version: 66.13
glider: 221
mission: 7
dive: 894
start: 1 21 119 4 21 54
data:
$ID,221
$MISSION,7
$DIVE,894
$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,22
$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
$GPS1,210119,031616,-7440.8911,-11236.3271,0,4129.3,0,53.5,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,404.08
$_SM_ANGLEo,4.4
$GPS2,210119,031616,-7440.8911,-11236.3271,0,4129.3,0,53.5,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,insideC1
$TGT_LATLONG,-7438.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,336.6,6190,-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,11,-1.01,-107.1,2779,2802,3527,3523,0.0,0.0,0,14,0.00,0.00,-1.70,0.045,16390,0.000,0.000,2778,2801,3940,3933,3947,0,0,0,0,0,0,11.34,10.60,11.33
$GC,18,-1.01,-107.1,2778,2802,3940,3956,0.0,0.0,0,24,1.40,3.22,0.00,0.000,4612,0.135,0.043,2459,1383,3950,3942,3958,0,0,0,0,0,0,11.12,11.18,11.20
$GC,71,-1.01,-107.1,2456,1383,3951,3961,407.6,-6.5,10,76,0.00,3.38,0.00,0.000,1062,0.000,0.059,2453,2803,3955,3950,3961,0,0,0,0,0,0,11.23,11.16,11.24
$PING,417.2,14.8,9000.0,0.00,0.00
$PING,423.7,21.1,9000.0,0.00,0.00
$PING,430.1,27.2,27.3,0.96,1.00
$GC,383,-1.01,-107.1,2453,2803,3955,3967,430.1,-8.1,42,389,0.00,3.30,0.00,0.000,516,0.000,0.045,2453,1382,3960,3955,3966,0,0,0,0,0,0,11.35,11.18,11.35
$GC,420,-1.01,-107.1,2454,1382,3955,3967,433.3,-8.5,49,427,0.00,3.40,0.00,0.000,1030,0.000,0.060,2450,2807,3960,3955,3966,0,0,0,0,0,0,11.24,11.17,11.26
$PING,436.2,32.9,32.9,0.94,1.00
$PING,449.2,45.1,45.1,0.94,1.00
$GC,725,-1.01,-107.1,2455,2807,3957,3966,458.2,-8.2,80,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2807,3961,3956,3966,0,0,0,0,0,0,11.36,11.36,11.36
$GC,1025,-1.01,-107.1,2453,2808,3957,3967,482.8,-8.3,110,1030,0.00,3.33,0.00,0.000,516,0.000,0.046,2452,1380,3961,3956,3967,0,0,0,0,0,0,11.36,11.18,11.36
$GC,1067,-1.01,-107.1,2453,1381,3957,3968,486.3,-8.4,118,1072,0.00,3.40,0.00,0.000,1030,0.000,0.061,2452,2804,3961,3956,3967,0,0,0,0,0,0,11.25,11.17,11.26
$GC,1379,-1.01,-107.1,2453,2804,3957,3968,511.5,-8.4,150,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2804,3961,3955,3967,0,0,0,0,0,0,11.36,11.36,11.36
$GC,1679,-1.01,-107.1,2452,2804,3958,3967,535.7,-8.0,180,1684,0.00,3.33,0.00,0.000,516,0.000,0.045,2452,1380,3962,3957,3967,0,0,0,0,0,0,11.37,11.19,11.36
$GC,1711,-1.01,-107.1,2455,1381,3958,3968,538.3,-8.1,186,1716,0.00,3.40,0.00,0.000,1030,0.000,0.061,2452,2805,3962,3957,3967,0,0,0,0,0,0,11.24,11.17,11.25
$GC,2023,-1.01,-107.1,2452,2805,3958,3967,563.6,-7.9,218,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2805,3962,3957,3967,0,0,0,0,0,0,11.36,11.36,11.36
$GC,2323,-1.01,-107.1,2452,2806,3957,3969,586.3,-7.5,248,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2805,3962,3957,3967,0,0,0,0,0,0,11.36,11.36,11.37
$GC,2623,-1.01,-107.1,2453,2805,3957,3967,609.1,-7.5,278,2628,0.00,3.33,0.00,0.000,516,0.000,0.045,2452,1379,3961,3956,3967,0,0,0,0,0,0,11.36,11.19,11.36
$GC,2655,-1.01,-107.1,2453,1379,3958,3967,611.5,-7.8,284,2660,0.00,3.42,0.00,0.000,1030,0.000,0.060,2452,2812,3962,3957,3967,0,0,0,0,0,0,11.25,11.17,11.26
$GC,2966,-1.01,-107.1,2452,2810,3958,3967,634.6,-7.0,316,2975,0.00,3.25,0.00,0.000,548,0.000,0.044,2452,1386,3961,3957,3966,0,0,0,0,0,0,11.37,11.17,11.37
$GC,3006,-1.01,-107.1,2452,1386,3957,3967,637.4,-7.3,323,3013,0.00,3.40,0.00,0.000,1062,0.000,0.062,2451,2810,3962,3957,3967,0,0,0,0,0,0,11.24,11.17,11.25
$GC,3311,-1.01,-107.1,2456,2811,3958,3968,659.5,-7.4,354,3312,0.00,0.00,0.00,0.000,38,0.000,0.000,2451,2810,3962,3957,3967,0,0,0,0,0,0,11.34,11.37,11.37
$GC,3611,-1.01,-107.1,2452,2810,3958,3968,681.7,-7.5,384,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2810,3962,3957,3967,0,0,0,0,0,0,11.36,11.36,11.36
$GC,3911,-1.01,-107.1,2452,2810,3958,3968,702.7,-7.1,412,3917,0.00,3.33,0.00,0.000,548,0.000,0.045,2451,1383,3962,3957,3968,0,0,0,0,0,0,11.37,11.19,11.37
$GC,3998,-1.01,-107.1,2451,1384,3958,3969,708.8,-6.8,429,4006,0.00,3.40,0.00,0.000,1062,0.000,0.062,2451,2809,3962,3957,3968,0,0,0,0,0,0,11.25,11.18,11.26
$GC,4364,-1.01,-107.1,2451,2807,3960,3969,731.9,-6.3,442,4369,0.00,2.67,0.00,0.000,292,0.000,0.084,2444,3912,3962,3957,3968,0,0,0,0,0,0,11.37,11.17,11.37
$GC,4426,-1.01,-107.1,2444,3912,3959,3968,736.3,-7.2,454,4431,0.00,2.55,0.00,0.000,1062,0.000,0.046,2444,2790,3963,3958,3968,0,0,0,0,0,0,11.26,11.21,11.29
$GC,4821,-1.01,-107.1,2444,2790,3959,3969,763.8,-7.2,472,4826,0.00,3.25,0.00,0.000,548,0.000,0.045,2444,1380,3963,3957,3969,0,0,0,0,0,0,11.36,11.19,11.36
$GC,4868,-1.01,-107.1,2444,1382,3959,3970,767.7,-7.7,481,4874,0.00,3.40,0.00,0.000,1030,0.000,0.062,2441,2804,3963,3958,3969,0,0,0,0,0,0,11.26,11.18,11.26
$GC,5249,-1.01,-107.1,2442,2804,3960,3970,795.8,-7.5,496,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2804,3963,3958,3969,0,0,0,0,0,0,11.36,11.36,11.36
$PING,807.3,39.1,9000.0,0.00,0.00
$GC,5606,-1.01,-107.1,2442,2806,3960,3972,821.5,-6.9,508,5612,0.00,3.22,0.00,0.000,548,0.000,0.044,2440,1387,3965,3959,3971,0,0,0,0,0,0,11.37,11.17,11.37
$GC,5663,-1.01,-107.1,2442,1387,3961,3970,825.5,-7.3,519,5670,0.00,3.40,0.00,0.000,1062,0.000,0.062,2440,2811,3965,3959,3971,0,0,0,0,0,0,11.25,11.18,11.27
$PING,828.3,19.0,9000.0,-0.05,0.51
$PING,834.6,13.0,13.0,-0.96,1.00
$STATE,5845,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5845,begin apogee
$PING,840.4,14.4,9000.0,-0.39,0.56
$GC,5854,-0.23,0.0,2442,2540,3959,3971,839.0,-7.4,526,6058,1.27,0.00,197.52,3.081,10246,0.205,0.000,2697,2541,3491,3500,3483,0,0,0,0,0,0,11.10,10.90,10.05
$STATE,6059,end apogee,CONTROL_FINISHED_OK
$STATE,6059,begin climb
$GC,6063,1.01,107.1,2698,2541,3501,3483,841.3,0.0,533,6240,1.67,0.00,171.32,3.032,10502,0.106,0.000,3095,2541,3065,3084,3046,0,0,0,0,0,0,11.06,10.90,10.03
$GC,6600,1.01,107.1,3095,2542,3076,3037,774.8,13.8,556,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2541,3056,3075,3037,0,0,0,0,0,0,11.31,11.31,11.31
$GC,6963,1.01,107.1,3095,2542,3075,3038,725.6,13.6,568,6968,0.00,3.40,0.00,0.000,260,0.000,0.085,3095,3910,3055,3074,3036,0,0,0,0,0,0,11.33,11.12,11.33
$GC,7001,1.01,107.1,3096,3911,3076,3036,719.6,15.3,575,7006,0.00,3.15,0.00,0.000,1030,0.000,0.045,3106,2538,3055,3074,3036,0,0,0,0,0,0,11.23,11.19,11.24
$GC,7368,1.01,107.1,3106,2539,3075,3034,668.2,13.8,606,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2538,3054,3073,3036,0,0,0,0,0,0,11.33,11.33,11.33
$GC,7668,1.01,107.1,3107,2539,3075,3043,624.9,14.4,636,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2539,3055,3074,3036,0,0,0,0,0,0,11.33,11.33,11.33
$GC,7968,1.01,107.1,3106,2539,3074,3037,582.9,13.9,666,7974,0.00,3.38,0.00,0.000,260,0.000,0.085,3106,3913,3055,3074,3037,0,0,0,0,0,0,11.34,11.14,11.34
$GC,8031,1.01,107.1,3106,3914,3075,3038,572.8,16.1,678,8038,0.00,3.15,0.00,0.000,1030,0.000,0.045,3117,2543,3055,3074,3037,0,0,0,0,0,0,11.24,11.20,11.26
$GC,8345,1.01,107.1,3117,2545,3074,3038,529.4,13.0,710,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2544,3055,3074,3036,0,0,0,0,0,0,11.34,11.34,11.34
$GC,8645,1.01,107.1,3117,2544,3074,3038,488.7,13.9,740,8646,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2543,3056,3074,3038,0,0,0,0,0,0,11.34,11.36,11.34
$GC,8945,1.01,107.1,3118,2543,3075,3038,447.6,13.4,770,8951,0.00,3.35,0.00,0.000,260,0.000,0.086,3117,3909,3053,3070,3037,0,0,0,0,0,0,11.35,11.14,11.35
$GC,8983,1.01,107.1,3117,3910,3076,3036,442.1,14.9,777,8990,0.00,3.12,0.00,0.000,1030,0.000,0.044,3127,2544,3056,3075,3038,0,0,0,0,0,0,11.26,11.21,11.26
$PING,434.6,22.8,9000.0,-0.02,0.98
$PING,427.9,15.3,9000.0,-0.01,0.32
$GC,9288,1.21,266.5,3128,2544,3076,3037,413.1,-0.0,808,9359,0.00,0.00,68.82,2.670,8738,0.000,0.000,3128,2544,2891,2915,2867,0,0,0,0,0,0,11.36,28.83,11.36
$STATE,9359,end climb,NO_VERTICAL_VELOCITY
$STATE,9359,begin subsurface finish
$FINISH1,413.0,1.027440,3
$GC,9368,0.00,3.0,3128,2543,2913,2866,413.0,0.1,821,9375,1.55,0.00,-2.42,0.037,20486,0.146,0.000,2779,2544,3503,3508,3499,0,0,0,0,0,0,11.04,10.54,11.12
$FINISH2,413.1
$STATE,9375,end subsurface finish,CONTROL_FINISHED_OK
$STATE,9375,begin surface
$RAFOS_CLK,382
$RAFOS,2,1548051199,6.232241,6.221944,136,62,58,57,55,54,659,188,215,122,203,160
$RAFOS,1,1548050839,6.132666,6.121944,151,66,59,55,55,53,614,140,191,154,166,213
$RAFOS,0,1548050481,6.032355,6.022500,61,56,56,55,52,52,198,157,210,124,174,148
$RAFOS_FIX,-7439.416504,-11227.791992,210119,060628,2,144,0.46
$IRIDIUM_FIX,-7415.88,-11304.63,160119,112744
$TT8_MAMPS,0.04494,0.292859
$HUMID,50.74
$INTERNAL_PRESSURE,7.92918
$TCM_TEMP,13.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,834.6,13.0
$24V_AH,10.03,287.062
$10V_AH,10.33,0.000
$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,5.900,86.100,437.675,0.000,0.000,0.000,0.000,0.000,32.000,0.000,0.000,0.000,6974.906,498.977,1728.119,295.290,0.000,1117.373,0.000,1178.849,720.000,233.386,0.000
$DEVICE_MAMPS,205.020,85.680,3081.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9385.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.947,0.000,0.000,0.000
$MEM,278824
$DATA_FILE_SIZE,26740,822
$CAP_FILE_SIZE,99130,0
$CFSIZE,1024409600,912883712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.1
$GPS,210119,061528,-7439.417,-11227.792,0,3143.5,0,53.5,0.0,0.0,0,0.0