version: 66.13
glider: 220
mission: 6
dive: 5
start: 8 24 116 20 8 17
data:
$ID,220
$MISSION,6
$DIVE,5
$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,57
$R_STBD_OVSHOOT,28
$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
$GPS1,240816,195839,1002.8765,-12503.0449,1,1.0,3,9.0,0.2,57.1,9,7.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.70
$_SM_ANGLEo,-70.4
$GPS2,240816,200759,1002.9149,-12502.9863,2,1.0,4,9.0,0.3,36.7,9,5.2
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,146.8,41116,-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,15,-1.09,-146.0,193,2822,550,456,0.0,0.0,0,115,0.00,0.00,-94.60,0.000,16390,0.000,0.000,192,2824,3384,3372,3396,0,0,0,0,0,0,14.88,13.67,14.88
$GC,116,-1.09,-146.0,192,2824,3373,3396,4.7,-22.7,16,132,10.80,1.77,0.00,0.000,2308,0.375,0.080,2626,3836,3384,3372,3396,0,0,0,0,0,0,14.48,14.66,14.71
$GC,261,-1.09,-146.0,2626,3837,3374,3394,56.7,-21.1,44,269,0.00,1.70,0.00,0.000,1030,0.000,0.040,2626,2776,3384,3373,3396,0,0,0,0,0,0,14.81,14.78,14.81
$GC,388,-1.09,-146.0,2626,2775,3374,3397,78.2,-16.1,69,397,0.00,1.85,0.00,0.000,260,0.000,0.097,2617,3819,3385,3374,3396,0,0,0,0,0,0,14.98,14.73,14.99
$GC,536,-1.09,-146.0,2618,3819,3376,3396,90.6,-8.0,98,544,0.00,1.62,0.00,0.000,1062,0.000,0.041,2616,2801,3385,3375,3396,0,0,0,0,0,0,14.86,14.84,14.88
$GC,664,-1.09,-146.0,2618,2801,3376,3398,101.4,-8.9,123,671,0.00,2.25,0.00,0.000,548,0.000,0.049,2618,1419,3386,3376,3396,0,0,0,0,0,0,15.01,14.81,15.02
$GC,751,-1.09,-146.0,2618,1419,3377,3397,110.8,-9.2,140,759,0.10,2.33,0.00,0.000,3110,0.272,0.067,2636,2797,3386,3377,3396,0,0,0,0,0,0,14.66,14.80,14.84
$GC,878,-1.09,-146.0,2636,2798,3377,3396,117.8,-8.0,165,887,0.00,1.80,0.00,0.000,292,0.000,0.103,2628,3823,3386,3376,3396,0,0,0,0,0,0,15.04,14.78,15.03
$GC,1111,-1.09,-146.0,2628,3824,3377,3393,141.2,-10.7,211,1119,0.00,1.65,0.00,0.000,1030,0.000,0.042,2628,2797,3386,3376,3396,0,0,0,0,0,0,14.90,14.87,14.91
$GC,1239,-1.09,-146.0,2628,2797,3377,3394,153.5,-10.0,236,1246,0.00,1.85,0.00,0.000,292,0.000,0.100,2620,3820,3385,3376,3394,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1371,-1.09,-146.0,2623,3821,3376,3395,166.5,-9.7,262,1379,0.00,1.65,0.00,0.000,1062,0.000,0.043,2620,2787,3385,3376,3394,0,0,0,0,0,0,14.90,14.88,14.91
$GC,1498,-1.09,-146.0,2620,2787,3377,3393,178.4,-9.1,287,1506,0.00,2.22,0.00,0.000,548,0.000,0.051,2620,1422,3383,3376,3391,0,0,0,0,0,0,15.04,14.83,15.04
$GC,1551,-1.09,-146.0,2620,1422,3374,3390,183.0,-8.8,297,1559,0.00,2.35,0.00,0.000,1062,0.000,0.070,2610,2805,3384,3377,3391,0,0,0,0,0,0,14.89,14.81,14.90
$GC,1679,-1.09,-146.0,2610,2805,3376,3390,195.1,-9.7,322,1686,0.00,1.80,0.00,0.000,292,0.000,0.105,2602,3832,3382,3376,3388,0,0,0,0,0,0,15.04,14.78,15.04
$GC,1741,-1.09,-146.0,2603,3832,3376,3389,201.5,-10.6,334,1749,0.10,1.67,0.00,0.000,3078,0.234,0.044,2629,2806,3382,3376,3388,0,0,0,0,0,0,14.71,14.87,14.83
$GC,1868,-1.09,-146.0,2631,2806,3376,3388,213.7,-9.7,359,1876,0.00,2.30,0.00,0.000,548,0.000,0.053,2631,1398,3381,3376,3387,0,0,0,0,0,0,15.04,14.83,15.05
$GC,1895,-1.09,-146.0,2632,1396,3376,3388,216.4,-9.5,364,1903,0.00,2.40,0.00,0.000,1062,0.000,0.072,2622,2803,3381,3376,3386,0,0,0,0,0,0,14.94,14.81,14.92
$GC,2023,-1.09,-146.0,2622,2802,3376,3385,229.0,-10.1,389,2031,0.00,1.80,0.00,0.000,260,0.000,0.106,2614,3824,3379,3375,3384,0,0,0,0,0,0,15.04,14.78,15.04
$GC,2055,-1.09,-146.0,2614,3825,3377,3383,232.6,-10.9,395,2063,0.00,1.67,0.00,0.000,1030,0.000,0.045,2614,2791,3379,3376,3383,0,0,0,0,0,0,14.89,14.86,14.90
$STATE,2126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2127,begin apogee
$GC,2129,-0.25,0.0,2614,2600,3377,3383,240.1,-10.4,409,2249,0.95,0.00,110.80,1.183,10246,0.207,0.000,2901,2599,2790,2845,2736,0,0,0,0,0,0,14.69,14.32,13.90
$STATE,2252,end apogee,CONTROL_FINISHED_OK
$STATE,2252,begin climb
$GC,2252,1.09,146.0,2902,2599,2844,2736,242.1,0.0,429,2380,1.27,2.38,110.82,1.127,10756,0.102,0.060,3335,1220,2207,2282,2133,0,0,0,0,0,0,14.42,14.25,13.85
$GC,2435,1.09,146.0,3336,1219,2285,2123,219.8,18.1,458,2442,0.00,2.40,0.00,0.000,1030,0.000,0.067,3335,2604,2202,2282,2122,0,0,0,0,0,0,14.57,14.48,14.59
$GC,2562,1.09,146.0,3335,2602,2282,2120,195.8,18.9,483,2570,0.00,2.35,0.00,0.000,516,0.000,0.063,3345,1220,2200,2282,2118,0,0,0,0,0,0,14.84,14.63,14.83
$GC,2660,1.09,146.0,3346,1220,2283,2117,177.7,18.3,502,2667,0.00,2.38,0.00,0.000,1030,0.000,0.069,3344,2604,2199,2282,2116,0,0,0,0,0,0,14.77,14.67,14.78
$GC,2787,1.09,146.0,3346,2604,2282,2116,154.0,19.0,527,2795,0.00,2.35,0.00,0.000,516,0.000,0.062,3355,1209,2198,2281,2115,0,0,0,0,0,0,14.93,14.71,14.93
$GC,2945,1.09,146.0,3356,1209,2282,2112,126.5,16.2,558,2952,0.00,2.38,0.00,0.000,1030,0.000,0.068,3355,2602,2196,2282,2111,0,0,0,0,0,0,14.84,14.74,14.85
$GC,3072,1.09,146.0,3356,2604,2283,2110,104.1,18.1,583,3080,0.00,2.15,0.00,0.000,260,0.000,0.102,3355,3823,2194,2279,2110,0,0,0,0,0,0,14.97,14.71,14.98
$GC,3170,1.09,146.0,3355,3824,2283,2109,85.5,17.2,602,3177,0.00,2.00,0.00,0.000,1030,0.000,0.044,3365,2607,2195,2281,2109,0,0,0,0,0,0,14.87,14.80,14.88
$GC,3297,1.13,183.0,3365,2603,2284,2108,69.9,8.3,627,3318,0.00,2.38,14.70,0.363,8996,0.000,0.059,3375,1203,2073,2149,1998,0,0,0,0,0,0,15.00,14.76,14.54
$GC,3477,1.34,347.8,3369,1203,2150,2018,59.5,2.4,662,3569,0.08,2.38,81.38,0.345,11302,0.163,0.063,3416,2603,1413,1485,1341,0,0,0,0,0,0,14.78,14.77,14.47
$GC,3689,1.34,347.8,3423,2605,1486,1350,35.6,11.4,701,3696,0.00,2.17,0.00,0.000,260,0.000,0.102,3416,3826,1417,1485,1350,0,0,0,0,0,0,14.91,14.66,14.92
$GC,3766,1.34,347.8,3416,3826,1486,1349,26.9,11.8,716,3773,0.00,2.03,0.00,0.000,1030,0.000,0.044,3427,2593,1417,1484,1350,0,0,0,0,0,0,14.82,14.76,14.83
$GC,3833,1.34,347.8,3426,2593,1486,1350,19.1,11.9,729,3840,0.00,2.33,0.00,0.000,516,0.000,0.062,3437,1206,1417,1485,1349,0,0,0,0,0,0,14.95,14.73,14.95
$GC,3895,1.34,347.8,3437,1207,1486,1348,11.6,12.4,741,3903,0.00,2.38,0.00,0.000,1030,0.000,0.065,3437,2605,1416,1485,1348,0,0,0,0,0,0,14.83,14.73,14.84
$GC,3962,1.34,347.8,3437,2604,1486,1348,3.5,11.9,754,3970,0.00,2.17,0.00,0.000,260,0.000,0.104,3437,3831,1416,1484,1348,0,0,0,0,0,0,14.96,14.70,14.96
$STATE,3973,end climb,SURFACE_DEPTH_REACHED
$STATE,3973,begin surface coast
$FINISH,-0.1,1.020392
$STATE,3988,end surface coast,CONTROL_FINISHED_OK
$STATE,3988,begin surface
$SM_CCo,4013,105.47,0.154,0,0,497,577.76
$SM_CCo,4120,-0.15,0.000,0,0,502,577.76
$SM_CCo,4122,0.03,2.851,0,0,498,578.26
$SM_GC,-1.38,9.35,1.73,0.03,0.076,0.042,2.851,192,2784,498,-8.68,1.33,578.26,0,0,0,0,0,0,14.77,14.81,14.50
$IRIDIUM_FIX,958.26,-12502.21,240816,184546
$TT8_MAMPS,0.035952,0.444906
$HUMID,52.16
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.10
$XPDR_PINGS,0
$SC_FREEKB,3908480
$PM_FREEKB,62290816
$TM_FREEKB,7818688
$24V_AH,13.67,7.445
$10V_AH,14.06,0.000
$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,22.650,70.875,317.700,105.500,0.000,0.000,0.000,366.300,0.000,0.000,6.266,0.000,1509.336,549.786,2568.715,51.071,0.000,1613.718,0.000,1632.409,0.000,0.548,0.000
$DEVICE_MAMPS,374.850,106.335,1183.455,2851.155,0.000,0.000,0.000,189.720,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4028.000,3977.000,4030.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.276,3.111,11.220,0.000
$MEM,334772
$DATA_FILE_SIZE,26712,759
$CAP_FILE_SIZE,90471,0
$CFSIZE,1024409600,1019609088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,235.07,1
$GPS,240816,211734,1002.462,-12503.128,2,1.4,4,9.0,0.3,135.0,8,10.0