version: 66.13
glider: 221
mission: 7
dive: 797
start: 1 5 119 21 13 19
data:
$ID,221
$MISSION,7
$DIVE,797
$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,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,37
$R_STBD_OVSHOOT,21
$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
$GPS1,050119,210256,-7431.7085,-11211.0635,0,2002.0,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,290.45
$_SM_ANGLEo,3.1
$GPS2,050119,210256,-7431.7085,-11211.0635,0,2002.0,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideE
$TGT_LATLONG,-7430.000,-11150.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,19.6,10894,-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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,10,-1.01,-107.1,2778,2800,3503,3500,0.0,0.0,0,13,0.00,0.00,-2.05,0.044,16390,0.000,0.000,2777,2803,3934,3928,3940,0,0,0,0,0,0,14.38,12.22,14.31
$PING,290.6,30.2,9000.0,0.00,0.00
$GC,17,-1.01,-107.1,2778,2799,3936,3950,0.0,0.0,0,25,1.08,0.00,0.00,0.000,4102,0.129,0.000,2451,2800,3944,3937,3951,0,0,0,0,0,0,13.83,14.01,13.95
$GC,321,-1.01,-107.1,2451,2800,3949,3961,292.2,0.0,31,326,0.00,2.53,0.00,0.000,548,0.000,0.046,2451,1385,3955,3949,3961,0,0,0,0,0,0,14.51,14.05,14.52
$GC,553,-1.01,-107.1,2451,1385,3952,3963,292.3,0.0,77,558,0.00,2.62,0.00,0.000,1030,0.000,0.070,2451,2799,3956,3950,3963,0,0,0,0,0,0,14.16,14.00,14.21
$GC,864,-1.01,-107.1,2451,2800,3952,3964,292.2,0.0,109,869,0.00,2.53,0.00,0.000,548,0.000,0.047,2451,1388,3956,3949,3963,0,0,0,0,0,0,14.62,14.13,14.64
$GC,1095,-1.01,-107.1,2451,1389,3952,3966,292.4,-0.3,155,1100,0.00,2.60,0.00,0.000,1062,0.000,0.065,2451,2809,3957,3951,3964,0,0,0,0,0,0,14.22,14.08,14.28
$GC,1407,-1.01,-107.1,2451,2810,3951,3966,292.3,0.0,187,1408,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.65,14.65,14.64
$GC,1706,-1.01,-107.1,2451,2809,3953,3965,292.3,-0.0,217,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.68,14.68,14.68
$GC,2010,-1.01,-107.1,2451,2809,3953,3965,292.3,0.0,247,2015,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.66,14.69,14.66
$GC,2317,-1.01,-107.1,2451,2810,3952,3966,292.3,-0.0,278,2318,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.71,14.70,14.70
$GC,2617,-1.01,-107.1,2451,2808,3952,3965,292.4,-0.0,308,2618,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2809,3958,3951,3965,0,0,0,0,0,0,14.71,14.71,14.71
$GC,2916,-1.01,-107.1,2451,2809,3953,3965,292.4,-0.0,338,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2809,3958,3951,3965,0,0,0,0,0,0,14.73,14.73,14.72
$GC,3220,-1.01,-107.1,2451,2809,3953,3965,292.4,0.0,368,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2809,3958,3951,3965,0,0,0,0,0,0,14.69,14.70,14.70
$GC,3527,-1.01,-107.1,2451,2810,3952,3966,292.4,-0.0,399,3528,0.00,0.00,0.00,0.000,38,0.000,0.000,2454,2809,3958,3951,3965,0,0,0,0,0,0,14.73,14.73,14.73
$GC,3827,-1.01,-107.1,2451,2810,3952,3966,292.4,-0.0,429,3828,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2809,3958,3951,3965,0,0,0,0,0,0,14.74,14.74,14.74
$GC,4127,-1.01,-107.1,2452,2809,3952,3964,292.4,-0.0,459,4128,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.73,14.74,14.74
$GC,4427,-1.01,-107.1,2451,2810,3949,3966,292.4,0.0,489,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.74,14.74,14.75
$GC,4730,-1.01,-107.1,2451,2809,3953,3965,292.4,-0.0,519,4735,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2809,3958,3951,3965,0,0,0,0,0,0,14.72,14.71,14.72
$GC,5037,-1.01,-107.1,2451,2809,3952,3965,292.4,0.0,550,5038,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3956,3951,3961,0,0,0,0,0,0,14.74,14.74,14.74
$GC,5337,-1.01,-107.1,2451,2809,3953,3965,292.4,-0.0,580,5338,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.74,14.75,14.75
$GC,5636,-1.01,-107.1,2451,2810,3952,3966,292.4,0.0,610,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2808,3958,3951,3965,0,0,0,0,0,0,14.75,14.75,14.75
$GC,5940,-1.01,-107.1,2451,2809,3953,3965,292.4,0.0,640,5946,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.72,14.73,14.73
$GC,6247,-1.01,-107.1,2451,2809,3953,3965,292.4,-0.0,671,6248,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.76,14.76,14.76
$GC,6547,-1.01,-107.1,2451,2810,3952,3965,292.4,-0.0,701,6548,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3957,3951,3964,0,0,0,0,0,0,14.75,14.76,14.76
$GC,6847,-1.01,-107.1,2451,2810,3952,3966,292.5,-0.0,731,6848,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3952,3965,0,0,0,0,0,0,14.76,14.76,14.76
$GC,7147,-1.01,-107.1,2451,2810,3952,3966,292.5,-0.1,761,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2809,3957,3950,3965,0,0,0,0,0,0,14.76,14.77,14.76
$GC,7450,-1.01,-107.1,2451,2809,3953,3965,292.5,-0.0,791,7456,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.73,14.73,14.73
$GC,7757,-1.01,-107.1,2451,2811,3952,3966,292.5,-0.0,822,7758,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.76,14.76,14.76
$GC,8057,-1.01,-107.1,2451,2810,3952,3966,292.5,-0.0,852,8058,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.76,14.76,14.76
$GC,8356,-1.01,-107.1,2450,2809,3953,3965,292.5,-0.0,882,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2809,3958,3951,3965,0,0,0,0,0,0,14.76,14.76,14.76
$GC,8659,-1.01,-107.1,2451,2809,3952,3967,292.5,0.0,912,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2809,3958,3951,3965,0,0,0,0,0,0,14.74,14.74,14.74
$GC,8967,-1.01,-107.1,2451,2809,3953,3969,292.5,-0.0,943,8968,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2809,3958,3951,3965,0,0,0,0,0,0,14.77,14.77,14.77
$GC,9267,-1.01,-107.1,2451,2808,3953,3966,292.5,0.0,973,9268,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3966,0,0,0,0,0,0,14.77,14.77,14.77
$GC,9567,-1.01,-107.1,2451,2810,3952,3966,292.6,0.0,1003,9568,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2809,3958,3951,3966,0,0,0,0,0,0,14.76,14.77,14.77
$GC,9867,-1.01,-107.1,2451,2810,3952,3967,292.6,0.0,1033,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2809,3958,3951,3966,0,0,0,0,0,0,14.77,14.77,14.77
$GC,10167,-1.01,-107.1,2451,2810,3953,3967,292.6,-0.0,1063,10168,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2808,3958,3951,3966,0,0,0,0,0,0,14.74,14.71,14.72
$GC,10467,-1.01,-107.1,2451,2809,3953,3966,292.6,0.0,1093,10468,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3959,3952,3966,0,0,0,0,0,0,14.75,14.75,14.75
$GC,10767,-1.01,-107.1,2452,2809,3952,3967,292.6,-0.0,1123,10768,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2809,3958,3951,3966,0,0,0,0,0,0,14.78,14.78,14.78
$GC,11067,-1.01,-107.1,2451,2810,3952,3967,292.6,-0.1,1153,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2809,3958,3951,3966,0,0,0,0,0,0,14.77,14.78,14.78
$GC,11367,-1.01,-107.1,2451,2805,3953,3966,292.7,-0.0,1183,11368,0.00,0.00,0.00,0.000,38,0.000,0.000,2450,2809,3957,3951,3963,0,0,0,0,0,0,14.76,14.77,14.77
$GC,11667,-1.01,-107.1,2451,2809,3953,3966,292.7,-0.0,1213,11668,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2808,3959,3952,3966,0,0,0,0,0,0,14.77,14.78,14.78
$STATE,11703,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11703,begin apogee
$GC,11711,-0.23,0.0,2452,2536,3953,3966,292.7,-0.0,1217,11847,0.77,0.00,127.12,2.693,10246,0.080,0.000,2715,2536,3490,3497,3483,0,0,0,0,0,0,14.12,13.11,12.03
$STATE,11848,end apogee,CONTROL_FINISHED_OK
$STATE,11848,begin climb
$GC,11851,1.01,107.1,2716,2536,3497,3482,292.6,0.0,1231,11986,1.33,2.97,127.75,2.557,10500,0.122,0.084,3094,3910,3063,3080,3046,0,0,0,0,0,0,13.05,12.31,11.38
$PING,286.4,53.1,9000.0,0.00,0.00
$GC,12010,1.04,107.1,3095,3910,3079,3043,285.6,8.1,1252,12016,0.00,2.72,0.00,0.000,1094,0.000,0.048,3106,2546,3059,3077,3042,0,0,0,0,0,0,12.73,12.69,12.78
$PING,279.9,48.0,9000.0,-1.46,0.42
$FREEZE,279.93,-2.013,-2.072,2,38,0
$STATE,12133,end climb,FINISH_DEPTH_REACHED
$STATE,12133,begin subsurface finish
$FINISH1,279.9,1.027320,9
$GC,12141,0.01,9.1,3108,2546,3071,3037,279.9,5.6,1265,12153,1.42,2.88,-2.03,0.049,20740,0.245,0.103,2781,3901,3483,3487,3480,0,0,0,0,0,0,12.53,11.31,12.75
$FINISH2,279.0
$STATE,12154,end subsurface finish,CONTROL_FINISHED_OK
$STATE,12154,begin surface
$RAFOS_CLK,527
$RAFOS,2,1546733583,0.232241,0.217500,138,63,62,59,52,48,700,177,161,203,215,186
$RAFOS,1,1546733223,0.132666,0.117500,165,69,62,54,50,49,672,210,177,157,193,118
$RAFOS,0,1546732863,0.032355,0.017500,129,67,64,62,61,55,635,186,212,199,225,160
$RAFOS,2,1546722828,21.232241,21.230000,125,56,56,54,53,52,461,200,162,144,212,175
$RAFOS,1,1546722419,21.132666,21.116388,91,60,58,56,56,53,695,197,223,163,121,177
$RAFOS_FIX,-7431.181641,-11156.590820,060119,000056,3,144,0.63
$IRIDIUM_FIX,-7410.06,-11230.52,311218,020608
$TT8_MAMPS,0.041195,0.298851
$HUMID,49.33
$INTERNAL_PRESSURE,7.90965
$TCM_TEMP,12.80
$XPDR_PINGS,2
$24V_AH,11.31,250.809
$10V_AH,11.52,0.000
$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,4.600,19.775,254.875,0.000,0.000,0.000,0.000,0.000,1.500,0.000,0.000,0.000,9240.876,286.101,2420.939,323.804,0.000,1154.469,0.000,1811.002,960.000,7.487,0.000
$DEVICE_MAMPS,244.800,102.510,2692.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12182.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.545,0.000,0.000,0.000
$MEM,279680
$DATA_FILE_SIZE,39961,1267
$CAP_FILE_SIZE,111291,2
$CFSIZE,1024409600,924991488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.0
$GPS,060119,001456,-7431.182,-11156.591,0,4144.0,0,53.5,0.0,0.0,0,0.0