version: 66.13
glider: 220
mission: 6
dive: 4
start: 8 24 116 18 47 38
data:
$ID,220
$MISSION,6
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$D_ABORT,320
$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,80
$T_MISSION,110
$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,2990
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2800
$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
$GPS1,240816,184302,1003.2760,-12502.8994,1,0.7,2,9.0,0.9,75.2,12,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.10
$_SM_ANGLEo,-68.1
$GPS2,240816,184720,1003.2997,-12502.8633,3,0.7,5,9.0,0.0,0.0,12,3.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,151.5,41794,-18.2,-10.000,-20.96,2236
$D_GRID,240
$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,14,-1.09,-146.0,186,2804,553,457,0.0,0.0,0,109,0.00,0.00,-91.03,0.000,16386,0.000,0.000,185,2806,3286,3280,3293,0,0,0,0,0,0,15.03,28.83,15.04
$GC,110,-1.09,-146.0,183,2804,3281,3295,3.6,-15.7,15,131,10.65,1.90,-1.40,0.000,18692,0.369,2.131,2625,3822,3379,3378,3381,0,0,0,0,0,0,14.59,13.88,14.85
$GC,201,-1.09,-146.0,2626,3823,3380,3381,40.9,-30.7,32,208,0.00,1.67,0.00,0.000,1030,0.000,0.039,2626,2769,3376,3378,3375,0,0,0,0,0,0,14.83,14.81,14.85
$GC,268,-1.09,-146.0,2625,2770,3379,3384,58.3,-21.5,45,276,0.00,1.88,0.00,0.000,260,0.000,0.096,2617,3815,3379,3378,3381,0,0,0,0,0,0,15.00,14.76,15.01
$GC,501,-1.09,-146.0,2616,3816,3379,3381,90.9,-9.3,91,508,0.00,1.60,0.00,0.000,1062,0.000,0.040,2618,2808,3379,3378,3381,0,0,0,0,0,0,14.90,14.86,14.88
$GC,628,-1.09,-146.0,2617,2808,3379,3382,102.3,-10.3,116,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2809,3379,3378,3381,0,0,0,0,0,0,15.07,15.07,15.07
$GC,755,-1.09,-146.0,2617,2810,3380,3381,111.3,-4.8,141,763,0.00,2.25,0.00,0.000,548,0.000,0.048,2617,1414,3378,3376,3381,0,0,0,0,0,0,15.07,14.85,15.05
$GC,767,-1.09,-146.0,2617,1414,3379,3382,110.3,2.7,143,776,0.10,2.33,0.00,0.000,3110,0.269,0.066,2636,2802,3378,3378,3378,0,0,0,0,0,0,14.73,14.83,14.90
$GC,895,-1.09,-146.0,2636,2801,3379,3382,119.2,-7.6,168,903,0.00,1.80,0.00,0.000,292,0.000,0.100,2627,3839,3379,3378,3381,0,0,0,0,0,0,15.07,14.81,15.07
$GC,1127,-1.09,-146.0,2628,3840,3379,3379,141.1,-9.7,214,1135,0.00,1.65,0.00,0.000,1062,0.000,0.041,2627,2798,3378,3378,3378,0,0,0,0,0,0,14.92,14.90,14.95
$GC,1255,-1.09,-146.0,2627,2800,3378,3377,153.1,-9.4,239,1262,0.00,1.83,0.00,0.000,292,0.000,0.099,2619,3832,3377,3378,3376,0,0,0,0,0,0,15.08,14.82,15.08
$GC,1397,-1.09,-146.0,2619,3832,3380,3380,167.1,-10.5,267,1404,0.00,1.65,0.00,0.000,1030,0.000,0.042,2619,2795,3376,3378,3374,0,0,0,0,0,0,14.92,14.88,14.95
$GC,1524,-1.09,-146.0,2621,2803,3379,3375,179.2,-9.6,292,1532,0.00,2.25,0.00,0.000,548,0.000,0.050,2620,1411,3375,3378,3373,0,0,0,0,0,0,15.08,14.86,15.08
$GC,1551,-1.09,-146.0,2620,1411,3379,3374,181.8,-10.2,297,1560,0.00,2.38,0.00,0.000,1030,0.000,0.069,2609,2814,3376,3378,3374,0,0,0,0,0,0,14.95,14.83,14.96
$GC,1679,-1.09,-146.0,2610,2816,3378,3371,194.3,-9.8,322,1686,0.00,0.00,0.00,0.000,38,0.000,0.000,2608,2815,3374,3378,3370,0,0,0,0,0,0,15.07,15.08,15.07
$GC,1806,-1.09,-146.0,2610,2815,3379,3368,206.9,-9.9,347,1813,0.00,0.00,0.00,0.000,38,0.000,0.000,2609,2815,3373,3380,3367,0,0,0,0,0,0,15.08,15.08,15.07
$GC,1933,-1.09,-146.0,2610,2815,3378,3365,219.3,-10.1,372,1940,0.10,1.75,0.00,0.000,2308,0.269,0.101,2636,3825,3371,3378,3365,0,0,0,0,0,0,14.73,14.81,14.86
$GC,1970,-1.09,-146.0,2636,3826,3379,3365,222.9,-9.6,379,1978,0.00,1.65,0.00,0.000,1062,0.000,0.044,2636,2801,3371,3378,3365,0,0,0,0,0,0,14.90,14.90,14.94
$GC,2097,-1.09,-146.0,2637,2802,3379,3362,234.4,-9.2,404,2105,0.00,2.28,0.00,0.000,548,0.000,0.054,2636,1409,3369,3376,3362,0,0,0,0,0,0,15.07,14.85,15.07
$GC,2119,-1.09,-146.0,2637,1409,3379,3363,236.5,-9.1,408,2127,0.00,2.38,0.00,0.000,1062,0.000,0.071,2626,2808,3371,3381,3362,0,0,0,0,0,0,14.93,14.82,14.95
$STATE,2161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2161,begin apogee
$GC,2163,-0.25,0.0,2626,2602,3379,3361,240.5,-9.5,416,2278,0.90,0.00,107.90,1.190,10246,0.201,0.000,2901,2601,2796,2853,2740,0,0,0,0,0,0,14.73,14.44,13.97
$STATE,2280,end apogee,CONTROL_FINISHED_OK
$STATE,2280,begin climb
$GC,2281,1.09,146.0,2902,2601,2851,2738,242.0,0.0,435,2409,1.25,2.40,109.00,1.144,10756,0.100,0.064,3332,1231,2209,2285,2133,0,0,0,0,0,0,14.45,14.32,13.85
$GC,2503,1.09,146.0,3333,1225,2285,2124,213.4,17.3,472,2511,0.00,2.38,0.00,0.000,1030,0.000,0.067,3332,2605,2203,2284,2123,0,0,0,0,0,0,14.68,14.58,14.69
$GC,2631,1.09,146.0,3332,2607,2286,2120,190.6,17.9,497,2638,0.00,2.35,0.00,0.000,516,0.000,0.067,3341,1221,2202,2285,2120,0,0,0,0,0,0,14.90,14.68,14.90
$GC,2797,1.09,146.0,3343,1220,2286,2117,161.4,16.4,530,2806,0.00,2.35,0.00,0.000,1030,0.000,0.069,3342,2597,2200,2284,2116,0,0,0,0,0,0,14.83,14.72,14.83
$GC,2926,1.09,146.0,3342,2598,2286,2114,139.4,16.7,555,2933,0.00,2.33,0.00,0.000,516,0.000,0.063,3352,1214,2200,2285,2115,0,0,0,0,0,0,14.98,14.76,14.99
$GC,3023,1.09,146.0,3352,1215,2286,2113,123.6,15.0,574,3031,0.00,2.38,0.00,0.000,1030,0.000,0.069,3352,2611,2199,2285,2113,0,0,0,0,0,0,14.87,14.76,14.88
$GC,3151,1.09,146.0,3353,2612,2286,2111,101.9,17.6,599,3158,0.00,2.12,0.00,0.000,260,0.000,0.100,3353,3826,2198,2285,2111,0,0,0,0,0,0,15.01,14.76,15.04
$GC,3233,1.09,146.0,3353,3826,2282,2112,86.7,17.4,615,3240,0.00,2.00,0.00,0.000,1030,0.000,0.045,3362,2606,2198,2285,2111,0,0,0,0,0,0,14.88,14.82,14.89
$GC,3360,1.22,250.3,3362,2600,2285,2110,73.8,5.2,640,3416,0.00,2.35,46.58,0.383,8996,0.000,0.062,3372,1211,1802,1878,1727,0,0,0,0,0,0,15.02,14.69,14.51
$GC,3500,1.26,285.3,3373,1212,1879,1735,60.9,8.4,666,3526,0.00,2.38,17.98,0.345,9254,0.000,0.067,3372,2604,1662,1741,1584,0,0,0,0,0,0,14.84,14.73,14.52
$GC,3646,1.26,285.3,3373,2604,1740,1594,45.7,10.4,694,3654,0.00,2.17,0.00,0.000,260,0.000,0.103,3372,3833,1666,1741,1592,0,0,0,0,0,0,14.97,14.71,14.96
$GC,3824,1.34,350.9,3372,3834,1743,1594,32.2,7.0,729,3863,0.05,2.03,32.17,0.261,11302,0.208,0.045,3417,2591,1400,1474,1327,0,0,0,0,0,0,14.76,14.82,14.59
$GC,3922,1.34,350.9,3417,2593,1476,1333,22.2,12.3,747,3930,0.00,2.30,0.00,0.000,516,0.000,0.064,3428,1212,1403,1474,1333,0,0,0,0,0,0,14.96,14.72,14.96
$GC,4014,1.34,350.9,3429,1211,1475,1334,10.8,12.5,765,4022,0.00,2.35,0.00,0.000,1030,0.000,0.067,3428,2598,1405,1474,1337,0,0,0,0,0,0,14.84,14.73,14.85
$STATE,4081,end climb,SURFACE_DEPTH_REACHED
$STATE,4081,begin surface coast
$FINISH,0.0,1.020409
$STATE,4096,end surface coast,CONTROL_FINISHED_OK
$STATE,4096,begin surface
$SM_CCo,4120,103.53,0.151,0,0,497,577.76
$SM_CCo,4225,-0.15,0.000,0,0,502,577.76
$SM_CCo,4227,0.25,0.592,0,0,498,577.76
$SM_GC,-1.61,9.77,0.35,0.25,0.120,0.096,0.592,197,2813,498,-8.67,-0.42,577.76,0,0,0,0,0,0,14.78,14.79,14.67
$IRIDIUM_FIX,958.26,-12504.01,240816,184336
$TT8_MAMPS,0.038199,0.460635
$HUMID,51.14
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,21.60
$XPDR_PINGS,0
$SC_FREEKB,3908864
$PM_FREEKB,62301952
$TM_FREEKB,7825216
$24V_AH,13.74,7.281
$10V_AH,14.12,0.000
$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,22.825,63.750,313.625,103.775,0.000,0.000,0.000,0.000,0.000,0.000,6.541,0.000,1567.671,540.482,2151.775,28.861,0.000,1249.550,0.000,1679.918,0.000,0.549,0.000
$DEVICE_MAMPS,369.495,2130.525,1190.340,592.110,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4081.000,4078.000,4088.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.387,3.119,11.350,0.000
$MEM,334776
$DATA_FILE_SIZE,26764,781
$CAP_FILE_SIZE,111402,0
$CFSIZE,1024409600,1019756544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,251.59,1
$GPS,240816,195839,1002.877,-12503.045,1,1.0,3,9.0,0.2,57.1,9,7.1