version: 66.12
glider: 222
mission: 3
dive: 13
start: 7 14 116 9 22 32
data:
$ID,222
$MISSION,3
$DIVE,13
$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,9
$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
$GPS1,140716,090932,4743.1431,-12223.9785,2,0.7,31,15.9,0.2,273.8,12,2.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,3
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.1
$GPS2,140716,092205,4743.1836,-12223.9961,2,0.7,4,15.9,0.2,346.3,12,4.1
$SPEED_LIMITS,0.207,0.209
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,212.3,1343,-8.8,-5.556,-14.91,3928
$D_GRID,171
$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,-146.6,217,2069,1279,1200,0.0,0.0,0,82,0.00,0.00,-62.08,0.000,16390,0.000,0.000,217,2069,3069,3119,3020,0,0,0,0,0,0,15.11,14.11,15.11
$GC,84,-0.62,-146.6,217,2069,3119,3020,4.5,-7.6,3,101,10.80,2.70,0.00,0.000,2820,0.402,0.158,2565,3501,3070,3121,3020,0,0,0,0,0,0,14.73,14.82,14.95
$GC,331,-0.62,-146.6,2565,3502,3125,3016,40.4,-10.9,15,336,0.00,2.58,0.00,0.000,1030,0.000,0.121,2565,2068,3070,3124,3016,0,0,0,0,0,0,15.03,14.91,15.04
$GC,470,-0.62,-146.6,2565,2068,3125,3016,54.1,-9.6,22,476,0.00,2.78,0.00,0.000,260,0.000,0.179,2555,3500,3072,3125,3019,0,0,0,0,0,0,15.21,14.92,15.22
$GC,565,-0.62,-146.6,2555,3500,3125,3016,62.5,-10.0,26,571,0.00,2.58,0.00,0.000,1030,0.000,0.127,2555,2074,3070,3124,3016,0,0,0,0,0,0,15.09,14.97,15.11
$GC,697,-0.62,-146.6,2555,2073,3125,3016,77.9,-10.9,33,702,0.00,2.75,0.00,0.000,260,0.000,0.183,2546,3494,3070,3125,3015,0,0,0,0,0,0,15.24,14.95,15.25
$GC,780,-0.62,-146.6,2545,3495,3125,3016,87.2,-11.1,37,786,0.12,2.55,0.00,0.000,3078,0.226,0.129,2583,2081,3070,3125,3016,0,0,0,0,0,0,14.97,15.00,15.10
$GC,927,-0.62,-146.6,2583,2082,3125,3016,100.2,-8.8,44,932,0.00,2.75,0.00,0.000,260,0.000,0.187,2574,3493,3070,3125,3015,0,0,0,0,0,0,15.26,14.97,15.26
$GC,1002,-0.62,-146.6,2574,3494,3125,3016,106.3,-9.2,47,1007,0.00,2.55,0.00,0.000,1030,0.000,0.131,2574,2080,3070,3125,3015,0,0,0,0,0,0,15.14,15.01,15.15
$GC,1137,-0.62,-146.6,2574,2079,3125,3016,119.1,-8.6,54,1143,0.00,2.78,0.00,0.000,260,0.000,0.191,2566,3499,3070,3125,3015,0,0,0,0,0,0,15.28,14.98,15.28
$GC,1193,-0.62,-146.6,2566,3499,3125,3015,123.1,-8.9,56,1198,0.00,2.58,0.00,0.000,1030,0.000,0.134,2566,2077,3070,3125,3015,0,0,0,0,0,0,15.12,15.00,15.13
$GC,1324,-0.62,-146.6,2565,2077,3125,3015,135.8,-8.9,63,1330,0.00,2.78,0.00,0.000,260,0.000,0.191,2557,3498,3070,3125,3015,0,0,0,0,0,0,15.30,14.99,15.30
$GC,1351,-0.62,-146.6,2557,3497,3125,3015,138.1,-9.0,64,1356,0.00,2.58,0.00,0.000,1030,0.000,0.135,2557,2076,3070,3125,3015,0,0,0,0,0,0,15.16,15.04,15.17
$STATE,1469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1469,begin apogee
$GC,1473,-0.25,0.0,2557,2076,3125,3015,150.9,-10.4,70,1604,0.45,0.00,122.22,2.048,10246,0.187,0.000,2697,2075,2470,2530,2410,0,0,0,0,1,0,15.02,14.28,13.49
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1606,0.62,146.6,2697,2075,2534,2414,156.2,0.0,76,1744,0.82,2.83,123.45,2.005,10756,0.134,0.158,2964,654,1873,1946,1800,0,0,0,0,1,0,14.28,14.12,13.43
$GC,1794,0.68,199.4,2964,654,1956,1804,151.7,4.2,84,1864,0.05,2.80,58.80,1.160,11270,0.206,0.167,3007,2074,1644,1720,1568,0,0,0,0,0,0,14.50,14.45,13.96
$GC,1979,0.68,199.4,3007,2074,1716,1555,138.8,7.1,94,1984,0.00,2.83,0.00,0.000,260,0.000,0.192,3007,3487,1635,1716,1555,0,0,0,0,0,0,14.92,14.62,14.92
$GC,2038,0.68,199.4,3007,3487,1715,1554,135.4,7.4,96,2045,0.00,2.65,0.00,0.000,1030,0.000,0.137,3016,2071,1634,1715,1554,0,0,0,0,0,0,14.85,14.72,14.88
$GC,2163,0.68,199.4,3015,2071,1715,1554,124.0,8.1,103,2168,0.00,2.65,0.00,0.000,516,0.000,0.161,3025,661,1634,1715,1553,0,0,0,0,0,0,15.09,14.81,15.09
$GC,2198,0.68,199.4,3025,661,1715,1553,121.9,8.2,104,2204,0.00,2.72,0.00,0.000,1030,0.000,0.172,3026,2077,1633,1715,1552,0,0,0,0,0,0,14.96,14.81,14.98
$GC,2330,0.68,199.4,3025,2077,1715,1552,110.2,8.2,111,2335,0.00,2.80,0.00,0.000,260,0.000,0.200,3025,3490,1634,1715,1553,0,0,0,0,0,0,15.15,14.84,15.16
$GC,2417,0.68,199.4,3024,3490,1715,1553,102.8,8.8,115,2423,0.12,2.62,0.00,0.000,5126,0.232,0.143,2999,2068,1633,1715,1552,0,0,0,0,0,0,14.88,14.90,15.02
$GC,2557,0.68,199.4,2998,2068,1715,1551,92.6,6.9,122,2558,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2068,1633,1715,1552,0,0,0,0,0,0,15.21,15.23,15.21
$GC,2677,0.68,199.4,2998,2068,1715,1552,84.6,6.7,128,2682,0.00,2.78,0.00,0.000,260,0.000,0.194,2999,3483,1633,1715,1552,0,0,0,0,0,0,15.24,14.93,15.24
$GC,2703,0.68,199.4,2999,3483,1715,1552,82.8,6.9,129,2709,0.00,2.60,0.00,0.000,1030,0.000,0.140,3007,2064,1633,1715,1552,0,0,0,0,0,0,15.10,14.97,15.12
$GC,2843,0.68,199.4,3007,2064,1715,1552,72.8,6.9,136,2849,0.00,2.80,0.00,0.000,260,0.000,0.200,3007,3483,1633,1715,1552,0,0,0,0,0,0,15.26,14.95,15.26
$GC,2858,0.68,199.4,3006,3483,1715,1552,72.8,6.9,136,2863,0.00,2.60,0.00,0.000,1030,0.000,0.142,3010,2067,1633,1714,1552,0,0,0,0,0,0,15.11,14.99,15.14
$GC,2990,0.68,199.4,3015,2067,1714,1552,63.1,6.4,143,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2067,1633,1714,1552,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3110,0.68,199.4,3016,2067,1715,1552,54.0,7.7,149,3115,0.00,2.78,0.00,0.000,260,0.000,0.197,3014,3483,1632,1715,1549,0,0,0,0,0,0,15.28,14.95,15.28
$GC,3141,0.68,199.4,3014,3481,1714,1552,52.3,7.6,150,3146,0.00,2.60,0.00,0.000,1030,0.000,0.142,3024,2062,1633,1714,1552,0,0,0,0,0,0,15.11,14.99,15.12
$GC,3276,0.68,199.4,3024,2063,1716,1551,42.0,6.8,157,3282,0.00,2.80,0.00,0.000,260,0.000,0.202,3024,3483,1633,1714,1552,0,0,0,0,0,0,15.28,14.97,15.28
$GC,3323,0.68,199.4,3024,3483,1715,1552,38.7,7.1,159,3329,0.12,2.60,0.00,0.000,5126,0.226,0.145,2993,2065,1632,1714,1551,0,0,0,0,0,0,15.00,15.01,15.14
$GC,3404,0.68,199.4,2996,2067,1714,1552,33.8,5.9,163,3409,0.00,2.62,0.00,0.000,516,0.000,0.163,3006,655,1633,1714,1552,0,0,0,0,0,0,15.28,14.99,15.29
$GC,3418,0.68,199.4,3005,656,1715,1552,33.8,5.9,163,3424,0.00,2.72,0.00,0.000,1030,0.000,0.181,3006,2077,1632,1714,1551,0,0,0,0,0,0,15.14,14.98,15.16
$GC,3490,0.68,199.4,3005,2076,1711,1551,28.6,6.1,167,3495,0.00,2.78,0.00,0.000,260,0.000,0.207,3005,3482,1633,1714,1552,0,0,0,0,0,0,15.27,14.95,15.27
$GC,3529,0.68,199.4,3005,3482,1714,1552,27.1,6.1,168,3536,0.00,2.60,0.00,0.000,1030,0.000,0.148,3015,2071,1633,1714,1552,0,0,0,0,0,0,15.14,15.00,15.16
$GC,3594,0.68,199.4,3014,2071,1714,1551,22.3,6.0,172,3599,0.00,2.65,0.00,0.000,516,0.000,0.168,3024,654,1632,1714,1551,0,0,0,0,0,0,15.28,14.99,15.28
$GC,3646,0.68,199.4,3024,653,1714,1551,19.7,5.7,174,3652,0.00,2.72,0.00,0.000,1030,0.000,0.186,3023,2070,1632,1714,1551,0,0,0,0,0,0,15.11,14.96,15.13
$GC,3722,0.68,199.4,3023,2070,1714,1551,14.7,5.9,178,3727,0.00,2.83,0.00,0.000,260,0.000,0.212,3019,3486,1633,1714,1552,0,0,0,0,0,0,15.28,14.96,15.28
$GC,3813,0.68,199.4,3024,3486,1714,1551,9.3,6.5,182,3819,0.10,2.62,0.00,0.000,5126,0.231,0.148,3003,2065,1632,1714,1551,0,0,0,0,0,0,15.00,15.01,15.14
$GC,3889,0.68,199.4,3003,2065,1714,1551,4.3,5.8,186,3895,0.00,2.62,0.00,0.000,516,0.000,0.166,3012,658,1632,1714,1551,0,0,0,0,0,0,15.27,15.00,15.27
$STATE,3953,end climb,SURFACE_DEPTH_REACHED
$STATE,3953,begin surface coast
$FINISH,0.3,1.021784
$STATE,3982,end surface coast,CONTROL_FINISHED_OK
$STATE,3982,begin surface
$SM_CCo,3999,48.42,0.190,0,0,1244,300.00
$SM_GC,1.41,7.95,2.83,48.42,0.066,0.194,0.190,215,2080,1244,-7.95,-0.40,300.00,0,0,0,0,0,0,15.09,14.98,14.94
$IRIDIUM_FIX,4722.92,-12222.38,140716,075209
$TT8_MAMPS,0.020972,0.56175
$HUMID,52.40
$INTERNAL_PRESSURE,8.93747
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,6.5
$ALTIM_BOTTOM_PING,106.3,9.6
$SC_FREEKB,3904736
$24V_AH,13.43,2.987
$10V_AH,13.17,0.000
$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,20.550,102.375,304.475,48.425,0.000,22.251,40.876,540.488,1.000,0.000,6.170,895.404,1971.286,459.141,1450.719,43.246,0.000,931.076,0.000,736.087,0.000,8.643,0.000
$DEVICE_MAMPS,401.625,211.905,2047.905,190.485,0.000,18.360,160.000,223.000,420.000,0.000,8.990,10.720,2.190,10.720,29.450,42.180,0.000,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4021.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.425,0.000,0.000,0.000
$MEM,194160
$DATA_FILE_SIZE,6822,190
$CAP_FILE_SIZE,91606,0
$CFSIZE,1024409600,1021313024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,103043,4742.942,-12224.263,1,0.8,7,15.9,0.2,130.6,10,4.9