version: 66.12
glider: 222
mission: 3
dive: 12
start: 7 14 116 8 1 35
data:
$ID,222
$MISSION,3
$DIVE,12
$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,12
$R_STBD_OVSHOOT,7
$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,3
$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
$GPS1,140716,074947,4743.5903,-12223.7217,2,1.2,8,15.9,0.1,168.1,12,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.7
$GPS2,140716,080108,4743.5601,-12223.7051,4,1.4,6,15.9,0.0,0.0,11,4.3
$SPEED_LIMITS,0.207,0.209
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,204.7,2097,-8.8,-5.556,-14.91,3928
$D_GRID,167
$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,-146.6,212,2079,1280,1199,0.0,0.0,0,82,0.00,0.00,-62.60,0.000,16390,0.000,0.000,212,2080,3068,3118,3019,0,0,0,0,0,0,15.11,14.09,15.11
$GC,84,-0.62,-146.6,212,2080,3118,3019,4.2,-6.8,3,101,10.75,2.67,0.00,0.000,2308,0.398,0.159,2566,3497,3070,3121,3020,0,0,0,0,0,0,14.74,14.82,14.95
$GC,331,-0.62,-146.6,2566,3497,3124,3015,38.6,-10.3,15,336,0.00,2.55,0.00,0.000,1030,0.000,0.122,2566,2077,3070,3125,3015,0,0,0,0,0,0,15.04,14.92,15.06
$GC,410,-0.62,-146.6,2566,2075,3125,3016,46.9,-10.0,19,416,0.00,2.78,0.00,0.000,260,0.000,0.183,2556,3500,3070,3125,3015,0,0,0,0,0,0,15.20,14.90,15.20
$GC,465,-0.62,-146.6,2555,3500,3125,3015,51.1,-9.6,21,470,0.00,2.58,0.00,0.000,1030,0.000,0.129,2556,2080,3070,3125,3015,0,0,0,0,0,0,15.07,14.95,15.09
$GC,597,-0.62,-146.6,2555,2079,3125,3016,65.9,-10.6,28,602,0.00,2.78,0.00,0.000,260,0.000,0.189,2546,3497,3070,3125,3015,0,0,0,0,0,0,15.23,14.93,15.23
$GC,680,-0.62,-146.6,2546,3498,3125,3015,74.7,-10.6,32,686,0.10,2.58,0.00,0.000,3078,0.235,0.132,2576,2077,3070,3125,3015,0,0,0,0,0,0,14.95,14.98,15.09
$GC,825,-0.62,-146.6,2576,2077,3125,3015,87.7,-9.0,39,830,0.00,2.78,0.00,0.000,260,0.000,0.190,2567,3496,3070,3125,3015,0,0,0,0,0,0,15.27,14.96,15.27
$GC,884,-0.62,-146.6,2567,3496,3125,3015,92.1,-9.5,41,891,0.00,2.60,0.00,0.000,1030,0.000,0.134,2567,2074,3070,3125,3015,0,0,0,0,0,0,15.10,14.98,15.11
$GC,1009,-0.62,-146.6,2567,2074,3125,3015,105.1,-9.2,48,1014,0.00,2.80,0.00,0.000,260,0.000,0.194,2558,3499,3070,3125,3015,0,0,0,0,0,0,15.28,14.96,15.28
$GC,1068,-0.62,-146.6,2558,3499,3125,3015,109.5,-9.6,50,1075,0.00,2.60,0.00,0.000,1030,0.000,0.136,2558,2078,3070,3125,3015,0,0,0,0,0,0,15.10,14.99,15.11
$GC,1193,-0.62,-146.6,2558,2078,3125,3015,122.4,-8.8,57,1198,0.00,2.80,0.00,0.000,260,0.000,0.197,2550,3500,3070,3125,3015,0,0,0,0,0,0,15.28,14.96,15.28
$GC,1252,-0.62,-146.6,2550,3500,3125,3015,126.4,-9.1,59,1259,0.10,2.60,0.00,0.000,3078,0.233,0.138,2580,2071,3070,3125,3015,0,0,0,0,0,0,15.00,15.05,15.12
$GC,1377,-0.62,-146.6,2579,2071,3125,3015,137.3,-7.4,66,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2071,3070,3125,3015,0,0,0,0,0,0,15.30,15.30,15.30
$GC,1497,-0.62,-146.6,2579,2071,3125,3015,146.2,-7.5,72,1502,0.00,2.78,0.00,0.000,260,0.000,0.191,2572,3496,3070,3125,3015,0,0,0,0,0,0,15.31,14.99,15.31
$STATE,1561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1561,begin apogee
$GC,1567,-0.25,0.0,2572,2064,3125,3015,150.9,-7.2,75,1697,0.40,0.00,121.65,2.030,10246,0.181,0.000,2697,2064,2469,2530,2409,0,0,0,0,1,0,15.02,14.31,13.51
$STATE,1698,end apogee,CONTROL_FINISHED_OK
$STATE,1699,begin climb
$GC,1700,0.62,146.6,2697,2064,2534,2413,155.6,0.0,81,1838,0.82,2.85,121.10,1.994,10756,0.128,0.163,2970,663,1874,1947,1802,0,0,0,0,1,0,14.29,14.14,13.46
$GC,1864,0.70,209.8,2969,663,1955,1805,151.8,3.9,88,1945,0.05,2.83,68.53,1.131,11270,0.203,0.171,3014,2079,1609,1686,1532,0,0,0,0,1,0,14.41,14.36,13.94
$GC,2080,0.70,209.8,3013,2079,1686,1532,135.9,7.0,99,2086,0.00,2.85,0.00,0.000,260,0.000,0.199,3014,3487,1609,1686,1532,0,0,0,0,0,0,14.95,14.65,14.95
$GC,2184,0.70,209.8,3014,3487,1685,1532,127.0,8.9,104,2190,0.00,2.62,0.00,0.000,1030,0.000,0.139,3023,2071,1608,1685,1532,0,0,0,0,0,0,14.90,14.78,14.92
$GC,2328,0.70,209.8,3023,2071,1686,1531,115.1,8.3,111,2334,0.00,2.85,0.00,0.000,260,0.000,0.201,3023,3483,1607,1685,1529,0,0,0,0,0,0,15.13,14.80,15.13
$GC,2352,0.70,209.8,3023,3483,1686,1531,112.9,8.4,112,2358,0.00,2.65,0.00,0.000,1030,0.000,0.144,3032,2064,1607,1683,1531,0,0,0,0,0,0,15.00,14.87,15.01
$GC,2496,0.70,209.8,3032,2064,1686,1531,100.9,8.3,119,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2064,1608,1685,1531,0,0,0,0,0,0,15.20,15.20,15.20
$GC,2616,0.70,209.8,3032,2064,1686,1531,91.3,8.0,125,2621,0.00,2.83,0.00,0.000,260,0.000,0.201,3032,3483,1608,1686,1531,0,0,0,0,0,0,15.23,14.91,15.23
$GC,2680,0.70,209.8,3031,3483,1685,1531,85.4,9.1,128,2686,0.12,2.60,0.00,0.000,5126,0.230,0.142,3004,2070,1607,1684,1531,0,0,0,0,0,0,14.93,14.94,15.05
$GC,2824,0.70,209.8,3004,2070,1686,1531,74.8,7.2,135,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2069,1608,1685,1531,0,0,0,0,0,0,15.24,15.25,15.24
$GC,2944,0.70,209.8,3004,2070,1686,1531,66.2,7.1,141,2950,0.00,2.80,0.00,0.000,260,0.000,0.198,3004,3486,1608,1685,1531,0,0,0,0,0,0,15.26,14.95,15.26
$GC,2996,0.70,209.8,3004,3486,1685,1531,62.8,7.4,143,3001,0.00,2.60,0.00,0.000,1030,0.000,0.140,3012,2065,1608,1685,1531,0,0,0,0,0,0,15.12,15.00,15.14
$GC,3131,0.70,209.8,3012,2065,1686,1530,52.7,7.0,150,3137,0.00,2.83,0.00,0.000,260,0.000,0.203,3012,3487,1607,1685,1530,0,0,0,0,0,0,15.28,14.97,15.30
$GC,3170,0.70,209.8,3012,3487,1681,1530,50.8,7.2,151,3177,0.00,2.60,0.00,0.000,1030,0.000,0.144,3022,2070,1607,1685,1530,0,0,0,0,0,0,15.14,15.00,15.14
$GC,3295,0.70,209.8,3021,2069,1686,1530,41.3,6.4,158,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2069,1607,1685,1530,0,0,0,0,0,0,15.28,15.28,15.28
$GC,3415,0.70,209.8,3022,2069,1685,1530,33.6,6.4,164,3421,0.00,2.62,0.00,0.000,516,0.000,0.162,3031,657,1607,1685,1530,0,0,0,0,0,0,15.28,15.00,15.28
$GC,3462,0.70,209.8,3031,657,1686,1530,30.6,6.6,166,3468,0.10,2.70,0.00,0.000,5126,0.233,0.179,3001,2070,1607,1685,1530,0,0,0,0,0,0,15.00,14.99,15.13
$GC,3543,0.70,209.8,3001,2071,1685,1530,25.7,5.9,170,3548,0.00,2.80,0.00,0.000,260,0.000,0.206,3001,3483,1608,1686,1530,0,0,0,0,0,0,15.27,14.97,15.27
$GC,3574,0.70,209.8,3001,3483,1685,1531,24.2,5.8,171,3579,0.00,2.60,0.00,0.000,1030,0.000,0.145,3008,2067,1607,1685,1530,0,0,0,0,0,0,15.11,14.98,15.12
$GC,3650,0.70,209.8,3008,2067,1685,1530,18.9,6.4,175,3656,0.00,2.85,0.00,0.000,260,0.000,0.210,3008,3487,1607,1685,1530,0,0,0,0,0,0,15.28,14.97,15.28
$GC,3674,0.70,209.8,3008,3487,1685,1530,17.2,6.5,176,3679,0.00,2.62,0.00,0.000,1030,0.000,0.148,3017,2065,1609,1688,1530,0,0,0,0,0,0,15.11,14.98,15.12
$GC,3758,0.70,209.8,3016,2066,1685,1530,11.9,6.3,180,3763,0.00,2.65,0.00,0.000,516,0.000,0.169,3026,657,1608,1686,1530,0,0,0,0,0,0,15.27,15.00,15.27
$GC,3776,0.70,209.8,3026,657,1686,1530,11.9,6.3,180,3783,0.00,2.75,0.00,0.000,1030,0.000,0.189,3026,2077,1607,1686,1529,0,0,0,0,0,0,15.14,14.97,15.15
$GC,3841,0.70,209.8,3026,2077,1685,1530,6.4,6.6,184,3847,0.00,2.83,0.00,0.000,260,0.000,0.215,3026,3483,1607,1685,1530,0,0,0,0,0,0,15.27,14.96,15.27
$GC,3885,0.70,209.8,3026,3487,1685,1530,3.5,6.5,186,3891,0.10,2.62,0.00,0.000,5126,0.239,0.153,3006,2070,1607,1685,1530,0,0,0,0,0,0,14.98,14.99,15.11
$STATE,3929,end climb,SURFACE_DEPTH_REACHED
$STATE,3929,begin surface coast
$FINISH,0.2,1.021930
$STATE,3950,end surface coast,CONTROL_FINISHED_OK
$STATE,3950,begin surface
$SM_CCo,3964,45.25,0.193,0,0,1244,300.00
$SM_GC,1.41,7.88,0.00,45.25,0.060,0.000,0.193,217,2069,1244,-7.95,-0.28,300.00,0,0,0,0,0,0,15.09,15.28,14.95
$IRIDIUM_FIX,4726.11,-12224.09,140716,063324
$TT8_MAMPS,0.020972,0.877828
$HUMID,52.16
$INTERNAL_PRESSURE,8.93747
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,6.5
$ALTIM_BOTTOM_PING,101.5,9.6
$SC_FREEKB,3905184
$24V_AH,13.46,2.728
$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,20.425,97.475,311.275,45.250,0.000,24.695,34.849,470.546,0.750,0.000,7.843,864.001,1989.785,462.229,1350.931,43.384,0.000,924.349,0.000,708.678,0.000,7.072,0.000
$DEVICE_MAMPS,397.800,214.965,2029.545,192.780,0.000,18.360,160.000,223.000,420.000,0.000,8.990,10.720,2.190,10.720,29.450,42.180,0.000,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3988.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.593,0.000,0.000,0.000
$MEM,194168
$DATA_FILE_SIZE,6819,189
$CAP_FILE_SIZE,90589,0
$CFSIZE,1024409600,1021427712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,140716,090932,4743.143,-12223.979,2,0.7,31,15.9,0.2,273.8,12,2.8