version: 66.12
glider: 221
mission: 3
dive: 39
start: 7 14 116 16 21 47
data:
$ID,221
$MISSION,3
$DIVE,39
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,60
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,3
$D_FINISH,3
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$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,250
$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,270
$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,3
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,2
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$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,27
$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,5
$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
$GPS1,140716,161106,4746.0991,-12223.9287,2,0.8,4,15.9,0.2,0.0,12,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,3.6
$GPS2,140716,161106,4746.0991,-12223.9287,2,0.8,4,15.9,0.2,0.0,12,6.7
$SPEED_LIMITS,0.231,0.357
$TGT_NAME,HEADING
$TGT_LATLONG,4746.099,-12239.996
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,254.1,20000,-17.3,-13.333,-20.48,2766
$D_GRID,15
$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,15,-1.17,-244.4,2800,2199,2622,2549,0.0,0.0,0,78,0.00,0.00,-62.55,0.000,16390,0.000,0.000,2799,2199,3818,3850,3786,0,0,0,0,0,0,14.86,13.87,14.87
$GC,80,-1.17,-244.4,2800,2199,3851,3787,1.4,-3.1,3,85,1.12,2.50,0.00,0.000,4356,0.106,0.100,2406,3612,3818,3850,3786,0,0,0,0,0,0,14.66,14.62,14.71
$GC,133,-1.17,-244.4,2406,3613,3850,3787,6.2,-7.4,5,140,0.00,2.42,0.00,0.000,1030,0.000,0.064,2406,2197,3818,3850,3787,0,0,0,0,0,0,14.75,14.69,14.76
$STATE,177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,177,begin apogee
$GC,180,-0.25,0.0,2406,2197,3851,3787,17.2,-17.1,8,301,0.98,0.00,118.85,0.242,10246,0.230,0.000,2685,2195,2844,2866,2822,0,0,0,0,0,0,14.60,14.66,14.49
$STATE,302,end apogee,CONTROL_FINISHED_OK
$STATE,302,begin climb
$GC,303,1.17,244.4,2685,2195,2870,2822,22.8,0.0,14,434,1.38,2.55,120.10,0.239,10756,0.155,0.102,3132,797,1871,1881,1861,0,0,0,0,0,0,14.56,14.51,14.43
$GC,478,1.23,294.9,3132,798,1887,1861,9.5,11.5,23,509,0.00,2.50,25.42,0.202,9222,0.000,0.089,3132,2198,1668,1674,1663,0,0,0,0,0,0,14.62,14.59,14.49
$FREEZE,0.94,14.498,-1.585,0,6,0
$STATE,538,end climb,SURFACE_DEPTH_REACHED
$STATE,538,begin surface coast
$FREEZE,0.12,14.813,-0.721,0,6,0
$FINISH,0.1,1.009357
$STATE,558,end surface coast,CONTROL_FINISHED_OK
$STATE,558,begin surface
$SM_CCo,631,0.00,0.000,0,0,1670,295.16
$SM_GC,1.20,8.55,0.00,0.00,0.085,0.000,0.000,210,2198,1670,-7.96,-0.06,295.16,0,0,0,0,0,0,14.62,14.83,14.71
$IRIDIUM_FIX,4729.30,-12221.39,140716,151225
$TT8_MAMPS,0.038948,0.720538
$HUMID,47.67
$INTERNAL_PRESSURE,9.22806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,4.0,999.0
$SC_FREEKB,4002624
$24V_AH,13.85,3.789
$10V_AH,14.06,0.000
$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,12.025,12.425,264.375,0.000,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,188.716,297.512,194.612,10.368,0.000,401.828,0.000,109.400,0.000,2.622,0.000
$DEVICE_MAMPS,230.265,101.745,241.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,558.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,35.478,0.000,0.000,0.000
$MEM,194136
$DATA_FILE_SIZE,178,27
$CAP_FILE_SIZE,16003,0
$CFSIZE,1024409600,1017774080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140716,163238,4746.161,-12223.995,2,0.9,3,15.9,0.2,0.0,12,10.0