version: 66.13
glider: 221
mission: 7
dive: 152
start: 2 23 118 19 48 38
data:
$ID,221
$MISSION,7
$DIVE,152
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,93
$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,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,41
$T_MISSION,65
$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,0.079999998
$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,44
$R_STBD_OVSHOOT,21
$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
$GPS1,230218,193941,-7400.4023,-11232.7695,7,1.9,7,53.3,0.2,0.0,4,8.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-64.0
$GPS2,230218,194809,-7400.3643,-11232.7285,4,0.8,22,53.3,0.4,126.3,12,2.7
$SPEED_LIMITS,0.076,0.175
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,178.7,24635,-13.2,-7.561,-23.37,2193
$D_GRID,810
$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,-0.75,-121.7,202,2804,2235,2164,0.0,0.0,0,113,0.00,0.00,-101.57,0.003,16390,0.000,0.000,201,2804,3889,3900,3878,0,0,0,0,0,0,14.63,12.93,14.62
$GC,115,-0.75,-121.7,202,2804,3902,3879,3.3,-5.0,10,131,12.32,2.45,0.00,0.000,2596,0.469,0.046,2477,1399,3896,3903,3889,0,0,0,0,0,0,13.98,14.36,14.41
$PING,20.4,21.9,9000.0,0.00,0.00
$GC,280,-0.75,-121.7,2478,1400,3905,3900,26.2,-10.4,43,287,0.00,2.53,0.00,0.000,1030,0.000,0.071,2477,2799,3901,3903,3899,0,0,0,0,0,0,14.44,14.35,14.47
$PING,41.4,43.2,9000.0,0.00,0.00
$GC,585,-0.75,-121.7,2477,2799,3905,3903,57.6,-10.1,74,591,0.00,2.00,0.00,0.000,260,0.000,0.093,2469,3902,3903,3904,3903,0,0,0,0,0,0,14.77,14.38,14.77
$PING,61.9,65.9,65.6,1.06,1.00
$GC,650,-0.75,-121.7,2469,3903,3904,3904,64.7,-11.1,87,658,0.00,1.88,0.00,0.000,1030,0.000,0.050,2470,2795,3903,3903,3903,0,0,0,0,0,0,14.55,14.52,14.57
$STATE,934,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,937,-0.23,0.0,2470,2540,3905,3904,93.8,-10.2,116,1050,0.68,0.00,108.97,0.532,10246,0.233,0.000,2650,2540,3397,3403,3392,0,0,0,0,0,0,14.27,14.39,13.90
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1052,0.75,121.7,2651,2542,3403,3394,98.4,0.0,127,1162,1.05,0.00,106.03,0.535,10246,0.169,0.000,2965,2540,2912,2914,2910,0,0,0,0,0,0,14.19,14.19,13.81
$GC,1456,0.79,121.7,2966,2541,2918,2914,78.9,5.8,168,1462,0.00,2.40,0.00,0.000,580,0.000,0.063,2974,1157,2915,2917,2914,0,0,0,0,0,0,14.65,14.32,14.65
$GC,1486,0.83,121.7,2975,1157,2918,2914,77.2,5.7,174,1492,0.00,2.50,0.00,0.000,1094,0.000,0.066,2974,2552,2915,2917,2914,0,0,0,0,0,0,14.41,14.33,14.50
$PING,74.1,77.6,78.1,1.06,1.00
$GC,1796,0.84,121.7,2974,2553,2917,2915,57.4,6.8,206,1802,0.00,2.45,0.00,0.000,324,0.000,0.093,2974,3923,2915,2916,2914,0,0,0,0,0,0,14.75,14.40,14.76
$PING,53.9,56.5,56.9,1.04,1.00
$GC,1841,0.84,121.7,2974,3924,2916,2915,53.9,8.1,215,1848,0.00,2.33,0.00,0.000,1030,0.000,0.054,2983,2543,2915,2917,2914,0,0,0,0,0,0,14.59,14.53,14.60
$PING,33.2,34.5,34.6,1.06,1.00
$GC,2146,0.86,121.7,2983,2544,2916,2915,32.5,6.8,246,2152,0.00,2.40,0.00,0.000,580,0.000,0.063,2993,1149,2913,2915,2912,0,0,0,0,0,0,14.81,14.45,14.81
$GC,2171,0.88,121.7,2992,1150,2916,2915,30.9,6.5,251,2178,0.00,2.50,0.00,0.000,1094,0.000,0.069,2993,2555,2914,2915,2914,0,0,0,0,0,0,14.53,14.45,14.57
$PING,12.8,13.7,13.5,1.04,1.00
$FREEZE,9.52,-1.642,-1.867,2,1,0
$FREEZE,8.97,-1.643,-1.867,2,1,0
$FREEZE,8.22,-1.643,-1.866,2,1,0
$FREEZE,7.65,-1.645,-1.866,2,1,0
$GC,2476,0.94,175.4,2993,2556,2915,2915,11.3,5.0,282,2534,0.12,0.00,51.08,0.249,10790,0.147,0.000,3036,2555,2697,2702,2693,0,0,0,0,0,0,14.52,14.52,14.26
$FREEZE,6.16,-1.639,-1.864,2,1,0
$FREEZE,5.16,-1.638,-1.864,2,1,0
$FREEZE,4.27,-1.638,-1.863,2,1,0
$FREEZE,3.40,-1.634,-1.862,2,1,0
$FREEZE,2.32,-1.632,-1.861,2,1,0
$FREEZE,1.33,-1.632,-1.860,2,1,0
$STATE,2587,end climb,SURFACE_DEPTH_REACHED
$STATE,2587,begin surface coast
$FREEZE,0.29,-1.629,-1.859,2,1,0
$FREEZE,-0.02,-1.629,-1.859,2,1,0
$FINISH,-0.0,1.027281
$STATE,2607,end surface coast,CONTROL_FINISHED_OK
$STATE,2607,begin surface
$SM_CCo,2622,120.93,0.223,0,0,2203,300.18
$SM_GC,0.71,8.43,0.45,120.93,0.077,0.090,0.223,194,2807,2203,-7.89,-0.65,300.18,0,0,0,0,0,0,14.45,14.48,14.19
$RAFOS_CLK,113
$RAFOS_FIX,-7400.531250,-11232.490234,230218,202052,0,1,0.13
$IRIDIUM_FIX,-7402.16,-11235.99,230218,194330
$TT8_MAMPS,0.039697,0.17976
$HUMID,46.10
$INTERNAL_PRESSURE,7.77292
$TCM_TEMP,12.90
$XPDR_PINGS,20
$ALTIM_TOP_PING,12.8,13.5
$24V_AH,12.93,61.320
$10V_AH,13.44,0.000
$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,22.600,24.275,266.075,120.925,0.000,0.000,0.000,280.700,7.250,0.000,23.793,0.000,1774.804,495.699,938.786,65.255,0.000,1039.867,0.000,436.623,0.000,16.210,0.000
$DEVICE_MAMPS,468.945,93.330,535.500,222.615,0.000,0.000,0.000,175.185,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2611.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.261,0.000,0.000,0.000
$MEM,280560
$DATA_FILE_SIZE,10099,299
$CAP_FILE_SIZE,43105,0
$CFSIZE,1024409600,1002274816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1440.7
$CURRENT,0.131,47.94,1
$GPS,230218,203501,-7400.399,-11233.012,4,0.9,9,53.3,0.3,115.9,11,9.5