version: 66.12
glider: 221
mission: 3
dive: 4
start: 7 13 116 22 21 39
data:
$ID,221
$MISSION,3
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,3
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53350
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,260
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,200000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100840
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3910
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$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,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2795
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-161.41586
$PRESSURE_SLOPE,0.0001082743
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,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
$GPS1,130716,221835,4742.8521,-12224.7002,1,1.1,2,15.9,0.0,0.0,8,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.5
$GPS2,130716,222112,4742.8491,-12224.6992,2,1.1,3,15.9,0.0,0.0,8,6.8
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,340.4,1950,-17.6,-10.000,-21.21,2209
$D_GRID,179
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-1.06,-146.6,195,1988,1759,1761,0.0,0.0,0,88,0.00,0.00,-68.55,0.000,16390,0.000,0.000,195,1989,3379,3383,3375,0,0,0,0,0,0,15.16,13.75,15.09
$GC,89,-1.06,-146.6,195,1989,3386,3375,1.8,-1.9,3,108,9.73,2.47,0.00,0.000,2308,0.386,0.093,2422,3398,3380,3389,3371,0,0,0,0,0,0,14.66,14.83,14.92
$GC,204,-1.06,-146.6,2422,3397,3389,3369,19.8,-15.3,8,211,0.00,2.40,0.00,0.000,1030,0.000,0.074,2422,1983,3378,3388,3369,0,0,0,0,0,0,14.94,14.83,14.95
$GC,270,-1.06,-146.6,2422,1982,3390,3369,32.9,-16.5,12,275,0.00,2.47,0.00,0.000,516,0.000,0.119,2422,579,3379,3390,3369,0,0,0,0,0,0,15.12,14.82,15.12
$GC,315,-1.06,-146.6,2421,579,3390,3368,39.7,-16.3,14,321,0.00,2.40,0.00,0.000,1030,0.000,0.092,2412,1993,3379,3390,3368,0,0,0,0,0,0,14.97,14.85,14.99
$GC,393,-1.06,-146.6,2412,1993,3390,3368,53.0,-16.5,18,398,0.00,2.47,0.00,0.000,260,0.000,0.106,2401,3401,3379,3391,3368,0,0,0,0,0,0,15.11,14.79,15.11
$GC,454,-1.06,-146.6,2400,3402,3391,3368,63.2,-16.6,21,460,0.12,2.40,0.00,0.000,3078,0.269,0.074,2435,1983,3379,3391,3368,0,0,0,0,0,0,14.73,14.83,14.93
$GC,597,-1.06,-146.6,2435,1983,3390,3368,84.9,-15.2,28,602,0.00,2.50,0.00,0.000,260,0.000,0.106,2425,3403,3379,3392,3367,0,0,0,0,0,0,15.11,14.83,15.11
$GC,622,-1.06,-146.6,2424,3403,3391,3368,88.1,-14.9,29,628,0.00,2.38,0.00,0.000,1030,0.000,0.076,2425,1986,3379,3391,3368,0,0,1,0,0,0,14.95,14.84,14.95
$GC,759,-1.06,-146.6,2424,1986,3391,3368,109.4,-15.4,36,764,0.00,2.50,0.00,0.000,260,0.000,0.106,2415,3403,3379,3391,3368,0,0,0,0,0,0,15.15,14.82,15.14
$GC,802,-1.06,-146.6,2414,3403,3391,3367,116.3,-16.1,38,807,0.00,2.38,0.00,0.000,1030,0.000,0.076,2414,1992,3379,3391,3367,0,0,0,0,0,0,14.97,14.86,15.02
$GC,944,-1.06,-146.6,2414,1991,3390,3367,139.2,-16.5,45,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1991,3379,3391,3367,0,0,0,0,0,0,15.15,15.15,15.15
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1026,-0.25,0.0,2415,1991,3391,3367,151.6,-15.4,49,1147,0.95,0.00,112.32,1.771,10246,0.226,0.000,2692,1991,2795,2814,2776,0,0,0,0,1,0,14.76,14.26,13.53
$STATE,1149,end apogee,CONTROL_FINISHED_OK
$STATE,1149,begin climb
$GC,1150,1.06,146.6,2692,1991,2821,2777,157.0,0.0,55,1290,1.30,2.65,122.40,1.388,10756,0.130,0.125,3115,594,2215,2234,2197,0,0,0,0,1,0,14.24,14.12,13.45
$GC,1326,1.10,176.2,3114,593,2243,2203,145.5,8.6,64,1367,0.00,2.47,31.73,1.033,9222,0.000,0.096,3121,1990,2083,2099,2067,0,0,0,0,0,0,14.47,14.38,13.93
$GC,1486,1.10,176.2,3115,1989,2093,2058,125.2,13.2,72,1492,0.00,2.55,0.00,0.000,260,0.000,0.110,3116,3407,2075,2093,2058,0,0,0,0,0,0,14.83,14.56,14.83
$GC,1522,1.10,176.2,3115,3407,2092,2058,122.4,12.9,73,1529,0.00,2.45,0.00,0.000,1030,0.000,0.090,3127,1997,2075,2093,2058,0,0,1,0,0,0,14.73,14.62,14.74
$GC,1648,1.10,176.2,3126,1993,2092,2058,102.8,14.0,80,1653,0.00,2.53,0.00,0.000,260,0.000,0.113,3126,3403,2075,2092,2058,0,0,0,0,0,0,14.96,14.69,14.96
$GC,1670,1.10,176.2,3126,3403,2092,2058,99.6,14.0,81,1675,0.00,2.47,0.00,0.000,1030,0.000,0.093,3138,1986,2075,2092,2058,0,0,0,0,0,0,14.78,14.68,14.80
$GC,1812,1.10,176.2,3137,1985,2091,2058,79.3,14.4,88,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,1986,2074,2091,2058,0,0,0,0,0,0,15.02,15.02,15.02
$GC,1932,1.10,176.2,3137,1986,2091,2057,63.0,13.5,94,1937,0.00,2.53,0.00,0.000,260,0.000,0.109,3138,3409,2074,2091,2058,0,0,0,0,0,0,15.04,14.76,15.04
$GC,2022,1.10,176.2,3137,3416,2091,2057,51.0,14.9,98,2028,0.00,2.45,0.00,0.000,1030,0.000,0.086,3149,1987,2074,2091,2057,0,0,0,0,0,0,14.92,14.81,14.93
$GC,2154,1.10,176.2,3149,1986,2090,2057,31.7,12.7,105,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1986,2075,2094,2057,0,0,0,0,0,0,15.08,15.07,15.07
$GC,2214,1.10,176.2,3148,1986,2090,2057,24.4,11.9,108,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1986,2073,2090,2057,0,0,0,0,0,0,15.08,15.09,15.08
$GC,2274,1.10,176.2,3149,1986,2090,2057,17.3,12.0,111,2279,0.00,2.50,0.00,0.000,260,0.000,0.106,3149,3406,2073,2090,2057,0,0,0,0,0,0,15.08,14.81,15.08
$GC,2319,1.10,176.2,3148,3406,2090,2057,11.7,12.6,113,2325,0.00,2.42,0.00,0.000,1030,0.000,0.087,3159,1988,2073,2090,2057,0,0,1,0,0,0,14.94,14.83,14.96
$STATE,2395,end climb,SURFACE_DEPTH_REACHED
$STATE,2396,begin surface coast
$FINISH,0.1,0.999027
$STATE,2416,end surface coast,CONTROL_FINISHED_OK
$STATE,2416,begin surface
$SM_CCo,2431,36.15,0.192,0,0,1758,260.24
$SM_GC,0.64,8.45,0.00,36.15,0.081,0.000,0.192,208,1987,1758,-7.99,-0.08,260.24,0,0,0,0,0,0,14.86,15.10,14.74
$IRIDIUM_FIX,4722.92,-12225.08,130716,221403
$TT8_MAMPS,0.018725,0.895804
$HUMID,52.20
$INTERNAL_PRESSURE,9.26712
$TCM_TEMP,19.10
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.6,19.4
$SC_FREEKB,4018304
$24V_AH,13.45,0.805
$10V_AH,13.18,0.000
$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,20.550,49.400,266.450,36.150,0.000,0.000,0.000,0.000,10.000,0.000,5.079,474.124,1261.934,394.109,386.256,17.044,0.000,657.563,0.000,363.025,0.000,19.928,0.000
$DEVICE_MAMPS,385.560,125.460,1770.975,192.015,0.000,0.000,0.000,0.000,420.000,0.000,8.990,9.970,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2389.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.473,0.000,0.000,0.000
$MEM,193992
$DATA_FILE_SIZE,3491,118
$CAP_FILE_SIZE,84917,0
$CFSIZE,1024409600,1020706816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,2,0,0
$GPS,130716,230339,4743.261,-12224.728,2,0.9,17,15.9,0.0,0.0,12,2.1