version: 66.13
glider: 221
mission: 7
dive: 142
start: 2 19 118 1 46 34
data:
$ID,221
$MISSION,7
$DIVE,142
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$D_ABORT,1020
$D_NO_BLEED,400
$D_BOOST,100
$T_BOOST,0
$D_FINISH,10
$D_PITCH,3
$D_SAFE,0
$D_CALL,2
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,320
$T_MISSION,1500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,64800
$T_EPIRB,0
$EXEC_P,0
$EXEC_DT,0
$EXEC_T,0
$EXEC_N,0
$USE_BATHY,-3
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.15000001
$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,793.79199
$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,42
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3660
$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,1
$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
$GPS1,190218,013400,-7404.2100,-11229.5791,37,1.3,37,53.3,0.5,269.9,6,8.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-50.0
$GPS2,190218,014558,-7404.2246,-11229.8584,3,1.0,5,53.3,0.4,349.1,7,6.3
$SPEED_LIMITS,0.094,0.193
$TGT_NAME,hold
$TGT_LATLONG,-7404.000,-11225.000
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,24.6,2505,-19.8,-9.375,-27.27,1654
$D_GRID,826
$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,7,begin dive
$GC,8,-1.03,-106.6,194,2804,563,548,0.0,0.0,0,205,0.00,0.00,-194.07,0.002,16390,0.000,0.000,194,2804,3963,3973,3953,0,0,0,0,0,0,14.57,12.95,14.57
$GC,207,-1.05,-121.7,195,2803,3975,3954,2.7,-3.1,19,225,11.65,1.95,0.00,0.000,2340,0.464,0.074,2371,3910,3967,3974,3960,0,0,0,0,0,0,14.00,14.36,14.29
$PING,21.1,25.4,9000.0,0.00,0.00
$PING,41.2,44.0,9000.0,0.00,0.00
$GC,449,-1.05,-121.7,2372,3910,3974,3967,57.0,-21.3,67,455,0.00,1.90,0.00,0.000,1030,0.000,0.045,2372,2785,3970,3974,3966,0,0,0,0,0,0,14.47,14.45,14.50
$PING,84.1,88.1,87.8,1.00,1.00
$GC,759,-1.05,-121.7,2372,2786,3975,3967,115.9,-18.7,99,765,0.00,2.05,0.00,0.000,260,0.000,0.091,2366,3905,3969,3974,3965,0,0,0,0,0,0,14.75,14.37,14.75
$GC,789,-1.05,-121.7,2366,3905,3974,3967,121.8,-20.2,105,796,0.00,1.85,0.00,0.000,1030,0.000,0.045,2366,2804,3970,3974,3966,0,0,0,0,0,0,14.54,14.50,14.55
$GC,1100,-1.05,-121.7,2367,2804,3975,3966,179.0,-17.8,137,1106,0.00,2.40,0.00,0.000,516,0.000,0.049,2366,1412,3970,3974,3966,0,0,0,0,0,0,14.79,14.45,14.79
$GC,1120,-1.05,-121.7,2367,1412,3977,3968,182.7,-17.2,141,1128,0.05,2.47,0.00,0.000,3078,0.332,0.069,2373,2797,3970,3974,3966,0,0,0,0,0,0,14.16,14.42,14.39
$GC,1432,-1.05,-121.7,2373,2799,3974,3968,236.2,-17.9,173,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2798,3970,3974,3966,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1732,-1.05,-121.7,2373,2799,3975,3968,288.3,-17.8,203,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2798,3970,3974,3967,0,0,0,0,0,0,14.85,14.85,14.85
$GC,2043,-1.05,-121.7,2373,2798,3975,3967,341.9,-16.7,222,2048,0.00,1.98,0.00,0.000,260,0.000,0.094,2373,3913,3970,3974,3967,0,0,0,0,0,0,14.85,14.45,14.85
$GC,2077,-1.05,-121.7,2372,3914,3976,3968,348.0,-17.7,229,2085,0.00,1.88,0.00,0.000,1030,0.000,0.046,2372,2797,3970,3974,3966,0,0,0,0,0,0,14.61,14.57,14.63
$GC,2382,-1.05,-121.7,2372,2798,3975,3968,398.9,-16.7,245,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2797,3970,3974,3967,0,0,0,0,0,0,14.87,14.87,14.87
$GC,2683,-1.05,-121.7,2372,2798,3975,3968,448.3,-16.6,260,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2797,3970,3974,3967,0,0,0,0,0,0,14.82,14.82,14.82
$GC,2982,-1.05,-121.7,2372,2797,3975,3967,496.5,-15.8,275,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2797,3970,3974,3967,0,0,0,0,0,0,14.88,14.89,14.89
$GC,3292,-1.05,-121.7,2372,2797,3975,3967,545.4,-15.9,286,3298,0.00,2.38,0.00,0.000,516,0.000,0.049,2372,1404,3970,3974,3967,0,0,0,0,0,0,14.88,14.49,14.88
$GC,3312,-1.05,-121.7,2372,1405,3975,3968,548.6,-16.0,290,3318,0.00,2.50,0.00,0.000,1030,0.000,0.070,2372,2805,3970,3973,3967,0,0,0,0,0,0,14.56,14.47,14.60
$GC,3682,-1.05,-121.7,2372,2805,3975,3966,607.1,-16.0,304,3688,0.00,1.98,0.00,0.000,260,0.000,0.092,2371,3905,3970,3974,3967,0,0,0,0,0,0,14.88,14.43,14.88
$GC,3712,-1.05,-121.7,2371,3906,3974,3968,612.0,-16.3,310,3718,0.00,1.85,0.00,0.000,1030,0.000,0.049,2371,2806,3970,3974,3966,0,0,0,0,0,0,14.62,14.55,14.66
$GC,4102,-1.05,-121.7,2372,2806,3975,3967,671.6,-15.5,328,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2806,3970,3973,3967,0,0,0,0,0,0,14.88,14.88,14.88
$GC,4462,-1.05,-121.7,2371,2807,3974,3968,726.1,-15.0,340,4469,0.00,2.00,0.00,0.000,260,0.000,0.093,2371,3909,3970,3973,3967,0,0,0,0,0,0,14.88,14.43,14.89
$GC,4483,-1.05,-121.7,2371,3910,3974,3968,729.5,-16.4,344,4489,0.00,1.88,0.00,0.000,1030,0.000,0.047,2371,2793,3969,3973,3966,0,0,0,0,0,0,14.62,14.59,14.64
$GC,4855,-1.05,-121.7,2372,2792,3975,3967,781.5,-13.9,358,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2793,3968,3973,3963,0,0,0,0,0,0,14.89,14.89,14.89
$PING,806.5,39.1,9000.0,-0.03,0.29
$PING,828.5,15.0,9000.0,-0.08,0.91
$STATE,5183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5183,begin apogee
$PING,829.9,13.0,13.2,-1.11,1.00
$GC,5187,-0.23,0.0,2372,2549,3974,3968,828.5,-14.5,369,5911,1.05,0.00,649.65,0.998,10246,0.247,0.000,2650,2548,3960,3958,3963,0,0,0,0,14,1,14.24,13.64,13.19
$STATE,5912,end apogee,CONTROL_FINISHED_OK
$STATE,5912,begin loiter
$STATE,6022,end loiter,MOTOR_MAX_ERRORS_EXCEEDED
$SM_CCo,6023,649.65,0.902,14,1,3961,-75.61
$SM_CCo,6746,669.75,1.375,10,1,3260,99.98
$SM_CCo,7468,720.00,3.002,0,1,593,770.18
$FREEZE,9.85,0.424,-1.932,2,3,0
$SM_CCo,14154,114.50,0.479,1,0,501,793.79
$SM_CCo,14317,3.83,0.242,0,0,500,793.79
$SM_GC,0.81,7.10,0.00,3.83,0.060,0.000,0.242,181,2547,500,-7.89,-0.08,793.79,0,0,0,0,0,0,14.59,14.86,14.45
$STATE,14327,begin surface
$SM_CCo,14394,0.00,0.000,0,0,497,794.55
$SM_GC,0.60,0.08,0.45,0.00,0.467,0.064,0.000,189,2826,497,-7.97,-0.76,794.55,0,0,0,0,0,0,14.31,14.61,14.61
$RAFOS_CLK,586
$RAFOS,2,1519010011,3.233333,3.225278,66,60,60,59,53,52,205,171,117,159,376,216
$RAFOS,1,1519009647,3.133333,3.124167,105,57,53,53,53,50,457,213,202,144,156,123
$RAFOS,0,1519009261,3.032778,3.016944,136,63,61,50,49,46,590,216,200,172,142,129
$RAFOS_FIX,-7404.540527,-11219.958984,190218,030352,2,120,1.01
$IRIDIUM_FIX,-7404.86,-11231.76,190218,014225
$TT8_MAMPS,0.03745,0.205975
$HUMID,48.58
$INTERNAL_PRESSURE,7.6362
$TCM_TEMP,13.70
$XPDR_PINGS,10
$24V_AH,12.17,55.589
$10V_AH,12.58,0.000
$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,19.925,29.875,649.650,2157.725,0.000,0.000,0.000,330.650,12.250,0.000,6.663,0.000,10444.284,3208.043,1343.372,109.329,0.000,3995.378,0.000,575.430,720.000,68.866,0.000
$DEVICE_MAMPS,466.650,94.095,998.325,3001.860,0.000,0.000,0.000,124.695,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5926.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.273,0.000,0.000,0.000
$MEM,280892
$DATA_FILE_SIZE,13463,394
$CAP_FILE_SIZE,104489,34
$CFSIZE,1024409600,1002979328
$ERRORS,0,0,0,0,0,0,0,0,0,0,4,0,0,39,0,0
$SOUNDSPEED,1448.8
$CURRENT,0.069,285.05,1
$GPS,190218,054730,-7404.377,-11229.015,33,0.8,33,53.3,0.6,30.5,11,3.7
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,142
$FREEZE,0.59,0.424,-1.926,2,3,0
$SM_CCo,15056,112.72,0.760,2,0,501,793.79
$SM_GC,0.64,0.00,0.45,112.72,0.000,0.050,0.760,190,2535,501,-7.95,1.39,793.79,0,0,0,0,2,0,14.75,14.60,13.71
$STATE,15182,begin surface
$SM_CCo,15188,3.00,0.235,0,0,500,793.79
$SM_GC,0.70,0.00,0.45,3.00,0.000,0.075,0.235,190,2791,500,-7.95,-1.33,793.79,0,0,0,0,0,0,14.42,14.25,14.14
$RAFOS_CLK,27
$RAFOS_FIX,-7404.377441,-11229.014648,190218,050533,0,1,-2.00
$IRIDIUM_FIX,-7403.74,-11221.53,190218,055452
$TT8_MAMPS,0.038948,0.205975
$HUMID,47.08
$INTERNAL_PRESSURE,7.65573
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,12.17,55.625
$10V_AH,12.58,0.000
$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,0.000,0.900,0.000,115.725,0.000,0.000,0.000,243.475,0.000,0.000,0.000,0.000,240.416,130.892,286.429,54.749,0.000,380.733,0.000,1.176,0.000,0.234,0.000
$DEVICE_MAMPS,0.000,74.970,0.000,760.410,0.000,0.000,0.000,96.390,420.000,0.000,0.000,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.800,0.000,0.000,0.000
$MEM,280344
$DATA_FILE_SIZE,14419,394
$CAP_FILE_SIZE,11092,0
$CFSIZE,1024409600,1002897408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,533.537,180.01,1
$GPS,190218,060020,-7404.404,-11229.407,1,0.7,2,53.3,0.1,0.0,12,6.1
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,142