version: 66.12
glider: 221
mission: 3
dive: 9
start: 7 14 116 3 8 14
data:
$ID,221
$MISSION,3
$DIVE,9
$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,21
$R_STBD_OVSHOOT,16
$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,1
$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
$GPS1,140716,025900,4743.9902,-12224.2227,31,0.9,33,15.9,0.4,168.0,11,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.6
$GPS2,140716,030804,4743.9473,-12224.2520,3,0.9,4,15.9,0.1,0.0,11,9.2
$SPEED_LIMITS,0.122,0.226
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,47.5,1047,-12.3,-7.042,-17.33,3083
$D_GRID,173
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.79,-146.6,211,2203,1811,1824,0.0,0.0,0,80,0.00,0.00,-63.33,0.000,16386,0.000,0.000,210,2204,3406,3409,3403,0,0,0,0,0,0,14.87,28.83,14.87
$GC,81,-0.79,-146.6,211,2204,3410,3403,4.6,-7.6,3,99,10.57,2.67,-0.47,0.000,18948,0.405,2.180,2518,790,3430,3440,3420,0,0,0,0,0,0,14.48,13.80,14.72
$GC,133,-0.79,-146.6,2519,790,3442,3421,16.1,-19.1,5,140,0.00,2.50,0.00,0.000,1030,0.000,0.089,2508,2196,3430,3442,3418,0,0,0,0,0,0,14.66,14.59,14.69
$GC,198,-0.79,-146.6,2509,2196,3443,3419,24.9,-10.8,9,204,0.00,2.58,0.00,0.000,260,0.000,0.106,2498,3616,3429,3442,3417,0,0,0,0,0,0,14.88,14.64,14.88
$GC,258,-0.79,-146.6,2498,3616,3444,3418,31.9,-11.6,12,264,0.00,2.45,0.00,0.000,1030,0.000,0.069,2498,2200,3430,3442,3418,0,0,0,0,0,0,14.75,14.68,14.76
$GC,338,-0.79,-146.6,2498,2201,3444,3418,41.0,-11.3,16,344,0.00,2.53,0.00,0.000,516,0.000,0.106,2498,794,3430,3443,3417,0,0,0,0,0,0,14.94,14.68,14.94
$GC,383,-0.79,-146.6,2498,794,3443,3419,45.9,-11.9,18,389,0.10,2.47,0.00,0.000,3078,0.242,0.092,2520,2193,3430,3442,3418,0,0,0,0,0,0,14.62,14.70,14.75
$GC,518,-0.79,-146.6,2521,2193,3445,3419,60.4,-10.3,25,524,0.00,2.55,0.00,0.000,260,0.000,0.105,2509,3619,3430,3443,3418,0,0,0,0,0,0,14.99,14.73,14.98
$GC,573,-0.79,-146.6,2509,3616,3443,3419,64.6,-10.6,27,580,0.00,2.45,0.00,0.000,1030,0.000,0.071,2509,2191,3430,3443,3418,0,0,0,0,0,0,14.83,14.76,14.85
$GC,698,-0.79,-146.6,2509,2191,3444,3418,79.6,-11.0,34,704,0.00,2.58,0.00,0.000,260,0.000,0.109,2496,3619,3430,3443,3418,0,0,0,0,0,0,15.02,14.76,15.02
$GC,758,-0.79,-146.6,2500,3618,3443,3419,86.4,-11.2,37,764,0.00,2.45,0.00,0.000,1030,0.000,0.073,2499,2193,3430,3443,3418,0,0,0,0,0,0,14.85,14.80,14.88
$GC,899,-0.79,-146.6,2500,2195,3444,3417,101.6,-10.3,44,904,0.00,2.58,0.00,0.000,260,0.000,0.108,2492,3622,3430,3443,3417,0,0,0,0,0,0,15.00,14.78,15.00
$GC,923,-0.79,-146.6,2493,3622,3443,3419,103.8,-10.3,45,929,0.10,2.45,0.00,0.000,3078,0.236,0.073,2522,2191,3430,3443,3418,0,0,0,0,0,0,14.71,14.81,14.85
$GC,1058,-0.79,-146.6,2522,2193,3444,3418,117.8,-9.7,52,1064,0.00,2.47,0.00,0.000,516,0.000,0.108,2522,802,3430,3443,3417,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1093,-0.79,-146.6,2522,803,3444,3416,119.8,-9.7,53,1101,0.00,2.47,0.00,0.000,1030,0.000,0.094,2518,2211,3430,3443,3417,0,0,0,0,0,0,14.88,14.81,14.90
$GC,1218,-0.79,-146.6,2519,2211,3444,3418,133.2,-9.6,60,1224,0.00,2.53,0.00,0.000,260,0.000,0.111,2508,3619,3430,3443,3417,0,0,0,0,0,0,15.09,14.82,15.09
$GC,1283,-0.79,-146.6,2509,3620,3444,3418,139.4,-10.1,63,1289,0.00,2.42,0.00,0.000,1030,0.000,0.073,2508,2202,3430,3443,3417,0,0,0,0,0,0,14.92,14.85,14.93
$STATE,1398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1398,begin apogee
$GC,1400,-0.25,0.0,2509,2203,3442,3417,151.6,-10.2,69,1521,0.62,0.00,111.85,1.814,10246,0.211,0.000,2695,2202,2845,2865,2826,0,0,0,0,1,0,14.77,14.17,13.43
$STATE,1522,end apogee,CONTROL_FINISHED_OK
$STATE,1522,begin climb
$GC,1523,0.79,146.6,2695,2201,2868,2828,155.3,0.0,75,1647,1.02,0.00,115.30,1.817,10758,0.145,0.000,3016,2202,2261,2282,2240,0,0,0,0,1,0,14.14,14.08,13.40
$GC,1758,0.79,146.6,3017,2202,2295,2250,143.4,8.5,87,1764,0.00,2.55,1.55,0.279,8708,0.000,0.113,3027,795,2264,2287,2242,0,0,0,0,0,0,14.68,14.41,14.28
$GC,1813,0.79,146.6,3027,795,2295,2250,139.7,9.2,89,1821,0.00,2.53,1.25,0.234,9222,0.000,0.094,3027,2197,2263,2285,2241,0,0,0,0,0,0,14.59,14.52,14.40
$GC,1938,0.79,146.6,3028,2198,2296,2248,127.5,8.5,96,1944,0.00,2.55,1.45,0.275,8452,0.000,0.111,3027,3621,2265,2287,2243,0,0,0,0,0,0,14.87,14.61,14.51
$GC,2018,0.79,146.6,3028,3621,2294,2250,120.0,9.3,100,2024,0.00,2.47,1.40,0.248,9222,0.000,0.078,3038,2203,2261,2284,2238,0,0,0,0,0,0,14.71,14.62,14.53
$GC,2158,0.79,146.6,3038,2204,2296,2248,108.1,8.6,107,2164,0.00,2.53,1.38,0.272,8708,0.000,0.117,3049,791,2264,2286,2242,0,0,0,0,0,0,14.97,14.69,14.62
$GC,2213,0.79,146.6,3049,791,2294,2250,104.7,8.5,109,2221,0.00,2.50,1.25,0.243,9222,0.000,0.095,3049,2203,2263,2285,2241,0,0,0,0,0,0,14.80,14.73,14.61
$GC,2338,0.79,146.6,3048,2204,2295,2249,91.9,9.3,116,2344,0.00,2.53,1.40,0.273,8452,0.000,0.115,3049,3620,2263,2285,2241,0,0,0,0,0,0,15.01,14.74,14.64
$GC,2368,0.79,146.6,3049,3620,2293,2249,90.0,9.4,117,2374,0.00,2.47,1.25,0.246,9222,0.000,0.080,3058,2197,2262,2285,2239,0,0,0,0,0,0,14.85,14.77,14.62
$GC,2498,0.79,146.6,3059,2197,2295,2250,77.6,8.6,124,2504,0.00,2.53,1.40,0.278,8452,0.000,0.114,3058,3615,2262,2285,2240,0,0,0,0,0,0,15.03,14.76,14.65
$GC,2558,0.79,146.6,3059,3615,2294,2250,72.2,8.9,127,2565,0.10,2.45,1.27,0.244,13318,0.308,0.081,3043,2201,2261,2284,2238,0,0,0,0,0,0,14.66,14.79,14.66
$GC,2698,0.79,146.6,3044,2201,2295,2249,61.2,7.7,134,2704,0.00,2.50,1.27,0.278,8452,0.000,0.111,3043,3613,2263,2286,2241,0,0,0,0,0,0,15.06,14.78,14.71
$GC,2808,0.79,146.6,3044,3614,2295,2248,53.1,8.2,139,2814,0.00,2.45,1.30,0.247,9222,0.000,0.077,3053,2196,2261,2284,2238,0,0,0,0,0,0,14.88,14.82,14.66
$GC,2938,0.81,156.8,3053,2197,2295,2249,42.9,6.7,146,2949,0.00,2.50,6.18,0.319,8708,0.000,0.116,3064,786,2222,2243,2201,0,0,0,0,0,0,15.05,14.77,14.69
$GC,3158,0.81,156.8,3064,788,2251,2209,27.5,7.3,157,3164,0.00,2.47,1.00,0.246,9222,0.000,0.090,3064,2200,2220,2241,2200,0,0,0,0,0,0,14.89,14.81,14.71
$GC,3238,0.81,156.8,3064,2200,2253,2206,21.1,8.0,161,3244,0.00,2.50,1.27,0.282,8452,0.000,0.110,3064,3613,2221,2243,2200,0,0,0,0,0,0,15.04,14.79,14.71
$GC,3323,0.81,156.8,3064,3614,2250,2207,14.0,8.8,165,3330,0.10,2.45,1.08,0.243,13318,0.304,0.077,3048,2193,2218,2239,2198,0,0,0,0,0,0,14.70,14.82,14.71
$GC,3398,0.85,192.6,3048,2193,2249,2204,9.3,5.9,169,3421,0.00,2.50,17.65,0.216,8708,0.000,0.114,3058,784,2075,2092,2059,0,0,0,0,0,0,15.05,14.77,14.71
$GC,3460,0.94,264.2,3058,784,2100,2064,6.3,4.7,172,3502,0.00,2.50,35.10,0.202,9222,0.000,0.096,3058,2200,1790,1800,1781,0,0,0,0,0,0,14.85,14.78,14.71
$STATE,3519,end climb,SURFACE_DEPTH_REACHED
$STATE,3519,begin surface coast
$FINISH,0.1,1.002457
$STATE,3539,end surface coast,CONTROL_FINISHED_OK
$STATE,3539,begin surface
$SM_CCo,3612,0.00,0.000,0,0,1793,264.26
$SM_GC,0.90,8.27,0.00,0.00,0.086,0.000,0.000,202,2200,1793,-8.01,0.00,264.26,0,0,0,0,0,0,14.79,15.01,14.88
$IRIDIUM_FIX,4726.11,-12226.80,140716,020536
$TT8_MAMPS,0.038199,0.886816
$HUMID,51.96
$INTERNAL_PRESSURE,9.19876
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,999.0
$SC_FREEKB,4016064
$24V_AH,13.40,1.616
$10V_AH,13.35,0.000
$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,20.900,85.125,305.600,0.000,0.000,22.677,34.840,364.167,3.250,0.000,5.504,0.000,2362.818,472.884,1283.385,33.221,0.000,821.877,0.000,573.130,0.000,19.760,0.000
$DEVICE_MAMPS,405.450,2180.250,1816.875,0.000,0.000,41.310,160.000,223.000,420.000,0.000,8.990,0.000,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3568.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.459,0.000,0.000,0.000
$MEM,193936
$DATA_FILE_SIZE,6788,176
$CAP_FILE_SIZE,83033,0
$CFSIZE,1024409600,1020248064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,040859,4744.058,-12223.716,14,1.6,16,15.9,0.2,0.0,8,6.8