version: 66.12
glider: 222
mission: 3
dive: 10
start: 7 14 116 5 22 8
data:
$ID,222
$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,90
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,15
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53502
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,300
$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,210
$PITCH_MAX,3890
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031257649
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,230
$ROLL_MAX,3750
$ROLL_DEG,40
$C_ROLL_DIVE,2080
$C_ROLL_CLIMB,2070
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2470
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,60
$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,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-157.1842
$PRESSURE_SLOPE,0.0001074611
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.3499999
$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,0.0044060913
$SEABIRD_T_H,0.00063889573
$SEABIRD_T_I,2.5185698e-05
$SEABIRD_T_J,3.0510489e-06
$SEABIRD_C_G,-9.8844519
$SEABIRD_C_H,1.1298814
$SEABIRD_C_I,-0.0013862044
$SEABIRD_C_J,0.00017915672
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,140716,050939,4743.9546,-12223.3721,16,1.3,25,15.9,0.1,0.0,8,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.0
$GPS2,140716,052141,4743.8784,-12223.3740,2,1.3,4,15.9,0.3,199.2,8,9.9
$SPEED_LIMITS,0.207,0.209
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,329.3,616,-8.9,-5.556,-15.00,3865
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.62,-144.3,213,2070,1280,1197,0.0,0.0,0,82,0.00,0.00,-62.58,0.000,16386,0.000,0.000,213,2070,3042,3093,2991,0,0,0,0,0,0,15.11,28.83,15.11
$GC,84,-0.62,-144.3,213,2070,3093,2991,3.9,-5.9,3,102,10.75,0.00,-0.35,0.000,18438,0.392,0.000,2570,2069,3061,3117,3005,0,0,0,0,0,0,14.74,14.07,14.97
$GC,161,-0.62,-144.3,2569,2069,3125,3004,19.8,-19.0,7,166,0.00,2.75,0.00,0.000,260,0.000,0.171,2561,3498,3061,3118,3005,0,0,0,0,0,0,15.10,14.81,15.10
$GC,241,-0.62,-144.3,2560,3497,3118,3004,27.0,-11.3,10,247,0.00,2.58,0.00,0.000,1030,0.000,0.122,2560,2071,3061,3118,3004,0,0,0,0,0,0,14.99,14.87,15.00
$GC,306,-0.62,-144.3,2560,2071,3118,3004,34.9,-9.8,14,311,0.00,2.78,0.00,0.000,260,0.000,0.182,2550,3494,3061,3118,3004,0,0,0,0,0,0,15.16,14.85,15.16
$GC,345,-0.62,-144.3,2550,3494,3118,3004,37.3,-9.9,15,352,0.00,2.55,0.00,0.000,1030,0.000,0.127,2549,2083,3061,3118,3004,0,0,0,0,0,0,15.03,14.90,15.04
$GC,410,-0.62,-144.3,2550,2084,3118,3004,46.1,-11.0,19,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2084,3061,3119,3004,0,0,0,0,0,0,15.19,15.19,15.19
$GC,530,-0.62,-144.3,2550,2084,3119,3004,58.9,-11.0,25,536,0.00,2.75,0.00,0.000,260,0.000,0.184,2541,3493,3061,3118,3004,0,0,0,0,0,0,15.22,14.92,15.22
$GC,595,-0.62,-144.3,2541,3493,3119,3004,65.9,-10.8,28,601,0.12,2.58,0.00,0.000,3078,0.225,0.130,2578,2072,3061,3118,3004,0,0,0,0,0,0,14.92,14.95,15.06
$GC,739,-0.62,-144.3,2578,2071,3119,3004,80.0,-9.8,35,744,0.00,2.80,0.00,0.000,260,0.000,0.190,2570,3500,3061,3119,3004,0,0,0,0,0,0,15.24,14.93,15.25
$GC,811,-0.62,-144.3,2569,3500,3119,3004,86.6,-10.3,38,816,0.00,2.58,0.00,0.000,1030,0.000,0.132,2570,2078,3061,3119,3004,0,0,0,0,0,0,15.10,14.99,15.12
$GC,949,-0.62,-144.3,2569,2077,3119,3004,100.2,-9.3,45,955,0.00,2.78,0.00,0.000,260,0.000,0.192,2562,3496,3061,3119,3004,0,0,0,0,0,0,15.26,14.95,15.26
$GC,984,-0.62,-144.3,2561,3493,3119,3004,102.4,-9.0,46,990,0.00,2.58,0.00,0.000,1030,0.000,0.135,2562,2076,3061,3119,3004,0,0,0,0,0,0,15.10,14.97,15.11
$GC,1116,-0.62,-144.3,2562,2075,3119,3003,115.2,-9.1,53,1121,0.00,2.80,0.00,0.000,260,0.000,0.194,2553,3500,3061,3119,3004,0,0,0,0,0,0,15.29,14.98,15.29
$GC,1175,-0.62,-144.3,2553,3501,3118,3004,119.2,-9.0,55,1182,0.00,2.58,0.00,0.000,1030,0.000,0.136,2554,2081,3061,3119,3004,0,0,0,0,0,0,15.15,15.02,15.16
$GC,1300,-0.62,-144.3,2553,2081,3119,3004,132.0,-8.6,62,1305,0.00,2.78,0.00,0.000,260,0.000,0.195,2546,3493,3061,3119,3004,0,0,0,0,0,0,15.30,15.00,15.30
$GC,1367,-0.62,-144.3,2545,3493,3119,3004,137.4,-8.3,65,1373,0.10,2.60,0.00,0.000,3078,0.243,0.137,2574,2071,3061,3119,3004,0,0,0,0,0,0,15.00,15.03,15.14
$GC,1507,-0.62,-144.3,2574,2073,3118,3004,149.2,-8.0,72,1513,0.00,2.78,0.00,0.000,260,0.000,0.195,2566,3493,3061,3119,3004,0,0,0,0,0,0,15.30,14.99,15.30
$STATE,1530,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1530,begin apogee
$GC,1536,-0.25,0.0,2566,2068,3119,3004,151.2,-8.3,73,1666,0.43,0.00,121.35,2.056,10246,0.180,0.000,2699,2068,2470,2531,2410,0,0,0,0,1,0,15.00,14.31,13.49
$STATE,1667,end apogee,CONTROL_FINISHED_OK
$STATE,1667,begin climb
$GC,1668,0.62,144.3,2699,2068,2535,2412,155.9,0.0,79,1805,0.80,2.80,121.38,2.004,10756,0.129,0.161,2968,655,1882,1955,1810,0,0,0,0,1,0,14.29,14.16,13.45
$GC,1864,0.66,178.6,2968,655,1964,1815,151.0,4.6,88,1911,0.00,2.80,39.53,1.170,9222,0.000,0.176,2969,2067,1734,1810,1658,0,0,0,0,0,0,14.64,14.48,14.00
$GC,2046,0.69,201.8,2968,2069,1803,1642,140.9,4.9,97,2077,0.05,2.85,21.62,1.154,10500,0.211,0.198,3010,3483,1633,1711,1556,0,0,0,0,0,0,14.75,14.57,14.19
$GC,2123,0.69,201.8,3010,3483,1709,1549,136.5,6.2,100,2128,0.00,2.65,0.00,0.000,1030,0.000,0.141,3018,2070,1628,1708,1549,0,0,0,0,0,0,14.80,14.67,14.81
$GC,2254,0.69,201.8,3018,2070,1709,1547,125.0,8.2,107,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2070,1630,1708,1552,0,0,0,0,0,0,15.08,15.09,15.09
$GC,2374,0.69,201.8,3018,2070,1708,1546,116.2,7.3,113,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2070,1626,1708,1545,0,0,0,0,0,0,15.16,15.16,15.16
$GC,2494,0.69,201.8,3018,2070,1708,1546,106.4,8.3,119,2500,0.00,2.80,0.00,0.000,260,0.000,0.194,3018,3490,1627,1708,1546,0,0,0,0,0,0,15.20,14.89,15.20
$GC,2541,0.69,201.8,3018,3490,1708,1546,102.2,9.0,121,2546,0.00,2.60,0.00,0.000,1030,0.000,0.139,3028,2068,1627,1708,1546,0,0,0,0,0,0,15.06,14.93,15.08
$GC,2681,0.69,201.8,3028,2068,1708,1546,91.0,7.6,128,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2068,1627,1708,1546,0,0,0,0,0,0,15.23,15.23,15.23
$GC,2801,0.69,201.8,3028,2069,1708,1546,82.0,7.5,134,2806,0.00,2.80,0.00,0.000,260,0.000,0.197,3028,3494,1627,1708,1546,0,0,0,0,0,0,15.26,14.95,15.26
$GC,2847,0.69,201.8,3027,3491,1708,1545,78.7,7.3,136,2853,0.10,2.60,0.00,0.000,5126,0.250,0.140,3006,2071,1626,1708,1545,0,0,0,0,0,0,14.94,14.95,15.07
$GC,2988,0.69,201.8,3006,2071,1708,1545,69.4,6.6,143,2993,0.00,2.80,0.00,0.000,260,0.000,0.199,3006,3492,1627,1709,1545,0,0,0,0,0,0,15.27,14.95,15.27
$GC,3023,0.69,201.8,3006,3492,1708,1545,67.7,6.9,144,3028,0.00,2.60,0.00,0.000,1030,0.000,0.142,3014,2070,1626,1708,1545,0,0,0,0,0,0,15.09,14.97,15.11
$GC,3154,0.69,201.8,3014,2070,1708,1545,58.4,6.7,151,3160,0.00,2.62,0.00,0.000,516,0.000,0.164,3022,661,1626,1708,1545,0,0,0,0,0,0,15.29,15.00,15.28
$GC,3206,0.69,201.8,3022,661,1709,1545,55.5,6.5,153,3211,0.00,2.70,0.00,0.000,1030,0.000,0.178,3022,2073,1627,1709,1545,0,0,0,0,0,0,15.14,14.98,15.16
$GC,3341,0.69,201.8,3022,2073,1708,1545,46.0,6.6,160,3347,0.00,2.78,0.00,0.000,260,0.000,0.206,3022,3483,1626,1708,1545,0,0,0,0,0,0,15.28,14.97,15.28
$GC,3429,0.69,201.8,3022,3483,1707,1545,39.1,8.2,164,3434,0.00,2.60,0.00,0.000,1030,0.000,0.145,3030,2070,1626,1707,1545,0,0,0,0,0,0,15.13,15.00,15.15
$GC,3508,0.69,201.8,3029,2070,1708,1545,32.7,7.9,168,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2070,1626,1707,1545,0,0,0,0,0,0,15.28,15.29,15.28
$GC,3568,0.69,201.8,3029,2070,1708,1545,28.3,7.2,171,3574,0.00,2.65,0.00,0.000,516,0.000,0.167,3040,661,1626,1707,1545,0,0,0,0,0,0,15.29,14.99,15.31
$GC,3592,0.69,201.8,3040,661,1708,1545,26.3,7.7,172,3598,0.12,2.72,0.00,0.000,5126,0.223,0.186,3003,2073,1626,1707,1545,0,0,0,0,0,0,14.96,14.96,15.09
$GC,3677,0.69,201.8,3009,2073,1707,1545,20.3,7.0,176,3682,0.00,2.80,0.00,0.000,260,0.000,0.208,3003,3486,1626,1707,1545,0,0,0,0,0,0,15.28,14.95,15.28
$GC,3757,0.69,201.8,3003,3486,1707,1545,16.1,6.8,179,3764,0.00,2.60,0.00,0.000,1030,0.000,0.148,3009,2070,1626,1707,1545,0,0,0,0,0,0,15.11,14.98,15.12
$GC,3822,0.69,201.8,3008,2070,1707,1545,11.5,5.6,183,3827,0.00,2.65,0.00,0.000,516,0.000,0.168,3019,656,1626,1708,1545,0,0,0,0,0,0,15.27,14.98,15.28
$GC,3861,0.69,203.0,3018,655,1707,1545,10.2,5.5,184,3868,0.00,2.72,0.00,0.000,1030,0.000,0.187,3018,2070,1626,1707,1546,0,0,0,0,0,0,15.13,14.97,15.15
$GC,3926,0.69,203.0,3018,2070,1708,1545,5.2,6.2,188,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2074,1626,1707,1545,0,0,0,0,0,0,15.28,15.28,15.28
$STATE,3985,end climb,SURFACE_DEPTH_REACHED
$STATE,3985,begin surface coast
$FINISH,0.4,1.021892
$STATE,4006,end surface coast,CONTROL_FINISHED_OK
$STATE,4006,begin surface
$SM_CCo,4020,47.47,0.195,0,0,1244,300.00
$SM_GC,1.50,7.95,0.00,47.47,0.065,0.000,0.195,213,2070,1244,-7.96,-0.28,300.00,0,0,0,0,0,0,15.11,15.30,14.96
$IRIDIUM_FIX,4726.11,-12222.38,140716,034903
$TT8_MAMPS,0.020972,0.898051
$HUMID,52.48
$INTERNAL_PRESSURE,8.93747
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.7,6.4
$ALTIM_BOTTOM_PING,100.2,7.1
$SC_FREEKB,3906080
$24V_AH,13.45,2.221
$10V_AH,13.16,0.000
$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,20.425,97.025,303.875,47.475,0.000,24.289,34.870,510.674,0.750,0.000,6.329,837.510,2118.124,466.415,1343.530,42.509,0.000,908.191,0.000,662.877,0.000,7.068,0.000
$DEVICE_MAMPS,392.445,208.080,2055.555,195.075,0.000,18.360,160.000,223.000,420.000,0.000,8.990,10.720,2.190,10.720,29.450,42.180,0.000,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4046.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.385,0.000,0.000,0.000
$MEM,194212
$DATA_FILE_SIZE,6827,192
$CAP_FILE_SIZE,92372,0
$CFSIZE,1024409600,1021657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,063102,4744.234,-12223.580,30,0.7,30,15.9,0.2,206.1,12,4.3