version: 66.13
glider: 220
mission: 6
dive: 817
start: 3 17 117 13 11 19
data:
$ID,220
$MISSION,6
$DIVE,817
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,100
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,100
$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,0.0024999999
$HD_B,0.014
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$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,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.25119999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,1
$VBD_PUMP_AD_RATE_APOGEE,1
$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,9.6999998
$MINV_10V,9.6999998
$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,2
$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,1
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170317,130605,957.8124,-12446.0742,2,0.9,5,9.0,1.0,244.9,8,8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-6.32
$_SM_ANGLEo,-65.4
$GPS2,170317,131056,957.8021,-12446.1504,3,1.0,6,9.0,0.5,182.6,8,9.4
$SPEED_LIMITS,0.173,0.179
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,66.6,10893,-24.3,-10.000,-29.26,1469
$D_GRID,300
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,15,-1.23,-97.3,186,2714,562,439,0.0,0.0,0,115,0.00,0.15,-98.22,0.000,16390,0.000,1.674,181,2770,3438,3415,3462,0,0,0,0,0,0,11.44,10.65,11.44
$GC,120,-1.23,-97.3,183,2770,3417,3462,-4.7,-2.5,3,144,16.90,3.20,0.00,0.000,2564,0.367,0.032,2495,1359,3440,3418,3462,0,0,0,0,0,0,11.03,11.20,11.23
$GC,173,-0.95,-97.3,2496,1358,3421,3463,22.1,-32.4,12,178,0.57,3.53,0.00,0.000,3206,0.258,0.101,2587,2753,3441,3421,3461,0,0,0,0,0,0,11.08,11.15,11.26
$GC,495,-0.95,-97.3,2587,2753,3422,3460,61.0,-8.4,25,501,0.00,2.75,0.00,0.000,292,0.000,0.146,2580,3829,3441,3421,3461,0,0,0,0,0,0,11.59,11.17,11.59
$GC,544,-0.95,-97.3,2581,3829,3422,3462,65.7,-9.9,32,550,0.00,2.30,0.00,0.000,1062,0.000,0.047,2580,2742,3441,3421,3461,0,0,0,0,0,0,11.40,11.36,11.40
$GC,859,-0.95,-97.3,2580,2743,3423,3460,88.1,-5.9,44,860,0.00,0.00,0.00,0.000,38,0.000,0.000,2580,2742,3440,3421,3460,0,0,0,0,0,0,11.63,11.63,11.63
$GC,1167,-0.95,-97.3,2580,2742,3422,3457,124.4,-9.9,51,1172,0.00,2.78,0.00,0.000,292,0.000,0.139,2572,3825,3437,3421,3454,0,0,0,0,0,0,11.68,11.25,11.67
$GC,1258,-0.95,-97.3,2573,3824,3422,3455,134.5,-11.2,64,1263,0.00,2.28,0.00,0.000,1030,0.000,0.044,2572,2748,3437,3421,3454,0,0,0,0,0,0,11.45,11.41,11.46
$GC,1615,-0.95,-97.3,2572,2748,3422,3448,174.2,-11.4,73,1621,0.00,3.08,0.00,0.000,516,0.000,0.037,2572,1364,3434,3421,3447,0,0,0,0,0,0,11.69,11.36,11.69
$GC,1657,-1.03,-97.3,2572,1364,3422,3447,179.0,-11.5,79,1662,0.00,3.35,0.00,0.000,1158,0.000,0.076,2562,2761,3433,3421,3446,0,0,0,0,0,0,11.43,11.29,11.45
$GC,2007,-1.03,-97.3,2562,2762,3422,3439,220.5,-11.8,87,2012,0.00,3.12,0.00,0.000,516,0.000,0.037,2562,1375,3430,3421,3439,0,0,0,0,0,0,11.71,11.38,11.71
$GC,2042,-1.03,-97.3,2562,1376,3422,3438,224.5,-11.6,92,2046,0.00,3.35,0.00,0.000,1030,0.000,0.077,2551,2766,3430,3422,3438,0,0,0,0,0,0,11.44,11.31,11.46
$GC,2399,-1.03,-97.3,2552,2765,3422,3433,264.7,-11.2,101,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2765,3426,3421,3432,0,0,0,0,0,0,11.72,11.72,11.72
$STATE,2730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2730,begin apogee
$GC,2741,-0.23,0.0,2552,2239,3423,3425,300.5,-10.6,107,2846,1.30,0.00,99.35,1.265,10244,0.199,0.000,2821,2236,3047,3082,3012,0,0,0,0,0,0,11.26,11.14,10.66
$STATE,2846,end apogee,CONTROL_FINISHED_OK
$STATE,2846,begin climb
$GC,2851,1.23,97.3,2822,2236,3082,3012,303.8,0.0,109,2963,1.83,3.15,101.28,1.252,10756,0.089,0.050,3274,876,2660,2714,2607,0,0,0,0,0,0,11.10,11.12,10.64
$GC,3031,1.21,152.7,3279,875,2715,2603,299.5,6.1,135,3099,0.00,3.25,58.70,1.257,9382,0.000,0.058,3274,2254,2441,2512,2370,0,0,0,0,0,0,11.22,11.11,10.62
$GC,3410,1.21,152.7,3274,2255,2509,2357,262.3,10.4,154,3415,0.00,3.53,0.00,0.000,260,0.000,0.114,3274,3659,2435,2512,2358,0,0,0,0,0,0,11.47,11.10,11.47
$GC,3438,1.11,152.7,3275,3659,2513,2359,259.3,11.0,158,3444,0.00,3.10,0.00,0.000,1158,0.000,0.038,3284,2262,2434,2512,2357,0,0,0,0,0,0,11.29,11.22,11.30
$GC,3802,1.03,152.7,3284,2263,2513,2353,221.8,10.2,168,3807,0.22,3.28,0.00,0.000,4740,0.259,0.052,3251,848,2431,2511,2352,0,0,0,0,0,0,11.06,11.19,11.20
$GC,3934,1.05,166.0,3251,849,2512,2349,209.8,9.1,187,3954,0.00,3.30,14.43,1.218,9254,0.000,0.062,3251,2244,2389,2468,2310,0,0,0,0,0,0,11.29,11.17,10.69
$GC,4299,1.05,166.0,3251,2246,2464,2298,173.0,10.3,197,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2244,2380,2463,2298,0,0,0,0,0,0,11.48,11.48,11.48
$GC,4634,1.06,174.0,3251,2244,2464,2295,140.7,9.4,203,4646,0.00,3.30,4.68,1.258,8740,0.000,0.054,3261,848,2361,2440,2283,0,0,0,0,0,0,11.48,11.18,10.49
$GC,4732,1.07,179.6,3261,848,2441,2290,131.4,9.6,217,4751,0.00,3.33,12.18,1.228,9254,0.000,0.064,3261,2245,2331,2411,2251,0,0,0,0,0,0,11.28,11.15,10.71
$GC,5082,1.07,182.7,3262,2245,2410,2244,97.2,9.8,232,5088,0.00,3.62,0.00,0.000,292,0.000,0.122,3261,3663,2326,2409,2243,0,0,0,0,0,0,11.45,11.10,11.45
$GC,5152,1.07,182.7,3261,3664,2410,2244,89.4,11.8,242,5158,0.00,3.17,0.00,0.000,1030,0.000,0.037,3271,2231,2328,2414,2242,0,0,0,0,0,0,11.30,11.24,11.31
$GC,5475,1.11,211.4,3273,2227,2411,2240,58.7,8.0,255,5507,0.00,3.25,24.62,0.343,8740,0.000,0.050,3282,858,2211,2290,2132,0,0,0,0,0,0,11.44,11.14,10.99
$GC,5740,1.25,327.2,3282,857,2291,2135,46.0,1.9,293,5844,0.00,3.30,97.80,0.308,9254,0.000,0.056,3282,2253,1747,1832,1662,0,0,0,0,0,0,11.26,11.14,10.98
$GC,6168,1.48,393.7,3282,2254,1833,1656,25.2,5.3,321,6228,0.25,3.65,53.50,0.236,10660,0.047,0.123,3379,3664,1481,1563,1399,0,0,0,0,0,0,11.24,11.05,11.00
$GC,6272,1.48,393.7,3382,3668,1564,1402,14.9,12.9,336,6278,0.00,3.20,0.00,0.000,1030,0.000,0.041,3391,2244,1482,1563,1401,0,0,0,0,0,0,11.24,11.17,11.25
$STATE,6386,end climb,SURFACE_DEPTH_REACHED
$STATE,6387,begin surface coast
$FINISH,-3.2,1.021835
$STATE,6415,end surface coast,CONTROL_FINISHED_OK
$STATE,6415,begin surface
$SM_CCo,6446,71.18,0.133,0,0,1057,500.14
$SM_GC,-6.20,13.07,1.40,71.18,0.095,0.103,0.133,201,2769,1057,-8.40,-0.23,500.14,0,0,0,0,0,0,11.17,11.11,11.08
$IRIDIUM_FIX,951.69,-12443.37,170317,130057
$TT8_MAMPS,0.045689,0.293608
$HUMID,61.02
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,21.60
$XPDR_PINGS,3
$SC_FREEKB,3596352
$24V_AH,10.49,276.821
$10V_AH,10.53,0.000
$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,34.150,78.875,466.525,71.175,0.000,0.000,0.000,0.000,0.750,0.000,7.885,0.000,5041.924,660.903,702.368,175.833,0.000,998.699,0.000,494.954,0.000,0.548,0.000
$DEVICE_MAMPS,367.200,1673.820,1265.310,133.110,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3569.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.806,0.000,0.000,0.000
$MEM,334788
$DATA_FILE_SIZE,10131,342
$CAP_FILE_SIZE,109418,0
$CFSIZE,1024409600,886538240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,259.83,1
$GPS,170317,150100,957.778,-12446.044,29,0.6,29,9.0,0.4,11.0,12,3.2