967,0,0,0,0,0,0,11.36,11.36,11.36
$GC,3824,-1.01,-107.1,2430,2811,3958,3967,761.8,-8.9,376,3829,0.00,3.30,0.00,0.000,516,0.000,0.046,2429,1387,3962,3957,3967,0,0,0,0,0,0,11.36,11.19,11.36
$GC,3851,-1.01,-107.1,2430,1387,3958,3967,764.4,-8.3,381,3858,0.00,3.40,0.00,0.000,1030,0.000,0.062,2426,2803,3962,3957,3967,0,0,0,0,0,0,11.25,11.19,11.26
$GC,4219,-1.01,-107.1,2426,2805,3958,3968,795.9,-8.6,394,4224,0.00,2.67,0.00,0.000,260,0.000,0.084,2423,3913,3962,3957,3967,0,0,0,0,0,0,11.37,11.16,11.37
$GC,4271,-1.01,-107.1,2424,3913,3958,3967,800.9,-10.3,404,4277,0.00,2.58,0.00,0.000,1030,0.000,0.045,2423,2786,3961,3957,3966,0,0,0,0,0,0,11.26,11.21,11.27
$GC,4643,-1.01,-107.1,2424,2786,3958,3966,834.3,-8.9,418,4648,0.00,3.22,0.00,0.000,516,0.000,0.047,2423,1386,3961,3957,3965,0,0,0,0,0,0,11.38,11.19,11.38
$GC,4710,-1.01,-107.1,2424,1386,3958,3966,840.3,-9.3,431,4715,0.00,3.40,0.00,0.000,1030,0.000,0.063,2423,2808,3962,3957,3967,0,0,0,0,0,0,11.25,11.18,11.26
$GC,5100,-1.01,-107.1,2423,2810,3958,3968,874.6,-8.4,448,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2809,3961,3957,3966,0,0,0,0,0,0,11.37,11.38,11.37
$GC,5457,-1.01,-107.1,2423,2810,3958,3968,903.9,-8.0,460,5462,0.00,3.33,0.00,0.000,516,0.000,0.045,2423,1384,3962,3957,3967,0,0,0,0,0,0,11.38,11.19,11.38
$GC,5498,-1.01,-107.1,2424,1383,3958,3967,907.4,-8.0,468,5504,0.15,3.40,0.00,0.000,3078,0.255,0.062,2443,2803,3961,3957,3966,0,0,0,0,0,0,11.10,11.17,11.24
$GC,5880,-1.01,-107.1,2443,2803,3958,3967,936.3,-7.9,484,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2803,3966,3967,3966,0,0,0,0,0,0,11.38,11.38,11.38
$GC,6241,-1.01,-107.1,2443,2803,3958,3967,964.5,-8.1,496,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2803,3961,3957,3966,0,0,0,0,0,0,11.37,11.38,11.38
$STATE,6567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6568,begin apogee
$GC,6577,-0.23,0.0,2443,2542,3958,3967,990.6,-7.9,507,6782,1.27,0.00,199.35,3.107,10246,0.210,0.000,2696,2542,3493,3503,3484,0,0,0,0,0,0,11.10,10.97,9.88
$STATE,6782,end apogee,CONTROL_FINISHED_OK
$STATE,6783,begin climb
$PING,983.6,27.6,9000.0,-0.02,0.86
$GC,6787,1.01,107.1,2697,2544,3503,3485,994.0,0.0,514,6966,1.67,0.00,175.80,3.104,10758,0.118,0.000,3092,2542,3065,3085,3045,0,0,0,0,0,0,11.04,10.95,9.91
$GC,7321,1.01,107.1,3092,2544,3076,3037,933.0,13.0,542,7326,0.00,3.38,0.00,0.000,260,0.000,0.085,3092,3908,3055,3075,3036,0,0,0,0,0,0,11.32,11.11,11.32
$GC,7357,1.01,107.1,3092,3908,3076,3036,927.9,17.2,549,7363,0.00,3.15,0.00,0.000,1030,0.000,0.047,3101,2540,3055,3075,3035,0,0,0,0,0,0,11.21,11.17,11.23
$GC,7746,1.01,107.1,3103,2540,3075,3033,873.5,13.6,566,7751,0.00,3.33,0.00,0.000,516,0.000,0.057,3120,1138,3053,3073,3033,0,0,0,0,0,0,11.32,11.12,11.32
$GC,7778,1.01,107.1,3113,1140,3072,3034,869.3,15.6,572,7783,0.00,3.38,0.00,0.000,1030,0.000,0.060,3113,2555,3053,3073,3033,0,0,0,0,0,0,11.21,11.14,11.23
$GC,8170,1.01,107.1,3114,2555,3073,3031,815.2,14.1,590,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2554,3052,3072,3032,0,0,0,0,0,0,11.34,11.34,11.34
$GC,8533,1.01,107.1,3115,2556,3069,3031,767.6,13.0,602,8538,0.00,3.33,0.00,0.000,260,0.000,0.086,3113,3914,3051,3072,3031,0,0,0,0,0,0,11.38,11.13,11.34
$GC,8591,1.01,107.1,3114,3915,3073,3032,758.7,15.7,613,8598,0.00,3.15,0.00,0.000,1030,0.000,0.047,3124,2541,3051,3072,3030,0,0,0,0,0,0,11.24,11.19,11.25
$GC,8959,1.01,107.1,3125,2542,3072,3031,707.8,13.9,626,8964,0.00,3.38,0.00,0.000,260,0.000,0.086,3124,3910,3051,3071,3031,0,0,0,0,0,0,11.34,11.14,11.34
$GC,9021,1.01,107.1,3124,3910,3072,3032,698.0,15.0,638,9027,0.20,3.15,0.00,0.000,5126,0.257,0.046,3101,2547,3050,3071,3030,0,0,0,0,0,0,11.07,11.20,11.22
$GC,9334,1.01,107.1,3101,2548,3071,3031,659.8,12.2,670,9339,0.00,3.30,0.00,0.000,516,0.000,0.057,3112,1146,3050,3070,3030,0,0,0,0,0,0,11.35,11.13,11.35
$GC,9400,1.01,107.1,3113,1146,3072,3030,652.0,11.7,683,9407,0.00,3.38,0.00,0.000,1030,0.000,0.060,3113,2560,3050,3071,3030,0,0,0,0,0,0,11.22,11.15,11.25
$GC,9706,1.01,107.1,3113,2561,3071,3032,614.2,12.4,714,9711,0.00,3.30,0.00,0.000,260,0.000,0.087,3112,3909,3050,3071,3030,0,0,0,0,0,0,11.36,11.14,11.36
$GC,9782,1.01,107.1,3113,3908,3072,3031,603.6,14.0,729,9789,0.00,3.12,0.00,0.000,1030,0.000,0.046,3122,2543,3050,3071,3030,0,0,0,0,0,0,11.25,11.20,11.26
$GC,10087,1.01,107.1,3123,2544,3071,3032,565.8,12.2,760,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2543,3050,3071,3030,0,0,0,0,0,0,11.36,11.36,11.36
$GC,10387,1.01,107.1,3126,2544,3072,3030,528.9,12.2,790,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2544,3050,3071,3030,0,0,0,0,0,0,11.36,11.36,11.35
$GC,10687,1.01,107.1,3123,2543,3072,3030,493.3,12.2,820,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2543,3050,3070,3030,0,0,0,0,0,0,11.36,11.36,11.36
$PING,457.2,35.0,9000.0,-0.02,0.76
$GC,10988,1.01,107.1,3123,2543,3072,3030,457.2,11.8,850,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2543,3050,3071,3030,0,0,0,0,0,0,11.34,11.35,11.35
$PING,450.0,26.7,9000.0,-0.01,0.16
$PING,442.9,19.0,18.9,1.12,1.00
$STATE,11214,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11214,begin subsurface finish
$FINISH1,429.9,1.027489,1
$GC,11222,0.00,0.6,3123,2543,3071,3031,429.9,12.0,873,11238,1.70,3.35,-7.28,0.023,20740,0.229,0.095,2779,3912,3517,3522,3513,0,0,0,0,1,0,11.07,10.72,11.22
$FINISH2,428.1
$STATE,11239,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11239,begin surface
$RAFOS_CLK,459
$RAFOS,2,1548234781,9.232242,9.216945,104,70,58,55,54,52,758,210,169,151,200,222
$RAFOS,1,1548234427,9.132667,9.118611,102,62,57,52,51,45,683,213,133,172,155,233
$RAFOS,0,1548234058,9.032354,9.016111,171,63,62,60,53,51,713,208,141,175,236,157
$RAFOS_FIX,-7438.953125,-11214.760742,230119,090940,3,126,0.23
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.04494,0.277879
$HUMID,51.18
$INTERNAL_PRESSURE,7.94871
$TCM_TEMP,13.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,442.9,18.9
$24V_AH,9.88,292.964
$10V_AH,10.21,0.000
$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,6.375,116.575,375.150,0.000,0.000,0.000,0.000,0.000,41.000,0.000,0.000,0.000,8687.380,475.798,1866.186,337.638,0.000,1129.042,0.000,1254.440,720.000,293.132,0.000
$DEVICE_MAMPS,257.040,94.860,3106.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11268.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.551,0.000,0.000,0.000
$MEM,278872
$DATA_FILE_SIZE,29971,875
$CAP_FILE_SIZE,113887,0
$CFSIZE,1024409600,910868480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1456.4
$GPS,230119,091440,-7438.953,-11214.761,0,4125.7,0,53.5,0.0,0.0,0,0.0