version: 66.13
glider: 220
mission: 6
dive: 977
start: 6 13 117 21 22 26
data:
$ID,220
$MISSION,6
$DIVE,977
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,550
$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,220
$T_MISSION,1920
$T_ABORT,2300
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,86400
$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,56
$R_STBD_OVSHOOT,36
$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,2785
$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,8.8000002
$MINV_10V,9
$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,0
$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,0.0
$SC_XMITPROFILE,0.0
$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
$GPS1,130617,211820,1039.3871,-12520.7305,1,0.7,2,9.1,0.4,295.9,11,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.68
$_SM_ANGLEo,-69.3
$GPS2,130617,212203,1039.3696,-12520.7441,2,0.8,3,9.1,0.3,284.0,11,8.4
$SPEED_LIMITS,0.144,0.169
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,126.5,103316,-20.3,-8.333,-26.24,1745
$D_GRID,550
$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,3,end surface,CONTROL_FINISHED_OK
$STATE,3,begin dive
$GC,9,-1.04,-97.3,180,2789,832,771,0.0,0.0,0,92,0.00,0.00,-79.50,0.000,16390,0.000,0.000,175,2790,3174,3157,3191,0,0,0,0,0,0,11.21,10.35,11.20
$GC,98,-1.04,-97.3,176,2791,3159,3190,0.5,-7.4,3,121,18.35,3.33,0.00,0.000,2564,0.371,0.034,2555,1385,3175,3161,3190,0,0,0,0,0,0,10.81,11.01,11.03
$GC,213,-0.80,-97.3,2556,1384,3163,3189,37.5,-22.5,20,219,0.50,3.33,0.00,0.000,3206,0.250,0.061,2634,2749,3175,3163,3188,0,0,0,0,0,0,10.88,10.99,11.05
$GC,542,-0.80,-97.3,2634,2749,3164,3189,87.7,-8.1,34,547,0.00,2.60,0.00,0.000,292,0.000,0.091,2625,3833,3175,3162,3188,0,0,0,0,0,0,11.23,10.98,11.23
$GC,780,-0.80,-97.3,2625,3834,3165,3188,105.5,-5.5,68,785,0.00,2.28,0.00,0.000,1062,0.000,0.032,2625,2761,3176,3164,3188,0,0,0,0,0,0,11.12,11.08,11.12
$GC,1438,-0.80,-97.3,2626,2760,3164,3183,153.7,31.7,98,1440,0.00,0.00,0.00,0.000,38,0.000,0.000,2626,2760,3173,3164,3182,0,0,0,0,0,0,11.24,11.24,11.23
$GC,2068,-0.80,-97.3,2625,2760,3164,3172,201.5,-30.9,101,2074,0.00,2.62,0.00,0.000,260,0.000,0.090,2618,3829,3166,3163,3170,0,0,0,0,0,0,11.24,11.00,11.24
$GC,2111,-0.80,-97.3,2618,3828,3165,3171,204.9,-8.4,107,2115,0.00,2.33,0.00,0.000,1030,0.000,0.033,2617,2756,3166,3164,3169,0,0,0,0,0,0,11.13,11.09,11.13
$GC,2913,-0.80,-97.3,2618,2755,3164,3155,266.7,-7.7,134,2918,0.00,3.28,0.00,0.000,548,0.000,0.041,2617,1382,3158,3163,3154,0,0,0,0,0,0,11.23,11.04,11.22
$GC,3150,-0.80,-97.3,2617,1381,3164,3151,282.9,-6.2,168,3155,0.15,3.42,0.00,0.000,3110,0.204,0.059,2637,2767,3156,3163,3150,0,0,0,0,0,0,10.94,11.01,11.10
$GC,3963,-0.80,-97.3,2638,2767,3164,3140,341.5,-7.2,197,3968,0.00,3.38,0.00,0.000,548,0.000,0.044,2637,1378,3150,3163,3138,0,0,0,0,0,0,11.24,11.04,11.24
$GC,4032,-0.80,-97.3,2638,1377,3164,3139,346.5,-7.1,207,4037,0.00,3.42,0.00,0.000,1062,0.000,0.061,2627,2757,3150,3163,3137,0,0,0,0,0,0,11.11,11.01,11.12
$GC,4807,-0.80,-97.3,2628,2757,3159,3133,397.0,-6.5,230,4812,0.00,3.35,0.00,0.000,548,0.000,0.042,2627,1379,3145,3158,3132,0,0,0,0,0,0,11.23,11.04,11.23
$GC,4932,-0.80,-97.3,2627,1380,3158,3132,405.9,-6.8,248,4937,0.00,3.45,0.00,0.000,1062,0.000,0.061,2617,2764,3144,3157,3132,0,0,0,0,0,0,11.11,11.02,11.12
$GC,5647,-0.80,-97.3,2617,2763,3154,3129,461.3,-7.8,263,5647,0.00,0.00,0.00,0.000,38,0.000,0.000,2617,2763,3141,3154,3129,0,0,0,0,0,0,11.24,11.24,11.25
$GC,6277,-0.80,-97.3,2617,2765,3151,3127,511.6,-8.1,266,6281,0.00,3.38,0.00,0.000,548,0.000,0.042,2616,1378,3138,3150,3126,0,0,0,0,0,0,11.25,11.04,11.25
$GC,6354,-0.80,-97.3,2616,1379,3151,3127,517.0,-6.8,277,6360,0.15,3.45,0.00,0.000,3110,0.209,0.061,2637,2764,3138,3150,3126,0,0,0,0,0,0,10.95,11.01,11.09
$STATE,7116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7116,begin apogee
$GC,7128,-0.23,0.0,2638,2265,3148,3125,562.2,-5.9,299,7242,0.88,0.00,111.47,1.643,10244,0.169,0.000,2821,2259,2784,2819,2750,0,0,0,0,0,0,10.96,10.95,10.22
$STATE,7243,end apogee,CONTROL_FINISHED_OK
$STATE,7243,begin loiter
$GC,7475,-0.23,1.3,2821,2259,2814,2734,564.1,-0.1,332,7479,0.00,0.00,0.00,0.000,1062,0.000,0.000,2821,2259,2773,2815,2732,0,0,0,0,0,0,11.21,11.20,11.21
$GC,8299,-0.61,-7.2,2821,2260,2817,2726,560.1,0.5,362,8301,0.40,0.00,0.00,0.000,4262,0.050,0.000,2700,2259,2770,2815,2726,0,0,0,0,0,0,11.05,11.12,11.11
$GC,8924,-0.85,-7.2,2701,2259,2814,2725,550.1,1.5,365,8926,0.20,0.00,0.00,0.000,4230,0.054,0.000,2622,2259,2768,2815,2722,0,0,0,0,0,0,11.07,11.13,11.12
$GC,9554,-0.86,-14.2,2622,2259,2816,2722,549.4,0.4,368,9555,0.00,0.00,0.00,0.000,38,0.000,0.000,2622,2259,2767,2815,2720,0,0,0,0,0,0,11.24,11.23,11.24
$GC,10184,-0.86,-16.7,2622,2259,2816,2717,547.1,0.1,371,10185,0.00,0.00,0.00,0.000,38,0.000,0.000,2622,2259,2766,2815,2718,0,0,0,0,0,0,11.24,11.24,11.24
$STATE,10389,end loiter,SURFACE_DEPTH_REACHED
$STATE,10389,begin surface coast
$FINISH,545.8,1.027017
$STATE,10417,end surface coast,CONTROL_FINISHED_OK
$STATE,10417,begin surface
$SM_CCo,10423,720.00,1.375,0,1,967,456.43
$SM_CCo,11149,190.73,1.278,0,0,500,574.75
$SM_GC,-3.98,9.25,1.33,0.00,0.040,0.070,0.000,200,2774,481,-8.40,-0.25,578.51,0,0,0,0,0,0,11.05,11.02,11.10
$IRIDIUM_FIX,1033.33,-12521.81,130617,211314
$TT8_MAMPS,0.045689,0.106358
$HUMID,68.19
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,16.80
$XPDR_PINGS,1
$24V_AH,10.22,312.506
$10V_AH,10.50,0.000
$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,29.875,46.250,111.475,910.725,0.000,0.000,0.000,0.000,0.250,0.000,4.663,0.000,13640.572,1150.326,823.462,251.989,0.000,1536.214,0.000,537.659,0.000,0.546,0.000
$DEVICE_MAMPS,371.025,91.035,1643.220,1375.470,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334820
$DATA_FILE_SIZE,10121,373
$CAP_FILE_SIZE,100212,8
$CFSIZE,1024409600,869597184
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0
$CURRENT,0.049,272.09,1
$GPS,140617,014700,1039.058,-12520.582,32,0.7,32,9.1,0.4,342.8,12,5.6