version: 66.13
glider: 220
mission: 6
dive: 15
start: 8 25 116 22 8 22
data:
$ID,220
$MISSION,6
$DIVE,15
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,250816,215656,953.3422,-12503.5518,32,1.1,32,9.0,0.1,0.0,9,6.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.74
$_SM_ANGLEo,-70.8
$GPS2,250816,220804,953.3165,-12503.5986,3,1.1,4,9.0,0.5,354.7,8,7.6
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,128.3,23898,-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,15,-1.06,-146.0,185,2973,593,501,0.0,0.0,0,111,0.00,0.00,-93.00,0.000,16386,0.000,0.000,187,2973,3452,3438,3466,0,0,0,0,0,0,14.75,28.83,14.75
$GC,113,-1.06,-146.0,188,2974,3439,3467,3.8,-8.3,6,130,11.10,1.67,-1.40,0.000,18724,0.393,2.176,2605,3831,3556,3552,3560,0,0,0,0,0,0,14.40,13.75,14.63
$GC,154,-1.06,-146.0,2603,3832,3554,3560,31.3,-51.9,14,162,0.00,1.48,0.00,0.000,1030,0.000,0.040,2602,2925,3556,3553,3560,0,0,0,0,0,0,14.65,14.62,14.66
$GC,460,-1.06,-146.0,2602,2928,3556,3560,93.5,-12.6,35,466,0.00,1.65,0.00,0.000,260,0.000,0.103,2595,3820,3557,3554,3560,0,0,0,0,0,0,14.90,14.66,14.90
$GC,689,-1.06,-146.0,2596,3821,3557,3560,119.9,-12.3,81,697,0.00,1.40,0.00,0.000,1030,0.000,0.044,2594,2961,3557,3555,3560,0,0,0,0,0,0,14.82,14.77,14.81
$GC,1002,-1.06,-146.0,2595,2962,3557,3559,154.8,-11.7,93,1009,0.00,2.28,0.00,0.000,516,0.000,0.047,2594,1553,3557,3555,3559,0,0,0,0,0,0,14.98,14.78,14.98
$GC,1022,-1.06,-146.0,2592,1554,3558,3559,157.4,-12.3,97,1031,0.10,2.40,0.00,0.000,3078,0.278,0.075,2611,2957,3556,3553,3559,0,0,0,0,0,0,14.67,14.76,14.83
$GC,1335,-1.06,-146.0,2611,2958,3556,3556,192.6,-11.6,109,1342,0.00,2.30,0.00,0.000,516,0.000,0.049,2611,1558,3555,3555,3556,0,0,0,0,0,0,15.00,14.79,15.00
$GC,1376,-1.06,-146.0,2610,1558,3556,3555,197.5,-11.5,117,1384,0.00,2.45,0.00,0.000,1030,0.000,0.079,2602,2959,3554,3555,3553,0,0,0,0,0,0,14.81,14.76,14.85
$GC,1699,-1.06,-146.0,2603,2959,3556,3551,236.3,-12.2,131,1705,0.00,2.30,0.00,0.000,516,0.000,0.048,2601,1556,3552,3555,3550,0,0,0,0,0,0,15.01,14.82,15.02
$GC,1743,-1.06,-146.0,2603,1557,3556,3550,241.9,-12.1,140,1750,0.00,2.45,0.00,0.000,1030,0.000,0.079,2591,2957,3553,3556,3550,0,0,0,0,0,0,14.84,14.78,14.86
$GC,2060,-1.06,-146.0,2591,2958,3556,3544,282.0,-12.8,153,2067,0.00,2.33,0.00,0.000,516,0.000,0.050,2591,1550,3549,3555,3544,0,0,0,0,0,0,15.02,14.83,15.01
$GC,2126,-1.06,-146.0,2592,1551,3556,3545,290.5,-12.5,166,2133,0.12,2.45,0.00,0.000,3078,0.267,0.080,2615,2977,3549,3555,3543,0,0,0,0,0,0,14.70,14.78,14.85
$GC,2452,-1.06,-146.0,2615,2979,3556,3537,327.6,-11.2,181,2459,0.00,2.35,0.00,0.000,516,0.000,0.050,2615,1549,3545,3555,3535,0,0,0,0,0,0,15.02,14.83,15.02
$GC,2533,-1.06,-146.0,2615,1549,3555,3537,336.4,-10.7,197,2540,0.00,2.45,0.00,0.000,1030,0.000,0.080,2606,2943,3544,3553,3535,0,0,0,0,0,0,14.85,14.78,14.88
$GC,2845,-1.06,-146.0,2606,2943,3556,3532,371.7,-11.3,209,2852,0.00,2.30,0.00,0.000,516,0.000,0.050,2604,1549,3542,3555,3530,0,0,0,0,0,0,15.00,14.81,15.02
$GC,2896,-1.06,-146.0,2605,1547,3559,3531,377.7,-11.4,219,2903,0.00,2.45,0.00,0.000,1030,0.000,0.083,2595,2941,3542,3554,3530,0,0,0,0,0,0,14.85,14.78,14.88
$GC,3207,-1.06,-146.0,2595,2948,3555,3524,414.7,-12.1,231,3213,0.00,2.30,0.00,0.000,516,0.000,0.051,2591,1552,3540,3555,3526,0,0,0,0,0,0,15.02,14.83,15.02
$GC,3282,-1.06,-146.0,2594,1552,3556,3525,423.7,-11.7,246,3289,0.10,2.45,0.00,0.000,3078,0.280,0.082,2611,2971,3539,3555,3524,0,0,0,0,0,0,14.71,14.79,14.87
$GC,3599,-1.06,-146.0,2611,2970,3556,3521,458.5,-11.0,259,3605,0.00,2.33,0.00,0.000,516,0.000,0.050,2611,1560,3537,3555,3520,0,0,0,0,0,0,15.02,14.83,15.02
$GC,3698,-1.06,-146.0,2611,1560,3556,3520,469.3,-10.5,279,3705,0.00,2.45,0.00,0.000,1030,0.000,0.083,2603,2950,3537,3555,3519,0,0,0,0,0,0,14.85,14.77,14.88
$GC,4020,-1.06,-146.0,2603,2951,3556,3515,505.4,-11.3,293,4033,0.00,2.30,0.00,0.000,516,0.000,0.051,2602,1559,3535,3555,3515,0,0,0,0,0,0,15.02,14.83,15.03
$GC,4088,-1.06,-146.0,2603,1559,3555,3515,513.2,-11.4,305,4101,0.00,2.40,0.00,0.000,1030,0.000,0.083,2592,2954,3533,3552,3514,0,0,0,0,0,0,14.93,14.79,14.91
$STATE,4334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4334,begin apogee
$GC,4338,-0.25,0.0,2592,2203,3555,3512,543.2,-12.2,318,4477,0.95,0.00,129.27,1.549,10246,0.207,0.000,2874,2199,2971,3017,2925,0,0,0,0,0,0,14.74,14.19,13.62
$STATE,4479,end apogee,CONTROL_FINISHED_OK
$STATE,4479,begin climb
$GC,4480,1.06,146.0,2876,2199,3010,2913,547.3,0.0,322,4631,1.23,2.47,132.73,1.489,10756,0.097,0.072,3293,814,2378,2446,2310,0,0,0,0,0,0,14.21,14.04,13.52
$GC,4679,1.06,146.0,3291,815,2444,2299,531.2,14.3,361,4692,0.00,2.40,0.00,0.000,1030,0.000,0.060,3293,2205,2370,2443,2298,0,0,0,0,0,0,14.38,14.29,14.40
$GC,5002,1.06,146.0,3295,2205,2444,2292,482.8,15.3,374,5004,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2205,2367,2443,2291,0,0,0,0,0,0,14.81,14.81,14.81
$GC,5302,1.06,146.0,3293,2205,2444,2289,436.7,15.4,384,5308,0.00,2.38,0.00,0.000,516,0.000,0.073,3303,816,2365,2442,2288,0,0,0,0,0,0,14.88,14.67,14.89
$GC,5362,1.06,146.0,3303,817,2444,2287,427.4,15.3,396,5369,0.00,2.35,0.00,0.000,1030,0.000,0.062,3303,2210,2365,2443,2287,0,0,0,0,0,0,14.78,14.69,14.79
$GC,5693,1.06,146.0,3303,2211,2444,2294,377.1,15.4,412,5700,0.00,2.38,0.00,0.000,516,0.000,0.072,3312,816,2363,2443,2284,0,0,0,0,0,0,14.93,14.74,14.93
$GC,5713,1.06,146.0,3313,817,2444,2284,374.0,15.1,416,5720,0.00,2.38,0.00,0.000,1030,0.000,0.063,3313,2198,2363,2443,2283,0,0,0,0,0,0,14.83,14.72,14.83
$GC,6025,1.06,146.0,3313,2198,2444,2281,325.4,15.7,428,6031,0.00,2.38,0.00,0.000,516,0.000,0.074,3323,804,2359,2443,2275,0,0,0,0,0,0,14.95,14.73,14.95
$GC,6089,1.06,146.0,3323,805,2444,2282,315.2,15.2,441,6097,0.00,2.40,0.00,0.000,1030,0.000,0.063,3323,2201,2362,2443,2281,0,0,0,0,0,0,14.79,14.73,14.81
$GC,6416,1.06,146.0,3323,2202,2444,2280,264.9,15.3,456,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2201,2365,2443,2287,0,0,0,0,0,0,14.96,14.96,14.96
$GC,6717,1.06,146.0,3323,2202,2444,2278,218.9,15.2,466,6723,0.00,2.38,0.00,0.000,516,0.000,0.073,3333,805,2361,2443,2279,0,0,0,0,0,0,14.97,14.74,14.97
$GC,6817,1.06,146.0,3333,806,2444,2278,203.7,15.3,486,6824,0.10,2.38,0.00,0.000,5126,0.304,0.062,3308,2217,2361,2443,2279,0,0,0,0,0,0,14.64,14.75,14.83
$GC,7138,1.06,146.0,3308,2222,2444,2278,158.7,14.1,500,7145,0.00,2.42,0.00,0.000,260,0.000,0.098,3307,3609,2360,2443,2278,0,0,0,0,0,0,14.97,14.73,14.97
$GC,7153,1.06,146.0,3307,3609,2443,2279,156.4,14.3,503,7160,0.00,2.38,0.00,0.000,1030,0.000,0.049,3317,2207,2360,2443,2278,0,0,0,0,0,0,14.81,14.76,14.83
$GC,7470,1.06,146.0,3315,2206,2443,2279,116.7,11.6,516,7476,0.00,2.38,0.00,0.000,516,0.000,0.073,3328,791,2360,2443,2277,0,0,0,0,0,0,14.97,14.75,14.97
$GC,7670,1.06,146.0,3329,790,2443,2279,92.4,10.8,556,7677,0.00,2.42,0.00,0.000,1030,0.000,0.061,3328,2211,2360,2443,2278,0,0,0,0,0,0,14.81,14.74,14.82
$GC,7982,1.22,275.0,3328,2212,2444,2277,71.9,4.0,578,8049,0.00,2.53,57.78,0.396,8484,0.000,0.099,3328,3607,1875,1947,1804,0,0,0,0,0,0,14.95,14.59,14.45
$GC,8272,1.30,343.6,3328,3607,1948,1810,45.9,6.8,630,8317,0.08,2.35,33.97,0.314,11302,0.151,0.045,3384,2184,1600,1674,1527,0,0,0,0,0,0,14.69,14.70,14.46
$GC,8613,1.35,383.1,3384,2185,1675,1535,20.3,8.2,658,8641,0.00,2.35,19.90,0.230,8740,0.000,0.072,3394,810,1443,1519,1368,0,0,0,0,0,0,14.88,14.63,14.56
$GC,8690,1.38,404.4,3395,810,1519,1382,13.6,9.0,673,8709,0.00,2.33,11.50,0.210,9254,0.000,0.058,3395,2200,1359,1436,1282,0,0,0,0,0,0,14.73,14.65,14.52
$STATE,8794,end climb,SURFACE_DEPTH_REACHED
$STATE,8794,begin surface coast
$FINISH,-0.0,1.020415
$STATE,8809,end surface coast,CONTROL_FINISHED_OK
$STATE,8809,begin surface
$SM_CCo,8834,95.57,0.157,0,0,539,610.16
$SM_GC,-1.78,9.75,1.30,95.57,0.120,0.083,0.157,202,2945,539,-8.57,-0.88,610.16,0,0,0,0,0,0,14.68,14.67,14.57
$IRIDIUM_FIX,949.50,-12505.80,250816,192239
$TT8_MAMPS,0.036701,0.313082
$HUMID,51.26
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,3904640
$PM_FREEKB,62047872
$TM_FREEKB,7687136
$24V_AH,13.52,10.086
$10V_AH,13.34,0.000
$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,23.525,94.475,385.150,95.575,0.000,0.000,0.000,428.125,0.000,0.000,5.654,0.000,6613.221,636.136,2290.619,58.184,0.000,1741.125,0.000,1243.671,0.000,0.546,0.000
$DEVICE_MAMPS,393.210,2175.660,1549.125,156.825,0.000,0.000,0.000,205.785,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8864.000,8803.000,8007.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.812,3.078,11.408,0.000
$MEM,334704
$DATA_FILE_SIZE,23390,683
$CAP_FILE_SIZE,96747,0
$CFSIZE,1024409600,1017462784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,216.49,1
$GPS,260816,003801,952.102,-12503.380,19,0.8,19,9.0,0.7,261.0,11,4.7