version: 66.12
glider: 221
mission: 3
dive: 14
start: 7 14 116 7 48 30
data:
$ID,221
$MISSION,3
$DIVE,14
$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,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,2770
$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,18
$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,1
$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
$GPS1,140716,073939,4744.3125,-12223.4980,12,0.8,25,15.9,0.1,0.0,12,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.6
$GPS2,140716,074820,4744.2744,-12223.5049,2,0.8,4,15.9,0.1,0.0,12,7.8
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,161.7,137,-27.2,-10.000,-30.00,969
$D_GRID,161
$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,-1.44,-63.7,213,2200,1804,1814,0.0,0.0,0,71,0.00,0.00,-54.67,0.000,16390,0.000,0.000,212,2200,3099,3110,3089,0,0,0,0,0,0,14.84,13.83,14.84
$GC,72,-1.44,-63.7,212,2201,3112,3089,1.9,-1.5,2,90,9.48,2.45,0.00,0.000,2564,0.402,0.082,2303,792,3101,3114,3089,0,0,0,0,0,0,14.47,14.60,14.70
$GC,314,-1.44,-63.7,2303,792,3117,3088,50.8,-19.3,14,320,0.00,2.45,0.00,0.000,1030,0.000,0.080,2293,2195,3101,3115,3088,0,0,0,0,0,0,14.78,14.71,14.79
$GC,449,-1.44,-63.7,2294,2195,3116,3088,76.3,-17.5,21,455,0.00,2.47,0.00,0.000,516,0.000,0.091,2293,795,3101,3115,3087,0,0,0,0,0,0,14.99,14.72,14.98
$GC,499,-1.44,-63.7,2294,794,3116,3088,83.7,-18.0,23,505,0.00,2.45,0.00,0.000,1030,0.000,0.082,2282,2200,3102,3116,3088,0,0,0,0,0,0,14.82,14.76,14.84
$GC,629,-1.44,-63.7,2282,2201,3117,3087,109.6,-18.5,30,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2200,3101,3115,3087,0,0,0,0,0,0,15.03,15.02,15.02
$GC,750,-1.44,-63.7,2282,2201,3117,3087,132.4,-19.2,36,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2200,3101,3115,3087,0,0,0,0,0,0,14.98,14.99,14.98
$STATE,848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,851,-0.25,0.0,2283,2200,3116,3089,151.2,-18.8,41,911,1.48,0.00,49.58,1.681,10246,0.282,0.000,2680,2200,2848,2872,2824,0,0,0,0,1,0,14.70,14.46,13.71
$STATE,912,end apogee,CONTROL_FINISHED_OK
$STATE,912,begin climb
$GC,913,1.44,63.7,2681,2200,2874,2826,154.2,0.0,44,980,1.67,2.65,51.58,1.704,10500,0.145,0.099,3210,3615,2596,2612,2581,0,0,0,0,1,0,14.40,14.18,13.47
$GC,1089,1.50,110.3,3211,3615,2621,2589,145.8,5.1,53,1145,0.00,2.47,50.33,1.030,9222,0.000,0.069,3222,2201,2400,2416,2384,0,0,0,0,0,0,14.51,14.45,13.92
$GC,1269,1.50,110.3,3222,2202,2402,2370,127.8,12.6,62,1275,0.00,2.55,0.00,0.000,516,0.000,0.107,3233,794,2385,2401,2369,0,0,0,0,0,0,14.76,14.48,14.76
$GC,1314,1.50,110.3,3233,794,2401,2370,122.7,12.6,64,1320,0.00,2.50,0.00,0.000,1030,0.000,0.089,3233,2195,2385,2401,2370,0,0,0,0,0,0,14.62,14.54,14.64
$GC,1449,1.50,110.3,3233,2198,2402,2369,105.0,12.5,71,1455,0.00,2.53,0.00,0.000,260,0.000,0.103,3233,3610,2385,2401,2370,0,0,0,0,0,0,14.90,14.62,14.90
$GC,1489,1.50,110.3,3233,3610,2402,2370,99.6,13.0,73,1495,0.00,2.45,0.00,0.000,1030,0.000,0.076,3243,2202,2385,2401,2369,0,0,0,0,0,0,14.72,14.65,14.73
$GC,1629,1.50,110.3,3244,2203,2402,2369,80.7,13.2,80,1635,0.00,2.53,0.00,0.000,516,0.000,0.107,3255,789,2385,2401,2369,0,0,0,0,0,0,14.97,14.67,14.97
$GC,1793,1.50,110.3,3255,790,2402,2369,60.0,12.9,88,1800,0.00,2.47,0.00,0.000,1030,0.000,0.087,3254,2204,2385,2401,2369,0,0,0,0,0,0,14.82,14.74,14.85
$GC,1929,1.50,110.3,3255,2204,2401,2369,44.7,10.6,95,1935,0.00,2.50,0.00,0.000,260,0.000,0.106,3255,3611,2384,2400,2369,0,0,0,0,0,0,15.02,14.73,15.02
$GC,2009,1.50,110.3,3256,3610,2401,2370,36.3,10.5,99,2015,0.00,2.45,0.00,0.000,1030,0.000,0.075,3265,2196,2385,2401,2369,0,0,0,0,0,0,14.83,14.76,14.84
$GC,2089,1.50,110.3,3265,2196,2401,2370,27.9,10.4,103,2095,0.00,2.50,0.00,0.000,516,0.000,0.110,3276,793,2385,2401,2369,0,0,0,0,0,0,15.02,14.75,15.02
$GC,2104,1.50,110.3,3276,794,2402,2369,27.9,10.4,103,2111,0.00,2.47,0.00,0.000,1030,0.000,0.094,3276,2198,2384,2400,2369,0,0,0,0,0,0,14.84,14.76,14.85
$GC,2169,1.50,116.0,3271,2200,2401,2370,20.4,9.4,107,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2200,2384,2400,2369,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2229,1.52,130.8,3276,2200,2401,2370,15.4,8.4,110,2240,0.00,2.47,7.70,0.233,8708,0.000,0.108,3286,793,2323,2338,2309,0,0,0,0,0,0,15.04,14.76,14.69
$GC,2249,1.54,147.9,3287,793,2342,2314,13.9,8.2,111,2265,0.00,2.47,9.07,0.228,9222,0.000,0.092,3286,2202,2255,2269,2242,0,0,0,0,0,0,14.81,14.75,14.69
$GC,2329,1.54,147.9,3289,2202,2281,2249,5.3,10.8,115,2335,0.00,2.53,0.00,0.000,260,0.000,0.109,3286,3610,2265,2281,2249,0,0,0,0,0,0,15.02,14.73,15.02
$GC,2359,1.54,147.9,3286,3609,2281,2250,2.7,11.8,116,2365,0.10,2.45,1.12,0.228,13318,0.340,0.081,3274,2201,2254,2269,2240,0,0,0,0,0,0,14.62,14.73,14.71
$STATE,2368,end climb,SURFACE_DEPTH_REACHED
$STATE,2368,begin surface coast
$FINISH,0.2,1.011775
$STATE,2388,end surface coast,CONTROL_FINISHED_OK
$STATE,2389,begin surface
$SM_CCo,2402,54.28,0.197,0,0,1807,260.24
$SM_GC,0.75,9.00,0.00,54.28,0.098,0.000,0.197,205,2201,1807,-7.97,0.03,260.24,0,0,0,0,0,0,14.79,15.02,14.69
$IRIDIUM_FIX,4722.92,-12225.08,140716,065131
$TT8_MAMPS,0.03745,0.706307
$HUMID,51.02
$INTERNAL_PRESSURE,9.19876
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,999.0
$SC_FREEKB,4013824
$24V_AH,13.47,2.464
$10V_AH,13.67,0.000
$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,21.725,49.825,169.375,54.275,0.000,23.171,34.053,350.052,3.250,0.000,6.272,0.000,1559.210,342.103,1049.942,28.902,0.000,600.253,0.000,411.856,0.000,22.582,0.000
$DEVICE_MAMPS,401.625,110.160,1704.420,196.605,0.000,41.310,160.000,223.000,420.000,0.000,8.990,0.000,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2414.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.638,0.000,0.000,0.000
$MEM,193976
$DATA_FILE_SIZE,3504,118
$CAP_FILE_SIZE,61532,0
$CFSIZE,1024409600,1019789312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,082949,4744.083,-12223.448,2,1.0,4,15.9,0.1,0.0,8,8.1