version: 66.12
glider: 221
mission: 3
dive: 5
start: 7 13 116 23 42 26
data:
$ID,221
$MISSION,3
$DIVE,5
$N_DIVES,5
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2845
$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,4
$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
$GPS1,130716,233008,4743.2529,-12224.6436,1,0.9,3,15.9,0.1,0.0,12,4.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.6
$GPS2,130716,234159,4743.2427,-12224.6006,2,0.9,4,15.9,0.0,0.0,12,6.2
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,332.6,1242,-17.6,-10.000,-21.21,2209
$D_GRID,177
$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,-146.6,206,2213,1754,1766,0.0,0.0,0,82,0.00,0.00,-63.03,0.000,16386,0.000,0.000,207,2214,3296,3300,3292,0,0,0,0,0,0,15.08,28.83,15.08
$GC,84,-1.06,-146.6,206,2213,3300,3291,3.3,-4.2,3,102,9.95,0.00,-3.00,0.000,18438,0.391,0.000,2431,2214,3431,3452,3410,0,0,0,0,0,0,14.62,13.83,14.88
$GC,161,-1.06,-146.6,2431,2214,3452,3409,19.1,-19.2,7,166,0.00,2.45,0.00,0.000,260,0.000,0.104,2421,3610,3431,3452,3410,0,0,0,0,0,0,15.02,14.76,15.03
$GC,212,-1.06,-146.6,2421,3609,3452,3408,26.1,-16.7,9,217,0.00,2.38,0.00,0.000,1030,0.000,0.071,2421,2192,3430,3451,3410,0,0,0,0,0,0,14.90,14.79,14.91
$GC,284,-1.06,-146.6,2421,2192,3452,3410,38.9,-15.8,13,289,0.00,2.45,0.00,0.000,516,0.000,0.111,2421,796,3430,3451,3409,0,0,0,0,0,0,15.05,14.75,15.05
$GC,339,-1.06,-146.6,2421,796,3452,3409,45.9,-16.5,15,346,0.00,2.40,0.00,0.000,1030,0.000,0.095,2411,2190,3431,3452,3410,0,0,0,0,0,0,14.91,14.79,14.92
$GC,465,-1.06,-146.6,2410,2190,3452,3410,69.1,-16.5,22,471,0.00,2.53,0.00,0.000,260,0.000,0.108,2400,3619,3431,3452,3410,0,0,0,0,0,0,15.09,14.79,15.09
$GC,570,-1.06,-146.6,2399,3619,3452,3410,86.5,-17.4,27,577,0.12,2.38,0.00,0.000,3078,0.269,0.070,2434,2197,3430,3452,3409,0,0,0,0,0,0,14.71,14.83,14.88
$GC,708,-1.06,-146.6,2433,2197,3452,3409,108.6,-15.3,34,713,0.00,2.45,0.00,0.000,516,0.000,0.109,2435,796,3431,3453,3410,0,0,0,0,0,0,15.10,14.78,15.10
$GC,751,-1.06,-146.6,2434,795,3453,3410,115.2,-15.4,36,756,0.00,2.42,0.00,0.000,1030,0.000,0.096,2426,2204,3431,3452,3410,0,0,0,0,0,0,14.94,14.83,14.95
$GC,893,-1.06,-146.6,2426,2204,3452,3410,137.7,-16.2,43,898,0.00,2.47,0.00,0.000,260,0.000,0.108,2416,3616,3430,3452,3409,0,0,0,0,0,0,15.11,14.80,15.14
$GC,929,-1.06,-146.6,2416,3616,3452,3410,141.3,-15.9,44,936,0.00,2.38,0.00,0.000,1030,0.000,0.073,2417,2196,3430,3452,3409,0,0,0,0,0,0,14.97,14.86,14.98
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,975,begin apogee
$GC,978,-0.25,0.0,2416,2196,3452,3410,150.5,-15.3,47,1099,0.95,0.00,111.47,1.808,10246,0.226,0.000,2693,2196,2845,2863,2827,0,0,0,0,1,0,14.75,14.21,13.47
$STATE,1100,end apogee,CONTROL_FINISHED_OK
$STATE,1100,begin climb
$GC,1101,1.06,146.6,2693,2196,2870,2828,155.3,0.0,53,1231,1.30,2.67,112.47,1.791,11012,0.136,0.117,3114,793,2265,2284,2247,0,0,1,0,1,0,14.21,14.07,13.41
$GC,1303,1.07,156.0,3114,793,2289,2251,144.3,9.6,63,1323,0.00,2.50,14.05,1.055,9222,0.000,0.096,3114,2197,2220,2240,2201,0,0,0,0,0,0,14.54,14.43,14.00
$GC,1460,1.07,156.0,3115,2197,2228,2191,124.5,12.2,71,1465,0.00,2.53,0.00,0.000,516,0.000,0.119,3125,797,2209,2228,2190,0,0,0,0,0,0,14.85,14.58,14.85
$GC,1485,1.07,156.0,3125,797,2228,2190,122.0,11.8,72,1491,0.00,2.47,0.00,0.000,1030,0.000,0.101,3125,2202,2209,2228,2190,0,0,0,0,0,0,14.73,14.62,14.75
$GC,1622,1.07,156.0,3125,2202,2228,2190,106.1,11.2,79,1627,0.00,2.50,0.00,0.000,260,0.000,0.115,3125,3611,2209,2228,2190,0,0,0,0,0,0,14.95,14.69,14.95
$GC,1644,1.07,156.0,3125,3611,2227,2191,103.4,11.5,80,1649,0.00,2.42,0.00,0.000,1030,0.000,0.087,3136,2205,2208,2227,2190,0,0,0,0,0,0,14.83,14.71,14.84
$GC,1786,1.07,156.0,3136,2205,2227,2190,85.5,11.7,87,1791,0.00,2.50,0.00,0.000,260,0.000,0.116,3136,3612,2209,2227,2191,0,0,0,0,0,0,15.00,14.75,15.00
$GC,1887,1.07,156.0,3136,3612,2227,2190,73.0,12.3,92,1892,0.00,2.42,0.00,0.000,1030,0.000,0.084,3147,2193,2208,2227,2190,0,0,0,0,0,0,14.86,14.76,14.88
$GC,2029,1.07,156.0,3147,2192,2226,2190,58.6,10.2,99,2034,0.00,2.53,0.00,0.000,260,0.000,0.112,3147,3619,2209,2229,2190,0,0,0,0,0,0,15.07,14.79,15.07
$GC,2050,1.07,156.0,3147,3619,2226,2190,56.0,10.4,100,2056,0.12,2.45,0.00,0.000,5126,0.311,0.086,3126,2192,2208,2226,2190,0,0,0,0,0,0,14.70,14.81,14.90
$GC,2193,1.07,156.0,3126,2193,2226,2190,41.8,10.8,107,2198,0.00,2.47,0.00,0.000,516,0.000,0.121,3137,793,2208,2226,2191,0,0,0,0,0,0,15.07,14.78,15.07
$GC,2263,1.07,156.0,3136,793,2226,2191,35.4,10.6,110,2269,0.00,2.45,0.00,0.000,1030,0.000,0.100,3137,2205,2208,2226,2191,0,0,0,0,0,0,14.92,14.81,14.94
$GC,2335,1.07,156.0,3136,2205,2226,2190,26.5,11.2,114,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2205,2209,2228,2191,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2396,1.07,156.0,3136,2205,2226,2190,19.8,11.2,117,2401,0.00,2.53,0.00,0.000,516,0.000,0.119,3148,787,2208,2226,2191,0,0,0,0,0,0,15.04,14.79,15.05
$GC,2427,1.07,156.0,3147,787,2226,2190,17.3,11.1,118,2432,0.00,2.45,0.00,0.000,1030,0.000,0.103,3148,2200,2208,2226,2190,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2499,1.11,183.2,3147,2200,2225,2190,10.1,8.7,122,2519,0.00,2.58,10.82,0.220,8452,0.000,0.117,3147,3613,2116,2133,2100,0,0,0,0,0,0,15.09,14.81,14.73
$STATE,2600,end climb,SURFACE_DEPTH_REACHED
$STATE,2600,begin surface coast
$FINISH,-0.0,1.014620
$STATE,2621,end surface coast,CONTROL_FINISHED_OK
$STATE,2621,begin surface
$SM_CCo,2639,36.30,0.199,0,0,1806,260.24
$SM_GC,4.66,8.52,2.45,36.30,0.092,0.080,0.199,210,2197,1806,-7.99,0.76,260.24,0,0,0,0,0,0,14.84,14.83,14.72
$IRIDIUM_FIX,4722.92,-12226.80,130716,233618
$TT8_MAMPS,0.018725,0.829892
$HUMID,52.75
$INTERNAL_PRESSURE,9.26712
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,999.0
$SC_FREEKB,4017856
$24V_AH,13.41,1.025
$10V_AH,13.34,0.000
$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,20.975,64.225,248.825,36.300,0.000,0.000,0.000,0.000,3.000,0.000,5.660,558.695,1315.182,404.585,445.732,18.327,0.000,690.761,0.000,420.320,0.000,19.924,0.000
$DEVICE_MAMPS,390.915,120.870,1807.695,198.900,0.000,0.000,0.000,0.000,420.000,0.000,8.990,9.970,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2594.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.755,0.000,0.000,0.000
$MEM,193956
$DATA_FILE_SIZE,3482,128
$CAP_FILE_SIZE,86461,0
$CFSIZE,1024409600,1020608512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,140716,002758,4743.654,-12224.683,18,1.0,21,15.9,0.1,0.0,10,8.4