version: 66.12
glider: 222
mission: 3
dive: 15
start: 7 14 116 11 57 2
data:
$ID,222
$MISSION,3
$DIVE,15
$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
$GPS1,140716,114524,4742.7617,-12224.3730,7,0.8,13,15.9,0.2,12.0,11,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.8
$GPS2,140716,115635,4742.8237,-12224.3965,3,1.0,5,15.9,0.3,358.1,9,5.1
$SPEED_LIMITS,0.207,0.209
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,229.6,552,-8.9,-5.556,-15.00,3865
$D_GRID,174
$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,-144.3,214,2067,1284,1200,0.0,0.0,0,82,0.00,0.00,-62.10,0.000,16390,0.000,0.000,215,2067,3060,3110,3010,0,0,0,0,0,0,15.11,14.12,15.11
$GC,84,-0.62,-144.3,214,2066,3110,3010,4.3,-7.0,3,101,10.68,2.55,0.00,0.000,2564,0.396,0.124,2575,664,3061,3112,3011,0,0,0,0,0,0,14.74,14.84,14.95
$GC,203,-0.62,-144.3,2575,664,3113,3010,23.4,-12.4,8,209,0.00,2.62,0.00,0.000,1030,0.000,0.142,2566,2090,3061,3113,3010,0,0,0,0,0,0,14.97,14.85,14.99
$GC,268,-0.62,-144.3,2566,2090,3114,3009,32.6,-11.3,12,273,0.00,2.70,0.00,0.000,260,0.000,0.172,2556,3498,3061,3115,3008,0,0,0,0,0,0,15.15,14.86,15.16
$GC,372,-0.62,-144.3,2556,3498,3116,3008,44.7,-11.4,17,377,0.00,2.55,0.00,0.000,1030,0.000,0.122,2556,2077,3062,3116,3008,0,0,0,0,0,0,15.06,14.93,15.07
$GC,515,-0.62,-144.3,2555,2076,3116,3008,60.0,-11.2,24,521,0.00,2.60,0.00,0.000,516,0.000,0.144,2556,666,3061,3115,3008,0,0,0,0,0,0,15.22,14.94,15.23
$GC,555,-0.62,-144.3,2555,666,3115,3008,62.7,-11.3,25,562,0.10,2.65,0.00,0.000,3078,0.246,0.158,2576,2086,3062,3116,3008,0,0,0,0,0,0,14.93,14.95,15.07
$GC,680,-0.62,-144.3,2575,2086,3115,3008,76.3,-9.2,32,685,0.00,2.72,0.00,0.000,260,0.000,0.184,2567,3495,3062,3116,3008,0,0,0,0,0,0,15.24,14.95,15.25
$GC,811,-0.62,-144.3,2566,3495,3116,3008,88.7,-10.1,38,816,0.00,2.55,0.00,0.000,1030,0.000,0.127,2567,2078,3063,3116,3011,0,0,0,0,0,0,15.11,14.99,15.12
$GC,947,-0.62,-144.3,2567,2079,3116,3007,103.8,-10.4,45,952,0.00,2.75,0.00,0.000,260,0.000,0.185,2557,3496,3062,3116,3008,0,0,0,0,0,0,15.27,14.97,15.27
$GC,1006,-0.62,-144.3,2557,3496,3116,3008,108.5,-10.5,47,1013,0.00,2.55,0.00,0.000,1030,0.000,0.130,2557,2081,3062,3116,3008,0,0,0,0,0,0,15.14,15.01,15.15
$GC,1131,-0.62,-144.3,2557,2080,3116,3008,122.6,-9.9,54,1136,0.00,2.75,0.00,0.000,260,0.000,0.187,2549,3494,3061,3116,3007,0,0,0,0,0,0,15.28,14.99,15.28
$GC,1178,-0.62,-144.3,2548,3494,3116,3008,126.9,-9.9,56,1183,0.10,2.55,0.00,0.000,3078,0.236,0.132,2578,2080,3061,3116,3007,0,0,0,0,0,0,14.99,15.02,15.11
$GC,1318,-0.62,-144.3,2578,2080,3116,3007,139.2,-8.3,63,1323,0.00,2.75,0.00,0.000,260,0.000,0.191,2570,3490,3062,3117,3007,0,0,0,0,0,0,15.29,14.99,15.30
$GC,1369,-0.62,-144.3,2569,3490,3116,3007,143.2,-9.1,65,1374,0.00,2.55,0.00,0.000,1030,0.000,0.134,2569,2080,3061,3115,3007,0,0,0,0,0,0,15.16,15.04,15.18
$STATE,1443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1444,begin apogee
$GC,1447,-0.25,0.0,2569,2080,3117,3007,150.6,-8.8,69,1577,0.43,0.00,121.15,1.998,10246,0.187,0.000,2701,2078,2470,2530,2410,0,0,0,0,1,0,15.02,14.31,13.53
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1579,begin climb
$GC,1580,0.62,144.3,2701,2078,2536,2414,155.2,0.0,75,1717,0.82,2.83,121.95,1.970,10756,0.137,0.160,2968,659,1882,1956,1809,0,0,0,0,1,0,14.28,14.14,13.47
$GC,1787,0.68,189.8,2968,659,1965,1813,150.0,4.3,84,1846,0.00,2.78,51.03,1.161,9222,0.000,0.168,2969,2072,1692,1770,1615,0,0,0,0,0,0,14.65,14.50,13.97
$GC,1981,0.68,189.8,2968,2073,1753,1594,136.5,7.3,94,1986,0.00,2.85,0.00,0.000,260,0.000,0.200,2969,3486,1676,1757,1595,0,0,0,0,0,0,14.97,14.66,14.97
$GC,2100,0.68,189.8,2968,3486,1757,1594,130.4,5.7,99,2107,0.00,2.62,0.00,0.000,1030,0.000,0.140,2977,2070,1675,1757,1594,0,0,0,0,0,0,14.90,14.78,14.92
$GC,2225,0.68,189.8,2976,2069,1757,1594,122.2,6.2,106,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2069,1675,1757,1594,0,0,0,0,0,0,15.13,15.13,15.14
$GC,2345,0.68,189.8,2976,2070,1757,1593,114.9,6.3,112,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2069,1675,1757,1594,0,0,0,0,0,0,15.19,15.19,15.19
$GC,2465,0.68,189.8,2976,2070,1757,1593,107.7,5.9,118,2470,0.00,2.78,0.00,0.000,260,0.000,0.191,2977,3487,1675,1757,1593,0,0,0,0,0,0,15.21,14.92,15.21
$GC,2484,0.68,189.8,2976,3487,1757,1593,107.7,5.9,118,2490,0.00,2.60,0.00,0.000,1030,0.000,0.138,2983,2065,1675,1757,1593,0,0,0,0,0,0,15.05,14.93,15.07
$GC,2609,0.68,189.8,2983,2065,1757,1592,99.2,5.9,125,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2065,1675,1758,1593,0,0,0,0,0,0,15.24,15.24,15.24
$GC,2729,0.70,210.8,2983,2065,1757,1593,92.9,5.0,131,2746,0.00,2.78,8.52,0.442,8452,0.000,0.190,2983,3487,1611,1689,1533,0,0,0,0,0,0,15.26,14.94,14.80
$GC,2788,0.73,229.1,2983,3488,1698,1541,90.6,5.1,133,2807,0.00,2.58,11.27,0.455,9222,0.000,0.136,2992,2070,1534,1608,1461,0,0,0,0,0,0,15.07,14.95,14.78
$GC,2938,0.73,229.1,2992,2070,1624,1469,81.2,5.9,141,2941,0.00,0.00,1.52,0.261,8198,0.000,0.000,2992,2070,1534,1611,1457,0,0,0,0,0,0,15.23,15.08,14.92
$GC,3058,0.73,231.6,2992,2069,1625,1468,74.6,5.5,147,3068,0.00,2.78,2.80,0.321,8452,0.000,0.192,2992,3481,1528,1605,1452,0,0,0,0,0,0,15.25,14.95,14.83
$GC,3090,0.74,237.2,2992,3483,1613,1458,73.3,5.4,148,3100,0.00,2.58,4.65,0.372,9222,0.000,0.136,3000,2070,1500,1576,1425,0,0,0,0,0,0,15.09,14.97,14.83
$GC,3227,0.75,247.0,3000,2070,1592,1436,65.3,5.3,155,3240,0.00,2.83,6.60,0.369,8452,0.000,0.195,3001,3493,1466,1543,1389,0,0,0,0,0,0,15.26,14.92,14.85
$GC,3246,0.76,256.8,3000,3493,1541,1393,65.3,5.3,155,3257,0.00,2.60,6.05,0.390,9222,0.000,0.138,3008,2070,1421,1494,1349,0,0,0,0,0,0,15.11,14.98,14.84
$GC,3396,0.76,256.8,3007,2070,1508,1358,52.9,7.7,163,3406,0.00,2.62,1.55,0.259,8708,0.000,0.156,3017,658,1423,1497,1349,0,0,0,0,0,0,15.26,14.97,14.92
$GC,3435,0.76,256.8,3017,658,1504,1354,50.9,8.0,164,3442,0.00,2.67,0.00,0.000,1030,0.000,0.169,3017,2072,1429,1505,1354,0,0,0,0,0,0,15.10,14.95,15.11
$GC,3560,0.76,256.8,3017,2072,1508,1355,39.2,8.3,171,3565,0.00,2.80,0.00,0.000,260,0.000,0.200,3017,3489,1431,1508,1355,0,0,0,0,0,0,15.26,14.95,15.26
$GC,3635,0.76,256.8,3017,3489,1508,1355,33.8,8.3,174,3646,0.00,2.60,1.40,0.265,9222,0.000,0.142,3026,2069,1422,1498,1346,0,0,0,0,0,0,15.10,14.97,14.94
$GC,3704,0.76,256.8,3031,2069,1508,1353,27.7,7.4,178,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2069,1430,1508,1353,0,0,0,0,0,0,15.26,15.26,15.26
$GC,3764,0.76,256.8,3026,2070,1508,1354,23.2,7.6,181,3770,0.00,2.80,0.00,0.000,260,0.000,0.202,3026,3483,1431,1509,1354,0,0,0,0,0,0,15.26,14.95,15.26
$GC,3791,0.76,256.8,3026,3483,1509,1354,21.3,7.6,182,3796,0.00,2.60,0.00,0.000,1030,0.000,0.144,3035,2068,1431,1509,1354,0,0,0,0,0,0,15.12,15.00,15.14
$GC,3870,0.76,256.8,3035,2069,1509,1354,15.6,7.0,186,3876,0.00,2.65,0.00,0.000,516,0.000,0.164,3043,654,1431,1509,1354,0,0,0,0,0,0,15.26,14.99,15.27
$GC,3909,0.76,256.8,3043,654,1510,1354,13.8,7.0,187,3916,0.00,2.70,0.00,0.000,1030,0.000,0.177,3043,2070,1432,1510,1354,0,0,0,0,0,0,15.11,14.96,15.12
$GC,3974,0.76,256.8,3043,2070,1510,1354,8.0,7.2,191,3984,0.00,2.65,1.30,0.268,8708,0.000,0.163,3050,655,1420,1499,1342,0,0,0,0,0,0,15.26,14.99,14.94
$GC,4001,0.76,256.8,3049,655,1505,1351,6.2,7.2,192,4006,0.00,2.72,0.00,0.000,1030,0.000,0.180,3049,2077,1428,1505,1351,0,0,0,0,0,0,15.11,14.97,15.14
$STATE,4060,end climb,SURFACE_DEPTH_REACHED
$STATE,4060,begin surface coast
$FINISH,0.1,1.009960
$STATE,4081,end surface coast,CONTROL_FINISHED_OK
$STATE,4081,begin surface
$SM_CCo,4095,23.33,0.196,0,0,1244,300.00
$SM_GC,0.93,8.02,0.00,23.33,0.061,0.000,0.196,212,2077,1244,-7.96,-0.08,300.00,0,0,0,0,0,0,15.09,15.29,14.96
$IRIDIUM_FIX,4722.92,-12222.38,140716,103308
$TT8_MAMPS,0.020972,0.907788
$HUMID,52.63
$INTERNAL_PRESSURE,8.93747
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$ALTIM_BOTTOM_PING,101.8,9.8
$SC_FREEKB,3903840
$24V_AH,13.47,3.492
$10V_AH,13.20,0.000
$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,20.150,96.250,339.800,23.325,0.000,25.435,34.680,458.667,0.750,0.000,6.664,858.924,2102.802,467.863,1333.028,45.455,0.000,937.184,0.000,702.684,0.000,7.084,0.000
$DEVICE_MAMPS,396.270,201.960,1998.180,195.840,0.000,18.360,160.000,223.000,420.000,0.000,8.990,10.720,2.190,10.720,29.450,42.180,0.000,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.183,0.000,0.000,0.000
$MEM,194192
$DATA_FILE_SIZE,6843,196
$CAP_FILE_SIZE,92996,0
$CFSIZE,1024409600,1021083648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$INTR,0,1801.06,0x234b7e,1,24
$GPS,140716,130650,4742.687,-12224.493,22,0.6,33,15.9,0.1,0.0,12,3.0