version: 66.13
glider: 221
mission: 7
dive: 689
start: 12 17 118 10 29 48
data:
$ID,221
$MISSION,7
$DIVE,689
$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,4
$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,23
$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
$GPS1,171218,091440,-7429.4575,-11231.0713,0,4128.3,0,53.4,0.0,0.0,0,0.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,396.63
$_SM_ANGLEo,3.8
$GPS2,171218,091440,-7429.4575,-11231.0713,0,4128.3,0,53.4,0.0,0.0,0,0.0
$SPEED_LIMITS,0.094,0.239
$TGT_NAME,inside0
$TGT_LATLONG,-7430.000,-11230.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,98.7,1136,-43.8,-9.429,-45.00,333
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-2.02,-20.4,2778,2805,3533,3530,0.0,0.0,0,14,0.00,0.00,-0.28,0.320,16390,0.000,0.000,2777,2804,3589,3589,3590,0,0,0,0,0,0,14.83,12.72,14.59
$GC,18,-2.02,-20.4,2778,2805,3592,3593,0.0,0.0,0,26,2.03,0.00,0.00,0.000,4102,0.114,0.000,2125,2804,3591,3593,3589,0,0,0,0,0,0,14.28,14.44,14.40
$GC,324,-2.03,-28.2,2126,2804,3601,3589,417.0,-7.0,31,329,0.00,2.47,-0.08,1.238,16932,0.000,0.060,2125,1381,3617,3623,3612,0,0,0,0,0,0,14.92,12.83,13.94
$GC,375,-2.03,-28.2,2126,1382,3625,3614,420.9,-8.1,41,381,0.00,2.53,0.00,0.000,1030,0.000,0.055,2125,2818,3618,3624,3613,0,0,0,0,0,0,14.53,14.42,14.58
$GC,687,-2.03,-28.2,2126,2818,3627,3614,446.6,-8.1,73,692,0.00,1.95,0.00,0.000,260,0.000,0.078,2124,3916,3619,3625,3614,0,0,0,0,0,0,14.90,14.33,14.90
$GC,743,-2.03,-28.2,2125,3916,3626,3614,451.5,-8.7,84,749,0.00,1.90,0.00,0.000,1030,0.000,0.037,2130,2768,3619,3625,3614,0,0,0,0,0,0,14.41,14.38,14.42
$GC,1048,-2.03,-28.2,2131,2769,3626,3616,475.3,-7.7,115,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2131,2768,3620,3625,3615,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1349,-2.03,-28.2,2132,2768,3627,3615,498.2,-7.6,145,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2132,2768,3619,3625,3614,0,0,0,0,0,0,14.78,14.77,14.77
$GC,1648,-2.04,-35.0,2131,2769,3626,3616,520.3,-7.3,175,1649,0.00,0.00,0.00,0.000,38,0.000,0.000,2131,2768,3619,3624,3614,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1948,-2.05,-42.9,2132,2766,3627,3615,542.2,-7.0,205,1954,0.00,2.35,0.00,0.000,548,0.000,0.042,2131,1396,3619,3625,3614,0,0,0,0,0,0,14.92,14.37,14.92
$GC,1976,-2.05,-50.2,2132,1397,3627,3614,544.1,-7.2,210,1982,0.00,2.50,0.00,0.000,1062,0.000,0.056,2129,2814,3619,3625,3614,0,0,0,0,0,0,14.49,14.37,14.52
$GC,2280,-2.06,-58.4,2130,2808,3626,3614,565.1,-6.9,241,2281,0.00,0.00,0.00,0.000,38,0.000,0.000,2129,2813,3620,3626,3614,0,0,0,0,0,0,14.90,14.91,14.90
$GC,2580,-2.08,-68.5,2129,2814,3626,3614,584.5,-6.3,271,2585,0.00,1.95,0.00,0.000,292,0.000,0.078,2124,3908,3619,3625,3613,0,0,0,0,0,0,14.90,14.29,14.90
$GC,2637,-2.09,-77.1,2125,3908,3627,3613,588.3,-6.8,282,2643,0.00,1.85,0.00,0.000,1062,0.000,0.039,2131,2793,3618,3625,3612,0,0,0,0,0,0,14.57,14.50,14.58
$GC,2941,-2.10,-88.9,2131,2794,3626,3612,606.8,-5.8,313,2942,0.00,0.00,0.00,0.000,38,0.000,0.000,2131,2793,3618,3625,3612,0,0,0,0,0,0,14.85,14.85,14.85
$GC,3241,-2.12,-102.4,2131,2794,3626,3613,623.2,-5.3,343,3242,0.12,0.00,0.00,0.000,4134,0.172,0.000,2088,2793,3619,3625,3613,0,0,0,0,0,0,14.35,14.51,14.47
$GC,3541,-2.12,-107.1,2087,2791,3625,3611,639.6,-5.3,373,3542,0.00,0.00,0.00,0.000,38,0.000,0.000,2088,2793,3617,3624,3610,0,0,0,0,0,0,14.85,14.85,14.86
$GC,3841,-2.12,-107.1,2088,2794,3626,3610,654.4,-4.6,403,3846,0.00,2.40,0.00,0.000,548,0.000,0.042,2092,1392,3617,3625,3610,0,0,0,0,0,0,14.85,14.36,14.85
$GC,3903,-2.12,-107.1,2093,1392,3626,3611,657.3,-4.5,415,3908,0.00,2.53,0.00,0.000,1062,0.000,0.054,2084,2811,3617,3625,3609,0,0,0,0,0,0,14.22,14.12,14.26
$GC,4215,-2.12,-107.1,2084,2812,3625,3610,669.4,-3.4,447,4219,0.00,1.95,0.00,0.000,292,0.000,0.073,2075,3910,3617,3625,3609,0,0,0,0,0,0,14.76,14.28,14.76
$GC,4445,-2.12,-107.1,2076,3909,3627,3609,678.6,-4.3,493,4451,0.00,1.88,0.00,0.000,1062,0.000,0.040,2079,2790,3617,3625,3609,0,0,0,0,0,0,14.52,14.47,14.54
$GC,4757,-2.12,-107.1,2079,2791,3626,3609,689.9,-3.2,525,4763,0.00,2.03,0.00,0.000,292,0.000,0.073,2070,3913,3616,3625,3608,0,0,0,0,0,0,14.94,14.26,14.91
$GC,4989,-2.12,-107.1,2071,3913,3626,3607,697.7,-3.3,571,4994,0.00,1.88,0.00,0.000,1062,0.000,0.039,2071,2788,3616,3625,3607,0,0,0,0,0,0,14.54,14.48,14.56
$GC,5313,-2.12,-107.1,2071,2789,3627,3608,706.9,-2.8,588,5318,0.00,2.03,0.00,0.000,292,0.000,0.073,2067,3909,3617,3626,3608,0,0,0,0,0,0,14.76,14.04,14.76
$GC,5544,-2.12,-107.1,2068,3909,3626,3607,713.8,-2.8,634,5549,0.00,1.88,0.00,0.000,1062,0.000,0.038,2067,2786,3616,3625,3607,0,0,0,0,0,0,14.52,14.46,14.54
$GC,5915,-2.12,-107.1,2068,2787,3626,3609,722.5,-2.3,648,5920,0.00,2.40,0.00,0.000,548,0.000,0.040,2067,1394,3616,3625,3607,0,0,0,0,0,0,14.85,14.33,14.85
$GC,6091,-2.12,-107.1,2067,1395,3625,3609,726.8,-2.2,683,6097,0.17,2.50,0.00,0.000,3110,0.369,0.054,2092,2811,3616,3625,3608,0,0,0,0,0,0,13.66,14.31,14.13
$GC,6459,-2.12,-107.1,2092,2811,3626,3608,734.0,-1.8,696,6460,0.00,0.00,0.00,0.000,38,0.000,0.000,2091,2810,3616,3625,3608,0,0,0,0,0,0,14.79,14.79,14.80
$GC,6816,-2.12,-107.1,2092,2811,3626,3610,739.5,-1.4,708,6821,0.00,2.45,0.00,0.000,548,0.000,0.041,2092,1395,3617,3626,3608,0,0,0,0,0,0,14.88,14.33,14.88
$GC,7047,-2.12,-107.1,2098,1395,3626,3609,742.4,-1.2,754,7052,0.00,2.53,0.00,0.000,1062,0.000,0.055,2083,2815,3615,3625,3605,0,0,0,0,0,0,14.33,14.21,14.37
$STATE,7385,end dive,NO_VERTICAL_VELOCITY
$STATE,7385,begin apogee
$GC,7392,-0.23,0.0,2084,2536,3626,3610,745.6,0.0,767,7436,2.67,0.00,39.15,3.007,10246,0.319,0.000,2699,2535,3491,3498,3485,0,0,0,0,0,0,13.81,14.07,12.74
$STATE,7437,end apogee,CONTROL_FINISHED_OK
$STATE,7437,begin climb
$PING,731.4,28.2,9000.0,0.00,0.00
$GC,7440,2.12,107.1,2700,2535,3499,3485,745.2,0.0,768,7579,2.35,2.80,124.72,3.052,10500,0.103,0.085,3457,3899,3063,3086,3040,0,0,0,0,0,0,14.12,13.09,11.78
$GC,7711,2.12,107.1,3457,3900,3080,3032,679.7,32.8,819,7718,0.00,2.40,0.00,0.000,1030,0.000,0.049,3467,2552,3054,3078,3031,0,0,0,0,0,0,14.04,13.97,14.07
$GC,8016,2.12,107.1,3468,2552,3075,3030,590.4,28.7,850,8021,0.00,2.47,0.00,0.000,516,0.000,0.062,3478,1150,3050,3073,3028,0,0,0,0,0,0,14.83,14.44,14.82
$GC,8062,2.12,107.1,3478,1150,3074,3027,577.5,27.7,859,8068,0.00,2.47,0.00,0.000,1030,0.000,0.066,3477,2551,3050,3073,3027,0,0,0,0,0,0,14.59,14.47,14.64
$GC,8367,2.12,107.1,3478,2552,3074,3028,491.2,28.0,890,8372,0.00,2.47,0.00,0.000,516,0.000,0.060,3487,1148,3050,3073,3027,0,0,0,0,0,0,14.91,14.45,14.91
$GC,8393,2.12,107.1,3488,1148,3075,3027,483.9,27.8,895,8400,0.17,2.50,0.00,0.000,5126,0.366,0.064,3456,2562,3050,3073,3027,0,0,0,0,0,0,13.94,14.42,14.45
$PING,431.1,46.4,9000.0,0.00,0.00
$PING,423.0,38.0,9000.0,-0.05,0.77
$PING,415.0,29.5,29.5,1.05,1.00
$PING,406.9,21.1,21.1,1.05,1.00
$PING,399.6,13.4,13.4,1.05,1.00
$GC,8701,2.12,107.1,3456,2562,3074,3028,401.6,26.7,926,8708,0.00,2.45,0.00,0.000,516,0.000,0.060,3466,1156,3050,3073,3027,0,0,0,0,0,0,14.90,14.40,14.90
$STATE,8731,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,8731,begin subsurface finish
$FINISH1,392.4,1.027505,-0
$GC,8741,-0.00,-0.2,3468,2559,3074,3027,392.4,26.0,932,8748,2.92,0.00,-1.92,0.046,20486,0.338,0.000,2780,2560,3512,3515,3509,0,0,0,0,0,0,14.03,12.81,14.46
$FINISH2,389.2
$STATE,8749,end subsurface finish,CONTROL_FINISHED_OK
$STATE,8749,begin surface
$RAFOS_CLK,363
$RAFOS,2,1545048802,12.232242,12.222777,153,71,56,55,50,50,587,220,211,199,118,174
$RAFOS,1,1545048441,12.132667,12.122500,78,63,58,55,53,50,544,153,194,174,113,228
$RAFOS,0,1545048060,12.032354,12.016666,172,59,54,53,53,53,653,174,114,203,213,165
$RAFOS_FIX,-7429.869629,-11230.943359,171218,121200,3,134,0.07
$IRIDIUM_FIX,-7410.85,-11223.24,141218,223050
$TT8_MAMPS,0.038948,0.766976
$HUMID,49.56
$INTERNAL_PRESSURE,7.93895
$TCM_TEMP,13.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,399.6,13.4
$24V_AH,11.78,217.473
$10V_AH,12.08,0.000
$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,10.450,64.950,163.875,0.000,0.000,0.000,0.000,0.000,25.500,0.000,0.000,0.000,6494.554,231.744,1910.110,238.526,0.000,912.249,0.000,1336.492,720.000,188.129,0.000
$DEVICE_MAMPS,368.730,87.975,3051.585,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.172,0.000,0.000,0.000
$MEM,279900
$DATA_FILE_SIZE,30059,933
$CAP_FILE_SIZE,100251,0
$CFSIZE,1024409600,938590208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$GPS,171218,121600,-7429.870,-11230.943,0,4134.3,0,53.4,0.0,0.0,0,0.0