version: 66.13
glider: 220
mission: 6
dive: 2
start: 8 24 116 16 52 45
data:
$ID,220
$MISSION,6
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,60
$D_ABORT,120
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,5
$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,20
$T_MISSION,33
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$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,609.96155
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,190
$PITCH_MAX,3888
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,20
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,1
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.7365
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,49
$GPS_DEVICE,64
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044037569
$SEABIRD_T_H,0.00063615869
$SEABIRD_T_I,2.4815216e-05
$SEABIRD_T_J,2.9729028e-06
$SEABIRD_C_G,-9.8086529
$SEABIRD_C_H,1.075657
$SEABIRD_C_I,-0.0023452051
$SEABIRD_C_J,0.00023101401
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,240816,165002,1003.3191,-12503.0576,1,1.4,2,9.0,0.1,0.0,8,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.5
$GPS2,240816,165227,1003.3286,-12503.0459,2,1.4,3,9.0,0.1,0.0,8,5.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,163.5,41890,-18.2,-10.000,-20.96,2236
$D_GRID,60
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.09,-146.0,191,2684,567,441,0.0,0.0,0,104,0.00,0.00,-85.62,0.000,16386,0.000,0.000,191,2685,3039,3029,3050,0,0,0,0,0,0,15.02,28.83,15.02
$GC,105,-1.09,-146.0,192,2692,3031,3050,3.6,-7.7,14,125,10.32,2.17,-2.55,0.000,18724,0.358,2.111,2592,3829,3182,3186,3179,0,0,0,0,0,0,14.55,13.80,14.82
$GC,285,-0.90,-146.0,2592,3828,3186,3180,59.5,-22.9,49,294,0.22,1.85,0.00,0.000,3206,0.246,0.037,2669,2667,3182,3186,3179,0,0,0,0,0,0,14.67,14.83,14.82
$STATE,297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,297,begin apogee
$GC,300,-0.25,0.0,2670,2053,3186,3179,62.3,-21.7,51,380,0.68,0.00,71.32,0.331,10246,0.209,0.000,2877,2050,2605,2659,2552,0,0,0,0,0,0,14.68,14.67,14.48
$STATE,383,end apogee,CONTROL_FINISHED_OK
$STATE,383,begin climb
$GC,384,1.09,146.0,2873,2050,2660,2557,68.4,0.0,64,475,1.30,2.33,74.57,0.334,10756,0.150,0.074,3300,668,2020,2095,1945,0,0,0,0,0,0,14.64,14.60,14.42
$GC,540,1.14,186.1,3301,667,2098,1950,58.1,8.2,89,566,0.00,2.30,20.73,0.308,9254,0.000,0.050,3300,2060,1860,1941,1780,0,0,0,0,0,0,14.76,14.67,14.49
$GC,685,1.25,280.3,3300,2061,1943,1785,48.0,5.7,117,742,0.10,2.40,48.08,0.278,10532,0.123,0.081,3378,3455,1484,1563,1406,0,0,0,0,0,0,14.77,14.64,14.50
$GC,802,1.20,280.3,3378,3456,1565,1407,36.9,11.3,138,810,0.15,2.28,0.00,0.000,5254,0.239,0.043,3344,2064,1485,1564,1407,0,0,0,0,0,0,14.60,14.72,14.77
$GC,869,1.24,307.0,3345,2065,1564,1407,30.7,8.8,151,889,0.00,0.00,14.52,0.237,8230,0.000,0.000,3344,2063,1376,1459,1294,0,0,0,0,0,0,14.95,14.74,14.58
$GC,949,1.25,307.0,3345,2062,1459,1297,23.1,10.1,166,956,0.00,0.00,0.00,0.000,134,0.000,0.000,3344,2064,1378,1459,1297,0,0,0,0,0,0,14.97,14.97,14.97
$GC,1016,1.27,307.0,3344,2065,1460,1297,16.0,10.4,179,1023,0.00,0.00,0.00,0.000,134,0.000,0.000,3344,2064,1378,1459,1297,0,0,0,0,0,0,15.00,14.99,14.99
$GC,1082,1.28,314.0,3345,2061,1463,1297,9.2,9.7,192,1097,0.00,2.42,3.65,0.197,8484,0.000,0.080,3344,3446,1350,1435,1265,0,0,0,0,0,0,15.00,14.73,14.67
$STATE,1150,end climb,SURFACE_DEPTH_REACHED
$STATE,1151,begin surface coast
$FINISH,0.3,1.020404
$STATE,1166,end surface coast,CONTROL_FINISHED_OK
$STATE,1166,begin surface
$SM_CCo,1189,98.30,0.142,0,0,497,527.52
$SM_CCo,1289,-0.15,0.000,0,0,502,527.52
$SM_CCo,1291,0.28,0.562,0,0,498,527.52
$SM_GC,0.91,8.77,1.25,0.28,0.057,0.041,0.562,193,2671,498,-8.58,0.90,527.52,0,0,0,0,0,0,14.83,14.87,14.71
$IRIDIUM_FIX,958.26,-12502.21,240816,164553
$TT8_MAMPS,0.03745,0.46438
$HUMID,41.88
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,26.50
$XPDR_PINGS,0
$SC_FREEKB,3909632
$PM_FREEKB,62321152
$TM_FREEKB,7836640
$24V_AH,13.71,6.964
$10V_AH,14.11,0.000
$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,21.550,17.950,232.875,98.575,0.000,0.000,0.000,0.000,0.000,0.000,5.171,0.000,325.057,387.256,627.691,11.293,0.000,645.221,0.000,434.123,0.000,0.551,0.000
$DEVICE_MAMPS,358.020,2110.635,334.305,562.275,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1151.000,1148.000,1158.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.098,3.362,12.542,0.000
$MEM,334808
$DATA_FILE_SIZE,6795,208
$CAP_FILE_SIZE,46984,0
$CFSIZE,1024409600,1020149760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,331.49,1
$GPS,240816,171450,1003.250,-12503.085,1,1.1,3,9.0,0.6,133.2,8,5.2