version: 66.13
glider: 221
mission: 7
dive: 188
start: 2 26 118 3 22 15
data:
$ID,221
$MISSION,7
$DIVE,188
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,330
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,110
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,150
$D_CALL,2
$SURFACE_URGENCY,4
$SURFACE_URGENCY_TRY,4
$SURFACE_URGENCY_FORCE,8
$T_DIVE,110
$T_MISSION,150
$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,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,600
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$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,1
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,36
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3400
$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,300
$LOITER_D_NO_PUMP,300
$LOITER_N_DIVE,1
$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,883
$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,20
$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
$GPS1,260218,030728,-7407.4419,-11318.0664,4,1.0,5,53.9,0.4,37.0,6,9.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-64.8
$GPS2,260218,032147,-7407.3662,-11318.0166,2,1.0,4,53.9,0.1,0.0,6,5.9
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,W1
$TGT_LATLONG,-7407.500,-11323.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,185.9,2537,-19.6,-10.000,-26.85,1770
$D_GRID,309
$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,9,-1.04,-121.7,187,2807,2232,2125,0.0,0.0,0,122,0.00,0.00,-107.82,0.003,16390,0.000,0.000,186,2808,3889,3900,3878,0,0,0,0,0,0,14.58,13.24,14.58
$GC,124,-1.04,-121.7,187,2807,3902,3878,2.9,-3.6,11,142,11.75,2.42,0.00,0.000,2596,0.461,0.047,2382,1391,3896,3903,3890,0,0,0,0,0,0,13.97,14.35,14.28
$PING,20.1,21.5,9000.0,0.00,0.00
$GC,266,-1.04,-121.7,2382,1392,3903,3901,23.2,-12.8,39,272,0.00,2.55,0.00,0.000,1030,0.000,0.070,2378,2806,3901,3902,3900,0,0,0,0,0,0,14.41,14.34,14.45
$PING,40.8,43.3,9000.0,0.00,0.00
$PING,61.3,64.9,64.9,1.06,1.00
$GC,576,-1.04,-121.7,2382,2807,3903,3903,65.4,-13.8,71,582,0.00,2.00,0.00,0.000,260,0.000,0.091,2374,3910,3902,3902,3902,0,0,0,0,0,0,14.74,14.42,14.74
$GC,616,-1.04,-121.7,2374,3910,3903,3903,71.3,-15.0,79,622,0.00,1.90,0.00,0.000,1030,0.000,0.049,2374,2795,3902,3902,3902,0,0,0,0,0,0,14.53,14.50,14.56
$GC,926,-1.04,-121.7,2374,2796,3904,3902,113.8,-13.9,111,932,0.00,2.03,0.00,0.000,260,0.000,0.093,2372,3903,3902,3902,3903,0,0,0,0,0,0,14.78,14.41,14.78
$GC,961,-1.04,-121.7,2372,3904,3903,3904,119.0,-14.8,118,968,0.00,1.90,0.00,0.000,1030,0.000,0.049,2371,2790,3903,3903,3903,0,0,0,0,0,0,14.57,14.53,14.59
$GC,1266,-1.04,-121.7,2372,2790,3904,3903,158.8,-12.9,149,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2790,3902,3902,3903,0,0,0,0,0,0,14.81,14.81,14.81
$GC,1566,-1.04,-121.7,2372,2791,3903,3904,196.4,-12.3,179,1572,0.00,2.03,0.00,0.000,260,0.000,0.091,2371,3899,3902,3902,3902,0,0,0,0,0,0,14.82,14.45,14.82
$GC,1611,-1.04,-121.7,2371,3899,3904,3903,202.2,-13.3,188,1618,0.00,1.85,0.00,0.000,1030,0.000,0.049,2371,2804,3902,3902,3903,0,0,0,0,0,0,14.59,14.56,14.62
$GC,1916,-1.04,-121.7,2371,2805,3903,3904,239.1,-12.2,219,1922,0.00,2.42,0.00,0.000,516,0.000,0.052,2370,1395,3902,3902,3903,0,0,0,0,0,0,14.83,14.50,14.83
$GC,1951,-1.04,-121.7,2371,1394,3904,3903,243.5,-12.5,226,1958,0.00,2.50,0.00,0.000,1030,0.000,0.070,2370,2800,3902,3902,3902,0,0,0,0,0,0,14.55,14.47,14.66
$GC,2256,-1.04,-121.7,2371,2801,3903,3904,280.7,-12.4,257,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2800,3903,3903,3903,0,0,0,0,0,0,14.83,14.83,14.83
$STATE,2507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2507,begin apogee
$GC,2511,-0.23,0.0,2371,2541,3903,3904,309.4,-11.2,278,2629,1.08,0.00,113.75,2.279,10246,0.266,0.000,2649,2540,3396,3400,3393,0,0,0,0,0,0,14.23,13.78,12.93
$STATE,2630,end apogee,CONTROL_FINISHED_OK
$STATE,2630,begin climb
$GC,2631,1.04,121.7,2650,2541,3402,3393,312.1,0.0,284,2751,1.40,2.62,110.32,2.188,10756,0.165,0.067,3064,1162,2911,2915,2907,0,0,0,0,0,0,13.72,13.27,12.52
$GC,2791,1.04,121.7,3065,1162,2911,2900,298.1,12.1,314,2796,0.00,2.60,0.00,0.000,1030,0.000,0.070,3064,2550,2904,2908,2901,0,0,0,0,0,0,13.69,13.59,13.71
$GC,3101,1.04,121.7,3064,2550,2905,2896,259.0,12.9,346,3106,0.00,2.50,0.00,0.000,260,0.000,0.096,3064,3907,2899,2903,2896,0,0,0,0,0,0,14.42,14.12,14.42
$GC,3135,1.04,121.7,3064,3908,2904,2898,254.0,14.5,353,3144,0.00,2.40,0.00,0.000,1030,0.000,0.057,3074,2555,2899,2903,2896,0,0,0,0,0,0,14.26,14.22,14.28
$GC,3441,1.04,121.7,3074,2555,2904,2895,214.0,13.0,384,3446,0.00,2.50,0.00,0.000,516,0.000,0.068,3084,1137,2899,2903,2895,0,0,0,0,0,0,14.64,14.33,14.64
$GC,3491,1.04,121.7,3085,1137,2904,2895,207.4,13.1,394,3496,0.00,2.50,0.00,0.000,1030,0.000,0.071,3084,2551,2898,2903,2894,0,0,0,0,0,0,14.49,14.38,14.52
$GC,3801,1.04,121.7,3085,2551,2904,2894,166.6,12.7,426,3807,0.00,2.47,0.00,0.000,260,0.000,0.097,3084,3910,2898,2903,2894,0,0,0,0,0,0,14.71,14.42,14.71
$GC,3846,1.04,121.7,3085,3911,2904,2896,160.0,15.0,435,3854,0.10,2.38,0.00,0.000,5126,0.292,0.055,3069,2543,2898,2903,2894,0,0,0,0,0,0,14.19,14.49,14.41
$PING,125.0,129.9,130.0,1.03,1.00
$GC,4151,1.04,121.7,3070,2543,2905,2894,122.6,12.0,466,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2543,2898,2902,2894,0,0,0,0,0,0,14.78,14.78,14.78
$PING,104.2,108.5,108.7,1.02,1.00
$GC,4451,1.04,121.7,3069,2544,2904,2895,86.2,12.0,496,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2543,2898,2903,2894,0,0,0,0,0,0,14.81,14.81,14.81
$PING,83.8,87.0,87.1,1.04,1.00
$PING,63.6,66.3,66.2,1.04,1.00
$GC,4751,1.04,121.7,3070,2544,2904,2895,50.5,11.9,526,4757,0.00,2.47,0.00,0.000,260,0.000,0.098,3070,3912,2900,2904,2897,0,0,0,0,0,0,14.82,14.49,14.82
$GC,4776,1.04,121.7,3070,3908,2905,2894,47.2,13.1,531,4783,0.00,2.35,0.00,0.000,1030,0.000,0.057,3079,2553,2899,2904,2894,0,0,0,0,0,0,14.62,14.57,14.64
$PING,42.7,44.5,44.5,1.04,1.00
$PING,22.3,22.8,22.8,1.05,1.00
$FREEZE,8.88,-1.659,-1.867,2,1,0
$GC,5081,1.04,121.7,3079,2553,2905,2894,8.9,11.9,562,5087,0.00,2.47,0.00,0.000,516,0.000,0.067,3089,1154,2899,2905,2894,0,0,0,0,0,0,14.83,14.48,14.83
$FREEZE,7.69,-1.655,-1.866,2,1,0
$FREEZE,7.06,-1.655,-1.865,2,1,0
$FREEZE,6.46,-1.654,-1.865,2,1,0
$FREEZE,5.86,-1.654,-1.864,2,1,0
$FREEZE,5.24,-1.654,-1.864,2,1,0
$GC,5111,1.04,121.7,3090,1154,2905,2895,5.2,11.7,568,5117,0.00,2.45,0.00,0.000,1030,0.000,0.071,3089,2554,2899,2904,2894,0,0,0,0,0,0,14.65,14.53,14.68
$FREEZE,3.98,-1.655,-1.863,2,1,0
$FREEZE,2.67,-1.660,-1.862,2,1,0
$FREEZE,1.47,-1.670,-1.861,2,1,0
$STATE,5141,end climb,SURFACE_DEPTH_REACHED
$STATE,5141,begin surface coast
$FREEZE,0.19,-1.671,-1.860,2,1,0
$FINISH,0.2,1.027292
$STATE,5150,end surface coast,CONTROL_FINISHED_OK
$STATE,5150,begin surface
$SM_CCo,5165,162.20,0.223,0,0,2204,300.18
$SM_GC,0.82,8.38,0.45,162.20,0.060,0.096,0.223,190,2807,2204,-7.88,-0.71,300.18,0,0,0,0,0,0,14.53,14.56,14.23
$RAFOS_CLK,209
$RAFOS_FIX,-7407.672363,-11317.434570,260218,040432,0,1,0.12
$IRIDIUM_FIX,-7406.55,-11317.07,260218,031401
$TT8_MAMPS,0.038948,0.852362
$HUMID,45.39
$INTERNAL_PRESSURE,7.78269
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,22.3,22.8
$24V_AH,12.52,67.998
$10V_AH,12.66,0.000
$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,22.700,52.200,224.075,162.200,0.000,0.000,0.000,506.175,7.750,0.000,5.519,0.000,3859.055,553.480,1679.628,107.513,0.000,1510.508,0.000,826.260,0.000,54.361,0.000
$DEVICE_MAMPS,461.295,97.920,2278.935,222.615,0.000,0.000,0.000,187.425,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5164.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.437,0.000,0.000,0.000
$MEM,280372
$DATA_FILE_SIZE,20045,573
$CAP_FILE_SIZE,74337,0
$CFSIZE,1024409600,998752256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.8
$CURRENT,0.099,14.10,1
$GPS,260218,045200,-7407.395,-11319.650,27,0.9,27,53.9,0.2,340.9,10,3.3