version: 66.13
glider: 220
mission: 6
dive: 8
start: 8 25 116 2 9 19
data:
$ID,220
$MISSION,6
$DIVE,8
$N_DIVES,9
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,640
$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,180
$T_MISSION,210
$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,2930
$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,2950
$C_ROLL_CLIMB,2680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$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,3
$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
$GPS1,250816,015652,1000.3178,-12503.2041,11,1.0,12,9.0,0.3,71.6,7,7.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.22
$_SM_ANGLEo,-71.7
$GPS2,250816,020901,1000.2747,-12503.0488,29,0.8,29,9.0,0.8,132.4,11,4.4
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,148.1,36293,-18.2,-10.000,-20.96,2236
$D_GRID,540
$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,-146.0,194,2983,585,505,0.0,0.0,0,110,0.00,0.00,-91.93,0.000,16386,0.000,0.000,193,2983,3416,3403,3429,0,0,0,0,0,0,14.79,28.83,14.79
$GC,111,-1.09,-146.0,194,2984,3404,3428,4.7,-8.8,6,130,10.70,1.67,-1.85,0.000,18724,0.382,2.176,2563,3823,3555,3554,3556,0,0,0,0,0,0,14.38,13.67,14.57
$GC,354,-1.09,-146.0,2563,3826,3555,3556,89.9,-16.8,54,360,0.00,1.48,0.00,0.000,1030,0.000,0.046,2563,2926,3557,3555,3559,0,0,0,0,0,0,14.74,14.72,14.76
$GC,685,-1.09,-146.0,2561,2926,3557,3557,128.8,-11.2,70,691,0.00,1.58,0.00,0.000,260,0.000,0.102,2555,3816,3556,3556,3556,0,0,0,0,0,0,14.95,14.70,14.97
$GC,914,-1.09,-146.0,2556,3813,3557,3554,161.6,-14.5,116,921,0.00,1.42,0.00,0.000,1030,0.000,0.045,2555,2940,3556,3557,3556,0,0,0,0,0,0,14.84,14.81,14.85
$GC,1226,-1.09,-146.0,2555,2941,3558,3554,205.6,-14.4,128,1232,0.00,1.55,0.00,0.000,260,0.000,0.103,2549,3816,3553,3556,3551,0,0,0,0,0,0,15.01,14.75,15.01
$GC,1456,-1.09,-146.0,2549,3816,3555,3552,241.4,-15.6,174,1463,0.08,1.42,0.00,0.000,3078,0.254,0.047,2569,2956,3553,3556,3550,0,0,0,0,0,0,14.68,14.83,14.81
$GC,1767,-1.09,-146.0,2569,2954,3557,3547,286.5,-14.6,186,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2956,3550,3556,3545,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2068,-1.09,-146.0,2569,2957,3553,3540,328.4,-13.9,196,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2956,3545,3550,3541,0,0,0,0,0,0,15.04,15.04,15.03
$GC,2367,-1.09,-146.0,2569,2956,3556,3536,367.5,-12.6,206,2373,0.00,2.30,0.00,0.000,516,0.000,0.051,2568,1538,3545,3556,3534,0,0,0,0,0,0,15.04,14.82,15.04
$GC,2447,-1.09,-146.0,2569,1540,3557,3531,377.5,-12.3,222,2454,0.00,2.40,0.00,0.000,1030,0.000,0.076,2560,2949,3544,3556,3533,0,0,0,0,0,0,14.90,14.79,14.91
$GC,2759,-1.09,-146.0,2560,2949,3556,3529,417.0,-12.7,234,2765,0.00,2.30,0.00,0.000,516,0.000,0.051,2558,1551,3542,3556,3528,0,0,0,0,0,0,15.04,14.83,15.04
$GC,2789,-1.09,-146.0,2559,1551,3557,3527,421.0,-13.1,240,2796,0.00,2.40,0.00,0.000,1030,0.000,0.077,2549,2949,3541,3556,3526,0,0,0,0,0,0,14.90,14.79,14.92
$GC,3120,-1.09,-146.0,2550,2949,3556,3524,465.3,-13.8,256,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2949,3539,3555,3523,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3420,-1.09,-146.0,2550,2950,3557,3517,507.3,-13.9,266,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2956,3536,3555,3517,0,0,0,0,0,0,15.04,15.04,15.04
$STATE,3659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3659,begin apogee
$GC,3662,-0.25,0.0,2549,2682,3557,3514,540.4,-13.8,274,3801,1.02,0.00,128.48,1.563,10246,0.224,0.000,2846,2681,2967,3013,2921,0,0,0,0,0,0,14.71,14.19,13.62
$STATE,3803,end apogee,CONTROL_FINISHED_OK
$STATE,3803,begin climb
$GC,3804,1.09,146.0,2848,2682,3010,2911,544.4,0.0,278,3948,1.30,0.00,129.93,1.489,10502,0.117,0.000,3265,2680,2385,2452,2319,0,0,0,0,0,0,14.21,14.09,13.54
$GC,4230,1.09,146.0,3265,2682,2446,2292,494.2,14.5,313,4236,0.00,2.35,0.00,0.000,516,0.000,0.060,3275,1284,2368,2450,2286,0,0,0,0,0,0,14.80,14.58,14.80
$GC,4460,1.09,146.0,3275,1285,2445,2288,462.1,13.7,359,4468,0.00,2.40,0.00,0.000,1030,0.000,0.069,3275,2683,2366,2444,2288,0,0,0,0,0,0,14.75,14.65,14.76
$GC,4772,1.09,146.0,3275,2684,2445,2286,416.9,14.5,371,4779,0.00,2.35,0.00,0.000,516,0.000,0.061,3285,1287,2364,2444,2285,0,0,0,0,0,0,14.93,14.71,14.93
$GC,5003,1.09,146.0,3285,1288,2445,2282,383.9,14.2,417,5010,0.00,2.42,0.00,0.000,1030,0.000,0.071,3285,2673,2363,2444,2282,0,0,0,0,0,0,14.78,14.71,14.80
$GC,5314,1.09,146.0,3285,2674,2445,2280,339.1,14.2,429,5320,0.00,2.35,0.00,0.000,516,0.000,0.063,3294,1281,2362,2445,2280,0,0,0,0,0,0,14.97,14.74,14.97
$GC,5544,1.09,146.0,3295,1280,2445,2280,306.9,13.7,475,5551,0.00,2.40,0.00,0.000,1030,0.000,0.072,3295,2688,2361,2444,2279,0,0,0,0,0,0,14.84,14.74,14.86
$GC,5856,1.09,146.0,3295,2686,2445,2278,261.8,14.5,487,5863,0.00,2.00,0.00,0.000,260,0.000,0.106,3295,3825,2360,2443,2278,0,0,0,0,0,0,14.98,14.72,14.98
$GC,6087,1.09,146.0,3295,3819,2443,2279,224.5,16.2,533,6094,0.00,1.95,0.00,0.000,1030,0.000,0.051,3304,2667,2359,2442,2277,0,0,0,0,0,0,14.82,14.78,14.83
$GC,6398,1.09,146.0,3304,2668,2443,2278,178.3,14.6,545,6404,0.00,2.30,0.00,0.000,516,0.000,0.062,3314,1284,2360,2442,2278,0,0,0,0,0,0,14.98,14.76,14.98
$GC,6628,1.09,146.0,3314,1285,2441,2278,146.5,13.6,591,6636,0.12,2.40,0.00,0.000,5126,0.282,0.070,3281,2689,2359,2440,2278,0,0,0,0,0,0,14.62,14.74,14.82
$GC,6940,1.09,146.0,3282,2688,2441,2279,107.5,12.3,603,6947,0.00,2.00,0.00,0.000,260,0.000,0.106,3281,3827,2359,2440,2279,0,0,0,0,0,0,14.97,14.71,14.97
$GC,7077,1.09,146.0,3281,3827,2441,2279,90.9,10.8,630,7083,0.00,1.88,0.00,0.000,1030,0.000,0.050,3290,2673,2359,2440,2278,0,0,0,0,0,0,14.84,14.78,14.85
$GC,7393,1.32,335.1,3290,2673,2442,2277,77.6,1.3,653,7487,0.10,2.40,85.93,0.413,11044,0.129,0.060,3365,1291,1634,1703,1566,0,0,0,0,0,0,14.78,14.57,14.37
$GC,7555,1.32,335.1,3365,1291,1704,1577,64.7,11.4,685,7563,0.00,2.45,0.00,0.000,1030,0.000,0.072,3365,2676,1639,1702,1576,0,0,0,0,0,0,14.65,14.59,14.68
$GC,7861,1.36,367.0,3365,2677,1704,1574,32.7,8.5,706,7884,0.00,2.05,16.30,0.269,8484,0.000,0.102,3364,3835,1506,1577,1435,0,0,0,0,0,0,14.89,14.62,14.50
$GC,7933,1.39,388.4,3366,3836,1579,1446,26.5,9.0,720,7950,0.00,1.92,11.70,0.246,9254,0.000,0.047,3373,2681,1421,1492,1350,0,0,0,0,0,0,14.73,14.69,14.52
$STATE,8193,end climb,SURFACE_DEPTH_REACHED
$STATE,8194,begin surface coast
$FINISH,-0.8,1.020370
$STATE,8209,end surface coast,CONTROL_FINISHED_OK
$STATE,8209,begin surface
$SM_CCo,8233,103.60,0.158,0,0,541,610.42
$SM_GC,-1.18,9.05,0.50,103.60,0.062,0.096,0.158,192,2957,541,-8.49,-0.65,610.42,0,0,0,0,0,0,14.72,14.70,14.58
$IRIDIUM_FIX,956.07,-12500.96,240816,234143
$TT8_MAMPS,0.03745,0.470372
$HUMID,53.74
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,3907328
$PM_FREEKB,62226688
$TM_FREEKB,7782848
$24V_AH,13.54,8.197
$10V_AH,13.33,0.000
$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,22.375,55.075,372.325,103.600,0.000,0.000,0.000,460.625,0.000,0.000,30.748,0.000,6054.179,576.214,2375.615,50.218,0.000,1699.118,0.000,1306.077,0.000,0.548,0.000
$DEVICE_MAMPS,381.735,2176.425,1562.895,158.355,0.000,0.000,0.000,205.020,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8264.000,8203.000,7510.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.988,3.071,11.582,0.000
$MEM,334732
$DATA_FILE_SIZE,26747,741
$CAP_FILE_SIZE,88880,0
$CFSIZE,1024409600,1019002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118,209.28,1
$GPS,250816,042852,959.510,-12503.464,3,1.0,4,9.0,0.5,89.2,9,9.6