version: 66.13
glider: 221
mission: 7
dive: 557
start: 11 24 118 21 1 14
data:
$ID,221
$MISSION,7
$DIVE,557
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,0
$SURFACE_URGENCY_TRY,100
$SURFACE_URGENCY_FORCE,100
$T_DIVE,330
$T_MISSION,420
$T_ABORT,4320
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,0
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.079999998
$D_OFFGRID,990
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,120
$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,40
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,50
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,1900
$VBD_MAX,3960
$C_VBD,3600
$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,0
$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
$GPS1,241118,204531,-7408.3813,-11311.8047,10,0.9,23,53.8,0.0,0.0,9,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-66.0
$GPS2,241118,210043,-7408.4312,-11311.9775,2,1.0,3,53.8,0.0,0.0,8,8.0
$SPEED_LIMITS,0.100,0.187
$TGT_NAME,W1
$TGT_LATLONG,-7407.500,-11325.000
$TGT_RADIUS,1200.000
$MHEAD_RNG_PITCHd_Wd,239.2,6819,-21.3,-10.000,-28.20,1570
$D_GRID,990
$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,8,end surface,CONTROL_FINISHED_OK
$STATE,8,begin dive
$GC,11,-1.10,-107.1,182,2815,2424,2317,0.0,0.0,0,113,0.00,0.00,-100.55,0.003,16390,0.000,0.000,181,2816,3963,3974,3952,0,0,0,0,0,0,14.72,12.42,14.72
$GC,116,-1.10,-107.1,182,2816,3977,3957,1.4,-1.7,3,132,11.48,2.53,0.00,0.000,2564,0.438,0.043,2375,1390,3969,3977,3962,0,0,0,0,0,0,13.78,14.38,14.31
$PING,10.8,12.2,9000.0,0.00,0.00
$PING,21.8,23.3,9000.0,0.00,0.00
$PING,32.7,34.9,34.8,1.04,1.00
$GC,362,-1.10,-107.1,2374,1391,3976,3971,44.5,-15.2,39,368,0.00,2.55,0.00,0.000,1030,0.000,0.064,2373,2799,3973,3976,3970,0,0,0,0,0,0,14.38,14.29,14.44
$PING,57.5,60.8,60.9,1.05,1.00
$GC,727,-1.10,-107.1,2370,2800,3975,3972,99.6,-15.1,55,732,0.00,2.45,0.00,0.000,516,0.000,0.047,2373,1390,3973,3975,3971,0,0,0,0,0,0,14.90,14.40,14.91
$GC,782,-1.10,-107.1,2374,1390,3977,3971,108.5,-15.7,63,788,0.00,2.58,0.00,0.000,1030,0.000,0.064,2372,2809,3973,3975,3971,0,0,0,0,0,0,14.35,14.31,14.37
$GC,1148,-1.10,-107.1,2372,2810,3976,3972,166.1,-15.7,79,1153,0.00,2.00,0.00,0.000,260,0.000,0.088,2369,3916,3973,3975,3971,0,0,0,0,0,0,14.92,14.31,14.92
$GC,1279,-1.10,-107.1,2370,3916,3977,3971,189.0,-18.5,98,1288,0.00,1.95,0.00,0.000,1030,0.000,0.046,2369,2782,3973,3975,3971,0,0,0,0,0,0,14.52,14.49,14.56
$GC,1622,-1.10,-107.1,2370,2782,3976,3972,243.8,-15.4,106,1628,0.00,2.10,0.00,0.000,260,0.000,0.086,2367,3913,3973,3975,3972,0,0,0,0,0,0,14.93,14.26,14.94
$GC,1700,-1.10,-107.1,2368,3913,3975,3972,256.5,-16.7,117,1706,0.00,1.92,0.00,0.000,1030,0.000,0.045,2368,2794,3973,3975,3972,0,0,0,0,0,0,14.50,14.46,14.52
$GC,2070,-1.10,-107.1,2368,2795,3976,3972,313.9,-15.5,128,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2794,3973,3974,3972,0,0,0,0,0,0,14.96,14.96,14.95
$GC,2406,-1.10,-107.1,2371,2795,3976,3972,363.9,-14.7,134,2412,0.00,2.08,0.00,0.000,260,0.000,0.086,2365,3910,3973,3975,3972,0,0,0,0,0,0,14.95,14.24,14.95
$GC,2497,-1.10,-107.1,2366,3910,3977,3972,378.1,-16.1,147,2503,0.00,1.95,0.00,0.000,1030,0.000,0.044,2365,2786,3974,3976,3972,0,0,0,0,0,0,14.59,14.54,14.64
$GC,2854,-1.10,-107.1,2366,2786,3976,3972,429.4,-14.3,156,2860,0.00,2.10,0.00,0.000,260,0.000,0.085,2362,3917,3973,3975,3972,0,0,0,0,0,0,14.95,14.23,14.95
$GC,2903,-1.10,-107.1,2362,3918,3976,3973,436.7,-15.1,163,2910,0.00,1.95,0.00,0.000,1030,0.000,0.046,2363,2795,3973,3975,3972,0,0,0,0,0,0,14.60,14.54,14.62
$GC,3246,-1.10,-107.1,2363,2795,3977,3972,484.4,-13.9,170,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2795,3973,3975,3972,0,0,0,0,0,0,14.95,14.95,14.95
$PING,508.8,43.2,9000.0,-0.01,0.03
$PING,524.4,25.9,9000.0,-0.06,0.78
$GC,3582,-1.10,-107.1,2362,2796,3977,3973,532.3,-14.1,176,3583,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2795,3973,3975,3972,0,0,0,0,0,0,14.94,14.94,14.94
$PING,539.9,12.7,12.0,-0.98,0.99
$STATE,3691,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3691,begin apogee
$GC,3698,-0.23,0.0,2363,2548,3976,3973,546.9,-13.6,178,3812,1.15,0.00,111.12,2.969,10246,0.256,0.000,2653,2547,3599,3606,3592,0,0,0,0,0,0,13.78,13.59,12.14
$STATE,3813,end apogee,CONTROL_FINISHED_OK
$STATE,3813,begin climb
$GC,3815,1.10,107.1,2654,2546,3606,3592,551.1,0.0,180,3953,1.45,2.88,129.52,2.890,10500,0.136,0.091,3078,3905,3170,3182,3158,0,0,0,0,0,0,13.60,12.83,11.38
$GC,3990,1.11,107.1,3077,3906,3181,3155,542.3,9.1,192,3995,0.00,2.58,0.00,0.000,1094,0.000,0.052,3088,2558,3167,3180,3154,0,0,0,0,0,0,13.31,13.25,13.32
$PING,533.9,17.7,17.8,-0.85,1.00
$PING,523.2,24.8,9000.0,-0.72,1.00
$PING,512.5,39.2,38.0,-1.00,0.96
$GC,4368,1.11,107.1,3088,2560,3174,3149,507.3,9.5,204,4373,0.00,2.55,0.00,0.000,516,0.000,0.062,3098,1138,3160,3173,3148,0,0,0,0,0,0,14.73,14.32,14.73
$PING,502.2,46.2,47.4,-1.02,0.97
$GC,4464,1.13,107.1,3097,1138,3173,3147,498.3,9.1,218,4470,0.00,2.58,0.00,0.000,1094,0.000,0.067,3098,2554,3159,3172,3147,0,0,0,0,0,0,14.43,14.34,14.47
$GC,4814,1.14,107.1,3098,2555,3171,3146,465.2,9.4,226,4820,0.00,2.53,0.00,0.000,324,0.000,0.093,3101,3909,3158,3170,3146,0,0,0,0,0,0,14.90,14.33,14.90
$GC,4842,1.14,107.1,3098,3909,3171,3147,462.4,9.8,230,4848,0.00,2.40,0.00,0.000,1030,0.000,0.051,3109,2535,3157,3169,3146,0,0,0,0,0,0,14.57,14.53,14.58
$GC,5207,1.14,107.1,3106,2537,3171,3145,425.8,9.8,240,5212,0.00,2.42,0.00,0.000,516,0.000,0.061,3120,1154,3157,3169,3145,0,0,0,0,0,0,14.87,14.42,14.87
$GC,5304,1.14,107.1,3120,1155,3170,3145,415.9,10.2,254,5312,0.00,2.53,0.00,0.000,1030,0.000,0.068,3120,2550,3156,3169,3144,0,0,0,0,0,0,14.48,14.39,14.53
$GC,5655,1.14,107.1,3120,2551,3169,3145,380.9,9.9,262,5660,0.00,2.50,0.00,0.000,260,0.000,0.093,3120,3914,3156,3169,3144,0,0,0,0,0,0,14.88,14.38,14.88
$GC,5745,1.14,107.1,3120,3915,3169,3145,370.5,12.0,275,5751,0.10,2.40,0.00,0.000,5126,0.262,0.052,3102,2540,3156,3169,3144,0,0,0,0,0,0,14.04,14.50,14.28
$GC,6102,1.16,107.1,3103,2540,3170,3144,337.2,9.1,284,6111,0.00,2.55,0.00,0.000,324,0.000,0.092,3097,3904,3156,3169,3144,0,0,0,0,0,0,14.95,14.31,14.95
$GC,6145,1.16,107.1,3102,3905,3169,3145,333.0,9.6,290,6151,0.00,2.38,0.00,0.000,1030,0.000,0.051,3113,2552,3156,3169,3144,0,0,0,0,0,0,14.56,14.52,14.59
$GC,6495,1.20,107.1,3113,2547,3169,3145,303.0,8.3,298,6501,0.00,2.50,0.00,0.000,580,0.000,0.060,3124,1147,3156,3169,3143,0,0,0,0,0,0,14.95,14.34,14.96
$GC,6551,1.24,143.7,3123,1147,3170,3144,298.7,7.6,306,6593,0.00,2.55,37.00,2.672,9254,0.000,0.067,3124,2557,3024,3042,3007,0,0,0,0,0,0,14.45,14.36,12.81
$GC,6945,1.24,143.7,3124,2558,3036,3001,259.0,10.7,320,6950,0.00,2.50,0.00,0.000,260,0.000,0.093,3124,3911,3017,3035,3000,0,0,0,0,0,0,14.85,14.37,14.85
$GC,6999,1.24,143.7,3123,3913,3032,3001,252.2,12.6,328,7005,0.00,2.40,0.00,0.000,1030,0.000,0.050,3134,2537,3017,3035,2999,0,0,0,0,0,0,14.54,14.50,14.57
$GC,7391,1.24,143.7,3135,2537,3036,2999,206.7,11.5,342,7397,0.00,2.55,0.00,0.000,260,0.000,0.091,3134,3904,3016,3034,2998,0,0,0,0,0,0,14.93,14.33,14.93
$GC,7426,1.24,143.7,3133,3904,3035,2999,202.2,13.0,347,7432,0.00,2.38,0.00,0.000,1030,0.000,0.050,3144,2543,3016,3034,2999,0,0,0,0,0,0,14.57,14.52,14.60
$GC,7785,1.24,143.7,3145,2544,3035,3000,162.7,11.2,362,7790,0.00,2.53,0.00,0.000,260,0.000,0.092,3144,3920,3016,3034,2999,0,0,0,0,0,0,14.93,14.38,14.93
$GC,7811,1.24,143.7,3145,3920,3036,2999,159.2,12.3,366,7818,0.00,2.40,0.00,0.000,1030,0.000,0.050,3154,2545,3016,3034,2999,0,0,0,0,0,0,14.56,14.52,14.59
$GC,8175,1.24,143.7,3155,2545,3035,2999,118.9,11.0,382,8181,0.00,2.47,0.00,0.000,516,0.000,0.060,3164,1160,3016,3034,2998,0,0,0,0,0,0,14.95,14.34,14.95
$PING,117.3,122.4,9000.0,-0.20,1.00
$GC,8280,1.24,143.7,3164,1160,3036,2997,107.5,10.5,397,8290,0.12,2.53,0.00,0.000,5126,0.263,0.067,3131,2557,3016,3034,2998,0,0,0,0,0,0,13.96,14.37,14.22
$PING,96.1,100.0,9000.0,-0.16,0.89
$PING,85.7,89.2,89.1,1.05,1.00
$PING,75.1,78.7,78.6,1.01,1.00
$GC,8626,1.25,143.7,3132,2558,3035,2999,75.1,9.5,410,8631,0.00,2.47,0.00,0.000,580,0.000,0.060,3141,1154,3016,3034,2998,0,0,0,0,0,0,14.88,14.40,14.88
$PING,64.7,68.4,68.4,0.99,1.00
$GC,8772,1.27,143.7,3142,1154,3036,2998,61.4,9.3,431,8777,0.00,2.50,0.00,0.000,1094,0.000,0.067,3141,2562,3016,3034,2998,0,0,0,0,0,0,14.56,14.42,14.62
$PING,53.8,56.2,56.4,1.06,1.00
$PING,42.3,45.1,44.8,1.04,1.00
$PING,30.7,31.8,32.1,1.06,1.00
$GC,9127,1.27,143.7,3141,2563,3033,2999,24.9,10.3,446,9133,0.00,2.50,0.00,0.000,260,0.000,0.092,3141,3906,3015,3034,2996,0,0,0,0,0,0,14.95,14.26,14.95
$PING,20.0,20.7,20.5,1.09,1.00
$GC,9176,1.27,143.7,3142,3906,3036,2998,19.2,11.9,453,9185,0.00,2.38,0.00,0.000,1030,0.000,0.050,3151,2549,3016,3034,2998,0,0,0,0,0,0,14.54,14.50,14.57
$PING,8.9,9.6,9.5,1.02,1.00
$FREEZE,8.90,-1.451,-1.866,2,1,0
$FREEZE,5.72,-1.451,-1.864,2,1,0
$FREEZE,2.58,-1.451,-1.861,2,1,0
$FREEZE,-0.37,-1.450,-1.859,2,1,0
$STATE,9348,end climb,SURFACE_DEPTH_REACHED
$STATE,9348,begin surface coast
$FREEZE,-0.44,-1.464,-0.937,2,1,0
$FINISH,-0.4,1.013834
$STATE,9379,end surface coast,FINISH_DEPTH_REACHED
$STATE,9379,begin surface
$SM_CCo,9398,125.72,0.219,0,0,2403,300.18
$SM_GC,0.51,8.75,0.47,125.72,0.073,0.090,0.219,184,2804,2403,-7.90,-0.71,300.18,0,0,0,0,0,0,14.45,14.47,14.11
$RAFOS_CLK,388
$RAFOS,2,1543093998,21.233334,21.221666,116,64,61,58,58,52,529,131,185,210,152,167
$RAFOS,1,1543093628,21.133333,21.118889,117,66,55,54,50,50,550,221,201,143,180,123
$RAFOS,0,1543093314,21.032778,21.031666,148,62,58,54,52,50,353,217,176,145,120,154
$RAFOS_FIX,-7407.614258,-11306.227539,241118,212144,3,127,3.65
$IRIDIUM_FIX,-7409.58,-11255.37,241118,181320
$TT8_MAMPS,0.038199,0.113848
$HUMID,48.42
$INTERNAL_PRESSURE,7.80222
$TCM_TEMP,13.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,8.9,9.5
$ALTIM_BOTTOM_PING,539.9,12.0
$24V_AH,11.38,179.391
$10V_AH,11.78,0.000
$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,23.050,91.950,277.650,125.725,0.000,0.000,0.000,597.400,22.500,0.000,4.703,0.000,7759.715,652.719,1587.455,448.711,0.000,1649.117,0.000,665.691,720.000,154.947,0.000
$DEVICE_MAMPS,437.580,93.330,2968.965,218.790,0.000,0.000,0.000,218.790,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9357.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.132,0.000,0.000,0.000
$MEM,279856
$DATA_FILE_SIZE,16777,461
$CAP_FILE_SIZE,91438,0
$CFSIZE,1024409600,954580992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1446.6
$CURRENT,0.045,256.34,1
$GPS,241118,234101,-7408.073,-11315.678,27,0.9,27,53.9,0.2,0.0,10,3.6