version: 66.13
glider: 220
mission: 6
dive: 9
start: 8 25 116 4 39 51
data:
$ID,220
$MISSION,6
$DIVE,9
$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,55
$R_STBD_OVSHOOT,26
$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
$GPS1,250816,042852,959.5095,-12503.4639,3,1.0,4,9.0,0.5,89.2,9,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.22
$_SM_ANGLEo,-71.1
$GPS2,250816,043933,959.4780,-12503.3594,1,1.0,3,9.0,0.6,128.9,8,6.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,144.1,34931,-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,-146.0,192,2964,587,509,0.0,0.0,0,110,0.00,0.00,-92.10,0.000,16386,0.000,0.000,192,2964,3420,3408,3433,0,0,0,0,0,0,14.76,28.83,14.76
$GC,111,-1.09,-146.0,192,2966,3409,3433,4.7,-8.8,6,130,10.90,1.73,-1.80,0.000,18724,0.390,2.182,2567,3828,3555,3554,3556,0,0,0,0,0,0,14.35,13.64,14.62
$GC,224,-1.09,-146.0,2567,3830,3556,3557,56.8,-29.7,28,231,0.00,1.45,0.00,0.000,1030,0.000,0.041,2566,2934,3555,3555,3556,0,0,0,0,0,0,14.69,14.66,14.69
$GC,536,-1.09,-146.0,2567,2933,3557,3557,110.2,-13.4,48,543,0.00,2.22,0.00,0.000,516,0.000,0.046,2569,1566,3557,3557,3557,0,0,0,0,0,0,14.92,14.72,14.92
$GC,546,-1.09,-146.0,2566,1566,3558,3556,111.6,-13.8,50,553,0.00,2.40,0.00,0.000,1030,0.000,0.070,2550,2952,3556,3556,3556,0,0,0,0,0,0,14.75,14.68,14.78
$GC,868,-1.09,-146.0,2556,2951,3557,3557,151.5,-13.7,64,875,0.00,2.28,0.00,0.000,516,0.000,0.045,2557,1557,3556,3557,3556,0,0,0,0,0,0,14.95,14.76,14.96
$GC,1019,-1.09,-146.0,2557,1556,3558,3556,172.2,-14.1,94,1026,0.10,2.38,0.00,0.000,3078,0.272,0.074,2573,2953,3556,3556,3556,0,0,0,0,0,0,14.65,14.74,14.82
$GC,1350,-1.09,-146.0,2573,2953,3557,3553,216.1,-13.0,110,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2953,3554,3556,3552,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1650,-1.09,-146.0,2573,2954,3557,3549,254.6,-13.0,120,1657,0.00,2.28,0.00,0.000,516,0.000,0.049,2573,1566,3552,3556,3548,0,0,0,0,0,0,15.02,14.81,15.02
$GC,1721,-1.09,-146.0,2574,1566,3557,3548,263.6,-12.4,134,1728,0.00,2.38,0.00,0.000,1030,0.000,0.076,2565,2957,3552,3556,3548,0,0,0,0,0,0,14.88,14.77,14.90
$GC,2042,-1.09,-146.0,2564,2957,3557,3543,305.0,-12.7,148,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2957,3548,3556,3541,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2342,-1.09,-146.0,2564,2963,3557,3537,344.4,-13.1,158,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2953,3546,3556,3536,0,0,0,0,0,0,15.02,15.03,15.02
$GC,2642,-1.09,-146.0,2564,2955,3557,3531,382.9,-12.8,168,2649,0.00,2.30,0.00,0.000,516,0.000,0.050,2563,1557,3543,3556,3531,0,0,0,0,0,0,15.03,14.82,15.03
$GC,2734,-1.09,-146.0,2564,1557,3557,3529,394.4,-12.3,186,2740,0.00,2.40,0.00,0.000,1030,0.000,0.076,2554,2957,3543,3556,3530,0,0,0,0,0,0,14.90,14.78,14.91
$GC,3064,-1.09,-146.0,2553,2958,3557,3519,439.0,-13.6,202,3071,0.00,2.30,0.00,0.000,516,0.000,0.050,2553,1559,3540,3556,3525,0,0,0,0,0,0,15.03,14.81,15.03
$GC,3109,-1.09,-146.0,2553,1560,3557,3524,445.3,-13.6,211,3117,0.10,2.42,0.00,0.000,3078,0.259,0.078,2576,2949,3539,3556,3523,0,0,0,0,0,0,14.69,14.76,14.86
$GC,3426,-1.09,-146.0,2578,2949,3555,3520,484.6,-12.3,224,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2951,3538,3556,3520,0,0,0,0,0,0,15.02,15.02,15.02
$GC,3726,-1.09,-146.0,2578,2949,3556,3517,521.2,-11.9,234,3739,0.00,2.28,0.00,0.000,516,0.000,0.053,2577,1570,3536,3556,3516,0,0,0,0,0,0,15.03,14.83,15.03
$GC,3768,-1.09,-146.0,2578,1570,3557,3515,526.2,-12.0,241,3781,0.00,2.38,0.00,0.000,1030,0.000,0.080,2569,2954,3536,3556,3516,0,0,0,0,0,0,14.90,14.78,14.91
$STATE,3889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3890,begin apogee
$GC,3892,-0.25,0.0,2570,2692,3557,3511,541.2,-12.3,249,4032,0.95,0.00,129.07,1.550,10246,0.220,0.000,2846,2690,2970,3017,2924,0,0,0,0,0,0,14.71,14.18,13.59
$STATE,4033,end apogee,CONTROL_FINISHED_OK
$STATE,4033,begin climb
$GC,4034,1.09,146.0,2847,2690,3010,2914,544.9,0.0,253,4185,1.30,2.53,131.60,1.480,11012,0.117,0.060,3274,1282,2377,2446,2308,0,0,0,0,0,0,14.19,14.07,13.54
$GC,4229,1.09,146.0,3275,1283,2446,2296,528.5,13.6,281,4242,0.00,2.47,0.00,0.000,1030,0.000,0.069,3274,2686,2369,2444,2295,0,0,0,0,0,0,14.39,14.30,14.41
$GC,4561,1.09,146.0,3275,2685,2445,2289,479.6,14.8,296,4568,0.00,2.40,0.00,0.000,516,0.000,0.060,3284,1283,2366,2444,2288,0,0,0,0,0,0,14.82,14.61,14.82
$GC,4792,1.09,146.0,3284,1285,2445,2283,446.5,14.3,342,4799,0.00,2.40,0.00,0.000,1030,0.000,0.070,3284,2680,2368,2452,2285,0,0,0,0,0,0,14.76,14.68,14.77
$GC,5103,1.09,146.0,3284,2681,2445,2282,399.9,15.1,354,5110,0.00,2.38,0.00,0.000,516,0.000,0.062,3294,1272,2363,2444,2283,0,0,0,0,0,0,14.93,14.71,14.92
$GC,5333,1.09,146.0,3295,1274,2445,2280,366.0,14.3,400,5341,0.00,2.45,0.00,0.000,1030,0.000,0.070,3294,2698,2362,2444,2281,0,0,0,0,0,0,14.81,14.71,14.83
$GC,5646,1.09,146.0,3295,2698,2445,2279,319.8,14.7,412,5652,0.00,1.98,0.00,0.000,260,0.000,0.106,3294,3824,2361,2444,2278,0,0,0,0,0,0,14.95,14.71,14.96
$GC,5876,1.09,146.0,3295,3824,2443,2280,282.9,16.2,458,5883,0.00,1.95,0.00,0.000,1030,0.000,0.050,3303,2664,2361,2443,2279,0,0,0,0,0,0,14.81,14.77,14.83
$GC,6187,1.09,146.0,3304,2664,2443,2285,236.4,15.3,470,6194,0.00,2.28,0.00,0.000,516,0.000,0.061,3315,1294,2359,2442,2277,0,0,0,0,0,0,14.97,14.75,14.97
$GC,6418,1.09,146.0,3313,1293,2442,2278,201.8,13.8,516,6426,0.10,2.40,0.00,0.000,5126,0.288,0.072,3285,2690,2359,2442,2277,0,0,0,0,0,0,14.64,14.73,14.81
$GC,6730,1.09,146.0,3287,2691,2443,2277,156.1,14.2,528,6737,0.00,2.35,0.00,0.000,516,0.000,0.060,3297,1291,2359,2442,2276,0,0,0,0,0,0,14.96,14.74,14.97
$GC,6961,1.09,146.0,3297,1292,2442,2277,126.2,12.4,574,6968,0.00,2.40,0.00,0.000,1030,0.000,0.070,3297,2673,2358,2441,2276,0,0,0,0,0,0,14.78,14.72,14.81
$GC,7272,1.09,146.0,3297,2673,2442,2277,90.8,10.6,588,7279,0.00,2.05,0.00,0.000,260,0.000,0.109,3297,3835,2359,2442,2276,0,0,0,0,0,0,14.96,14.69,14.96
$GC,7503,1.33,343.4,3297,3836,2443,2275,80.2,0.9,634,7602,0.08,1.95,90.22,0.423,11302,0.109,0.053,3354,2680,1602,1671,1533,0,0,0,0,0,0,14.72,14.76,14.35
$GC,7906,1.33,343.4,3350,2681,1672,1543,40.2,10.2,674,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2680,1607,1671,1543,0,0,0,0,0,0,14.87,14.87,14.87
$GC,8206,1.39,393.4,3350,2681,1673,1542,17.9,7.7,694,8239,0.00,2.38,24.67,0.222,8740,0.000,0.059,3360,1273,1401,1473,1330,0,0,0,0,0,0,14.90,14.66,14.55
$GC,8329,1.42,411.9,3361,1273,1475,1339,7.1,9.2,718,8347,0.00,2.42,10.00,0.190,9254,0.000,0.066,3360,2700,1327,1402,1253,0,0,0,0,0,0,14.76,14.66,14.58
$STATE,8387,end climb,SURFACE_DEPTH_REACHED
$STATE,8388,begin surface coast
$FINISH,-0.4,1.020422
$STATE,8403,end surface coast,CONTROL_FINISHED_OK
$STATE,8403,begin surface
$SM_CCo,8426,92.20,0.158,0,0,540,610.16
$SM_GC,-1.18,9.32,0.43,92.20,0.090,0.094,0.158,195,2955,540,-8.49,-0.76,610.16,0,0,0,0,0,0,14.70,14.69,14.57
$IRIDIUM_FIX,953.88,-12502.21,250816,020105
$TT8_MAMPS,0.038948,0.467376
$HUMID,52.63
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,3906944
$PM_FREEKB,62204288
$TM_FREEKB,7770720
$24V_AH,13.54,8.429
$10V_AH,13.29,0.000
$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,22.850,68.800,385.575,92.200,0.000,0.000,0.000,407.875,0.000,0.000,5.373,0.000,6204.623,604.643,2295.433,51.910,0.000,1686.672,0.000,1287.575,0.000,0.547,0.000
$DEVICE_MAMPS,390.150,2181.780,1549.890,157.590,0.000,0.000,0.000,206.550,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8454.000,8396.000,7657.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.965,3.080,11.527,0.000
$MEM,334740
$DATA_FILE_SIZE,26782,725
$CAP_FILE_SIZE,91829,0
$CFSIZE,1024409600,1018789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,202.25,1
$GPS,250816,070250,958.633,-12503.545,30,0.9,30,9.0,0.7,152.5,9,3.7