version: 66.13
glider: 221
mission: 7
dive: 37
start: 1 28 118 13 13 25
data:
$ID,221
$MISSION,7
$DIVE,37
$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,220
$T_MISSION,270
$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,0.30000001
$D_OFFGRID,600
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,0.0021500001
$HD_B,0.0099999998
$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,1
$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,1.5
$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,37
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2968
$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,785
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,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
$GPS1,280118,130810,-7354.6685,-11315.7480,13,1.3,16,53.6,0.3,328.4,4,5.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-61.1
$GPS2,280118,131258,-7354.6523,-11315.8496,3,1.2,4,53.6,0.1,0.0,4,8.9
$SPEED_LIMITS,0.210,0.306
$TGT_NAME,S2_221
$TGT_LATLONG,-7354.000,-11300.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,45.4,8229,-16.9,-12.121,-21.59,2397
$D_GRID,362
$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,7,-1.01,-194.6,194,2815,1595,1514,0.0,0.0,0,132,0.00,0.00,-123.12,0.003,16386,0.000,0.000,194,2815,3676,3688,3665,0,0,0,0,0,0,14.58,28.83,14.59
$GC,134,-1.01,-194.6,194,2816,3690,3668,4.8,-7.9,12,153,12.07,1.92,-1.52,0.058,18724,0.490,0.112,2387,3910,3745,3746,3745,0,0,0,0,0,0,14.16,13.62,14.45
$PING,17.6,19.1,9000.0,0.00,0.00
$PING,25.9,28.3,9000.0,0.00,0.00
$GC,226,-1.01,-194.6,2385,3911,3747,3751,28.7,-18.4,30,232,0.00,1.90,0.00,0.000,1030,0.000,0.049,2387,2788,3748,3747,3749,0,0,0,0,0,0,14.50,14.45,14.50
$PING,34.2,37.2,9000.0,0.00,0.00
$PING,43.2,46.1,9000.0,0.00,0.00
$PING,60.6,65.1,65.0,1.06,1.00
$GC,537,-1.01,-194.6,2386,2788,3748,3750,83.5,-17.9,62,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2788,3749,3747,3751,0,0,0,0,0,0,14.72,14.72,14.72
$GC,836,-1.01,-194.6,2387,2788,3748,3751,136.6,-18.1,92,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2788,3749,3747,3751,0,0,0,0,0,0,14.77,14.78,14.77
$GC,1136,-1.01,-194.6,2387,2789,3747,3752,187.5,-16.4,122,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2788,3749,3746,3752,0,0,0,0,0,0,14.80,14.81,14.81
$GC,1436,-1.01,-194.6,2388,2789,3747,3752,234.5,-15.4,152,1442,0.00,2.00,0.00,0.000,260,0.000,0.098,2383,3899,3749,3747,3751,0,0,0,0,0,0,14.83,14.58,14.83
$GC,1496,-1.01,-194.6,2384,3900,3747,3752,244.4,-16.5,164,1504,0.00,1.85,0.00,0.000,1030,0.000,0.051,2383,2798,3748,3746,3751,0,0,0,0,0,0,14.69,14.65,14.69
$GC,1807,-1.01,-194.6,2384,2798,3748,3751,293.6,-15.8,196,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2798,3749,3747,3751,0,0,0,0,0,0,14.84,14.84,14.85
$PING,320.4,77.0,9000.0,0.13,0.64
$GC,2117,-1.01,-194.6,2384,2798,3748,3751,343.2,-16.3,214,2124,0.00,1.98,0.00,0.000,260,0.000,0.097,2381,3898,3748,3746,3750,0,0,0,0,0,0,14.86,14.61,14.86
$GC,2148,-1.01,-194.6,2382,3897,3747,3751,348.2,-16.7,220,2154,0.00,1.85,0.00,0.000,1030,0.000,0.051,2382,2794,3748,3746,3751,0,0,0,0,0,0,14.69,14.67,14.72
$PING,356.4,42.0,9000.0,0.03,0.09
$STATE,2236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2237,begin apogee
$GC,2240,-0.23,0.0,2382,2554,3747,3749,362.7,-15.8,226,2431,1.00,0.00,188.23,2.706,10246,0.266,0.000,2646,2553,2969,2964,2975,0,0,0,0,0,0,14.51,13.47,12.54
$STATE,2432,end apogee,CONTROL_FINISHED_OK
$STATE,2432,begin climb
$GC,2433,1.01,194.6,2647,2554,2963,2975,369.0,0.0,235,2645,1.42,2.70,200.62,2.594,10756,0.175,0.070,3054,1161,2189,2179,2200,0,0,0,0,0,0,13.43,13.12,12.23
$GC,2664,1.01,194.6,3054,1161,2177,2197,351.8,12.5,279,2670,0.00,2.70,0.00,0.000,1030,0.000,0.071,3054,2548,2186,2175,2197,0,0,0,0,0,0,13.42,13.35,13.44
$GC,2984,1.01,194.6,3054,2548,2171,2192,308.3,13.9,298,2990,0.00,2.55,0.00,0.000,260,0.000,0.098,3054,3902,2180,2170,2191,0,0,0,0,0,0,14.30,14.07,14.30
$GC,3019,1.01,194.6,3055,3903,2172,2191,302.8,16.1,305,3028,0.00,2.40,0.00,0.000,1030,0.000,0.058,3064,2552,2180,2170,2191,0,0,0,0,0,0,14.19,14.15,14.20
$GC,3324,1.01,194.6,3064,2554,2170,2192,256.7,14.4,335,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2554,2180,2170,2190,0,0,0,0,0,0,14.54,14.54,14.54
$GC,3625,1.01,194.6,3064,2554,2170,2191,216.4,12.6,365,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2554,2179,2169,2190,0,0,0,0,0,0,14.62,14.62,14.62
$GC,3924,1.02,194.6,3064,2555,2170,2191,181.1,11.4,395,3930,0.00,2.47,0.00,0.000,580,0.000,0.070,3078,1155,2179,2169,2190,0,0,0,0,0,0,14.72,14.47,14.71
$GC,3984,1.04,194.6,3075,1156,2170,2189,174.5,10.9,407,3991,0.00,2.50,0.00,0.000,1094,0.000,0.073,3075,2557,2179,2169,2189,0,0,0,0,0,0,14.57,14.50,14.59
$GC,4294,1.04,194.6,3075,2558,2170,2189,136.6,13.9,439,4301,0.00,2.47,0.00,0.000,516,0.000,0.070,3085,1158,2179,2169,2190,0,0,0,0,0,0,14.77,14.53,14.78
$GC,4339,1.04,194.6,3085,1158,2170,2189,130.2,14.1,448,4347,0.00,2.47,0.00,0.000,1030,0.000,0.073,3085,2553,2179,2169,2189,0,0,0,0,0,0,14.61,14.55,14.63
$PING,107.1,111.4,9000.0,-0.04,0.04
$GC,4644,1.04,194.6,3084,2553,2170,2190,88.4,12.9,479,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2553,2179,2169,2189,0,0,0,0,0,0,14.81,14.81,14.81
$PING,71.9,75.1,9000.0,-0.09,0.24
$PING,63.1,64.9,9000.0,-0.09,0.24
$PING,54.4,55.9,9000.0,-0.09,0.21
$GC,4944,1.04,194.6,3085,2554,2170,2190,50.6,12.4,509,4945,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2553,2179,2169,2189,0,0,0,0,0,0,14.83,14.83,14.83
$PING,45.5,48.3,47.4,1.04,1.00
$PING,36.3,37.4,37.7,1.04,1.00
$PING,27.7,28.8,29.0,1.02,1.00
$PING,18.8,19.6,19.7,1.03,1.00
$GC,5245,1.04,194.6,3086,2553,2171,2189,12.4,13.3,539,5251,0.00,2.47,0.00,0.000,516,0.000,0.070,3096,1151,2179,2169,2189,0,0,0,0,0,0,14.84,14.59,14.84
$FREEZE,9.48,-0.857,-1.863,2,1,0
$FREEZE,8.85,-0.857,-1.863,2,1,0
$FREEZE,8.22,-0.857,-1.862,2,1,0
$FREEZE,7.57,-0.856,-1.862,2,1,0
$FREEZE,6.85,-0.856,-1.861,2,1,0
$FREEZE,6.17,-0.856,-1.861,2,1,0
$FREEZE,5.50,-0.856,-1.860,2,1,0
$FREEZE,4.97,-0.856,-1.860,2,1,0
$FREEZE,4.31,-0.856,-1.859,2,1,0
$FREEZE,3.55,-0.857,-1.859,2,1,0
$FREEZE,2.84,-0.857,-1.858,2,1,0
$FREEZE,2.13,-0.856,-1.858,2,1,0
$FREEZE,1.47,-0.856,-1.857,2,1,0
$STATE,5329,end climb,SURFACE_DEPTH_REACHED
$STATE,5329,begin surface coast
$FREEZE,0.78,-0.857,-1.857,2,1,0
$FREEZE,-0.01,-0.857,-1.856,2,1,0
$FINISH,-0.0,1.027210
$STATE,5339,end surface coast,CONTROL_FINISHED_OK
$STATE,5339,begin surface
$SM_CCo,5355,132.23,0.228,0,0,1573,350.17
$SM_GC,0.79,8.52,2.95,132.23,0.081,0.074,0.228,203,2805,1573,-7.87,-0.54,350.17,0,0,0,0,0,0,14.59,14.63,14.38
$RAFOS_CLK,210
$RAFOS_FIX,-7354.891113,-11316.746094,280118,141421,0,1,0.12
$IRIDIUM_FIX,-7357.54,-11311.92,280118,113756
$TT8_MAMPS,0.038199,0.202979
$HUMID,46.53
$INTERNAL_PRESSURE,7.81199
$TCM_TEMP,13.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.8,19.7
$24V_AH,12.23,21.445
$10V_AH,12.42,0.000
$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,23.025,37.575,388.850,132.225,0.000,0.000,0.000,212.075,20.750,0.000,6.163,0.000,3706.615,645.108,1389.948,50.025,0.000,1312.471,0.000,805.026,0.000,146.739,0.000
$DEVICE_MAMPS,489.600,112.455,2705.805,227.970,0.000,0.000,0.000,180.540,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5343.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.642,0.000,0.000,0.000
$MEM,280508
$DATA_FILE_SIZE,20091,558
$CAP_FILE_SIZE,73152,0
$CFSIZE,1024409600,1015742464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.9
$CURRENT,0.095,324.64,1
$GPS,280118,144554,-7354.660,-11313.517,32,1.1,32,53.6,1.4,293.5,7,4.8