version: 66.12
glider: 221
mission: 3
dive: 15
start: 7 14 116 8 38 49
data:
$ID,221
$MISSION,3
$DIVE,15
$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
$GPS1,140716,082949,4744.0835,-12223.4482,2,1.0,4,15.9,0.1,0.0,8,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.8
$GPS2,140716,083839,4744.0703,-12223.4570,4,0.8,20,15.9,0.1,0.0,10,3.5
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,99.000
$MHEAD_RNG_PITCHd_Wd,331.6,247,-27.2,-10.000,-30.00,969
$D_GRID,156
$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,-63.7,205,2202,1797,1824,0.0,0.0,0,71,0.00,0.00,-54.47,0.000,16390,0.000,0.000,205,2201,3099,3110,3088,0,0,0,0,0,0,14.85,13.85,14.85
$GC,72,-1.44,-63.7,205,2202,3111,3089,2.0,-1.8,2,90,9.57,2.50,0.00,0.000,2308,0.406,0.092,2288,3614,3100,3112,3089,0,0,0,0,0,0,14.47,14.61,14.70
$GC,229,-1.44,-63.7,2289,3615,3115,3089,37.1,-21.2,10,235,0.00,2.42,0.00,0.000,1030,0.000,0.057,2288,2182,3101,3114,3088,0,0,0,0,0,0,14.75,14.70,14.77
$GC,309,-1.44,-63.7,2289,2185,3115,3088,52.7,-19.4,14,315,0.00,2.58,0.00,0.000,260,0.000,0.097,2277,3619,3104,3114,3095,0,0,0,0,0,0,14.94,14.70,14.94
$GC,333,-1.44,-63.7,2278,3619,3115,3089,56.6,-19.0,15,340,0.08,2.40,0.00,0.000,3078,0.307,0.061,2298,2203,3101,3114,3088,0,0,0,0,0,0,14.61,14.74,14.75
$GC,469,-1.44,-63.7,2298,2203,3115,3089,81.7,-18.5,22,475,0.00,2.47,0.00,0.000,516,0.000,0.092,2298,795,3101,3114,3088,0,0,0,0,0,0,14.98,14.73,14.99
$GC,524,-1.44,-63.7,2298,796,3116,3088,89.4,-19.4,24,531,0.00,2.45,0.00,0.000,1030,0.000,0.083,2287,2200,3101,3115,3087,0,0,0,0,0,0,14.83,14.75,14.83
$GC,649,-1.44,-63.7,2287,2201,3116,3087,116.2,-19.3,31,655,0.00,2.45,0.00,0.000,260,0.000,0.099,2276,3614,3101,3115,3087,0,0,0,0,0,0,14.96,14.78,14.95
$GC,694,-1.44,-63.7,2276,3615,3115,3087,124.1,-19.4,33,700,0.08,2.40,0.00,0.000,3078,0.310,0.060,2296,2196,3101,3115,3087,0,0,0,0,0,0,14.67,14.81,14.82
$STATE,829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,829,begin apogee
$GC,831,-0.25,0.0,2296,2193,3116,3087,150.0,-18.2,40,891,1.42,0.00,50.38,1.684,10246,0.278,0.000,2681,2193,2847,2871,2824,0,0,0,0,1,0,14.69,14.45,13.70
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,893,begin climb
$GC,893,1.44,63.7,2682,2194,2875,2825,153.5,0.0,43,960,1.70,2.62,51.85,1.707,10756,0.145,0.105,3223,797,2596,2613,2580,0,0,0,0,1,0,14.39,14.16,13.44
$GC,1044,1.52,128.9,3223,798,2623,2587,149.4,3.1,50,1120,0.03,2.53,70.18,1.031,11270,0.285,0.086,3235,2206,2324,2339,2310,0,0,0,0,0,0,14.35,14.42,13.84
$GC,1249,1.52,128.9,3235,2206,2322,2294,124.1,15.3,61,1255,0.00,2.55,0.00,0.000,260,0.000,0.103,3235,3611,2307,2321,2293,0,0,0,0,0,0,14.74,14.47,14.74
$GC,1314,1.52,128.9,3235,3611,2322,2295,114.6,15.6,64,1320,0.00,2.45,0.00,0.000,1030,0.000,0.073,3246,2209,2307,2321,2294,0,0,0,0,0,0,14.62,14.56,14.64
$GC,1449,1.52,128.9,3246,2210,2322,2294,93.5,15.1,71,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2209,2307,2321,2294,0,0,0,0,0,0,14.90,14.90,14.90
$GC,1569,1.52,128.9,3246,2209,2321,2295,76.3,14.1,77,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2209,2307,2321,2294,0,0,0,0,0,0,14.94,14.94,14.94
$GC,1689,1.52,128.9,3246,2211,2322,2294,59.7,14.3,83,1695,0.00,2.53,0.00,0.000,516,0.000,0.105,3257,789,2307,2321,2294,0,0,0,0,0,0,14.99,14.69,14.99
$GC,1734,1.52,128.9,3257,790,2322,2294,53.8,14.7,85,1740,0.00,2.47,0.00,0.000,1030,0.000,0.087,3257,2203,2307,2321,2294,0,0,0,0,0,0,14.79,14.72,14.81
$GC,1869,1.52,128.9,3257,2204,2322,2295,33.5,14.4,92,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2203,2307,2321,2293,0,0,0,0,0,0,15.01,15.01,15.01
$GC,1929,1.52,128.9,3257,2203,2321,2295,26.1,12.4,95,1935,0.00,2.53,0.00,0.000,516,0.000,0.107,3267,788,2307,2321,2294,0,0,0,0,0,0,14.98,14.73,15.01
$GC,1984,1.52,128.9,3267,790,2322,2294,21.6,11.9,97,1994,0.00,2.47,0.00,0.000,1030,0.000,0.090,3267,2198,2307,2321,2294,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2049,1.52,128.9,3268,2199,2323,2293,12.7,11.2,101,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2198,2307,2321,2293,0,0,0,0,0,0,15.01,15.01,15.01
$GC,2109,1.52,128.9,3267,2199,2322,2293,6.3,10.5,104,2115,0.00,2.53,0.00,0.000,516,0.000,0.109,3278,787,2307,2321,2294,0,0,0,0,0,0,15.02,14.73,15.02
$STATE,2148,end climb,SURFACE_DEPTH_REACHED
$STATE,2148,begin surface coast
$FINISH,1.6,1.021946
$STATE,2153,end surface coast,CONTROL_FINISHED_OK
$STATE,2153,begin surface
$SM_CCo,2170,59.85,0.198,0,0,1806,260.24
$SM_GC,0.97,9.25,2.50,59.85,0.121,0.090,0.198,204,2209,1806,-7.97,-0.45,260.24,0,0,0,0,0,0,14.80,14.80,14.69
$IRIDIUM_FIX,4722.92,-12222.38,140716,074130
$TT8_MAMPS,0.038199,0.829892
$HUMID,51.06
$INTERNAL_PRESSURE,9.20853
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.3,999.0
$SC_FREEKB,4013376
$24V_AH,13.44,2.592
$10V_AH,13.70,0.000
$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,22.125,44.850,172.400,59.850,0.000,22.997,36.192,344.745,3.750,0.000,22.196,0.000,1410.078,354.882,970.274,28.112,0.000,572.959,0.000,335.976,0.000,28.444,0.000
$DEVICE_MAMPS,406.215,108.630,1706.715,198.135,0.000,41.310,160.000,223.000,420.000,0.000,8.990,0.000,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2175.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.315,0.000,0.000,0.000
$MEM,194000
$DATA_FILE_SIZE,3483,106
$CAP_FILE_SIZE,56200,0
$CFSIZE,1024409600,1019691008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,091630,4744.364,-12223.553,10,0.9,12,15.9,0.0,0.0,9,8.4