version: 66.12
glider: 222
mission: 3
dive: 9
start: 7 14 116 3 59 24
data:
$ID,222
$MISSION,3
$DIVE,9
$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,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,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,8
$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
$GPS1,140716,034433,4743.7563,-12223.6611,0,1.4,2,15.9,0.3,122.2,9,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.1
$GPS2,140716,035857,4743.6582,-12223.6885,2,1.7,4,15.9,0.6,174.6,8,7.0
$SPEED_LIMITS,0.096,0.209
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,357.3,1031,-10.4,-5.556,-16.23,3172
$D_GRID,165
$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,-0.67,-117.8,212,2083,1292,1199,0.0,0.0,0,81,0.00,0.00,-58.22,0.000,16390,0.000,0.000,212,2083,2950,3000,2901,0,0,0,0,0,0,15.12,14.27,15.12
$GC,83,-0.67,-117.8,212,2083,2999,2902,4.8,-8.2,3,101,10.57,2.62,0.00,0.000,2564,0.391,0.129,2560,660,2951,3001,2901,0,0,0,0,0,0,14.71,14.80,14.92
$GC,155,-0.67,-117.8,2560,660,3004,2900,19.0,-20.7,6,160,0.00,2.65,0.00,0.000,1030,0.000,0.146,2552,2085,2953,3007,2899,0,0,0,0,0,0,14.97,14.83,14.98
$GC,231,-0.67,-117.8,2551,2085,3006,2898,28.2,-11.0,10,236,0.00,2.70,0.00,0.000,260,0.000,0.174,2541,3492,2952,3006,2898,0,0,0,0,0,0,15.14,14.85,15.14
$GC,319,-0.67,-117.8,2541,3492,3007,2897,36.8,-10.2,14,324,0.00,2.58,0.00,0.000,1030,0.000,0.126,2541,2068,2952,3007,2898,0,0,0,0,0,0,15.01,14.89,15.02
$GC,399,-0.67,-117.8,2541,2069,3006,2897,45.1,-9.9,18,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2068,2952,3007,2897,0,0,0,0,0,0,15.19,15.19,15.19
$GC,518,-0.67,-117.8,2541,2068,3007,2898,57.2,-10.0,24,524,0.00,2.75,0.00,0.000,260,0.000,0.176,2533,3496,2952,3007,2897,0,0,0,0,0,0,15.22,14.92,15.22
$GC,646,-0.67,-117.8,2532,3496,3007,2897,69.8,-9.9,30,651,0.00,2.55,0.00,0.000,1030,0.000,0.125,2533,2076,2952,3008,2897,0,0,0,0,0,0,15.10,14.98,15.12
$GC,786,-0.67,-117.8,2533,2075,3008,2897,84.9,-10.5,37,792,0.08,2.72,0.00,0.000,2308,0.275,0.180,2550,3492,2952,3007,2898,0,0,0,0,0,0,14.93,14.96,15.04
$GC,862,-0.67,-117.8,2550,3492,3008,2897,90.8,-9.4,40,868,0.00,2.55,0.00,0.000,1030,0.000,0.129,2551,2078,2952,3008,2897,0,0,0,0,0,0,15.12,15.00,15.14
$GC,994,-0.67,-117.8,2550,2077,3008,2897,104.1,-9.6,47,999,0.00,2.75,0.00,0.000,260,0.000,0.184,2541,3496,2952,3007,2898,0,0,0,0,0,0,15.28,14.97,15.29
$GC,1064,-0.67,-117.8,2541,3496,3008,2897,111.2,-10.5,50,1069,0.00,2.55,0.00,0.000,1030,0.000,0.128,2540,2079,2952,3007,2897,0,0,0,0,0,0,15.13,15.00,15.14
$GC,1203,-0.67,-117.8,2541,2078,3008,2897,125.8,-9.9,57,1209,0.00,2.75,0.00,0.000,260,0.000,0.186,2532,3502,2952,3008,2897,0,0,0,0,0,0,15.30,14.98,15.30
$GC,1271,-0.67,-117.8,2532,3496,3009,2897,132.4,-10.1,60,1276,0.10,2.55,0.00,0.000,3078,0.247,0.131,2561,2080,2952,3008,2897,0,0,0,0,0,0,15.00,15.03,15.14
$GC,1411,-0.67,-117.8,2561,2080,3008,2897,145.8,-9.1,67,1416,0.00,2.75,0.00,0.000,260,0.000,0.190,2552,3492,2952,3008,2897,0,0,0,0,0,0,15.31,15.00,15.32
$STATE,1474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1474,begin apogee
$GC,1480,-0.25,0.0,2552,2063,3008,2896,151.5,-9.0,70,1587,0.47,0.00,99.20,2.007,10246,0.187,0.000,2699,2063,2470,2531,2410,0,0,0,0,1,0,15.00,14.38,13.56
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1590,0.67,117.8,2699,2063,2535,2413,155.6,0.0,75,1702,0.88,0.00,100.45,2.010,10758,0.129,0.000,2983,2063,1989,2060,1919,0,0,0,0,1,0,14.36,14.25,13.44
$GC,1815,0.72,158.9,2982,2062,2071,1927,148.3,4.2,87,1870,0.00,2.80,45.92,1.171,8452,0.000,0.174,2982,3476,1808,1882,1734,0,0,0,0,0,0,14.90,14.45,14.04
$GC,1941,0.72,158.9,2983,3476,1880,1728,141.4,6.0,93,1947,0.00,2.62,0.00,0.000,1030,0.000,0.135,2991,2070,1804,1880,1728,0,0,0,0,0,0,14.78,14.65,14.80
$GC,2085,0.72,158.9,2991,2070,1879,1727,132.3,6.5,100,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2070,1803,1879,1727,0,0,0,0,0,0,15.07,15.07,15.07
$GC,2205,0.72,158.9,2991,2070,1879,1726,124.7,6.4,106,2210,0.00,2.78,0.00,0.000,260,0.000,0.191,2991,3480,1805,1884,1726,0,0,0,0,0,0,15.14,14.84,15.15
$GC,2251,0.72,158.9,2990,3480,1880,1726,121.7,6.7,108,2257,0.00,2.58,0.00,0.000,1030,0.000,0.134,3000,2071,1803,1880,1726,0,0,0,0,0,0,15.02,14.89,15.04
$GC,2391,0.72,158.9,3000,2071,1878,1726,112.3,6.6,115,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2072,1802,1879,1726,0,0,0,0,0,0,15.21,15.22,15.22
$GC,2511,0.72,158.9,3000,2071,1879,1726,104.0,6.9,121,2516,0.00,2.75,0.00,0.000,260,0.000,0.190,3000,3480,1802,1879,1726,0,0,0,0,0,0,15.25,14.94,15.25
$GC,2575,0.72,158.9,3000,3480,1879,1725,99.2,7.4,124,2580,0.00,2.58,0.00,0.000,1030,0.000,0.134,3008,2063,1802,1879,1726,0,0,0,0,0,0,15.09,14.97,15.11
$GC,2718,0.72,158.9,3007,2063,1879,1725,89.8,6.5,131,2723,0.00,2.60,0.00,0.000,516,0.000,0.156,3015,654,1802,1879,1726,0,0,0,0,0,0,15.26,14.97,15.30
$GC,2774,0.72,158.9,3015,654,1879,1725,86.7,6.9,133,2779,0.00,2.67,0.00,0.000,1030,0.000,0.170,3015,2068,1802,1879,1726,0,0,0,0,0,0,15.09,14.95,15.10
$GC,2905,0.72,158.9,3015,2069,1879,1725,75.9,7.3,140,2911,0.00,2.78,0.00,0.000,260,0.000,0.198,3016,3485,1802,1879,1725,0,0,0,0,0,0,15.29,14.97,15.29
$GC,3029,0.72,158.9,3015,3484,1878,1725,65.4,8.7,146,3035,0.00,2.60,0.00,0.000,1030,0.000,0.138,3024,2064,1802,1879,1725,0,0,0,0,0,0,15.11,14.98,15.13
$GC,3173,0.72,158.9,3023,2064,1879,1725,54.8,6.9,153,3178,0.00,2.60,0.00,0.000,516,0.000,0.161,3033,658,1805,1879,1731,0,0,0,0,0,0,15.30,15.02,15.30
$GC,3212,0.72,158.9,3033,658,1879,1725,53.3,6.8,154,3219,0.00,2.70,0.00,0.000,1030,0.000,0.177,3033,2076,1802,1879,1725,0,0,0,0,0,0,15.15,15.00,15.17
$GC,3337,0.72,158.9,3031,2077,1879,1725,43.7,6.6,161,3342,0.00,2.78,0.00,0.000,260,0.000,0.206,3033,3483,1802,1879,1725,0,0,0,0,0,0,15.30,14.99,15.30
$GC,3391,0.72,158.9,3033,3483,1878,1725,40.6,6.7,163,3397,0.10,2.60,0.00,0.000,5126,0.259,0.144,3014,2065,1801,1878,1725,0,0,0,0,0,0,14.99,15.01,15.13
$GC,3524,0.74,178.0,3014,2065,1879,1725,33.1,4.9,170,3538,0.00,2.60,7.22,0.283,8708,0.000,0.162,3023,658,1744,1820,1668,0,0,0,0,0,0,15.29,15.00,14.92
$GC,3569,0.74,178.4,3022,658,1828,1674,30.5,5.5,172,3578,0.00,2.70,1.20,0.280,9222,0.000,0.180,3023,2070,1743,1820,1666,0,0,0,0,0,0,15.11,14.96,14.95
$GC,3653,0.74,178.4,3022,2070,1832,1675,25.5,6.0,176,3662,0.00,2.70,1.55,0.262,8708,0.000,0.167,3030,662,1743,1821,1666,0,0,0,0,0,0,15.28,14.97,14.94
$GC,3712,0.74,178.4,3035,662,1830,1673,22.9,5.9,178,3720,0.00,2.70,1.35,0.272,9222,0.000,0.184,3030,2069,1740,1819,1662,0,0,0,0,0,0,15.14,14.97,14.93
$GC,3778,0.78,206.2,3030,2069,1831,1673,19.1,4.7,182,3801,0.00,2.85,14.80,0.252,8452,0.000,0.212,3030,3481,1628,1701,1556,0,0,0,0,0,0,15.26,14.92,14.93
$GC,3867,0.78,206.2,3030,3482,1709,1562,14.1,5.8,186,3872,0.00,2.62,0.00,0.000,1030,0.000,0.149,3039,2064,1636,1710,1562,0,0,0,0,0,0,15.13,14.99,15.14
$GC,3947,0.78,211.3,3039,2064,1712,1562,9.6,5.4,190,3956,0.00,2.65,3.67,0.239,8708,0.000,0.170,3049,651,1605,1680,1531,0,0,0,0,0,0,15.28,14.97,14.95
$GC,3990,0.78,211.3,3049,651,1687,1538,7.0,5.7,192,3996,0.00,2.75,0.00,0.000,1030,0.000,0.188,3049,2069,1612,1687,1538,0,0,0,0,0,0,15.10,14.95,15.13
$STATE,4073,end climb,SURFACE_DEPTH_REACHED
$STATE,4073,begin surface coast
$FINISH,0.1,1.001117
$STATE,4094,end surface coast,CONTROL_FINISHED_OK
$STATE,4094,begin surface
$SM_CCo,4108,45.42,0.194,0,0,1245,300.00
$SM_GC,1.40,8.00,0.00,45.42,0.060,0.000,0.194,213,2069,1245,-7.95,-0.34,300.00,0,0,0,0,0,0,15.09,15.28,14.93
$IRIDIUM_FIX,4726.11,-12222.38,140716,034648
$TT8_MAMPS,0.020972,0.60669
$HUMID,53.18
$INTERNAL_PRESSURE,8.93747
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.1,999.0
$ALTIM_BOTTOM_PING,106.5,7.2
$SC_FREEKB,3906528
$24V_AH,13.44,1.967
$10V_AH,13.19,0.000
$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,20.200,96.125,275.375,45.425,0.000,50.616,71.161,528.046,1.000,0.000,5.568,922.858,2122.863,433.416,1262.381,297.097,0.000,905.237,0.000,749.014,0.000,8.652,0.000
$DEVICE_MAMPS,390.915,211.905,2009.655,194.310,0.000,18.360,160.000,223.000,420.000,0.000,8.990,10.720,2.190,10.720,29.450,42.180,0.000,11.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4128.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,30.598,0.000,0.000,0.000
$MEM,194352
$DATA_FILE_SIZE,6790,197
$CAP_FILE_SIZE,95190,0
$CFSIZE,1024409600,1021771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140716,050939,4743.955,-12223.372,16,1.3,25,15.9,0.1,0.0,8,2.8