version: 66.13
glider: 220
mission: 6
dive: 13
start: 8 25 116 16 48 54
data:
$ID,220
$MISSION,6
$DIVE,13
$N_DIVES,0
$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,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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2950
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,67
$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,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
$GPS1,250816,163531,955.7154,-12503.5820,28,0.7,28,9.0,0.4,12.8,11,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.36
$_SM_ANGLEo,-69.1
$GPS2,250816,164835,955.6573,-12503.5723,2,0.7,3,9.0,0.2,190.9,12,5.4
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,137.5,28080,-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,-146.0,187,2920,597,499,0.0,0.0,0,110,0.00,0.00,-92.20,0.000,16386,0.000,0.000,180,2920,3379,3366,3392,0,0,0,0,0,0,14.73,28.83,14.73
$GC,111,-1.09,-146.0,181,2921,3367,3392,3.8,-7.6,6,131,11.18,1.80,-2.33,0.000,18724,0.391,2.174,2592,3830,3555,3555,3555,0,0,0,0,0,0,14.37,13.73,14.60
$GC,149,-1.09,-146.0,2593,3828,3556,3556,28.3,-53.6,12,158,0.00,1.42,0.00,0.000,1030,0.000,0.040,2591,2950,3555,3556,3555,0,0,0,0,0,0,14.64,14.59,14.63
$GC,455,-1.09,-146.0,2592,2951,3558,3558,99.8,-14.4,33,461,0.00,1.55,0.00,0.000,260,0.000,0.103,2586,3819,3556,3557,3555,0,0,0,0,0,0,14.91,14.65,14.89
$GC,685,-1.09,-146.0,2586,3819,3558,3556,127.1,-13.8,79,693,0.00,1.40,0.00,0.000,1030,0.000,0.046,2585,2959,3556,3557,3555,0,0,0,0,0,0,14.80,14.77,14.81
$GC,997,-1.09,-146.0,2585,2961,3558,3555,166.8,-12.2,91,1004,0.00,2.28,0.00,0.000,516,0.000,0.045,2585,1551,3556,3557,3555,0,0,0,0,0,0,14.97,14.78,14.97
$GC,1228,-1.09,-146.0,2585,1549,3557,3552,195.2,-12.5,137,1235,0.10,2.42,0.00,0.000,3078,0.252,0.076,2610,2942,3554,3557,3552,0,0,0,0,0,0,14.67,14.74,14.81
$GC,1539,-1.09,-146.0,2608,2943,3558,3549,231.7,-11.8,149,1546,0.00,2.28,0.00,0.000,516,0.000,0.049,2610,1551,3552,3557,3548,0,0,0,0,0,0,14.99,14.80,15.00
$GC,1589,-1.09,-146.0,2610,1549,3558,3549,237.7,-11.7,159,1597,0.00,2.45,0.00,0.000,1030,0.000,0.078,2601,2953,3552,3557,3547,0,0,0,0,0,0,14.88,14.76,14.90
$GC,1901,-1.09,-146.0,2601,2953,3558,3543,275.6,-12.0,171,1908,0.00,2.30,0.00,0.000,516,0.000,0.049,2599,1554,3549,3557,3541,0,0,0,0,0,0,15.02,14.82,15.02
$GC,1993,-1.09,-146.0,2599,1555,3558,3541,286.5,-11.8,189,1999,0.00,2.40,0.00,0.000,1030,0.000,0.081,2590,2953,3548,3557,3540,0,0,0,0,0,0,14.89,14.78,14.92
$GC,2323,-1.09,-146.0,2590,2953,3558,3535,327.8,-12.4,205,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2954,3545,3557,3534,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2623,-1.09,-146.0,2591,2954,3557,3529,362.9,-11.6,215,2631,0.00,2.33,0.00,0.000,516,0.000,0.052,2590,1553,3543,3557,3529,0,0,0,0,0,0,15.02,14.82,15.02
$GC,2689,-1.09,-146.0,2591,1553,3558,3527,370.5,-11.2,228,2696,0.00,2.42,0.00,0.000,1030,0.000,0.081,2580,2961,3542,3557,3528,0,0,0,0,0,0,14.90,14.78,14.90
$GC,3016,-1.09,-146.0,2580,2962,3558,3523,408.5,-11.7,243,3022,0.00,2.30,0.00,0.000,516,0.000,0.052,2580,1562,3540,3557,3523,0,0,0,0,0,0,15.03,14.82,15.03
$GC,3071,-1.09,-146.0,2580,1562,3558,3523,415.0,-11.4,254,3080,0.12,2.42,0.00,0.000,3078,0.258,0.082,2604,2946,3539,3557,3522,0,0,0,0,0,0,14.70,14.77,14.83
$GC,3377,-1.09,-146.0,2605,2946,3557,3518,446.9,-10.3,265,3383,0.00,2.30,0.00,0.000,516,0.000,0.053,2604,1555,3537,3557,3517,0,0,0,0,0,0,15.02,14.82,15.02
$GC,3432,-1.09,-146.0,2604,1556,3558,3516,452.7,-10.4,276,3440,0.00,2.45,0.00,0.000,1030,0.000,0.083,2594,2948,3537,3557,3517,0,0,0,0,0,0,14.85,14.78,14.85
$GC,3737,-1.09,-146.0,2595,2948,3557,3514,486.8,-11.2,287,3745,0.00,2.30,0.00,0.000,516,0.000,0.053,2593,1559,3534,3556,3513,0,0,0,0,0,0,15.02,14.83,15.02
$GC,3793,-1.09,-146.0,2594,1558,3558,3513,493.2,-11.2,298,3801,0.00,2.45,0.00,0.000,1030,0.000,0.083,2584,2952,3534,3557,3511,0,0,0,0,0,0,14.85,14.77,14.85
$GC,4099,-1.09,-146.0,2584,2951,3558,3507,529.6,-12.0,309,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2952,3535,3557,3514,0,0,0,0,0,0,15.03,15.03,15.03
$STATE,4188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4188,begin apogee
$GC,4191,-0.25,0.0,2585,2808,3557,3506,540.4,-12.1,312,4379,0.98,0.00,176.62,1.366,10246,0.216,0.000,2871,2806,2969,3017,2922,0,0,0,0,0,0,14.73,14.16,13.62
$STATE,4380,end apogee,CONTROL_FINISHED_OK
$STATE,4380,begin climb
$GC,4381,1.09,146.0,2872,2807,3013,2916,546.1,0.0,318,4532,1.30,1.95,132.55,1.480,10500,0.108,0.106,3292,3832,2382,2442,2322,0,0,0,0,0,0,14.17,14.02,13.52
$GC,4590,1.09,146.0,3292,3831,2440,2303,526.9,17.1,359,4605,0.00,1.80,0.00,0.000,1030,0.000,0.052,3297,2791,2369,2437,2301,0,0,0,0,0,0,14.37,14.34,14.39
$GC,4896,1.09,146.0,3300,2792,2436,2292,478.3,15.7,370,4902,0.00,2.33,0.00,0.000,516,0.000,0.060,3310,1409,2364,2436,2293,0,0,0,0,0,0,14.80,14.63,14.80
$GC,5126,1.09,146.0,3310,1409,2439,2289,443.0,15.4,416,5133,0.00,2.42,0.00,0.000,1030,0.000,0.076,3311,2806,2363,2437,2289,0,0,0,0,0,0,14.74,14.64,14.76
$GC,5437,1.09,146.0,3310,2811,2438,2288,393.3,16.0,428,5444,0.00,1.80,0.00,0.000,260,0.000,0.109,3309,3824,2362,2437,2288,0,0,0,0,0,0,14.92,14.68,14.92
$GC,5612,1.09,146.0,3310,3826,2438,2289,362.3,17.9,463,5621,0.00,1.73,0.00,0.000,1030,0.000,0.051,3317,2798,2362,2437,2287,0,0,0,0,0,0,14.78,14.75,14.80
$GC,5918,1.09,146.0,3319,2798,2438,2285,313.4,15.6,474,5925,0.00,2.33,0.00,0.000,516,0.000,0.062,3328,1410,2360,2437,2284,0,0,0,0,0,0,14.95,14.73,14.95
$GC,6148,1.09,146.0,3329,1410,2438,2284,278.0,14.9,520,6155,0.00,2.40,0.00,0.000,1030,0.000,0.077,3328,2801,2359,2437,2282,0,0,0,0,0,0,14.83,14.73,14.85
$GC,6460,1.09,146.0,3328,2801,2438,2282,228.6,15.9,532,6466,0.00,1.80,0.00,0.000,260,0.000,0.109,3328,3825,2359,2437,2281,0,0,0,0,0,0,15.00,14.72,14.95
$GC,6689,1.09,146.0,3328,3827,2438,2281,189.4,16.8,578,6696,0.00,1.73,0.00,0.000,1030,0.000,0.050,3336,2790,2359,2437,2281,0,0,0,0,0,0,14.81,14.79,14.82
$GC,7001,1.09,146.0,3337,2790,2438,2282,140.0,16.1,590,7007,0.00,2.30,0.00,0.000,516,0.000,0.060,3346,1404,2358,2437,2280,0,0,0,0,0,0,14.96,14.75,14.96
$GC,7212,1.09,146.0,3345,1404,2440,2279,110.6,13.5,632,7218,0.12,2.42,0.00,0.000,5126,0.296,0.078,3314,2803,2358,2437,2279,0,0,0,0,0,0,14.62,14.73,14.81
$GC,7528,1.24,271.0,3314,2802,2439,2280,82.7,4.3,655,7592,0.08,1.90,56.38,0.428,10532,0.167,0.109,3358,3824,1889,1958,1820,0,0,0,0,0,0,14.76,14.59,14.42
$GC,7640,1.24,271.0,3358,3824,1960,1835,71.1,16.8,673,7647,0.00,1.73,0.00,0.000,1030,0.000,0.047,3365,2801,1896,1959,1834,0,0,0,0,0,0,14.69,14.64,14.71
$GC,7952,1.30,316.1,3366,2802,1960,1832,44.3,7.9,695,7980,0.00,2.40,22.27,0.309,8740,0.000,0.056,3376,1405,1709,1782,1637,0,0,0,0,0,0,14.90,14.64,14.54
$GC,8054,1.35,357.8,3376,1402,1783,1648,37.5,8.1,715,8083,0.00,2.45,21.17,0.286,9254,0.000,0.076,3376,2805,1544,1615,1473,0,0,0,0,0,0,14.73,14.64,14.49
$GC,8392,1.37,373.9,3376,2806,1621,1481,10.0,9.3,742,8410,0.00,2.40,8.75,0.201,8740,0.000,0.057,3384,1409,1478,1551,1406,0,0,0,0,0,0,14.90,14.69,14.60
$STATE,8473,end climb,SURFACE_DEPTH_REACHED
$STATE,8473,begin surface coast
$FINISH,0.1,1.020465
$STATE,8488,end surface coast,CONTROL_FINISHED_OK
$STATE,8488,begin surface
$SM_CCo,8514,108.97,0.156,0,0,541,610.16
$SM_GC,-1.39,9.75,2.70,108.97,0.123,0.073,0.156,201,2948,541,-8.57,-0.76,610.16,0,0,0,0,0,0,14.69,14.68,14.58
$IRIDIUM_FIX,953.88,-12511.90,250816,132710
$TT8_MAMPS,0.038199,0.367759
$HUMID,50.43
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3905408
$PM_FREEKB,62095232
$TM_FREEKB,7712352
$24V_AH,13.52,9.582
$10V_AH,13.31,0.000
$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,23.625,78.175,417.750,108.975,0.000,0.000,0.000,510.575,0.000,0.000,5.023,0.000,6183.232,670.288,2490.922,57.956,0.000,1885.126,0.000,1336.269,0.000,0.547,0.000
$DEVICE_MAMPS,390.915,2174.130,1480.275,156.060,0.000,0.000,0.000,211.140,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8553.000,8482.000,7707.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.745,3.088,11.375,0.000
$MEM,334724
$DATA_FILE_SIZE,26714,761
$CAP_FILE_SIZE,98187,0
$CFSIZE,1024409600,1017888768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,203.35,1
$GPS,250816,191312,954.708,-12503.690,1,1.5,3,9.0,0.1,0.0,7,9.1