version: 66.13
glider: 220
mission: 6
dive: 14
start: 8 25 116 19 28 44
data:
$ID,220
$MISSION,6
$DIVE,14
$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,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,19
$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
$GPS1,250816,191312,954.7076,-12503.6904,1,1.5,3,9.0,0.1,0.0,7,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.47
$_SM_ANGLEo,-69.4
$GPS2,250816,192825,954.6630,-12503.7480,2,1.6,4,9.0,1.1,337.2,6,7.8
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,134.5,26374,-17.6,-10.000,-21.24,2209
$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,14,-1.06,-146.0,194,2958,596,511,0.0,0.0,0,109,0.00,0.00,-91.68,0.000,16386,0.000,0.000,192,2958,3415,3402,3428,0,0,0,0,0,0,14.74,28.83,14.76
$GC,110,-1.06,-146.0,194,2958,3403,3430,4.1,-8.2,6,133,11.05,1.70,-1.88,0.000,18724,0.391,2.174,2605,3831,3554,3552,3556,0,0,0,0,0,0,14.38,13.74,14.62
$GC,256,-1.06,-146.0,2605,3828,3553,3557,65.8,-31.5,35,265,0.00,1.45,0.00,0.000,1030,0.000,0.042,2603,2937,3554,3552,3556,0,0,0,0,0,0,14.68,14.66,14.69
$GC,577,-1.06,-146.0,2604,2938,3555,3556,108.1,-10.9,55,583,0.00,1.60,0.00,0.000,260,0.000,0.105,2597,3839,3555,3554,3557,0,0,0,0,0,0,14.92,14.68,14.93
$GC,701,-1.06,-146.0,2597,3840,3555,3554,124.1,-12.5,80,709,0.00,1.45,0.00,0.000,1030,0.000,0.044,2597,2946,3554,3553,3556,0,0,0,0,0,0,14.81,14.78,14.82
$GC,1028,-1.06,-146.0,2597,2946,3554,3557,161.7,-12.1,95,1034,0.00,2.22,0.00,0.000,516,0.000,0.046,2597,1562,3554,3553,3556,0,0,0,0,0,0,14.99,14.78,14.98
$GC,1078,-1.06,-146.0,2598,1560,3554,3557,167.8,-12.0,105,1086,0.08,2.42,0.00,0.000,3078,0.272,0.076,2616,2959,3553,3554,3553,0,0,0,0,0,0,14.67,14.75,14.83
$GC,1390,-1.06,-146.0,2616,2957,3554,3552,204.1,-11.6,117,1397,0.00,1.55,0.00,0.000,260,0.000,0.109,2610,3845,3551,3553,3550,0,0,0,0,0,0,15.00,14.76,15.00
$GC,1441,-1.06,-146.0,2610,3847,3554,3551,210.3,-12.1,127,1448,0.00,1.45,0.00,0.000,1030,0.000,0.047,2609,2961,3551,3553,3550,0,0,0,0,0,0,14.87,14.84,14.88
$GC,1752,-1.06,-146.0,2610,2961,3554,3552,247.1,-11.9,139,1758,0.00,2.30,0.00,0.000,516,0.000,0.049,2608,1545,3549,3553,3545,0,0,0,0,0,0,15.02,14.82,15.02
$GC,1873,-1.06,-146.0,2609,1544,3554,3544,261.0,-11.5,163,1879,0.00,2.42,0.00,0.000,1030,0.000,0.080,2599,2960,3547,3553,3542,0,0,0,0,0,0,14.90,14.78,14.90
$GC,2204,-1.06,-146.0,2599,2960,3557,3535,301.7,-12.2,179,2210,0.00,2.33,0.00,0.000,516,0.000,0.050,2598,1548,3547,3553,3542,0,0,0,0,0,0,15.02,14.83,15.02
$GC,2239,-1.06,-146.0,2598,1548,3554,3536,306.0,-12.0,186,2246,0.00,2.42,0.00,0.000,1030,0.000,0.080,2588,2956,3544,3553,3535,0,0,0,0,0,0,14.90,14.78,14.90
$GC,2565,-1.06,-146.0,2589,2955,3554,3538,345.5,-12.3,201,2572,0.00,2.33,0.00,0.000,516,0.000,0.050,2586,1547,3541,3553,3529,0,0,0,0,0,0,15.03,14.83,15.03
$GC,2626,-1.06,-146.0,2587,1548,3554,3528,352.8,-11.8,213,2634,0.12,2.42,0.00,0.000,3078,0.274,0.080,2612,2951,3540,3553,3528,0,0,0,0,0,0,14.71,14.79,14.88
$GC,2958,-1.06,-146.0,2611,2953,3553,3524,387.5,-10.2,229,2965,0.00,2.33,0.00,0.000,516,0.000,0.052,2612,1550,3538,3553,3523,0,0,0,0,0,0,15.03,14.83,15.03
$GC,3034,-1.06,-146.0,2612,1548,3553,3523,395.4,-10.1,244,3041,0.00,2.42,0.00,0.000,1030,0.000,0.083,2602,2952,3537,3553,3522,0,0,0,0,0,0,14.90,14.79,14.91
$GC,3351,-1.06,-146.0,2603,2953,3551,3518,429.7,-10.9,257,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2953,3534,3553,3516,0,0,0,0,0,0,15.02,15.03,15.03
$GC,3650,-1.06,-146.0,2603,2954,3553,3513,463.0,-11.1,267,3656,0.00,2.33,0.00,0.000,516,0.000,0.052,2602,1545,3533,3554,3513,0,0,0,0,0,0,15.02,14.83,15.03
$GC,3755,-1.06,-146.0,2603,1545,3554,3511,474.5,-10.6,288,3762,0.00,2.45,0.00,0.000,1030,0.000,0.083,2592,2963,3531,3553,3510,0,0,0,0,0,0,14.90,14.78,14.91
$GC,4071,-1.06,-146.0,2592,2964,3554,3507,511.0,-11.7,301,4084,0.00,2.33,0.00,0.000,516,0.000,0.051,2591,1555,3530,3554,3507,0,0,0,0,0,0,15.03,14.83,15.04
$GC,4118,-1.06,-146.0,2592,1555,3554,3507,516.5,-11.4,309,4131,0.12,2.42,0.00,0.000,3078,0.272,0.083,2615,2960,3529,3552,3506,0,0,0,0,0,0,14.71,14.79,14.88
$STATE,4355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4355,begin apogee
$GC,4358,-0.25,0.0,2616,2193,3549,3507,541.3,-10.4,320,4501,0.85,0.00,127.60,2.304,10246,0.200,0.000,2872,2189,2972,3017,2928,0,0,0,0,1,0,14.75,13.97,13.09
$STATE,4503,end apogee,CONTROL_FINISHED_OK
$STATE,4503,begin climb
$GC,4504,1.06,146.0,2873,2189,3019,2946,544.8,0.0,324,4662,1.30,2.47,137.82,1.440,10756,0.098,0.070,3305,806,2376,2442,2311,0,0,0,0,0,0,14.08,14.04,13.56
$GC,4736,1.06,146.0,3306,806,2440,2301,524.6,15.5,369,4749,0.00,2.40,0.00,0.000,1030,0.000,0.060,3305,2204,2371,2442,2300,0,0,0,0,0,0,14.44,14.35,14.46
$GC,5059,1.06,146.0,3306,2204,2443,2296,474.9,15.1,382,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2206,2368,2442,2294,0,0,0,0,0,0,14.81,14.82,14.82
$GC,5359,1.06,146.0,3306,2206,2443,2292,429.8,14.9,392,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2205,2367,2442,2292,0,0,0,0,0,0,14.89,14.89,14.89
$GC,5658,1.06,146.0,3306,2205,2443,2290,385.2,14.7,402,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2205,2365,2442,2289,0,0,0,0,0,0,14.93,14.93,14.92
$GC,5959,1.06,146.0,3305,2204,2443,2287,339.3,15.4,412,5965,0.00,2.38,0.00,0.000,516,0.000,0.073,3315,806,2364,2442,2287,0,0,0,0,0,0,14.95,14.73,14.95
$GC,6009,1.06,146.0,3316,806,2443,2288,331.5,15.1,422,6016,0.00,2.40,0.00,0.000,1030,0.000,0.063,3312,2233,2364,2442,2287,0,0,0,0,0,0,14.83,14.74,14.85
$GC,6320,1.06,146.0,3316,2233,2443,2286,284.0,15.0,434,6327,0.00,2.42,0.00,0.000,516,0.000,0.073,3326,803,2363,2442,2285,0,0,0,0,0,0,14.97,14.75,14.97
$GC,6360,1.06,146.0,3326,804,2443,2285,278.0,14.8,442,6367,0.00,2.38,0.00,0.000,1030,0.000,0.064,3323,2217,2363,2441,2285,0,0,0,0,0,0,14.84,14.75,14.85
$GC,6682,1.06,146.0,3326,2219,2443,2283,229.9,15.0,456,6688,0.00,2.40,0.00,0.000,516,0.000,0.074,3337,803,2361,2442,2281,0,0,0,0,0,0,14.98,14.75,14.98
$GC,6751,1.06,146.0,3334,804,2443,2283,219.0,15.3,470,6759,0.10,2.40,0.00,0.000,5126,0.305,0.064,3307,2231,2362,2442,2283,0,0,0,0,0,0,14.62,14.74,14.82
$GC,7073,1.06,146.0,3308,2232,2443,2285,172.2,14.4,484,7080,0.00,2.42,0.00,0.000,260,0.000,0.102,3307,3612,2362,2442,2282,0,0,0,0,0,0,14.97,14.73,14.97
$GC,7113,1.06,146.0,3307,3613,2444,2284,165.9,15.5,492,7120,0.00,2.38,0.00,0.000,1030,0.000,0.050,3317,2214,2362,2442,2282,0,0,0,0,0,0,14.83,14.78,14.84
$GC,7435,1.06,146.0,3317,2214,2443,2282,118.7,14.6,506,7441,0.00,2.38,0.00,0.000,516,0.000,0.075,3328,801,2362,2442,2282,0,0,0,0,0,0,14.97,14.75,15.00
$GC,7560,1.06,146.0,3328,801,2442,2282,104.0,11.6,531,7567,0.00,2.35,0.00,0.000,1030,0.000,0.063,3327,2202,2362,2442,2282,0,0,0,0,0,0,14.85,14.76,14.86
$GC,7871,1.22,272.9,3328,2204,2443,2281,75.6,4.1,554,7934,0.00,2.58,57.12,0.412,8484,0.000,0.099,3328,3613,1881,1952,1810,0,0,0,0,0,0,14.97,14.60,14.43
$GC,8159,1.29,333.5,3328,3616,1955,1816,49.4,7.2,609,8196,0.05,2.38,29.70,0.325,11302,0.203,0.049,3374,2182,1640,1713,1567,0,0,0,0,0,0,14.68,14.71,14.47
$GC,8506,1.40,421.9,3374,2181,1715,1571,24.3,5.9,638,8558,0.05,2.60,42.75,0.242,10532,0.207,0.097,3412,3602,1288,1366,1210,0,0,0,0,0,0,14.70,14.59,14.52
$GC,8568,1.40,421.9,3412,3602,1367,1214,18.6,11.2,650,8574,0.00,2.33,0.00,0.000,1030,0.000,0.047,3423,2204,1289,1366,1213,0,0,0,0,0,0,14.73,14.66,14.74
$STATE,8703,end climb,SURFACE_DEPTH_REACHED
$STATE,8703,begin surface coast
$FINISH,-2.2,1.020437
$STATE,8718,end surface coast,CONTROL_FINISHED_OK
$STATE,8718,begin surface
$SM_CCo,8742,87.15,0.158,0,0,540,610.16
$SM_GC,-1.45,9.20,1.35,87.15,0.062,0.081,0.158,194,2960,540,-8.57,-0.48,610.16,0,0,0,0,0,0,14.71,14.68,14.58
$IRIDIUM_FIX,947.31,-12502.75,250816,191718
$TT8_MAMPS,0.038199,0.41944
$HUMID,52.95
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.50
$XPDR_PINGS,0
$SC_FREEKB,3905024
$PM_FREEKB,62071808
$TM_FREEKB,7699808
$24V_AH,13.09,9.851
$10V_AH,13.23,0.000
$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,22.925,83.600,395.000,87.150,0.000,0.000,0.000,614.175,0.000,0.000,6.236,0.000,6645.305,617.623,2419.544,58.522,0.000,1892.533,0.000,1206.726,0.000,0.548,0.000
$DEVICE_MAMPS,390.915,2174.130,2304.180,158.355,0.000,0.000,0.000,197.370,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8772.000,8713.000,7908.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.631,3.065,11.382,0.000
$MEM,334648
$DATA_FILE_SIZE,23401,662
$CAP_FILE_SIZE,96009,0
$CFSIZE,1024409600,1017675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.152,213.50,1
$GPS,250816,215656,953.342,-12503.552,32,1.1,32,9.0,0.1,0.0,9,6.5