version: 66.13
glider: 221
mission: 7
dive: 204
start: 2 27 118 6 19 35
data:
$ID,221
$MISSION,7
$DIVE,204
$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,990
$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,3
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,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,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,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$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,200
$LOITER_D_NO_PUMP,500
$LOITER_N_DIVE,1
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,270218,061330,-7407.7178,-11318.6875,32,1.1,32,53.9,0.2,0.0,7,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.9
$GPS2,270218,061900,-7407.6904,-11318.7148,3,1.0,4,53.9,0.1,0.0,8,5.2
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,W1
$TGT_LATLONG,-7407.500,-11325.000
$TGT_RADIUS,1200.000
$MHEAD_RNG_PITCHd_Wd,199.9,3203,-19.6,-10.000,-26.85,1770
$D_GRID,319
$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,-121.7,186,2812,2235,2127,0.0,0.0,0,122,0.00,0.00,-106.25,0.003,16390,0.000,0.000,185,2812,3890,3902,3878,0,0,0,0,0,0,14.59,12.92,14.59
$GC,125,-1.04,-121.7,186,2812,3903,3879,3.0,-4.0,11,142,12.20,2.50,0.00,0.000,2596,0.477,0.048,2399,1389,3897,3903,3892,0,0,0,0,0,0,13.97,14.35,14.40
$PING,10.5,11.5,9000.0,0.00,0.00
$GC,232,-1.04,-121.7,2399,1389,3904,3901,18.6,-10.8,32,238,0.00,2.50,0.00,0.000,1030,0.000,0.068,2388,2801,3903,3904,3902,0,0,0,0,0,0,14.47,14.36,14.50
$PING,21.5,22.7,9000.0,0.00,0.00
$PING,32.4,34.3,34.2,1.04,1.00
$PING,42.9,46.1,46.0,1.10,1.00
$PING,53.7,56.5,56.8,1.04,1.00
$GC,536,-1.04,-121.7,2390,2801,3905,3904,57.4,-12.3,63,542,0.00,2.47,0.00,0.000,516,0.000,0.051,2389,1387,3903,3904,3903,0,0,0,0,0,0,14.73,14.41,14.73
$GC,566,-1.04,-121.7,2389,1387,3904,3904,61.1,-12.2,69,573,0.00,2.53,0.00,0.000,1030,0.000,0.069,2384,2819,3904,3904,3904,0,0,0,0,0,0,14.54,14.42,14.58
$PING,63.8,66.8,66.7,0.99,1.00
$PING,95.7,101.4,101.4,1.07,1.00
$GC,877,-1.04,-121.7,2385,2819,3905,3904,100.7,-12.4,101,884,0.00,1.98,0.00,0.000,260,0.000,0.092,2377,3912,3904,3904,3905,0,0,0,0,0,0,14.78,14.42,14.78
$GC,943,-1.04,-121.7,2378,3912,3905,3904,109.8,-14.0,114,950,0.00,1.90,0.00,0.000,1030,0.000,0.050,2377,2796,3904,3904,3904,0,0,0,0,0,0,14.46,14.46,14.47
$GC,1248,-1.04,-121.7,2378,2797,3904,3905,150.4,-12.7,145,1255,0.00,2.03,0.00,0.000,260,0.000,0.090,2369,3905,3904,3904,3904,0,0,0,0,0,0,14.80,14.43,14.81
$GC,1284,-1.04,-121.7,2371,3907,3904,3905,155.0,-13.4,152,1291,0.00,1.90,0.00,0.000,1030,0.000,0.048,2370,2794,3903,3902,3905,0,0,0,0,0,0,14.45,14.42,14.47
$GC,1589,-1.04,-121.7,2371,2795,3905,3905,194.0,-12.4,183,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2794,3904,3904,3904,0,0,0,0,0,0,14.85,14.83,14.81
$GC,1889,-1.04,-121.7,2375,2795,3904,3906,229.8,-11.5,213,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2794,3908,3912,3905,0,0,0,0,0,0,14.82,14.82,14.82
$GC,2189,-1.04,-121.7,2371,2795,3905,3905,264.1,-11.7,243,2195,0.00,2.42,0.00,0.000,516,0.000,0.050,2370,1389,3903,3903,3904,0,0,0,0,0,0,14.81,14.47,14.81
$GC,2319,-1.04,-121.7,2371,1389,3904,3906,278.8,-10.8,269,2326,0.00,2.55,0.00,0.000,1030,0.000,0.070,2370,2811,3904,3904,3904,0,0,0,0,0,0,14.54,14.46,14.65
$GC,2630,-1.04,-121.7,2370,2811,3905,3904,314.3,-11.6,295,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2811,3904,3904,3904,0,0,0,0,0,0,14.81,14.81,14.81
$STATE,2688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2689,begin apogee
$GC,2693,-0.23,0.0,2371,2538,3905,3904,320.8,-11.1,298,2813,1.10,0.00,114.75,2.283,10246,0.267,0.000,2654,2538,3398,3403,3394,0,0,0,0,0,0,14.22,13.78,12.92
$STATE,2814,end apogee,CONTROL_FINISHED_OK
$STATE,2814,begin climb
$GC,2815,1.04,121.7,2656,2537,3404,3394,323.7,0.0,304,2936,1.38,2.70,111.55,2.194,10756,0.162,0.066,3064,1160,2911,2916,2906,0,0,0,0,0,0,13.71,13.31,12.50
$GC,2950,1.04,121.7,3064,1161,2913,2903,312.5,11.6,329,2958,0.00,2.70,0.00,0.000,1030,0.000,0.070,3064,2576,2906,2912,2901,0,0,0,0,0,0,13.54,13.46,13.57
$GC,3257,1.04,121.7,3064,2576,2906,2895,272.6,12.8,357,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2576,2899,2905,2894,0,0,0,0,0,0,14.40,14.40,14.40
$GC,3557,1.04,121.7,3064,2577,2904,2894,234.7,12.8,387,3563,0.00,2.50,0.00,0.000,516,0.000,0.067,3073,1160,2898,2904,2893,0,0,0,0,0,0,14.63,14.31,14.63
$GC,3652,1.04,121.7,3074,1161,2904,2893,223.1,12.0,406,3659,0.00,2.47,0.00,0.000,1030,0.000,0.070,3073,2558,2897,2903,2892,0,0,0,0,0,0,14.48,14.37,14.51
$GC,3957,1.04,121.7,3074,2558,2905,2892,184.0,13.0,437,3964,0.00,2.47,0.00,0.000,260,0.000,0.095,3073,3928,2898,2904,2892,0,0,0,0,0,0,14.75,14.41,14.75
$GC,4008,1.04,121.7,3074,3929,2905,2892,176.4,15.4,447,4014,0.00,2.40,0.00,0.000,1030,0.000,0.057,3084,2545,2898,2904,2893,0,0,0,0,0,0,14.54,14.49,14.56
$PING,142.2,150.0,150.2,1.06,1.00
$GC,4318,1.04,121.7,3084,2545,2905,2892,134.4,12.8,479,4324,0.00,2.42,0.00,0.000,516,0.000,0.067,3094,1153,2898,2904,2892,0,0,0,0,0,0,14.81,14.47,14.81
$GC,4368,1.04,121.7,3095,1153,2905,2892,127.8,13.3,489,4375,0.15,2.50,0.00,0.000,5126,0.290,0.072,3063,2577,2898,2904,2892,0,0,0,0,0,0,14.26,14.49,14.57
$GC,4679,1.04,121.7,3063,2578,2905,2893,89.7,11.7,521,4685,0.00,2.42,0.00,0.000,260,0.000,0.094,3063,3904,2898,2904,2893,0,0,0,0,0,0,14.83,14.50,14.83
$PING,88.4,92.6,93.2,1.06,1.00
$GC,4710,1.04,121.7,3063,3905,2905,2894,85.6,14.2,527,4715,0.00,2.33,0.00,0.000,1030,0.000,0.058,3068,2536,2898,2904,2892,0,0,0,0,0,0,14.66,14.59,14.68
$PING,78.0,81.0,81.2,1.07,1.00
$PING,67.1,69.6,69.5,1.08,1.00
$PING,56.7,58.8,58.8,1.04,1.00
$GC,5020,1.04,121.7,3071,2537,2904,2893,48.5,11.8,559,5025,0.00,2.47,0.00,0.000,260,0.000,0.096,3071,3911,2897,2903,2892,0,0,0,0,0,0,14.85,14.50,14.85
$PING,46.5,48.4,48.4,1.03,1.00
$GC,5045,1.04,121.7,3071,3912,2906,2893,45.1,14.0,564,5052,0.00,2.38,0.00,0.000,1030,0.000,0.057,3082,2537,2898,2905,2892,0,0,0,0,0,0,14.62,14.57,14.64
$PING,35.5,36.4,36.5,1.06,1.00
$PING,25.0,25.6,25.5,1.06,1.00
$PING,14.0,14.1,14.1,1.04,1.00
$FREEZE,9.31,-1.664,-1.867,2,1,0
$FREEZE,8.19,-1.673,-1.866,2,1,0
$FREEZE,7.27,-1.678,-1.866,2,1,0
$GC,5350,1.04,121.7,3081,2537,2906,2893,7.3,11.1,595,5356,0.00,2.47,0.00,0.000,516,0.000,0.070,3092,1143,2897,2905,2890,0,0,0,0,0,0,14.87,14.49,14.87
$FREEZE,6.34,-1.677,-1.865,2,1,0
$FREEZE,5.80,-1.677,-1.865,2,1,0
$FREEZE,5.23,-1.672,-1.864,2,1,0
$FREEZE,4.62,-1.672,-1.863,2,1,0
$FREEZE,3.95,-1.654,-1.863,2,1,0
$FREEZE,3.27,-1.654,-1.862,2,1,0
$FREEZE,2.56,-1.653,-1.862,2,1,0
$FREEZE,1.85,-1.653,-1.861,2,1,0
$STATE,5394,end climb,SURFACE_DEPTH_REACHED
$STATE,5394,begin surface coast
$FREEZE,1.20,-1.657,-1.861,2,1,0
$FREEZE,0.58,-1.657,-1.860,2,1,0
$FINISH,0.6,1.027293
$STATE,5405,end surface coast,CONTROL_FINISHED_OK
$STATE,5405,begin surface
$SM_CCo,5422,163.82,0.221,0,0,2204,300.18
$SM_GC,0.83,8.50,2.97,163.82,0.071,0.071,0.221,185,2799,2204,-7.90,-0.59,300.18,0,0,0,0,0,0,14.55,14.53,14.22
$RAFOS_CLK,221
$RAFOS_FIX,-7407.843750,-11318.047852,270218,070735,0,1,0.08
$IRIDIUM_FIX,-7407.14,-11317.07,270218,043145
$TT8_MAMPS,0.038199,0.368508
$HUMID,45.03
$INTERNAL_PRESSURE,7.77292
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,14.0,14.1
$24V_AH,12.50,71.243
$10V_AH,12.65,0.000
$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,23.325,58.450,226.300,163.825,0.000,0.000,0.000,219.900,15.250,0.000,5.505,0.000,3771.779,567.428,1485.842,114.170,0.000,1260.330,0.000,873.012,0.000,108.195,0.000
$DEVICE_MAMPS,476.595,95.625,2282.760,221.085,0.000,0.000,0.000,188.190,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5419.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.351,0.000,0.000,0.000
$MEM,280192
$DATA_FILE_SIZE,20088,606
$CAP_FILE_SIZE,79535,0
$CFSIZE,1024409600,996999168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.8
$CURRENT,0.114,339.82,1
$GPS,270218,075331,-7407.519,-11321.309,18,1.0,18,54.0,0.1,0.0,8,4.0