version: 66.13
glider: 221
mission: 7
dive: 560
start: 11 25 118 4 53 29
data:
$ID,221
$MISSION,7
$DIVE,560
$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,41
$R_STBD_OVSHOOT,20
$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
$GPS1,251118,043930,-7407.3384,-11320.9629,18,0.7,18,53.9,0.3,91.4,11,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-66.4
$GPS2,251118,045258,-7407.2808,-11321.1387,3,0.8,4,53.9,1.1,304.7,10,7.0
$SPEED_LIMITS,0.100,0.187
$TGT_NAME,W1
$TGT_LATLONG,-7407.500,-11325.000
$TGT_RADIUS,1200.000
$MHEAD_RNG_PITCHd_Wd,159.4,1998,-37.9,-10.000,-42.41,618
$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,12,-1.77,-40.8,195,2814,2424,2320,0.0,0.0,0,103,0.00,0.00,-89.82,0.003,16390,0.000,0.000,193,2814,3764,3785,3744,0,0,0,0,0,0,14.72,12.41,14.72
$GC,106,-1.77,-40.8,194,2814,3789,3755,1.5,-1.2,3,122,10.30,2.47,0.00,0.000,2564,0.437,0.044,2156,1390,3775,3789,3762,0,0,0,0,0,0,13.76,14.26,14.12
$PING,10.2,12.2,9000.0,0.00,0.00
$PING,21.4,24.4,9000.0,0.00,0.00
$PING,32.8,35.8,36.0,1.04,1.00
$PING,43.2,46.1,46.1,0.99,1.00
$GC,330,-1.77,-40.8,2157,1389,3791,3773,47.5,-21.0,36,337,0.00,2.55,0.00,0.000,1030,0.000,0.060,2155,2811,3781,3789,3773,0,0,0,0,0,0,14.40,14.33,14.45
$GC,688,-1.77,-40.8,2155,2811,3791,3776,123.1,-20.6,51,694,0.00,2.00,0.00,0.000,260,0.000,0.080,2147,3912,3783,3790,3776,0,0,0,0,0,0,14.91,14.31,14.91
$GC,743,-1.77,-40.8,2148,3913,3790,3777,135.2,-21.9,59,750,0.00,1.92,0.00,0.000,1030,0.000,0.040,2147,2770,3783,3790,3776,0,0,0,0,0,0,14.58,14.56,14.59
$GC,1136,-1.77,-40.8,2148,2772,3791,3778,213.8,-19.7,75,1142,0.00,2.38,0.00,0.000,516,0.000,0.046,2147,1413,3783,3790,3777,0,0,0,0,0,0,14.85,14.35,14.85
$GC,1268,-1.77,-40.8,2148,1413,3791,3778,239.4,-18.0,94,1275,0.00,2.50,0.00,0.000,1030,0.000,0.060,2145,2808,3783,3790,3777,0,0,0,0,0,0,14.42,14.34,14.46
$GC,1642,-1.77,-40.8,2145,2808,3792,3777,307.7,-18.4,105,1648,0.00,1.98,0.00,0.000,260,0.000,0.080,2136,3916,3783,3790,3777,0,0,0,0,0,0,14.85,14.34,14.85
$GC,1709,-1.77,-40.8,2140,3916,3791,3776,321.5,-20.1,115,1716,0.00,1.92,0.00,0.000,1030,0.000,0.040,2140,2790,3783,3790,3777,0,0,0,0,0,0,14.61,14.57,14.62
$PING,350.7,50.2,9000.0,0.03,0.55
$PING,361.7,37.7,9000.0,-0.01,0.05
$PING,372.8,26.1,26.0,-1.09,1.00
$PING,383.8,13.8,13.9,-1.09,1.00
$STATE,2086,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2086,begin apogee
$GC,2092,-0.23,0.0,2140,2552,3791,3779,394.5,-19.6,127,2148,2.05,0.00,52.45,2.804,10246,0.275,0.000,2649,2551,3601,3611,3592,0,0,0,0,0,0,13.78,14.05,12.60
$STATE,2149,end apogee,CONTROL_FINISHED_OK
$STATE,2149,begin climb
$GC,2152,1.77,40.8,2650,2553,3606,3592,394.6,0.0,128,2207,2.10,2.60,46.78,2.746,10756,0.129,0.060,3308,1164,3434,3447,3421,0,0,0,0,0,0,14.07,13.55,12.33
$GC,2264,1.82,76.4,3308,1165,3445,3419,391.5,4.1,137,2310,0.00,2.53,39.10,2.724,9254,0.000,0.067,3308,2550,3294,3309,3279,0,0,0,0,0,0,14.19,14.07,12.31
$PING,382.0,13.3,14.7,-1.20,0.96
$PING,368.5,25.0,9000.0,-0.79,0.98
$PING,355.8,33.7,9000.0,-0.78,1.00
$GC,2654,1.82,76.4,3308,2551,3302,3274,350.1,11.2,151,2660,0.00,2.53,0.00,0.000,260,0.000,0.093,3307,3905,3285,3301,3269,0,0,0,0,0,0,14.81,14.31,14.81
$GC,2688,1.82,76.4,3308,3906,3302,3272,346.2,11.3,156,2696,0.00,2.38,0.00,0.000,1030,0.000,0.054,3319,2559,3286,3301,3272,0,0,0,0,0,0,14.52,14.48,14.54
$GC,3046,1.82,76.4,3319,2559,3302,3272,305.2,11.1,165,3053,0.00,2.47,0.00,0.000,260,0.000,0.093,3318,3910,3282,3294,3271,0,0,0,0,0,0,14.85,14.38,14.85
$GC,3102,1.82,76.4,3318,3911,3301,3272,297.9,13.3,173,3109,0.00,2.40,0.00,0.000,1030,0.000,0.053,3329,2539,3285,3300,3270,0,0,0,0,0,0,14.57,14.52,14.59
$GC,3494,1.82,76.4,3329,2539,3301,3271,252.7,11.0,187,3500,0.00,2.55,0.00,0.000,260,0.000,0.093,3329,3904,3284,3300,3268,0,0,0,0,0,0,14.94,14.33,14.94
$GC,3731,1.82,76.4,3330,3904,3301,3271,223.0,13.3,221,3739,0.00,2.38,0.00,0.000,1030,0.000,0.053,3339,2550,3286,3301,3271,0,0,0,0,0,0,14.56,14.51,14.59
$GC,4085,1.82,76.4,3340,2550,3302,3271,181.5,10.8,235,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3339,2550,3285,3300,3270,0,0,0,0,0,0,14.87,14.86,14.86
$GC,4420,1.82,76.4,3340,2551,3302,3271,146.8,10.7,247,4425,0.00,2.47,0.00,0.000,516,0.000,0.062,3350,1146,3285,3300,3270,0,0,0,0,0,0,14.88,14.40,14.88
$GC,4452,1.82,76.4,3351,1147,3302,3271,143.1,10.5,252,4459,0.12,2.55,0.00,0.000,5126,0.309,0.070,3320,2551,3285,3300,3271,0,0,0,0,0,0,13.85,14.35,14.15
$PING,135.2,141.3,9000.0,-0.49,1.00
$PING,124.7,130.0,9000.0,-0.45,0.98
$GC,4810,1.83,76.4,3320,2551,3301,3271,109.6,9.2,267,4816,0.00,2.55,0.00,0.000,580,0.000,0.062,3331,1140,3286,3301,3271,0,0,0,0,0,0,14.94,14.32,14.93
$GC,4901,1.86,76.4,3330,1142,3300,3272,101.5,8.9,280,4907,0.00,2.55,0.00,0.000,1094,0.000,0.068,3331,2551,3285,3300,3271,0,0,0,0,0,0,14.42,14.35,14.47
$PING,90.2,93.9,93.8,1.05,1.00
$PING,78.7,82.2,82.1,1.04,1.00
$GC,5260,1.88,76.4,3331,2551,3302,3271,71.5,8.5,295,5265,0.00,2.50,0.00,0.000,324,0.000,0.091,3331,3916,3285,3300,3271,0,0,0,0,0,0,14.93,14.33,14.93
$PING,68.6,71.6,71.7,1.03,1.00
$GC,5314,1.91,76.4,3331,3916,3302,3271,66.8,8.6,303,5320,0.00,2.40,0.00,0.000,1094,0.000,0.053,3341,2544,3285,3300,3271,0,0,0,0,0,0,14.52,14.47,14.55
$PING,57.9,60.4,60.3,1.05,1.00
$PING,46.6,48.0,48.1,1.07,1.00
$GC,5680,1.95,76.4,3341,2545,3301,3272,37.2,8.4,319,5685,0.00,2.47,0.00,0.000,580,0.000,0.062,3352,1148,3286,3301,3271,0,0,0,0,0,0,14.93,14.39,14.92
$PING,36.1,37.9,37.7,1.03,1.00
$GC,5706,1.98,76.4,3352,1150,3301,3272,34.9,8.2,323,5712,0.00,2.55,0.00,0.000,1094,0.000,0.070,3352,2555,3286,3301,3271,0,0,0,0,0,0,14.41,14.33,14.46
$PING,25.3,26.6,26.8,1.01,1.00
$PING,13.7,13.9,14.0,1.07,1.00
$FREEZE,9.21,-1.507,-1.867,2,1,0
$FREEZE,6.95,-1.510,-1.865,2,1,0
$FREEZE,4.59,-1.512,-1.863,2,1,0
$GC,6072,2.02,76.4,3352,2556,3301,3272,4.6,8.2,339,6077,0.00,2.50,0.00,0.000,324,0.000,0.092,3352,3911,3286,3301,3271,0,0,0,0,0,0,14.93,14.32,14.93
$FREEZE,3.31,-1.512,-1.862,2,1,0
$FREEZE,2.60,-1.512,-1.862,2,1,0
$FREEZE,1.93,-1.512,-1.861,2,1,0
$STATE,6095,end climb,SURFACE_DEPTH_REACHED
$STATE,6095,begin surface coast
$FREEZE,1.34,-1.512,-1.861,2,1,0
$FINISH,1.3,1.027286
$STATE,6102,end surface coast,CONTROL_FINISHED_OK
$STATE,6102,begin surface
$SM_CCo,6125,179.32,0.221,0,0,2405,300.18
$SM_GC,0.53,10.32,1.98,179.32,0.146,0.056,0.221,187,2794,2405,-7.90,1.02,300.18,0,0,0,0,0,0,14.38,14.55,14.04
$RAFOS_CLK,254
$RAFOS,2,1543126390,6.233333,6.219444,123,65,63,58,57,53,560,174,213,187,155,131
$RAFOS,1,1543126026,6.133333,6.118333,80,59,57,57,56,56,554,209,136,172,124,185
$RAFOS,0,1543125661,6.032778,6.016944,129,61,61,58,57,56,642,210,158,223,176,201
$RAFOS_FIX,-7406.181152,-11312.029297,251118,060628,3,111,1.02
$IRIDIUM_FIX,-7406.56,-11341.81,251118,022657
$TT8_MAMPS,0.03745,0.26215
$HUMID,46.45
$INTERNAL_PRESSURE,7.79246
$TCM_TEMP,13.10
$XPDR_PINGS,4
$ALTIM_TOP_PING,13.7,14.0
$ALTIM_BOTTOM_PING,383.8,13.9
$24V_AH,12.31,180.087
$10V_AH,12.69,0.000
$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,24.900,62.450,138.325,179.325,0.000,0.000,0.000,506.675,18.500,0.000,5.484,0.000,4951.389,514.099,1265.899,392.953,0.000,1315.372,0.000,499.898,720.000,129.297,0.000
$DEVICE_MAMPS,436.815,93.330,2803.725,221.085,0.000,0.000,0.000,215.730,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6079.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.981,0.000,0.000,0.000
$MEM,279836
$DATA_FILE_SIZE,10138,344
$CAP_FILE_SIZE,70880,0
$CFSIZE,1024409600,954318848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1445.1
$CURRENT,0.077,342.39,1
$GPS,251118,063921,-7407.410,-11322.128,4,1.5,7,53.9,0.4,343.7,6,9.1