version: 66.13
glider: 221
mission: 7
dive: 173
start: 2 25 118 1 27 42
data:
$ID,221
$MISSION,7
$DIVE,173
$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,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$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,-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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,250218,012200,-7404.3745,-11256.9248,29,0.7,29,53.6,0.3,290.2,10,3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-64.0
$GPS2,250218,012714,-7404.3594,-11257.0723,2,0.6,4,53.6,0.5,310.6,12,5.5
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,W0
$TGT_LATLONG,-7408.220,-11312.000
$TGT_RADIUS,1000.000
$MHEAD_RNG_PITCHd_Wd,128.0,10403,-19.6,-10.000,-26.85,1770
$D_GRID,583
$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,9,-1.04,-121.7,196,2802,2232,2133,0.0,0.0,0,122,0.00,0.00,-108.25,0.003,16390,0.000,0.000,195,2802,3888,3899,3878,0,0,0,0,0,0,14.59,12.97,14.59
$GC,123,-1.04,-121.7,196,2804,3902,3879,3.1,-4.0,11,141,11.98,1.95,0.00,0.000,2340,0.474,0.078,2376,3907,3896,3903,3890,0,0,0,0,0,0,13.98,14.34,14.26
$GC,185,-1.04,-121.7,2377,3910,3904,3898,15.4,-15.6,23,191,0.00,1.90,0.00,0.000,1030,0.000,0.048,2377,2800,3900,3903,3897,0,0,0,0,0,0,14.45,14.42,14.47
$PING,20.9,22.5,9000.0,0.00,0.00
$PING,41.7,45.1,9000.0,0.00,0.00
$GC,495,-1.04,-121.7,2378,2800,3904,3902,58.6,-13.5,55,501,0.00,2.42,0.00,0.000,516,0.000,0.051,2377,1401,3902,3903,3902,0,0,0,0,0,0,14.74,14.42,14.74
$GC,590,-1.04,-121.7,2378,1401,3905,3903,71.6,-13.3,74,597,0.00,2.50,0.00,0.000,1030,0.000,0.070,2375,2799,3903,3903,3903,0,0,0,0,0,0,14.58,14.42,14.59
$GC,895,-1.04,-121.7,2375,2799,3904,3905,113.9,-13.6,105,902,0.00,2.00,0.00,0.000,260,0.000,0.093,2370,3906,3903,3903,3904,0,0,0,0,0,0,14.80,14.43,14.80
$GC,931,-1.04,-121.7,2374,3906,3904,3904,119.0,-14.4,112,938,0.00,1.88,0.00,0.000,1030,0.000,0.047,2371,2798,3903,3903,3903,0,0,0,0,0,0,14.59,14.56,14.60
$GC,1236,-1.04,-121.7,2372,2798,3904,3905,161.6,-14.5,143,1242,0.00,2.40,0.00,0.000,516,0.000,0.050,2371,1405,3904,3903,3905,0,0,0,0,0,0,14.82,14.50,14.82
$GC,1271,-1.04,-121.7,2370,1404,3904,3906,166.8,-14.9,150,1278,0.00,2.47,0.00,0.000,1030,0.000,0.070,2371,2795,3906,3903,3910,0,0,0,0,0,0,14.57,14.48,14.59
$GC,1576,-1.04,-121.7,2371,2796,3904,3906,210.5,-13.7,181,1582,0.00,2.03,0.00,0.000,260,0.000,0.092,2372,3917,3903,3903,3904,0,0,0,0,0,0,14.84,14.47,14.84
$GC,1637,-1.04,-121.7,2371,3917,3904,3905,219.2,-14.2,193,1643,0.00,1.90,0.00,0.000,1030,0.000,0.049,2370,2797,3903,3903,3904,0,0,0,0,0,0,14.63,14.59,14.64
$GC,1947,-1.04,-121.7,2370,2797,3904,3906,259.5,-14.0,225,1954,0.00,2.40,0.00,0.000,516,0.000,0.050,2370,1398,3904,3903,3905,0,0,0,0,0,0,14.85,14.52,14.85
$GC,2023,-1.04,-121.7,2370,1399,3904,3905,269.4,-12.5,240,2030,0.00,2.53,0.00,0.000,1030,0.000,0.070,2370,2811,3904,3903,3905,0,0,0,0,0,0,14.57,14.51,14.62
$GC,2328,-1.04,-121.7,2370,2812,3904,3904,309.7,-14.3,268,2335,0.00,2.45,0.00,0.000,516,0.000,0.050,2369,1397,3904,3903,3905,0,0,0,0,0,0,14.87,14.53,14.87
$GC,2379,-1.04,-121.7,2370,1397,3904,3905,317.4,-15.1,278,2385,0.00,2.50,0.00,0.000,1030,0.000,0.070,2370,2798,3904,3903,3905,0,0,0,0,0,0,14.59,14.52,14.62
$STATE,2469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2469,begin apogee
$GC,2473,-0.23,0.0,2370,2550,3903,3906,330.9,-15.0,284,2593,1.08,0.00,113.62,2.298,10246,0.262,0.000,2651,2549,3397,3399,3396,0,0,0,0,0,0,14.28,13.81,12.93
$STATE,2594,end apogee,CONTROL_FINISHED_OK
$STATE,2594,begin climb
$GC,2595,1.04,121.7,2652,2550,3400,3394,335.4,0.0,290,2714,1.38,2.65,109.85,2.205,10756,0.159,0.066,3063,1160,2911,2915,2908,0,0,0,0,0,0,13.74,13.26,12.52
$GC,2778,1.04,121.7,3064,1161,2908,2903,321.3,10.2,325,2786,0.00,2.65,0.00,0.000,1030,0.000,0.070,3063,2550,2904,2907,2902,0,0,0,0,0,0,13.73,13.66,13.76
$GC,3084,1.04,121.7,3063,2551,2904,2900,289.4,11.0,345,3084,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2550,2899,2900,2898,0,0,0,0,0,0,14.43,14.43,14.42
$GC,3383,1.04,121.7,3063,2551,2904,2899,252.8,13.5,375,3389,0.00,2.50,0.00,0.000,516,0.000,0.067,3074,1160,2899,2902,2897,0,0,0,0,0,0,14.64,14.31,14.64
$GC,3453,1.04,121.7,3073,1161,2903,2898,243.4,13.8,389,3460,0.00,2.50,0.00,0.000,1030,0.000,0.070,3073,2549,2899,2902,2897,0,0,0,0,0,0,14.43,14.36,14.47
$GC,3764,1.04,121.7,3074,2549,2903,2897,206.3,11.2,421,3771,0.00,2.47,0.00,0.000,516,0.000,0.067,3083,1161,2899,2902,2897,0,0,0,0,0,0,14.75,14.39,14.75
$GC,3810,1.04,121.7,3083,1162,2903,2898,201.3,10.9,430,3817,0.00,2.50,0.00,0.000,1030,0.000,0.071,3084,2552,2899,2902,2897,0,0,0,0,0,0,14.52,14.43,14.54
$GC,4115,1.04,121.7,3084,2552,2903,2897,166.5,11.6,461,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2552,2899,2902,2897,0,0,0,0,0,0,14.80,14.80,14.80
$GC,4415,1.04,121.7,3082,2552,2903,2897,131.9,11.7,491,4421,0.00,2.45,0.00,0.000,516,0.000,0.067,3094,1166,2899,2902,2897,0,0,0,0,0,0,14.83,14.49,14.83
$GC,4445,1.04,121.7,3094,1166,2903,2898,128.4,11.7,497,4452,0.12,2.42,0.00,0.000,5126,0.291,0.072,3069,2552,2900,2902,2898,0,0,0,0,0,0,14.31,14.53,14.61
$GC,4756,1.04,121.7,3070,2552,2904,2898,93.5,10.9,529,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2552,2899,2902,2897,0,0,0,0,0,0,14.85,14.84,14.85
$PING,64.4,67.6,68.0,1.04,1.00
$GC,5056,1.04,121.7,3069,2554,2903,2898,59.7,11.5,559,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2552,2899,2902,2897,0,0,0,0,0,0,14.86,14.86,14.86
$PING,43.7,45.4,46.3,1.03,1.00
$GC,5356,1.04,121.7,3068,2553,2903,2898,26.4,10.1,589,5363,0.00,2.47,0.00,0.000,516,0.000,0.067,3078,1154,2900,2904,2896,0,0,0,0,0,0,14.87,14.50,14.87
$PING,23.5,24.4,24.3,1.06,1.00
$GC,5397,1.04,121.7,3079,1154,2904,2897,21.7,11.7,597,5404,0.00,2.47,0.00,0.000,1030,0.000,0.069,3078,2547,2900,2903,2897,0,0,0,0,0,0,14.60,14.52,14.64
$FREEZE,9.22,-1.696,-1.867,2,1,0
$FREEZE,8.07,-1.698,-1.867,2,1,0
$FREEZE,6.86,-1.692,-1.866,2,1,0
$FREEZE,5.68,-1.693,-1.865,2,1,0
$FREEZE,4.45,-1.692,-1.864,2,1,0
$FREEZE,3.25,-1.692,-1.863,2,1,0
$FREEZE,2.06,-1.694,-1.862,2,1,0
$FREEZE,0.90,-1.697,-1.861,2,1,0
$STATE,5578,end climb,SURFACE_DEPTH_REACHED
$STATE,5578,begin surface coast
$FREEZE,-0.03,-1.712,-1.861,2,1,0
$FINISH,-0.0,1.027305
$STATE,5587,end surface coast,CONTROL_FINISHED_OK
$STATE,5587,begin surface
$SM_CCo,5602,166.32,0.225,0,0,2200,300.18
$SM_GC,0.72,8.30,0.47,166.32,0.057,0.100,0.225,182,2806,2200,-7.89,-0.57,300.18,0,0,0,0,0,0,14.60,14.57,14.25
$RAFOS_CLK,231
$RAFOS_FIX,-7404.981445,-11257.038086,250218,030316,0,1,0.21
$IRIDIUM_FIX,-7404.37,-11256.48,240218,234129
$TT8_MAMPS,0.038199,0.26964
$HUMID,45.07
$INTERNAL_PRESSURE,7.77292
$TCM_TEMP,12.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,23.5,24.3
$24V_AH,12.52,65.091
$10V_AH,12.68,0.000
$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,22.850,57.300,223.475,166.325,0.000,0.000,0.000,211.250,8.500,0.000,5.873,0.000,3959.115,575.587,1466.450,95.291,0.000,1270.166,0.000,888.635,0.000,60.009,0.000
$DEVICE_MAMPS,473.535,100.215,2298.060,224.910,0.000,0.000,0.000,187.425,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5597.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.221,0.000,0.000,0.000
$MEM,280504
$DATA_FILE_SIZE,20069,617
$CAP_FILE_SIZE,74095,0
$CFSIZE,1024409600,1000226816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1443.2
$CURRENT,0.131,276.35,1
$GPS,250218,030425,-7404.936,-11258.668,1,0.9,3,53.7,0.4,284.4,7,7.2