version: 66.13
glider: 221
mission: 7
dive: 70
start: 2 1 118 19 12 15
data:
$ID,221
$MISSION,7
$DIVE,70
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,0
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,300
$T_MISSION,340
$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,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,600
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,53510
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00184
$HD_B,0.0133
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,-1
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,22
$PITCH_TIMEOUT,24
$PITCH_AD_RATE,175
$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,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2865
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_NO_PUMP,0
$LOITER_N_DIVE,0
$PITCH_W_GAIN,2
$PITCH_W_DBAND,0.5
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,1.1
$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,783
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,8
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$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
$GPS1,010218,190609,-7404.2334,-11153.6885,33,1.1,33,53.0,0.4,24.5,9,7.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-62.6
$GPS2,010218,191148,-7404.2100,-11153.6826,2,1.1,4,53.0,1.1,320.2,9,8.5
$SPEED_LIMITS,0.154,0.189
$TGT_NAME,E1
$TGT_LATLONG,-7409.000,-11154.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,144.8,8873,-16.9,-8.889,-25.24,1952
$D_GRID,470
$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,8,-0.92,-121.7,198,2802,1501,1399,0.0,0.0,0,131,0.00,0.00,-117.35,0.003,16390,0.000,0.000,197,2802,3351,3362,3341,0,0,0,0,0,0,14.55,13.52,14.55
$GC,133,-0.92,-121.7,198,2803,3363,3343,3.2,-4.3,12,150,12.12,2.40,0.00,0.000,2596,0.481,0.045,2423,1395,3354,3361,3348,0,0,0,0,0,0,14.08,14.36,14.33
$PING,8.8,9.7,9000.0,0.00,0.00
$PING,17.4,18.1,9000.0,0.00,0.00
$PING,25.5,27.0,26.9,1.04,1.00
$GC,319,-0.92,-121.7,2423,1395,3360,3354,29.4,-11.1,49,327,0.00,2.53,0.00,0.000,1030,0.000,0.074,2423,2796,3356,3358,3354,0,0,0,0,0,0,14.47,14.40,14.49
$PING,34.4,36.7,36.7,1.09,1.00
$PING,42.8,46.4,46.3,1.12,1.00
$PING,50.8,53.5,53.9,1.02,0.99
$PING,59.5,63.4,63.1,1.02,1.00
$GC,624,-0.92,-121.7,2423,2796,3359,3355,66.0,-11.0,80,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2797,3357,3358,3356,0,0,0,0,0,0,14.73,14.72,14.72
$PING,68.3,71.5,71.8,1.03,1.00
$PING,76.4,80.0,79.9,0.98,1.00
$PING,101.0,9.5,9000.0,-2.13,0.88
$GC,925,-0.92,-121.7,2423,2797,3359,3356,101.0,-11.7,110,930,0.00,1.98,0.00,0.000,260,0.000,0.096,2416,3917,3357,3358,3356,0,0,0,0,0,0,14.74,14.52,14.74
$GC,964,-0.92,-121.7,2416,3917,3359,3356,106.1,-13.4,118,970,0.00,1.90,0.00,0.000,1030,0.000,0.050,2416,2794,3357,3358,3356,0,0,0,0,0,0,14.62,14.58,14.64
$PING,118.6,11.6,9000.0,-1.70,0.81
$PING,127.2,11.4,9000.0,0.08,0.85
$PING,135.7,11.4,9000.0,-0.01,0.67
$PING,143.9,11.4,9000.0,0.00,0.00
$GC,1275,-0.92,-121.7,2416,2795,3359,3358,143.9,-11.7,150,1280,0.00,2.33,0.00,0.000,516,0.000,0.051,2416,1401,3357,3358,3357,0,0,0,0,0,0,14.77,14.57,14.78
$GC,1304,-0.92,-121.7,2416,1401,3359,3358,147.5,-12.1,156,1310,0.00,2.50,0.00,0.000,1030,0.000,0.073,2415,2804,3357,3357,3357,0,0,0,0,0,0,14.63,14.56,14.64
$PING,152.2,11.2,9000.0,-0.01,0.72
$PING,160.6,11.1,9000.0,-0.02,0.95
$PING,169.0,11.3,9000.0,0.00,0.14
$GC,1614,-0.92,-121.7,2415,2804,3359,3357,184.5,-11.6,188,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2804,3357,3358,3357,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1914,-0.92,-121.7,2415,2803,3359,3358,219.5,-11.9,218,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2804,3357,3358,3357,0,0,0,0,0,0,14.84,14.85,14.85
$GC,2214,-0.92,-121.7,2415,2804,3359,3357,255.2,-11.2,248,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2804,3357,3358,3357,0,0,0,0,0,0,14.85,14.86,14.92
$GC,2514,-0.92,-121.7,2415,2805,3358,3358,288.6,-10.9,278,2520,0.00,2.40,0.00,0.000,516,0.000,0.051,2415,1398,3357,3358,3357,0,0,0,0,0,0,14.87,14.62,14.87
$GC,2570,-0.92,-121.7,2415,1399,3358,3358,294.7,-10.9,289,2577,0.00,2.47,0.00,0.000,1030,0.000,0.073,2415,2798,3357,3358,3357,0,0,0,0,0,0,14.68,14.62,14.74
$GC,2885,-0.92,-121.7,2415,2799,3359,3357,328.2,-10.7,308,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2798,3357,3357,3357,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3184,-0.92,-121.7,2415,2799,3357,3358,360.0,-10.6,323,3190,0.00,1.98,0.00,0.000,260,0.000,0.095,2413,3908,3357,3358,3357,0,0,0,0,0,0,14.88,14.62,14.89
$GC,3274,-0.92,-121.7,2413,3908,3358,3357,370.6,-11.8,341,3281,0.00,1.88,0.00,0.000,1030,0.000,0.051,2413,2795,3357,3357,3357,0,0,0,0,0,0,14.72,14.69,14.73
$GC,3586,-0.92,-121.7,2414,2795,3358,3361,404.7,-11.0,358,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2795,3357,3357,3357,0,0,0,0,0,0,14.85,14.86,14.85
$PING,413.6,87.2,9000.0,0.31,1.00
$GC,3885,-0.92,-121.7,2413,2796,3358,3358,438.7,-11.8,373,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2795,3357,3357,3357,0,0,0,0,0,0,14.90,14.90,14.90
$PING,441.0,60.5,9000.0,0.23,0.81
$PING,450.6,47.6,48.9,-1.05,0.99
$PING,458.8,37.4,37.2,-1.30,1.00
$PING,468.4,29.1,28.6,-1.03,0.99
$STATE,4184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4184,begin apogee
$PING,471.2,21.9,23.7,-1.15,0.93
$GC,4187,-0.23,0.0,2414,2551,3357,3358,470.3,-9.6,388,4314,0.90,0.00,124.30,2.816,10246,0.262,0.000,2652,2550,2864,2861,2867,0,0,0,0,0,0,14.51,13.66,12.71
$STATE,4315,end apogee,CONTROL_FINISHED_OK
$STATE,4315,begin climb
$GC,4316,0.92,121.7,2653,2549,2860,2866,472.9,0.0,394,4451,1.30,0.00,130.90,2.718,10246,0.172,0.000,3016,2549,2377,2363,2392,0,0,0,0,0,0,13.62,13.16,12.26
$PING,461.8,32.4,33.2,-1.00,0.82
$PING,452.3,41.2,41.5,-1.02,1.00
$GC,4745,0.92,121.7,3016,2549,2350,2381,427.6,12.0,416,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2549,2365,2350,2381,0,0,0,0,0,0,14.26,14.26,14.26
$GC,5045,0.92,121.7,3014,2550,2348,2380,391.8,11.7,431,5051,0.00,2.53,0.00,0.000,260,0.000,0.096,3016,3909,2363,2348,2379,0,0,0,0,0,0,14.51,14.24,14.51
$GC,5080,0.92,121.7,3015,3909,2349,2380,387.3,13.5,438,5087,0.00,2.38,0.00,0.000,1030,0.000,0.056,3026,2553,2363,2348,2379,0,0,0,0,0,0,14.37,14.33,14.39
$GC,5386,0.92,121.7,3027,2554,2348,2380,353.4,10.7,454,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2553,2362,2347,2378,0,0,0,0,0,0,14.65,14.65,14.65
$GC,5685,0.92,121.7,3027,2554,2347,2379,319.7,11.1,469,5692,0.00,2.47,0.00,0.000,260,0.000,0.097,3026,3901,2362,2347,2378,0,0,0,0,0,0,14.73,14.46,14.73
$GC,5711,0.92,121.7,3027,3901,2347,2378,316.5,12.3,474,5717,0.00,2.33,0.00,0.000,1030,0.000,0.056,3036,2551,2362,2347,2378,0,0,0,0,0,0,14.57,14.53,14.58
$GC,6016,0.92,121.7,3037,2552,2348,2378,281.5,11.4,499,6022,0.00,2.47,0.00,0.000,260,0.000,0.097,3037,3904,2362,2347,2378,0,0,0,0,0,0,14.77,14.51,14.77
$GC,6036,0.92,121.7,3037,3905,2348,2379,279.0,12.6,503,6042,0.00,2.33,0.00,0.000,1030,0.000,0.057,3047,2552,2362,2346,2378,0,0,0,0,0,0,14.61,14.57,14.63
$GC,6347,0.92,121.7,3048,2557,2346,2379,242.4,11.8,535,6352,0.00,2.42,0.00,0.000,516,0.000,0.068,3058,1150,2361,2346,2377,0,0,0,0,0,0,14.76,14.55,14.77
$GC,6411,0.92,121.7,3058,1150,2347,2376,234.8,11.3,548,6420,0.10,2.50,0.00,0.000,5126,0.262,0.074,3030,2553,2360,2346,2375,0,0,0,0,0,0,14.44,14.56,14.59
$GC,6716,0.92,121.7,3030,2554,2346,2376,203.8,10.1,579,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2553,2360,2345,2375,0,0,0,0,0,0,14.82,14.82,14.82
$GC,7016,0.92,121.7,3031,2554,2346,2376,172.9,10.2,609,7023,0.00,2.45,0.00,0.000,260,0.000,0.096,3030,3909,2360,2346,2375,0,0,0,0,0,0,14.83,14.58,14.83
$GC,7056,0.92,121.7,3031,3908,2347,2375,168.2,11.9,617,7064,0.00,2.33,0.00,0.000,1030,0.000,0.055,3040,2549,2360,2346,2375,0,0,0,0,0,0,14.68,14.64,14.69
$PING,160.5,11.2,9000.0,0.09,0.90
$PING,152.3,11.3,9000.0,0.10,1.00
$PING,144.2,11.5,9000.0,-0.02,1.00
$PING,135.9,11.5,9000.0,-0.01,0.74
$GC,7368,0.92,121.7,3041,2549,2347,2375,135.9,10.4,649,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2549,2360,2346,2375,0,0,0,0,0,0,14.81,14.82,14.82
$PING,127.5,9.5,9000.0,0.12,0.75
$PING,119.3,7.5,9000.0,0.24,1.00
$PING,110.9,7.6,9000.0,0.12,0.71
$GC,7667,0.92,121.7,3041,2549,2347,2375,104.5,10.6,679,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2549,2360,2345,2376,0,0,0,0,0,0,14.85,14.86,14.86
$PING,102.4,7.7,9000.0,-0.01,1.00
$PING,94.1,7.6,9000.0,-0.00,0.00
$PING,85.8,7.7,9000.0,0.00,0.00
$PING,77.4,81.5,9000.0,-4.43,0.75
$GC,7967,0.92,121.7,3041,2549,2346,2375,73.3,10.1,709,7968,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2549,2360,2345,2376,0,0,0,0,0,0,14.86,14.87,14.88
$PING,60.7,64.1,9000.0,-1.78,0.35
$PING,52.4,54.7,55.0,1.07,1.00
$PING,44.1,46.0,45.9,1.09,1.00
$GC,8267,0.92,121.7,3041,2549,2347,2375,42.1,10.0,739,8274,0.00,2.45,0.00,0.000,260,0.000,0.096,3040,3900,2360,2345,2375,0,0,0,0,0,0,14.87,14.61,14.88
$PING,35.8,36.7,36.8,1.09,1.00
$GC,8342,0.92,121.7,3040,3900,2346,2375,33.4,12.2,754,8350,0.00,2.30,0.00,0.000,1030,0.000,0.057,3050,2553,2360,2345,2375,0,0,0,0,0,0,14.71,14.66,14.73
$PING,27.3,28.3,28.1,1.05,1.00
$PING,18.5,18.8,19.0,1.03,1.00
$PING,9.8,9.4,9.4,1.08,1.00
$FREEZE,9.77,-1.206,-1.866,2,1,0
$FREEZE,8.89,-1.210,-1.866,2,1,0
$FREEZE,7.96,-1.207,-1.865,2,1,0
$FREEZE,6.99,-1.205,-1.864,2,1,0
$FREEZE,5.90,-1.206,-1.863,2,1,0
$FREEZE,4.76,-1.218,-1.862,2,1,0
$FREEZE,3.56,-1.213,-1.862,2,1,0
$FREEZE,2.38,-1.210,-1.860,2,1,0
$FREEZE,1.36,-1.200,-1.859,2,1,0
$STATE,8638,end climb,SURFACE_DEPTH_REACHED
$STATE,8638,begin surface coast
$FREEZE,0.31,-1.197,-1.858,2,1,0
$FINISH,0.3,1.027254
$STATE,8647,end surface coast,CONTROL_FINISHED_OK
$STATE,8647,begin surface
$SM_CCo,8661,201.50,0.226,0,0,1469,350.17
$SM_GC,0.72,8.38,0.47,201.50,0.077,0.099,0.226,194,2810,1469,-7.89,-0.45,350.17,0,0,0,0,0,0,14.62,14.65,14.33
$RAFOS_CLK,359
$RAFOS,2,1517519582,21.233334,21.217222,90,57,56,55,55,54,585,146,122,213,180,194
$RAFOS,1,1517519231,21.133333,21.119722,127,64,61,57,57,55,582,188,137,203,173,215
$RAFOS,0,1517518861,21.032778,21.016945,144,66,61,61,55,53,580,193,217,173,208,130
$RAFOS_FIX,-7404.477539,-11153.550781,010218,212144,3,120,0.07
$IRIDIUM_FIX,-7408.98,-11137.85,010218,163049
$TT8_MAMPS,0.03745,0.170772
$HUMID,45.07
$INTERNAL_PRESSURE,7.78269
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,9.8,9.4
$ALTIM_BOTTOM_PING,468.4,28.6
$24V_AH,12.26,31.906
$10V_AH,12.61,0.000
$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,22.800,52.150,255.200,201.500,0.000,0.000,0.000,250.300,27.500,0.000,6.420,0.000,6585.540,663.649,1891.391,73.366,0.000,1491.914,0.000,1127.752,720.000,187.393,0.000
$DEVICE_MAMPS,481.185,98.685,2815.965,225.675,0.000,0.000,0.000,190.485,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8649.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.520,0.000,0.000,0.000
$MEM,280612
$DATA_FILE_SIZE,26765,785
$CAP_FILE_SIZE,103654,0
$CFSIZE,1024409600,1012088832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.2
$CURRENT,0.083,38.82,1
$GPS,010218,214100,-7404.810,-11153.740,34,0.7,34,53.0,0.3,282.6,12,3.8