version: 66.12
glider: 221
mission: 3
dive: 45
start: 7 14 116 17 56 40
data:
$ID,221
$MISSION,3
$DIVE,45
$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,589.06396
$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,29
$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,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
$GPS1,140716,174034,4746.0190,-12224.0840,2,0.8,3,15.9,0.2,154.0,10,6.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,3.2
$GPS2,140716,174034,4746.0190,-12224.0840,2,0.8,3,15.9,0.2,154.0,10,6.7
$SPEED_LIMITS,0.231,0.357
$TGT_NAME,HEADING
$TGT_LATLONG,4746.019,-12240.150
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,254.1,20000,-17.3,-13.333,-20.48,2766
$D_GRID,49
$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,-1.17,-244.4,2806,2201,2590,2515,0.0,0.0,0,68,0.00,0.00,-51.80,0.000,16390,0.000,0.000,2806,2200,3819,3849,3789,0,0,0,0,0,0,14.90,13.88,14.89
$GC,69,-1.17,-244.4,2806,2201,3851,3788,2.2,-4.2,2,74,1.17,2.45,0.00,0.000,4612,0.127,0.096,2409,792,3818,3849,3788,0,0,0,0,0,0,14.66,14.64,14.74
$GC,128,-1.17,-244.4,2409,792,3850,3790,10.4,-9.9,5,134,0.00,2.47,0.00,0.000,1030,0.000,0.086,2400,2198,3820,3849,3792,0,0,0,0,0,0,14.76,14.69,14.78
$GC,208,-1.17,-244.4,2400,2198,3851,3789,27.2,-21.2,9,214,0.00,2.53,0.00,0.000,260,0.000,0.101,2389,3610,3819,3849,3789,0,0,0,0,0,0,14.95,14.70,14.95
$GC,258,-1.17,-244.4,2390,3609,3850,3790,36.7,-23.9,11,264,0.00,2.40,0.00,0.000,1030,0.000,0.060,2389,2198,3819,3850,3788,0,0,0,0,0,0,14.81,14.76,14.82
$STATE,307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,307,begin apogee
$GC,310,-0.25,0.0,2390,2197,3850,3790,50.9,-23.8,14,434,1.05,0.00,120.97,0.359,10246,0.248,0.000,2682,2197,2844,2865,2823,0,0,0,0,0,0,14.65,14.64,14.41
$STATE,435,end apogee,CONTROL_FINISHED_OK
$STATE,435,begin climb
$GC,436,1.17,244.4,2684,2198,2870,2825,57.1,0.0,20,565,1.38,2.53,120.90,0.363,10500,0.142,0.099,3127,3612,1871,1884,1859,0,0,0,0,0,0,14.54,14.47,14.32
$GC,589,1.23,293.9,3127,3613,1889,1862,45.6,11.5,28,620,0.00,2.47,25.65,0.324,9222,0.000,0.070,3138,2200,1673,1685,1662,0,0,0,0,0,0,14.58,14.51,14.36
$GC,750,1.23,293.9,3137,2200,1690,1664,19.0,17.1,36,755,0.00,2.50,0.00,0.000,516,0.000,0.103,3149,791,1676,1689,1663,0,0,0,0,0,0,14.80,14.59,14.79
$GC,789,1.23,293.9,3149,791,1690,1664,12.3,16.7,38,794,0.00,2.50,0.00,0.000,1030,0.000,0.088,3149,2198,1676,1689,1663,0,0,0,0,0,0,14.69,14.62,14.72
$FREEZE,2.93,14.191,-1.596,0,12,0
$FREEZE,0.05,15.351,-1.581,0,12,0
$STATE,868,end climb,SURFACE_DEPTH_REACHED
$STATE,868,begin surface coast
$FREEZE,0.00,15.195,-0.612,0,12,0
$FINISH,0.0,1.007745
$STATE,888,end surface coast,CONTROL_FINISHED_OK
$STATE,888,begin surface
$SM_CCo,901,146.60,0.186,0,0,497,589.06
$SM_GC,0.86,8.57,0.00,146.60,0.086,0.000,0.186,208,2199,497,-7.97,-0.06,589.06,0,0,0,0,0,0,14.69,14.91,14.57
$IRIDIUM_FIX,4729.30,-12225.81,140716,164001
$TT8_MAMPS,0.036701,0.813414
$HUMID,47.51
$INTERNAL_PRESSURE,9.12063
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.0,999.0
$SC_FREEKB,3999936
$24V_AH,13.88,4.046
$10V_AH,14.03,0.000
$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,12.175,22.275,267.525,146.600,0.000,0.000,0.000,0.000,0.250,0.000,0.000,0.000,386.305,448.697,266.758,14.389,0.000,580.258,0.000,158.788,0.000,2.620,0.000
$DEVICE_MAMPS,247.860,103.275,363.375,185.895,0.000,0.000,0.000,0.000,420.000,0.000,0.000,0.000,2.190,9.970,28.700,45.920,0.000,11.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,893.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,34.354,0.000,0.000,0.000
$MEM,194160
$DATA_FILE_SIZE,178,43
$CAP_FILE_SIZE,24392,0
$CFSIZE,1024409600,1016692736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140716,181431,4745.887,-12224.341,1,0.9,3,15.9,0.1,0.0,9,4.1