version: 66.13
glider: 220
mission: 6
dive: 16
start: 8 26 116 0 54 56
data:
$ID,220
$MISSION,6
$DIVE,16
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.050000001
$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
$GPS1,260816,003801,952.1017,-12503.3799,19,0.8,19,9.0,0.7,261.0,11,4.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.77
$_SM_ANGLEo,-70.0
$GPS2,260816,005437,952.1020,-12503.5020,2,0.8,3,9.0,0.3,324.1,10,6.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.5,21691,-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,-146.0,182,2958,594,506,0.0,0.0,0,110,0.00,0.00,-92.30,0.000,16386,0.000,0.000,180,2958,3444,3430,3459,0,0,0,0,0,0,14.75,28.83,14.75
$GC,111,-1.06,-146.0,178,2958,3430,3460,4.1,-8.6,6,134,11.23,1.67,-1.50,0.000,18724,0.396,2.163,2605,3830,3555,3550,3560,0,0,0,0,0,0,14.38,13.74,14.63
$GC,357,-1.06,-146.0,2605,3831,3552,3559,82.3,-17.2,55,364,0.00,1.45,0.00,0.000,1030,0.000,0.044,2604,2939,3554,3550,3559,0,0,0,0,0,0,14.73,14.70,14.73
$GC,668,-1.06,-146.0,2604,2940,3554,3559,118.0,-11.2,72,675,0.00,2.22,0.00,0.000,516,0.000,0.044,2604,1555,3556,3553,3560,0,0,0,0,0,0,14.94,14.73,14.94
$GC,843,-1.06,-146.0,2604,1554,3553,3560,136.3,-10.3,107,852,0.00,2.42,0.00,0.000,1030,0.000,0.073,2595,2949,3556,3553,3559,0,0,0,0,0,0,14.79,14.73,14.81
$GC,1149,-1.06,-146.0,2595,2949,3553,3559,171.8,-12.4,118,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2950,3554,3552,3557,0,0,0,0,0,0,14.99,15.00,14.99
$GC,1449,-1.06,-146.0,2595,2949,3554,3553,210.3,-13.1,128,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2949,3552,3553,3552,0,0,0,0,0,0,15.00,15.01,15.01
$GC,1749,-1.06,-146.0,2595,2950,3553,3548,248.9,-12.7,138,1755,0.00,2.28,0.00,0.000,516,0.000,0.048,2593,1561,3550,3554,3547,0,0,0,0,0,0,15.02,14.83,15.02
$GC,1819,-1.06,-146.0,2594,1559,3553,3547,257.6,-12.2,152,1826,0.10,2.42,0.00,0.000,3078,0.276,0.079,2611,2947,3548,3552,3545,0,0,0,0,0,0,14.71,14.77,14.85
$GC,2141,-1.06,-146.0,2612,2948,3553,3541,295.3,-11.9,166,2147,0.00,2.28,0.00,0.000,516,0.000,0.050,2611,1561,3544,3552,3537,0,0,0,0,0,0,15.03,14.83,15.03
$GC,2195,-1.06,-146.0,2612,1560,3554,3539,301.8,-11.6,177,2205,0.00,2.45,0.00,0.000,1030,0.000,0.080,2602,2958,3545,3552,3538,0,0,0,0,0,0,14.85,14.79,14.88
$GC,2501,-1.06,-146.0,2602,2958,3553,3535,339.5,-12.5,188,2507,0.00,2.30,0.00,0.000,516,0.000,0.048,2602,1554,3542,3552,3533,0,0,0,0,0,0,15.03,14.83,15.03
$GC,2551,-1.06,-146.0,2606,1554,3554,3532,345.6,-11.9,198,2558,0.00,2.42,0.00,0.000,1030,0.000,0.078,2592,2970,3542,3553,3531,0,0,0,0,0,0,14.90,14.80,14.92
$GC,2862,-1.06,-146.0,2592,2965,3553,3530,385.3,-12.9,210,2869,0.00,2.33,0.00,0.000,516,0.000,0.049,2591,1553,3544,3562,3527,0,0,0,0,0,0,15.02,14.83,15.03
$GC,2912,-1.06,-146.0,2591,1553,3553,3527,391.8,-12.9,220,2920,0.12,2.45,0.00,0.000,3078,0.271,0.080,2615,2953,3536,3547,3526,0,0,0,0,0,0,14.71,14.79,14.88
$GC,3224,-1.06,-146.0,2615,2953,3554,3523,428.4,-11.6,232,3230,0.00,2.30,0.00,0.000,516,0.000,0.050,2614,1555,3536,3550,3522,0,0,0,0,0,0,15.04,14.83,15.03
$GC,3294,-1.06,-146.0,2613,1555,3554,3520,436.5,-11.3,246,3301,0.00,2.40,0.00,0.000,1030,0.000,0.079,2605,2952,3536,3552,3520,0,0,0,0,0,0,14.90,14.79,14.91
$GC,3615,-1.06,-146.0,2606,2952,3553,3517,473.0,-11.3,260,3621,0.00,2.30,0.00,0.000,516,0.000,0.050,2604,1553,3533,3552,3515,0,0,0,0,0,0,15.03,14.83,15.03
$GC,3665,-1.06,-146.0,2604,1555,3551,3521,478.6,-11.0,270,3672,0.00,2.42,0.00,0.000,1030,0.000,0.079,2595,2962,3533,3552,3514,0,0,0,0,0,0,14.90,14.79,14.91
$GC,3976,-1.06,-146.0,2596,2962,3553,3516,513.0,-10.9,282,3989,0.00,2.33,0.00,0.000,516,0.000,0.050,2594,1551,3531,3552,3510,0,0,0,0,0,0,15.03,14.83,15.03
$GC,4058,-1.06,-146.0,2594,1552,3553,3509,521.8,-10.5,297,4072,0.10,2.40,0.00,0.000,3078,0.287,0.080,2611,2949,3530,3552,3509,0,0,0,0,0,0,14.72,14.80,14.88
$STATE,4260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4260,begin apogee
$GC,4264,-0.25,0.0,2611,2291,3553,3506,542.1,-9.9,306,4404,0.88,0.00,130.25,1.541,10246,0.203,0.000,2874,2289,2969,3013,2925,0,0,0,0,0,0,14.75,14.19,13.62
$STATE,4406,end apogee,CONTROL_FINISHED_OK
$STATE,4406,begin climb
$GC,4407,1.06,146.0,2875,2290,3007,2914,544.5,0.0,310,4554,1.25,2.50,129.93,1.489,10756,0.099,0.064,3295,913,2379,2444,2315,0,0,0,0,0,0,14.21,14.07,13.54
$GC,4623,1.06,146.0,3295,911,2442,2301,523.8,14.6,352,4636,0.00,2.40,0.00,0.000,1030,0.000,0.059,3295,2307,2370,2441,2299,0,0,0,0,0,0,14.44,14.35,14.45
$GC,4961,1.06,146.0,3295,2311,2442,2292,474.0,14.5,368,4967,0.00,2.38,0.00,0.000,516,0.000,0.067,3305,913,2367,2441,2293,0,0,0,0,0,0,14.83,14.62,14.83
$GC,5031,1.06,146.0,3304,913,2442,2294,463.8,14.2,382,5038,0.00,2.40,0.00,0.000,1030,0.000,0.062,3304,2304,2367,2441,2293,0,0,0,0,0,0,14.69,14.63,14.71
$GC,5352,1.06,146.0,3305,2304,2442,2289,415.9,14.9,396,5359,0.00,2.38,0.00,0.000,516,0.000,0.068,3314,912,2364,2441,2288,0,0,0,0,0,0,14.91,14.70,14.91
$GC,5402,1.06,146.0,3315,912,2441,2289,407.9,15.6,406,5409,0.00,2.40,0.00,0.000,1030,0.000,0.062,3314,2308,2364,2441,2288,0,0,0,0,0,0,14.76,14.70,14.78
$GC,5714,1.06,146.0,3314,2308,2450,2287,358.9,15.8,418,5720,0.00,2.35,0.00,0.000,516,0.000,0.068,3323,918,2363,2441,2286,0,0,0,0,0,0,14.95,14.73,14.95
$GC,5818,1.06,146.0,3324,919,2442,2285,341.7,16.0,439,5825,0.00,2.38,0.00,0.000,1030,0.000,0.063,3325,2300,2363,2441,2285,0,0,0,0,0,0,14.79,14.72,14.81
$GC,6135,1.06,146.0,3325,2301,2442,2284,291.1,16.0,452,6141,0.00,2.33,0.00,0.000,516,0.000,0.068,3335,920,2362,2441,2283,0,0,0,0,0,0,14.97,14.73,14.97
$GC,6189,1.06,146.0,3335,921,2442,2282,282.2,15.7,463,6198,0.10,2.38,0.00,0.000,5126,0.283,0.063,3309,2307,2361,2441,2282,0,0,0,0,0,0,14.63,14.74,14.77
$GC,6495,1.06,146.0,3309,2309,2442,2280,234.8,15.5,474,6502,0.00,2.35,0.00,0.000,516,0.000,0.067,3319,913,2360,2441,2280,0,0,0,0,0,0,14.97,14.76,14.97
$GC,6610,1.06,146.0,3319,913,2442,2282,217.0,15.3,497,6620,0.00,2.38,0.00,0.000,1030,0.000,0.063,3319,2299,2360,2441,2280,0,0,0,0,0,0,14.81,14.74,14.83
$GC,6916,1.06,146.0,3319,2299,2441,2280,170.4,15.1,508,6923,0.00,2.47,0.00,0.000,260,0.000,0.102,3319,3706,2360,2441,2279,0,0,0,0,0,0,14.97,14.71,14.97
$GC,6947,1.06,146.0,3319,3711,2441,2279,165.3,16.5,514,6954,0.00,2.30,0.00,0.000,1030,0.000,0.050,3329,2316,2358,2437,2279,0,0,0,0,0,0,14.85,14.78,14.87
$GC,7278,1.06,146.0,3331,2309,2440,2280,114.1,15.2,530,7284,0.00,2.35,0.00,0.000,516,0.000,0.067,3340,902,2360,2441,2279,0,0,0,0,0,0,14.97,14.76,14.97
$GC,7423,1.06,146.0,3340,902,2441,2280,95.3,11.3,559,7432,0.12,2.40,0.00,0.000,5126,0.282,0.061,3307,2304,2359,2440,2279,0,0,0,0,0,0,14.64,14.75,14.77
$GC,7729,1.22,275.5,3307,2305,2442,2278,73.9,4.0,580,7796,0.08,2.53,57.45,0.399,11044,0.161,0.099,3358,3699,1872,1942,1803,0,0,0,0,0,0,14.78,14.60,14.45
$GC,8020,1.28,320.1,3358,3700,1944,1811,48.1,7.9,634,8049,0.00,2.33,22.15,0.317,9254,0.000,0.047,3369,2290,1699,1770,1628,0,0,0,0,0,0,14.77,14.70,14.50
$GC,8346,1.37,393.2,3369,2291,1771,1628,29.9,6.6,659,8388,0.00,2.35,35.90,0.260,8740,0.000,0.065,3379,904,1401,1476,1327,0,0,0,0,0,0,14.90,14.64,14.52
$GC,8402,1.40,418.7,3379,906,1479,1331,25.3,8.8,666,8426,0.00,2.38,12.57,0.252,9254,0.000,0.059,3378,2308,1302,1381,1224,0,0,0,0,0,0,14.74,14.65,14.51
$STATE,8617,end climb,SURFACE_DEPTH_REACHED
$STATE,8617,begin surface coast
$FINISH,-0.3,1.020407
$STATE,8632,end surface coast,CONTROL_FINISHED_OK
$STATE,8632,begin surface
$SM_CCo,8656,88.05,0.156,0,0,539,610.16
$SM_GC,-1.71,9.60,1.12,88.05,0.110,0.086,0.156,191,2957,539,-8.59,-0.59,610.16,0,0,0,0,0,0,14.71,14.69,14.59
$IRIDIUM_FIX,947.31,-12504.01,260816,004217
$TT8_MAMPS,0.036701,0.370006
$HUMID,51.49
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.20
$XPDR_PINGS,1
$SC_FREEKB,3904256
$PM_FREEKB,62024448
$TM_FREEKB,7674752
$24V_AH,13.54,10.330
$10V_AH,13.35,0.000
$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,23.575,90.725,388.250,88.050,0.000,0.000,0.000,630.300,0.250,0.000,5.114,0.000,6573.630,625.501,2480.827,60.155,0.000,1928.781,0.000,1235.745,0.000,0.548,0.000
$DEVICE_MAMPS,395.505,2162.655,1540.710,156.060,0.000,0.000,0.000,208.080,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8690.000,8628.000,7832.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.857,3.088,11.413,0.000
$MEM,334744
$DATA_FILE_SIZE,23423,684
$CAP_FILE_SIZE,98410,0
$CFSIZE,1024409600,1017233408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,208.60,1
$GPS,260816,032125,950.934,-12503.190,12,1.2,13,9.0,0.7,207.5,7,7.1