version: 66.12
glider: 221
mission: 3
dive: 10
start: 7 14 116 4 20 13
data:
$ID,221
$MISSION,3
$DIVE,10
$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,22
$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
$GPS1,140716,040859,4744.0576,-12223.7158,14,1.6,16,15.9,0.2,0.0,8,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.5
$GPS2,140716,042002,4743.9844,-12223.7080,3,0.9,21,15.9,0.2,175.3,10,2.0
$SPEED_LIMITS,0.122,0.226
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,17.0,476,-26.7,-7.042,-30.00,816
$D_GRID,167
$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,-1.38,-37.8,203,2199,1795,1790,0.0,0.0,0,67,0.00,0.00,-51.90,0.000,16390,0.000,0.000,202,2200,2995,3000,2991,0,0,0,0,0,0,14.86,13.83,14.86
$GC,68,-1.38,-37.8,203,2201,3001,2991,1.8,-0.9,2,86,9.75,2.47,0.00,0.000,2564,0.407,0.088,2330,787,2997,3010,2984,0,0,0,0,0,0,14.46,14.62,14.69
$GC,105,-1.38,-37.8,2329,788,3012,2984,8.5,-10.3,4,111,0.00,2.47,0.00,0.000,1030,0.000,0.084,2319,2197,2997,3011,2983,0,0,0,0,0,0,14.70,14.64,14.71
$GC,185,-1.38,-37.8,2320,2198,3011,2984,22.3,-17.4,8,191,0.00,2.50,0.00,0.000,516,0.000,0.095,2320,794,2997,3011,2983,0,0,0,0,0,0,14.91,14.64,14.91
$GC,240,-1.38,-37.8,2320,794,3014,2983,29.4,-17.6,10,247,0.00,2.47,0.00,0.000,1030,0.000,0.087,2309,2201,2997,3012,2983,0,0,0,0,0,0,14.76,14.70,14.78
$GC,305,-1.38,-37.8,2309,2201,3012,2983,42.5,-16.5,14,311,0.00,2.53,0.00,0.000,516,0.000,0.097,2309,786,2997,3012,2983,0,0,0,0,0,0,14.95,14.67,14.95
$GC,440,-1.38,-37.8,2309,786,3013,2984,63.3,-17.2,20,447,0.12,2.47,0.00,0.000,3078,0.317,0.086,2328,2197,2997,3012,2982,0,0,0,0,0,0,14.60,14.74,14.76
$GC,565,-1.38,-37.8,2329,2198,3013,2982,84.8,-15.2,27,571,0.00,2.53,0.00,0.000,260,0.000,0.100,2319,3615,2997,3012,2982,0,0,0,0,0,0,15.02,14.74,15.02
$GC,725,-1.38,-37.8,2319,3616,3013,2984,110.0,-16.0,35,731,0.00,2.40,0.00,0.000,1030,0.000,0.060,2319,2192,2997,3013,2982,0,0,0,0,0,0,14.85,14.80,14.86
$GC,866,-1.38,-37.8,2319,2193,3013,2984,132.0,-16.2,42,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2192,2997,3013,2982,0,0,0,0,0,0,15.02,15.02,15.02
$GC,985,-1.38,-37.8,2319,2192,3014,2983,149.8,-14.2,48,991,0.00,2.53,0.00,0.000,260,0.000,0.095,2308,3620,2997,3013,2982,0,0,0,0,0,0,15.08,14.80,15.08
$STATE,1005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1005,begin apogee
$GC,1009,-0.25,0.0,2306,2198,3014,2983,152.6,-13.9,49,1050,1.42,0.00,32.17,1.536,10246,0.275,0.000,2695,2198,2845,2869,2821,0,0,0,0,1,0,14.72,14.62,13.87
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1052,1.38,37.8,2695,2199,2874,2822,154.6,0.0,51,1096,1.60,2.55,32.15,1.545,10756,0.140,0.113,3215,799,2696,2711,2681,0,0,0,0,1,0,14.57,14.39,13.67
$GC,1195,1.44,90.5,3215,799,2723,2687,152.3,0.4,58,1256,0.00,2.50,55.65,1.086,9222,0.000,0.090,3215,2199,2479,2498,2460,0,0,0,0,0,0,14.62,14.55,13.93
$GC,1385,1.44,90.5,3215,2199,2484,2447,141.9,9.5,68,1391,0.00,2.58,0.00,0.000,260,0.000,0.106,3215,3617,2465,2483,2447,0,0,0,0,0,0,14.79,14.52,14.79
$GC,1615,1.44,90.5,3215,3617,2484,2448,118.9,9.9,79,1621,0.00,2.45,0.00,0.000,1030,0.000,0.073,3226,2203,2465,2483,2447,0,0,0,0,0,0,14.76,14.70,14.76
$GC,1745,1.44,90.5,3226,2203,2484,2446,105.7,9.2,86,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2203,2465,2483,2447,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1865,1.44,90.5,3226,2203,2484,2448,95.4,8.4,92,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2202,2464,2483,2446,0,0,0,0,0,0,15.01,15.01,15.01
$GC,1985,1.44,90.5,3227,2203,2483,2448,84.5,9.2,98,1991,0.00,2.50,0.00,0.000,260,0.000,0.103,3226,3607,2464,2482,2447,0,0,0,0,0,0,15.03,14.75,15.03
$GC,2065,1.44,90.5,3226,3610,2481,2447,77.6,8.6,102,2071,0.00,2.42,0.00,0.000,1030,0.000,0.074,3237,2202,2465,2483,2447,0,0,0,0,0,0,14.83,14.77,14.85
$GC,2205,1.44,90.5,3237,2203,2483,2449,67.2,7.4,109,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2202,2464,2482,2447,0,0,0,0,0,0,15.05,15.05,15.05
$GC,2325,1.45,94.2,3237,2204,2483,2447,59.1,6.6,115,2331,0.00,2.53,0.00,0.000,260,0.000,0.104,3237,3615,2464,2482,2447,0,0,0,0,0,0,15.07,14.78,15.07
$GC,2505,1.45,94.2,3238,3615,2482,2448,45.1,7.8,124,2511,0.00,2.42,0.00,0.000,1030,0.000,0.070,3248,2199,2464,2482,2447,0,0,0,0,0,0,14.90,14.83,14.92
$GC,2645,1.48,117.9,3248,2198,2483,2448,38.2,4.1,131,2661,0.00,2.47,11.38,0.298,8708,0.000,0.109,3259,790,2376,2392,2361,0,0,0,0,0,0,15.07,14.79,14.69
$GC,2715,1.50,133.2,3259,790,2404,2370,34.9,5.1,134,2728,0.00,2.45,9.02,0.287,9222,0.000,0.089,3259,2193,2312,2327,2298,0,0,0,0,0,0,14.88,14.81,14.68
$GC,2785,1.50,133.2,3259,2194,2343,2311,27.4,9.3,138,2791,0.00,2.50,1.58,0.260,8452,0.000,0.109,3259,3615,2317,2331,2303,0,0,0,0,0,0,15.04,14.78,14.71
$GC,2815,1.50,133.2,3259,3616,2341,2310,24.7,11.0,139,2821,0.00,2.45,1.10,0.238,9222,0.000,0.080,3269,2201,2315,2330,2300,0,0,0,0,0,0,14.87,14.79,14.71
$GC,2885,1.50,133.2,3269,2202,2342,2310,15.1,11.8,143,2891,0.00,2.53,1.42,0.261,8452,0.000,0.111,3270,3623,2316,2332,2301,0,0,0,0,0,0,15.04,14.78,14.73
$GC,2930,1.50,133.2,3269,3624,2343,2307,10.6,11.1,145,2936,0.00,2.47,1.42,0.228,9222,0.000,0.081,3280,2199,2314,2330,2298,0,0,0,0,0,0,14.87,14.80,14.70
$GC,3005,1.50,133.2,3280,2200,2342,2311,4.4,7.7,149,3011,0.00,2.50,1.35,0.260,8708,0.000,0.119,3291,793,2314,2330,2299,0,0,0,0,0,0,15.04,14.76,14.73
$STATE,3044,end climb,SURFACE_DEPTH_REACHED
$STATE,3044,begin surface coast
$FINISH,0.9,1.021790
$STATE,3064,end surface coast,CONTROL_FINISHED_OK
$STATE,3065,begin surface
$SM_CCo,3082,61.60,0.197,0,0,1806,260.24
$SM_GC,0.61,9.85,2.50,61.60,0.170,0.094,0.197,209,2211,1806,-8.00,-0.37,260.24,0,0,0,0,0,0,14.81,14.81,14.69
$IRIDIUM_FIX,4726.11,-12215.26,140716,030100
$TT8_MAMPS,0.03745,0.877079
$HUMID,51.96
$INTERNAL_PRESSURE,9.20853
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,999.0
$SC_FREEKB,4015616
$24V_AH,13.67,1.743
$10V_AH,13.81,0.000
$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,22.750,64.600,147.250,61.600,0.000,25.675,35.307,454.501,3.250,0.000,22.956,0.000,2076.443,344.615,1354.305,32.667,0.000,660.261,0.000,542.471,0.000,22.568,0.000
$DEVICE_MAMPS,406.980,118.575,1545.300,196.605,0.000,41.310,160.000,223.000,420.000,0.000,8.990,0.000,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3107.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.453,0.000,0.000,0.000
$MEM,194012
$DATA_FILE_SIZE,3485,152
$CAP_FILE_SIZE,75650,0
$CFSIZE,1024409600,1020149760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,051310,4744.086,-12223.558,13,1.1,15,15.9,0.3,161.9,8,4.8