version: 66.13
glider: 221
mission: 7
dive: 196
start: 2 26 118 17 11 15
data:
$ID,221
$MISSION,7
$DIVE,196
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,260218,170509,-7407.7549,-11319.0674,17,1.1,26,53.9,0.2,0.0,10,3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-64.6
$GPS2,260218,171039,-7407.7266,-11319.0674,2,1.0,4,53.9,0.7,213.3,11,6.8
$SPEED_LIMITS,0.100,0.198
$TGT_NAME,W1
$TGT_LATLONG,-7407.500,-11323.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,206.0,2036,-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,-121.7,199,2814,2236,2129,0.0,0.0,0,121,0.00,0.00,-105.35,0.003,16390,0.000,0.000,198,2813,3889,3901,3878,0,0,0,0,0,0,14.59,12.93,14.59
$GC,123,-1.04,-121.7,200,2814,3903,3880,3.3,-4.7,11,141,11.82,2.45,0.00,0.000,2596,0.467,0.044,2390,1388,3898,3904,3892,0,0,0,0,0,0,13.97,14.35,14.26
$PING,20.1,21.4,9000.0,0.00,0.00
$GC,335,-1.04,-121.7,2392,1388,3905,3902,31.9,-12.1,53,342,0.00,2.53,0.00,0.000,1030,0.000,0.070,2385,2794,3903,3904,3902,0,0,0,0,0,0,14.44,14.37,14.48
$PING,61.5,64.9,9000.0,0.00,0.00
$GC,646,-1.04,-121.7,2386,2794,3905,3904,71.8,-12.8,85,653,0.00,2.03,0.00,0.000,260,0.000,0.093,2377,3905,3904,3904,3904,0,0,0,0,0,0,14.76,14.40,14.76
$GC,682,-1.04,-121.7,2378,3905,3905,3904,76.7,-13.9,92,689,0.00,1.90,0.00,0.000,1030,0.000,0.047,2378,2787,3903,3904,3903,0,0,0,0,0,0,14.54,14.51,14.57
$GC,987,-1.04,-121.7,2378,2787,3905,3905,116.2,-13.8,123,992,0.00,2.05,0.00,0.000,260,0.000,0.091,2371,3906,3904,3904,3905,0,0,0,0,0,0,14.79,14.42,14.79
$GC,1082,-1.04,-121.7,2371,3906,3905,3906,130.0,-14.0,142,1089,0.00,1.88,0.00,0.000,1030,0.000,0.047,2371,2801,3904,3904,3905,0,0,0,0,0,0,14.58,14.54,14.59
$GC,1387,-1.04,-121.7,2371,2801,3905,3905,167.2,-12.1,173,1393,0.00,2.00,0.00,0.000,260,0.000,0.090,2370,3899,3904,3904,3904,0,0,0,0,0,0,14.82,14.44,14.82
$GC,1442,-1.04,-121.7,2370,3900,3905,3906,174.5,-13.2,184,1449,0.00,1.88,0.00,0.000,1030,0.000,0.049,2370,2795,3904,3904,3904,0,0,0,0,0,0,14.59,14.56,14.61
$GC,1747,-1.04,-121.7,2371,2796,3905,3905,213.1,-12.8,215,1753,0.00,2.40,0.00,0.000,516,0.000,0.050,2370,1402,3904,3904,3905,0,0,0,0,0,0,14.83,14.50,14.83
$GC,1803,-1.04,-121.7,2370,1402,3905,3906,219.9,-12.1,226,1810,0.00,2.50,0.00,0.000,1030,0.000,0.069,2370,2800,3904,3904,3905,0,0,0,0,0,0,14.43,14.35,14.47
$GC,2107,-1.04,-121.7,2370,2801,3904,3905,256.0,-11.6,257,2114,0.00,2.40,0.00,0.000,516,0.000,0.050,2370,1406,3904,3904,3905,0,0,0,0,0,0,14.84,14.52,14.84
$GC,2219,-1.04,-121.7,2371,1407,3905,3905,268.8,-11.2,279,2224,0.00,2.45,0.00,0.000,1030,0.000,0.070,2369,2807,3904,3904,3904,0,0,0,0,0,0,14.64,14.52,14.66
$GC,2528,-1.04,-121.7,2370,2808,3905,3905,304.5,-11.4,309,2535,0.00,1.98,0.00,0.000,260,0.000,0.090,2367,3902,3904,3904,3905,0,0,0,0,0,0,14.85,14.47,14.84
$STATE,2568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2568,begin apogee
$GC,2573,-0.23,0.0,2368,2534,3905,3905,309.4,-12.7,317,2692,1.10,0.00,114.20,2.265,10246,0.273,0.000,2649,2534,3397,3402,3392,0,0,0,0,0,0,14.26,13.80,12.93
$STATE,2693,end apogee,CONTROL_FINISHED_OK
$STATE,2693,begin climb
$GC,2694,1.04,121.7,2650,2535,3402,3393,313.1,0.0,323,2812,1.40,0.00,110.62,2.186,10758,0.165,0.000,3053,2534,2911,2916,2907,0,0,0,0,0,0,13.72,13.35,12.52
$GC,3110,1.04,121.7,3054,2535,2906,2897,268.5,12.0,371,3115,0.00,2.55,0.00,0.000,260,0.000,0.093,3054,3906,2898,2900,2896,0,0,0,0,0,0,14.36,14.07,14.35
$GC,3179,1.04,121.7,3054,3907,2905,2897,258.7,14.3,385,3186,0.00,2.38,0.00,0.000,1030,0.000,0.056,3064,2567,2900,2905,2896,0,0,0,0,0,0,14.23,14.19,14.25
$GC,3490,1.04,121.7,3064,2566,2905,2895,220.7,12.8,417,3496,0.00,2.50,0.00,0.000,516,0.000,0.066,3074,1146,2899,2904,2895,0,0,0,0,0,0,14.64,14.33,14.64
$GC,3571,1.04,121.7,3074,1146,2905,2896,211.2,11.8,433,3578,0.00,2.53,0.00,0.000,1030,0.000,0.072,3074,2549,2899,2904,2894,0,0,0,0,0,0,14.44,14.36,14.47
$GC,3882,1.04,121.7,3074,2549,2905,2895,172.2,12.3,465,3888,0.00,2.47,0.00,0.000,516,0.000,0.067,3085,1130,2899,2904,2895,0,0,0,0,0,0,14.74,14.42,14.74
$GC,3902,1.04,121.7,3085,1134,2905,2896,169.7,12.0,469,3909,0.00,2.55,0.00,0.000,1030,0.000,0.070,3085,2554,2899,2904,2895,0,0,0,0,0,0,14.50,14.43,14.59
$GC,4213,1.04,121.7,3085,2554,2906,2895,129.3,13.4,501,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2554,2900,2905,2895,0,0,0,0,0,0,14.80,14.80,14.81
$PING,104.9,108.9,109.2,1.03,1.00
$GC,4513,1.04,121.7,3085,2554,2906,2895,89.7,12.4,531,4519,0.00,2.47,0.00,0.000,260,0.000,0.096,3084,3935,2900,2905,2895,0,0,0,0,0,0,14.83,14.48,14.83
$PING,84.7,88.4,88.4,1.01,1.00
$GC,4593,1.04,121.7,3085,3933,2906,2895,78.1,14.8,547,4599,0.10,2.38,0.00,0.000,5126,0.292,0.056,3070,2550,2900,2905,2895,0,0,0,0,0,0,14.22,14.56,14.47
$PING,63.6,65.8,66.0,1.04,1.00
$PING,43.1,44.8,44.6,1.05,1.00
$GC,4904,1.04,121.7,3070,2551,2905,2896,42.0,11.4,579,4904,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2551,2900,2906,2895,0,0,0,0,0,0,14.84,14.85,14.85
$PING,22.2,22.5,22.6,1.04,1.00
$FREEZE,9.03,-1.633,-1.866,2,1,0
$FREEZE,7.83,-1.627,-1.865,2,1,0
$FREEZE,6.63,-1.626,-1.864,2,1,0
$GC,5204,1.04,121.7,3070,2552,2907,2896,6.6,12.2,609,5210,0.00,2.40,0.00,0.000,516,0.000,0.067,3080,1156,2900,2906,2895,0,0,0,0,0,0,14.86,14.52,14.86
$FREEZE,5.31,-1.628,-1.863,2,1,0
$FREEZE,4.68,-1.628,-1.863,2,1,0
$FREEZE,4.12,-1.620,-1.863,2,1,0
$FREEZE,3.53,-1.620,-1.862,2,1,0
$GC,5230,1.04,121.7,3080,1156,2908,2895,3.5,11.6,614,5236,0.00,2.42,0.00,0.000,1030,0.000,0.068,3080,2554,2900,2906,2895,0,0,0,0,0,0,14.65,14.54,14.69
$FREEZE,1.74,-1.619,-1.861,2,1,0
$STATE,5244,end climb,SURFACE_DEPTH_REACHED
$STATE,5244,begin surface coast
$FREEZE,0.56,-1.616,-1.860,2,1,0
$FINISH,0.6,1.027283
$STATE,5253,end surface coast,CONTROL_FINISHED_OK
$STATE,5253,begin surface
$SM_CCo,5269,163.40,0.221,0,0,2205,300.18
$SM_GC,0.79,8.52,0.45,163.40,0.080,0.089,0.221,191,2809,2205,-7.89,-0.65,300.18,0,0,0,0,0,0,14.52,14.57,14.23
$RAFOS_CLK,217
$RAFOS,2,1519668786,18.233334,18.218334,150,72,61,58,55,53,619,206,128,195,220,169
$RAFOS,1,1519668424,18.133333,18.117777,149,63,60,55,55,54,595,189,171,200,111,122
$RAFOS,0,1519668064,18.032778,18.017778,130,75,59,58,57,55,650,200,215,161,179,123
$RAFOS_FIX,-7408.165039,-11320.655273,260218,181824,3,143,0.30
$IRIDIUM_FIX,-7407.37,-11309.85,260218,152419
$TT8_MAMPS,0.038948,0.83888
$HUMID,45.03
$INTERNAL_PRESSURE,7.78269
$TCM_TEMP,13.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,22.2,22.6
$24V_AH,12.52,69.645
$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,22.950,55.850,224.825,163.400,0.000,0.000,0.000,220.825,8.000,0.000,6.172,0.000,3630.551,566.498,1480.473,107.854,0.000,1266.179,0.000,888.796,720.000,56.406,0.000
$DEVICE_MAMPS,467.415,96.390,2265.165,221.085,0.000,0.000,0.000,187.425,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5268.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.279,0.000,0.000,0.000
$MEM,280380
$DATA_FILE_SIZE,20084,617
$CAP_FILE_SIZE,73912,0
$CFSIZE,1024409600,997965824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1444.9
$CURRENT,0.073,351.91,1
$GPS,260218,184239,-7407.605,-11321.186,21,0.7,21,54.0,0.1,0.0,12,5.4