version: 66.13
glider: 221
mission: 7
dive: 143
start: 2 19 118 6 14 19
data:
$ID,221
$MISSION,7
$DIVE,143
$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,0.1
$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,450
$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,61
$R_STBD_OVSHOOT,35
$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
$GPS1,190218,060020,-7404.4043,-11229.4072,1,0.7,2,53.3,0.1,0.0,12,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-51.0
$GPS2,190218,061349,-7404.4443,-11229.8438,4,0.9,6,53.3,0.2,0.0,12,8.2
$SPEED_LIMITS,0.094,0.193
$TGT_NAME,run
$TGT_LATLONG,-7353.646,-11229.844
$TGT_RADIUS,0.000
$MHEAD_RNG_PITCHd_Wd,351.7,20000,-40.7,-9.375,-45.00,530
$D_GRID,837
$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,-1.89,-32.7,190,2793,521,506,0.0,0.0,0,201,0.00,0.00,-185.07,0.002,16390,0.000,0.000,190,2792,3794,3806,3782,0,0,0,0,0,0,14.50,13.11,14.50
$GC,203,-1.89,-32.7,191,2794,3807,3784,5.6,-9.7,19,220,10.30,1.95,0.00,0.000,2308,0.469,0.074,2107,3899,3797,3807,3788,0,0,0,0,0,0,14.04,14.32,14.39
$PING,20.4,22.1,9000.0,0.00,0.00
$PING,41.8,45.3,9000.0,0.00,0.00
$PING,63.3,67.1,67.4,1.05,1.00
$GC,444,-1.89,-32.7,2107,3900,3807,3798,93.7,-35.6,67,450,0.00,1.83,0.00,0.000,1030,0.000,0.041,2107,2800,3800,3807,3794,0,0,0,0,0,0,14.51,14.47,14.51
$GC,754,-1.89,-32.7,2107,2801,3807,3797,197.2,-32.4,99,760,0.00,1.98,0.00,0.000,260,0.000,0.083,2099,3899,3801,3807,3796,0,0,0,0,0,0,14.78,14.47,14.78
$GC,814,-1.89,-32.7,2100,3899,3808,3796,218.1,-35.1,111,820,0.00,1.83,0.00,0.000,1030,0.000,0.042,2099,2798,3801,3807,3795,0,0,0,0,0,0,14.59,14.55,14.60
$GC,1135,-1.89,-32.7,2100,2798,3806,3797,320.5,-31.4,141,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2798,3801,3807,3795,0,0,0,0,0,0,14.79,14.79,14.79
$GC,1434,-1.89,-32.7,2100,2798,3808,3796,414.9,-31.6,156,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2798,3801,3807,3796,0,0,0,0,0,0,14.85,14.85,14.85
$GC,1745,-1.89,-32.7,2101,2798,3808,3796,512.9,-30.6,171,1750,0.00,1.92,0.00,0.000,260,0.000,0.086,2098,3903,3801,3806,3796,0,0,0,0,0,0,14.87,14.55,14.87
$GC,1779,-1.89,-32.7,2098,3903,3808,3796,524.2,-33.0,178,1785,0.00,1.83,0.00,0.000,1030,0.000,0.043,2098,2797,3803,3807,3799,0,0,0,0,0,0,14.68,14.65,14.69
$GC,2165,-1.89,-32.7,2098,2797,3808,3796,639.6,-29.6,195,2170,0.00,1.90,0.00,0.000,260,0.000,0.083,2090,3896,3801,3807,3796,0,0,0,0,0,0,14.88,14.58,14.88
$GC,2194,-1.89,-32.7,2090,3897,3807,3797,648.9,-30.6,201,2202,0.10,1.80,0.00,0.000,3078,0.364,0.043,2113,2809,3801,3806,3796,0,0,0,0,0,0,14.26,14.66,14.51
$GC,2586,-1.89,-32.7,2113,2810,3807,3797,759.5,-28.3,219,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2112,2808,3801,3807,3795,0,0,0,0,0,0,14.91,14.91,14.91
$PING,841.8,17.3,9000.0,-0.05,0.79
$STATE,2885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2885,begin apogee
$PING,845.2,8.7,9000.0,-0.07,0.98
$GC,2889,-0.23,0.0,2113,2539,3808,3796,841.8,-27.2,229,2939,2.25,0.00,46.05,1.837,10246,0.340,0.000,2647,2539,3660,3661,3659,0,0,0,0,0,0,14.29,14.34,13.43
$STATE,2939,end apogee,CONTROL_FINISHED_OK
$STATE,2940,begin loiter
$GC,3275,-0.23,0.0,2647,2540,3667,3670,849.8,-0.9,233,3279,0.00,0.00,2.60,0.724,8198,0.000,0.000,2647,2539,3659,3658,3660,0,0,0,0,0,0,14.78,14.50,13.62
$GC,3876,-0.23,0.0,2647,2540,3665,3670,849.8,0.0,238,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2539,3667,3665,3669,0,0,0,0,0,0,14.92,14.92,14.92
$GC,4476,-0.23,0.0,2647,2539,3667,3672,849.8,-0.0,243,4479,0.00,0.00,2.22,0.529,8198,0.000,0.000,2647,2539,3658,3656,3660,0,0,0,0,0,0,14.99,14.68,13.46
$GC,5076,-0.23,0.0,2647,2540,3667,3674,849.8,0.0,248,5079,0.00,0.00,2.30,0.601,8198,0.000,0.000,2647,2539,3658,3656,3660,0,0,0,0,0,0,15.02,14.71,13.49
$GC,5676,-0.23,0.0,2648,2539,3668,3672,849.8,0.0,253,5679,0.00,0.00,2.00,0.270,8198,0.000,0.000,2646,2539,3657,3655,3660,0,0,0,0,0,0,15.05,14.71,12.57
$GC,6276,-0.23,0.0,2648,2540,3667,3674,849.8,0.0,258,6279,0.00,0.00,1.90,0.272,8198,0.000,0.000,2647,2539,3658,3656,3661,0,0,0,0,0,0,15.07,14.78,14.53
$GC,6876,-0.23,0.0,2647,2539,3669,3673,849.8,0.0,263,6879,0.00,0.00,1.90,0.276,8198,0.000,0.000,2647,2539,3658,3656,3661,0,0,0,0,0,0,15.09,14.78,14.51
$GC,7476,-0.23,0.0,2647,2540,3668,3675,849.8,0.0,268,7479,0.00,0.00,2.10,0.410,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.10,14.78,13.39
$GC,8076,-0.23,0.0,2647,2539,3668,3674,849.8,0.0,273,8079,0.00,0.00,2.05,0.343,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.11,14.77,13.06
$GC,8676,-0.23,0.0,2647,2540,3668,3675,849.8,0.0,278,8679,0.00,0.00,1.95,0.272,8198,0.000,0.000,2647,2539,3659,3656,3662,0,0,0,0,0,0,15.11,14.81,14.53
$GC,9276,-0.23,0.0,2646,2539,3668,3674,849.8,0.0,283,9279,0.00,0.00,2.08,0.376,8198,0.000,0.000,2647,2539,3658,3656,3661,0,0,0,0,0,0,15.13,14.78,13.25
$GC,9876,-0.23,0.0,2647,2540,3669,3676,849.7,0.0,288,9879,0.00,0.00,2.20,0.516,8198,0.000,0.000,2648,2539,3658,3655,3662,0,0,0,0,0,0,15.13,14.80,13.52
$GC,10476,-0.23,0.0,2648,2539,3669,3675,849.7,0.0,293,10479,0.00,0.00,2.17,0.495,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.13,14.81,13.50
$GC,11076,-0.23,0.0,2647,2539,3668,3674,849.7,0.0,298,11079,0.00,0.00,2.10,0.408,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.14,14.81,13.44
$GC,11676,-0.23,0.0,2647,2541,3667,3675,849.7,0.0,303,11679,0.00,0.00,1.98,0.274,8198,0.000,0.000,2647,2539,3659,3656,3662,0,0,0,0,0,0,15.14,14.81,14.52
$GC,12276,-0.23,0.0,2647,2540,3668,3675,849.7,0.0,308,12279,0.00,0.00,2.10,0.406,8198,0.000,0.000,2647,2539,3658,3656,3661,0,0,0,0,0,0,15.14,14.81,13.46
$GC,12876,-0.23,0.0,2647,2540,3668,3675,849.7,0.0,313,12879,0.00,0.00,1.98,0.272,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.14,14.81,14.52
$GC,13476,-0.23,0.0,2647,2539,3669,3674,849.7,0.0,318,13479,0.00,0.00,2.08,0.376,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.14,14.81,13.35
$GC,14076,-0.23,0.0,2648,2539,3669,3674,849.7,0.0,323,14079,0.00,0.00,1.92,0.273,8198,0.000,0.000,2647,2539,3659,3656,3662,0,0,0,0,0,0,15.14,14.81,14.52
$GC,14676,-0.23,0.0,2648,2539,3669,3675,849.6,0.0,328,14679,0.00,0.00,2.10,0.411,8198,0.000,0.000,2647,2539,3658,3655,3662,0,0,0,0,0,0,15.14,14.81,13.44
$GC,15276,-0.23,0.0,2647,2540,3668,3675,849.6,0.0,333,15279,0.00,0.00,1.95,0.273,8198,0.000,0.000,2647,2539,3659,3656,3662,0,0,0,0,0,0,15.15,14.80,14.52
$GC,15876,-0.23,0.0,2647,2540,3669,3676,849.6,0.0,338,15879,0.00,0.00,2.10,0.406,8198,0.000,0.000,2646,2539,3657,3655,3660,0,0,0,0,0,0,15.15,14.82,13.48
$GC,16476,-0.23,0.0,2647,2540,3669,3676,849.6,0.0,343,16479,0.00,0.00,2.08,0.373,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.15,14.82,13.33
$GC,17076,-0.23,0.0,2648,2539,3669,3674,849.6,0.0,348,17079,0.00,0.00,1.98,0.278,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.15,14.81,14.52
$GC,17676,-0.23,0.0,2647,2540,3668,3676,849.6,0.0,353,17679,0.00,0.00,2.05,0.341,8198,0.000,0.000,2647,2539,3658,3655,3662,0,0,0,0,0,0,15.15,14.81,13.14
$GC,18276,-0.23,0.0,2647,2538,3669,3675,849.6,0.0,358,18279,0.00,0.00,2.10,0.411,8198,0.000,0.000,2645,2539,3657,3655,3660,0,0,0,0,0,0,15.15,14.82,13.46
$GC,18876,-0.23,0.0,2647,2539,3670,3676,849.6,0.0,363,18879,0.00,0.00,2.22,0.537,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.15,14.82,13.57
$GC,19476,-0.23,0.0,2647,2540,3668,3676,849.5,0.0,368,19479,0.00,0.00,2.05,0.341,8198,0.000,0.000,2647,2539,3658,3655,3662,0,0,0,0,0,0,15.15,14.82,13.30
$GC,20076,-0.23,0.0,2647,2540,3669,3676,849.5,0.0,373,20079,0.00,0.00,2.08,0.373,8198,0.000,0.000,2647,2539,3658,3655,3662,0,0,0,0,0,0,15.15,14.82,13.34
$GC,20676,-0.23,0.0,2647,2540,3668,3676,849.5,0.0,378,20679,0.00,0.00,1.98,0.271,8198,0.000,0.000,2647,2539,3658,3655,3662,0,0,0,0,0,0,15.15,14.80,14.51
$GC,21276,-0.23,0.0,2647,2540,3668,3676,849.5,0.0,383,21279,0.00,0.00,2.05,0.345,8198,0.000,0.000,2646,2539,3658,3655,3661,0,0,0,0,0,0,15.15,14.82,13.14
$GC,21876,-0.23,0.0,2647,2539,3669,3674,849.5,0.0,388,21879,0.00,0.00,2.05,0.343,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.16,14.82,13.03
$GC,22476,-0.23,0.0,2648,2539,3669,3674,849.5,0.0,393,22479,0.00,0.00,1.95,0.273,8198,0.000,0.000,2647,2539,3658,3655,3662,0,0,0,0,0,0,15.16,14.80,14.51
$GC,23076,-0.23,0.0,2647,2539,3669,3675,849.5,0.0,398,23078,0.00,0.00,1.27,0.295,8198,0.000,0.000,2647,2539,3663,3661,3665,0,0,0,0,0,0,15.15,14.79,14.50
$GC,23676,-0.23,0.0,2647,2539,3669,3675,849.5,-0.0,403,23679,0.00,0.00,2.08,0.376,8198,0.000,0.000,2647,2539,3658,3655,3661,0,0,0,0,0,0,15.16,14.83,13.34
$GC,24276,-0.23,0.0,2647,2540,3668,3676,849.5,0.0,408,24279,0.00,0.00,2.00,0.273,8198,0.000,0.000,2647,2539,3658,3655,3662,0,0,0,0,0,0,15.16,14.81,12.63
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$STATE,67714,end loiter,LOITER_COMPLETE
$STATE,67714,begin climb
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$STATE,67879,end climb,NO_VERTICAL_VELOCITY
$STATE,67879,begin subsurface finish
$SM_CCo,67880,720.00,1.737,0,1,977,673.47
$SM_CCo,68603,139.02,1.473,0,0,498,793.79
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$PING,7.9,7.1,9000.0,0.01,0.38
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$FINISH2,5.9
$STATE,70602,end subsurface finish,CONTROL_FINISHED_OK
$STATE,70602,begin surface
$RAFOS_CLK,3093
$RAFOS_FIX,-7404.235352,-11230.293945,200218,010105,0,1,0.01
$IRIDIUM_FIX,-7404.86,-11231.76,190218,055717
$TT8_MAMPS,0.038948,0.274134
$HUMID,46.25
$INTERNAL_PRESSURE,7.91941
$TCM_TEMP,13.20
$XPDR_PINGS,20
$24V_AH,12.54,56.228
$10V_AH,12.94,0.000
$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,17.400,22.525,287.500,859.025,0.000,0.000,0.000,728.150,14.500,0.000,8.352,0.000,67221.539,1479.275,2526.953,213.191,0.000,2923.869,0.000,1175.623,0.000,67.017,0.000
$DEVICE_MAMPS,468.945,85.680,2339.370,1737.315,0.000,0.000,0.000,224.910,420.000,0.000,8.990,0.000,2.310,10.870,30.350,51.320,0.000,10.100,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5821.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.058,0.000,0.000,0.000
$MEM,280812
$DATA_FILE_SIZE,26757,823
$CAP_FILE_SIZE,191241,7
$CFSIZE,1024409600,1003077632
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0
$SOUNDSPEED,1458.8
$CURRENT,0.015,269.98,1
$GPS,200218,010705,-7404.235,-11230.294,0,1001.0,0,53.3,0.0,0.0,0,0.0
$ESCAPE_REASON,MAX_VBD_ERRORS
$ESCAPE_STARTED_DIVE,142