version: 66.12
glider: 221
mission: 3
dive: 6
start: 7 14 116 0 38 36
data:
$ID,221
$MISSION,3
$DIVE,6
$N_DIVES,25
$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,71
$T_MISSION,150
$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,23
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,300
$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
$GPS1,140716,002758,4743.6538,-12224.6826,18,1.0,21,15.9,0.1,0.0,10,8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.3
$GPS2,140716,003809,4743.6270,-12224.7393,3,1.0,13,15.9,0.2,0.0,9,4.8
$SPEED_LIMITS,0.122,0.226
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,335.7,511,-26.7,-7.042,-30.00,816
$D_GRID,175
$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,-1.38,-37.8,210,2197,1798,1823,0.0,0.0,0,69,0.00,0.00,-49.40,0.000,16390,0.000,0.000,210,2197,2996,3005,2988,0,0,0,0,0,0,14.92,13.79,14.90
$GC,70,-1.38,-37.8,210,2197,3005,2988,2.0,-2.3,2,89,9.45,2.53,0.00,0.000,2308,0.393,0.098,2319,3614,2997,3012,2983,0,0,0,0,0,0,14.50,14.64,14.71
$GC,251,-1.38,-37.8,2319,3614,3012,2983,35.6,-18.4,11,256,0.00,2.38,0.00,0.000,1030,0.000,0.064,2319,2192,2997,3012,2983,0,0,0,0,0,0,14.83,14.74,14.85
$GC,332,-1.38,-37.8,2318,2192,3013,2983,48.4,-15.5,15,338,0.00,2.42,0.00,0.000,516,0.000,0.101,2319,798,2997,3013,2982,0,0,0,0,0,0,14.99,14.69,15.00
$GC,474,-1.38,-37.8,2318,798,3014,2982,72.8,-17.0,22,479,0.00,2.42,0.00,0.000,1030,0.000,0.089,2308,2213,2997,3013,2982,0,0,0,0,0,0,14.87,14.76,14.88
$GC,616,-1.38,-37.8,2308,2213,3014,2982,96.1,-17.1,29,621,0.00,2.47,0.00,0.000,516,0.000,0.098,2308,789,2998,3014,2982,0,0,0,0,0,0,15.06,14.78,15.06
$GC,708,-1.38,-37.8,2308,790,3015,2982,109.1,-15.7,33,714,0.12,2.42,0.00,0.000,3078,0.329,0.090,2329,2209,2998,3014,2982,0,0,0,0,0,0,14.66,14.80,14.87
$GC,840,-1.38,-37.8,2328,2209,3014,2981,129.8,-14.5,40,846,0.00,2.45,0.00,0.000,260,0.000,0.105,2318,3611,2997,3014,2981,0,0,0,0,0,0,15.09,14.82,15.09
$GC,913,-1.38,-37.8,2318,3611,3014,2981,140.1,-16.2,43,918,0.00,2.35,0.00,0.000,1030,0.000,0.068,2319,2197,2997,3014,2981,0,0,0,0,0,0,14.91,14.83,14.92
$STATE,984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,984,begin apogee
$GC,987,-0.25,0.0,2319,2196,3014,2981,152.3,-14.8,47,1035,1.35,0.00,37.20,1.066,10246,0.268,0.000,2690,2196,2845,2869,2821,0,0,0,0,1,0,14.73,14.69,13.86
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1037,1.38,37.8,2690,2197,2874,2824,154.6,0.0,49,1084,1.58,2.60,31.17,1.510,10500,0.138,0.109,3202,3605,2698,2716,2681,0,0,0,0,1,0,14.62,14.45,13.75
$GC,1305,1.48,119.7,3202,3605,2725,2688,155.9,-3.2,62,1397,0.08,2.40,81.95,1.058,11270,0.224,0.077,3242,2200,2355,2368,2342,0,0,0,0,0,0,14.66,14.69,13.96
$GC,1516,1.48,119.7,3242,2201,2359,2332,141.4,12.6,73,1521,0.00,2.53,0.00,0.000,516,0.000,0.116,3253,793,2345,2359,2332,0,0,0,0,0,0,14.83,14.55,14.82
$GC,1721,1.48,119.7,3252,793,2358,2331,112.6,14.4,83,1727,0.00,2.45,0.00,0.000,1030,0.000,0.095,3253,2205,2345,2358,2332,0,0,0,0,0,0,14.82,14.70,14.83
$GC,1858,1.48,119.7,3251,2206,2358,2331,91.4,15.1,90,1863,0.00,2.50,0.00,0.000,260,0.000,0.112,3253,3621,2344,2358,2331,0,0,0,0,0,0,15.00,14.73,15.01
$STATE,1882,end climb,POWER_ERROR_DETECTED
$SM_CCo,1893,226.18,0.391,0,0,502,589.06
$SM_GC,0.85,8.88,2.50,0.00,0.081,0.074,0.000,208,2193,506,-8.00,0.54,587.56,0,0,0,0,0,0,14.63,14.62,14.72
$IRIDIUM_FIX,4722.92,-12225.08,130716,233857
$TT8_MAMPS,0.03745,0.65912
$HUMID,51.61
$INTERNAL_PRESSURE,9.11087
$TCM_TEMP,19.40
$XPDR_PINGS,0
$SC_FREEKB,4017408
$24V_AH,13.75,1.157
$10V_AH,13.77,0.000
$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,21.450,34.425,150.325,226.175,0.000,22.118,34.667,411.315,3.000,0.000,15.363,469.727,958.625,452.284,994.077,27.757,0.000,709.563,0.000,394.578,0.000,21.116,0.000
$DEVICE_MAMPS,393.210,115.515,1510.110,390.915,0.000,41.310,160.000,223.000,420.000,0.000,8.990,9.970,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,26.639,0.000,0.000,0.000
$MEM,193976
$DATA_FILE_SIZE,3482,91
$CAP_FILE_SIZE,53928,1
$CFSIZE,1024409600,1020542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$EOP_CODE,POWER_ERROR_DETECTED
$RECOV_CODE,CURRENT_CUTOFF_10V
$GPS,140716,011709,4743.797,-12224.779,2,0.7,20,15.9,0.1,0.0,12,2.0