version: 66.12
glider: 221
mission: 3
dive: 8
start: 7 14 116 2 7 36
data:
$ID,221
$MISSION,3
$DIVE,8
$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,24
$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,3
$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
$GPS1,140716,020501,4743.8696,-12224.8154,1,0.8,3,15.9,0.3,149.4,12,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-69.2
$GPS2,140716,020725,4743.8628,-12224.8145,2,0.9,4,15.9,0.1,0.0,12,4.6
$SPEED_LIMITS,0.122,0.226
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,53.2,1752,-12.3,-7.042,-17.33,3083
$D_GRID,176
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.79,-146.6,202,2204,1808,1819,0.0,0.0,0,79,0.00,0.00,-63.22,0.000,16386,0.000,0.000,202,2205,3421,3424,3419,0,0,0,0,0,0,14.97,28.83,14.97
$GC,80,-0.79,-146.6,202,2205,3425,3420,4.4,-7.0,3,92,10.65,0.00,0.00,0.000,2054,0.404,0.000,2515,2204,3422,3425,3420,0,0,0,0,0,0,14.55,14.81,14.78
$GC,136,-0.79,-146.6,2516,2204,3433,3413,17.8,-21.3,6,142,0.00,2.53,0.00,0.000,516,0.000,0.103,2515,797,3422,3433,3412,0,0,0,0,0,0,14.97,14.66,14.97
$GC,181,-0.79,-146.6,2515,797,3433,3412,23.1,-13.8,8,187,0.00,2.47,0.00,0.000,1030,0.000,0.089,2505,2209,3422,3434,3411,0,0,0,0,0,0,14.77,14.70,14.79
$GC,256,-0.79,-146.6,2506,2209,3435,3412,32.0,-11.1,12,262,0.00,2.53,0.00,0.000,260,0.000,0.107,2495,3610,3422,3434,3411,0,0,0,0,0,0,15.01,14.69,15.01
$GC,306,-0.79,-146.6,2495,3609,3434,3412,37.3,-12.2,14,312,0.08,2.42,0.00,0.000,3078,0.226,0.072,2517,2200,3422,3434,3410,0,0,0,0,0,0,14.66,14.71,14.77
$GC,376,-0.79,-146.6,2518,2200,3435,3412,46.8,-11.8,18,382,0.00,2.53,0.00,0.000,516,0.000,0.109,2517,791,3423,3435,3411,0,0,0,0,0,0,15.03,14.71,15.03
$GC,421,-0.79,-146.6,2517,792,3436,3411,51.4,-11.6,20,427,0.00,2.47,0.00,0.000,1030,0.000,0.095,2508,2194,3422,3434,3411,0,0,0,0,0,0,14.81,14.74,14.83
$GC,556,-0.79,-146.6,2508,2194,3435,3412,67.6,-11.4,27,562,0.00,2.55,0.00,0.000,260,0.000,0.107,2499,3616,3422,3435,3410,0,0,0,0,0,0,15.04,14.76,15.04
$GC,651,-0.79,-146.6,2498,3618,3436,3409,76.6,-11.3,31,658,0.00,2.42,0.00,0.000,1030,0.000,0.070,2499,2197,3422,3435,3410,0,0,0,0,0,0,14.84,14.78,14.86
$GC,776,-0.79,-146.6,2498,2198,3436,3410,91.4,-10.5,38,782,0.00,2.58,0.00,0.000,260,0.000,0.108,2491,3625,3422,3434,3410,0,0,0,0,0,0,15.07,14.77,15.08
$GC,851,-0.79,-146.6,2492,3626,3435,3412,98.2,-11.3,41,859,0.08,2.45,0.00,0.000,3078,0.230,0.072,2516,2194,3422,3435,3410,0,0,0,0,0,0,14.71,14.80,14.83
$GC,976,-0.79,-146.6,2516,2195,3435,3411,112.1,-9.6,48,982,0.00,2.55,0.00,0.000,260,0.000,0.106,2505,3618,3422,3435,3410,0,0,0,0,0,0,15.09,14.79,15.09
$GC,996,-0.79,-146.6,2506,3618,3436,3411,114.1,-9.7,49,1002,0.00,2.42,0.00,0.000,1030,0.000,0.072,2506,2203,3422,3435,3410,0,0,0,0,0,0,14.88,14.82,14.90
$GC,1136,-0.79,-146.6,2506,2202,3435,3411,128.9,-10.2,56,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2202,3422,3435,3410,0,0,0,0,0,0,15.10,15.11,15.11
$GC,1256,-0.79,-146.6,2506,2203,3436,3410,141.1,-10.4,62,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2202,3422,3435,3410,0,0,0,0,0,0,15.07,15.07,15.07
$STATE,1356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1356,begin apogee
$GC,1358,-0.25,0.0,2506,2203,3436,3411,151.4,-10.3,67,1485,0.62,0.00,119.20,1.457,10246,0.209,0.000,2692,2202,2846,2864,2828,0,0,0,0,1,0,14.76,14.25,13.50
$STATE,1486,end apogee,CONTROL_FINISHED_OK
$STATE,1486,begin climb
$GC,1487,0.79,146.6,2693,2202,2870,2829,155.6,0.0,73,1612,1.05,2.65,113.30,1.797,10756,0.145,0.113,3033,787,2264,2285,2244,0,0,0,0,1,0,14.21,14.04,13.38
$GC,1646,0.88,219.5,3032,788,2295,2252,150.8,4.6,81,1727,0.00,2.60,74.00,0.991,9222,0.000,0.091,3033,2208,1961,1974,1948,0,0,0,0,0,0,14.32,14.25,13.83
$GC,1856,0.88,219.5,3033,2209,1961,1933,129.5,10.6,92,1862,0.00,2.60,0.00,0.000,516,0.000,0.116,3042,794,1948,1960,1936,0,0,0,0,0,0,14.76,14.46,14.76
$GC,1906,0.88,219.5,3043,795,1961,1933,125.3,10.5,94,1912,0.00,2.53,0.00,0.000,1030,0.000,0.095,3044,2204,1946,1959,1933,0,0,0,0,0,0,14.61,14.53,14.62
$GC,2036,0.88,219.5,3044,2204,1960,1933,109.8,11.0,101,2042,0.00,2.55,0.00,0.000,260,0.000,0.114,3044,3609,1946,1959,1933,0,0,0,0,0,0,14.90,14.62,14.90
$GC,2086,0.88,219.5,3044,3609,1962,1933,104.7,12.0,103,2092,0.00,2.45,0.00,0.000,1030,0.000,0.078,3052,2206,1946,1960,1933,0,0,0,0,0,0,14.73,14.67,14.75
$GC,2216,0.88,219.5,3052,2206,1960,1934,88.3,11.6,110,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2206,1946,1959,1933,0,0,0,0,0,0,15.01,14.98,14.97
$GC,2336,0.88,219.5,3053,2207,1960,1933,73.9,11.8,116,2342,0.00,2.53,0.00,0.000,260,0.000,0.109,3052,3612,1946,1959,1933,0,0,0,0,0,0,15.03,14.71,15.02
$GC,2381,0.88,219.5,3053,3608,1960,1934,69.2,11.5,118,2387,0.00,2.45,0.00,0.000,1030,0.000,0.076,3062,2198,1946,1959,1933,0,0,0,0,0,0,14.81,14.74,14.83
$GC,2516,0.88,219.5,3062,2198,1960,1934,52.7,11.9,125,2517,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2198,1946,1959,1933,0,0,0,0,0,0,15.04,15.05,15.04
$GC,2636,0.88,219.5,3062,2198,1960,1934,38.5,11.9,131,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2198,1948,1963,1933,0,0,0,0,0,0,15.04,15.04,15.04
$GC,2696,0.88,219.5,3062,2198,1959,1933,32.4,10.3,134,2702,0.00,2.53,0.00,0.000,516,0.000,0.114,3073,787,1945,1958,1933,0,0,0,0,0,0,15.06,14.76,15.06
$GC,2756,0.88,219.5,3073,787,1958,1934,26.4,10.1,137,2762,0.00,2.47,0.00,0.000,1030,0.000,0.093,3073,2200,1945,1957,1933,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2837,0.88,219.5,3073,2201,1959,1932,18.2,10.2,141,2842,0.00,2.50,0.00,0.000,260,0.000,0.112,3073,3620,1945,1958,1933,0,0,0,0,0,0,15.02,14.78,15.02
$GC,2891,0.88,219.5,3074,3620,1958,1933,13.8,10.7,143,2898,0.00,2.45,0.00,0.000,1030,0.000,0.078,3082,2205,1944,1956,1932,0,0,0,0,0,0,14.86,14.80,14.88
$GC,2956,0.88,219.5,3083,2204,1957,1934,5.7,10.0,147,2962,0.00,2.55,0.00,0.000,516,0.000,0.119,3093,791,1945,1958,1933,0,0,0,0,0,0,15.05,14.76,15.05
$STATE,2995,end climb,SURFACE_DEPTH_REACHED
$STATE,2995,begin surface coast
$FINISH,1.1,1.021552
$STATE,3000,end surface coast,CONTROL_FINISHED_OK
$STATE,3000,begin surface
$SM_CCo,3016,16.33,0.197,0,0,1807,260.24
$SM_GC,3.83,8.35,2.50,16.33,0.088,0.097,0.197,210,2202,1807,-7.99,-0.48,260.24,0,0,0,0,0,0,14.83,14.82,14.74
$IRIDIUM_FIX,4726.11,-12222.38,140716,020038
$TT8_MAMPS,0.038199,0.886067
$HUMID,52.79
$INTERNAL_PRESSURE,9.22806
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.2,999.0
$SC_FREEKB,4016512
$24V_AH,13.38,1.420
$10V_AH,13.40,0.000
$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,20.825,65.275,306.500,16.325,0.000,0.000,0.000,0.000,3.250,0.000,5.951,0.000,1972.862,466.003,618.657,16.378,0.000,747.182,0.000,431.812,0.000,22.633,0.000
$DEVICE_MAMPS,403.920,118.575,1796.985,197.370,0.000,0.000,0.000,0.000,420.000,0.000,8.990,0.000,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2982.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.314,0.000,0.000,0.000
$MEM,193968
$DATA_FILE_SIZE,3482,149
$CAP_FILE_SIZE,74742,0
$CFSIZE,1024409600,1020362752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,025900,4743.990,-12224.223,31,0.9,33,15.9,0.4,168.0,11,9.7