version: 66.12
glider: 222
mission: 3
dive: 6
start: 7 14 116 0 53 32
data:
$ID,222
$MISSION,3
$DIVE,6
$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,50
$T_MISSION,60
$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,30
$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,2773
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,140716,004409,4743.6953,-12224.6680,1,0.7,2,15.9,0.1,0.0,12,6.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.8
$GPS2,140716,005305,4743.6724,-12224.6904,3,0.8,5,15.9,0.1,0.0,12,6.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,326.2,443,-27.2,-10.000,-30.00,962
$D_GRID,175
$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,17,-1.44,-63.1,195,2089,1278,1199,0.0,0.0,0,71,0.00,0.00,-51.47,0.000,16390,0.000,0.000,195,2090,2728,2783,2674,0,0,0,0,0,0,15.29,14.12,15.26
$GC,72,-1.44,-63.1,195,2090,2783,2674,2.1,-2.8,2,90,9.45,2.60,0.00,0.000,2308,0.397,0.138,2293,3488,2730,2787,2673,0,0,0,0,0,0,14.83,14.97,15.00
$GC,296,-1.44,-63.1,2293,3488,2786,2672,51.0,-21.8,13,302,0.00,2.45,0.00,0.000,1030,0.000,0.099,2293,2073,2729,2787,2672,0,0,0,0,0,0,15.14,15.03,15.16
$GC,440,-1.44,-63.1,2293,2072,2787,2672,79.0,-18.6,20,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2073,2730,2788,2672,0,0,0,0,0,0,15.30,15.30,15.30
$GC,564,-1.44,-63.1,2293,2072,2788,2672,102.0,-18.9,26,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2073,2730,2789,2672,0,0,0,0,0,0,15.30,15.30,15.30
$GC,680,-1.44,-63.1,2293,2073,2788,2672,123.6,-17.8,32,685,0.00,2.62,0.00,0.000,260,0.000,0.149,2282,3493,2729,2788,2671,0,0,0,0,0,0,15.33,15.01,15.33
$GC,795,-1.44,-63.1,2281,3493,2788,2671,144.4,-20.4,37,801,0.00,2.45,0.00,0.000,1030,0.000,0.104,2282,2083,2730,2788,2672,0,0,0,0,0,0,15.16,15.05,15.18
$STATE,826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,826,begin apogee
$GC,829,-0.25,0.0,2282,2083,2788,2671,152.5,-19.5,39,895,1.48,0.00,56.15,1.910,10246,0.272,0.000,2683,2081,2469,2534,2405,0,0,0,0,1,0,14.94,14.63,13.77
$STATE,896,end apogee,CONTROL_FINISHED_OK
$STATE,896,begin climb
$GC,897,1.44,63.1,2683,2081,2538,2409,156.5,0.0,42,965,1.65,2.78,54.08,1.900,10500,0.132,0.146,3217,3478,2214,2280,2148,0,0,0,0,1,0,14.59,14.33,13.54
$GC,990,1.44,63.1,3217,3478,2287,2155,153.2,4.1,46,995,0.00,2.58,0.00,0.000,1030,0.000,0.109,3228,2068,2221,2288,2155,0,0,0,0,0,0,14.63,14.51,14.64
$GC,1130,1.50,109.2,3228,2068,2293,2156,145.8,5.1,53,1185,0.00,2.60,48.05,1.203,8708,0.000,0.134,3238,662,2012,2077,1948,0,0,0,0,0,0,15.05,14.55,14.10
$GC,1415,1.50,109.2,3238,662,2073,1941,116.8,11.2,67,1420,0.00,2.58,0.00,0.000,1030,0.000,0.138,3239,2065,2006,2073,1940,0,0,0,0,0,0,14.97,14.84,15.00
$GC,1559,1.50,109.2,3238,2065,2073,1939,101.3,10.3,74,1564,0.00,2.67,0.00,0.000,260,0.000,0.163,3239,3484,2008,2077,1939,0,0,0,0,0,0,15.19,14.90,15.20
$GC,1787,1.50,109.2,3238,3485,2072,1939,74.4,11.3,85,1792,0.00,2.53,0.00,0.000,1030,0.000,0.116,3249,2064,2006,2073,1939,0,0,0,0,0,0,15.07,14.95,15.09
$GC,1926,1.50,112.7,3249,2064,2073,1938,60.8,9.6,92,1932,0.00,2.55,0.00,0.000,516,0.000,0.140,3260,661,2005,2072,1938,0,0,0,0,0,0,15.26,14.96,15.26
$GC,2019,1.53,134.3,3259,660,2073,1938,54.2,7.7,96,2034,0.00,2.60,10.15,0.339,9222,0.000,0.145,3260,2077,1921,1986,1857,0,0,0,0,0,0,15.14,14.99,14.85
$GC,2151,1.53,135.7,3259,2077,2002,1866,41.9,9.8,103,2161,0.00,2.70,2.33,0.285,8452,0.000,0.171,3260,3477,1917,1984,1850,0,0,0,0,0,0,15.26,14.95,14.85
$GC,2231,1.53,135.7,3260,3477,1995,1864,33.4,12.9,106,2239,0.00,2.53,1.58,0.265,9222,0.000,0.125,3270,2067,1915,1983,1848,0,0,0,0,0,0,15.10,14.97,14.90
$GC,2296,1.53,135.7,3270,2067,1997,1859,23.0,13.0,110,2299,0.00,0.00,1.58,0.262,8198,0.000,0.000,3271,2067,1914,1982,1847,0,0,0,0,0,0,15.26,15.11,14.92
$GC,2356,1.53,135.7,3270,2067,1995,1858,17.0,10.4,113,2359,0.00,0.00,1.35,0.269,8198,0.000,0.000,3270,2067,1915,1983,1847,0,0,0,0,0,0,15.28,15.12,14.95
$GC,2416,1.53,138.7,3270,2067,1995,1857,11.1,9.7,116,2426,0.00,2.62,2.47,0.262,8708,0.000,0.144,3282,655,1904,1972,1836,0,0,0,0,0,0,15.28,14.99,14.92
$GC,2444,1.54,141.9,3281,655,1977,1841,8.8,9.7,117,2453,0.00,2.62,2.40,0.251,9222,0.000,0.154,3282,2070,1888,1955,1821,0,0,0,0,0,0,15.11,15.00,14.92
$STATE,2523,end climb,SURFACE_DEPTH_REACHED
$STATE,2523,begin surface coast
$FINISH,0.6,1.021249
$STATE,2544,end surface coast,CONTROL_FINISHED_OK
$STATE,2544,begin surface
$SM_CCo,2559,76.40,0.197,0,0,1244,300.00
$SM_GC,1.64,9.07,0.00,76.40,0.103,0.000,0.197,216,2070,1244,-7.93,-0.28,300.00,0,0,0,0,0,0,15.09,15.29,14.90
$IRIDIUM_FIX,4726.11,-12222.38,140716,004723
$TT8_MAMPS,0.020972,0.56175
$HUMID,52.52
$INTERNAL_PRESSURE,8.96676
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.9,6.4
$ALTIM_BOTTOM_PING,102.0,7.0
$SC_FREEKB,3907872
$24V_AH,13.54,1.253
$10V_AH,13.66,0.000
$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,21.650,41.475,180.125,76.400,0.000,0.000,0.000,0.000,0.750,0.000,6.561,656.335,1136.487,328.671,564.895,17.496,0.000,651.315,0.000,540.696,0.000,7.064,0.000
$DEVICE_MAMPS,397.035,170.595,1910.205,197.370,0.000,0.000,0.000,0.000,420.000,0.000,8.990,10.720,2.190,10.720,29.450,42.180,0.000,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2512.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.238,0.000,0.000,0.000
$MEM,194252
$DATA_FILE_SIZE,3479,122
$CAP_FILE_SIZE,74757,0
$CFSIZE,1024409600,1022132224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,013808,4743.906,-12224.751,5,0.8,5,15.9,0.2,170.9,11,8.2