version: 66.13
glider: 220
mission: 6
dive: 984
start: 6 20 117 21 34 40
data:
$ID,220
$MISSION,6
$DIVE,984
$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,20
$R_STBD_OVSHOOT,14
$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
$GPS1,200617,212230,1035.1517,-12520.6426,32,0.8,32,9.1,0.7,299.3,11,8.0
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-16.22
$_SM_ANGLEo,-67.6
$GPS2,200617,213412,1035.0823,-12520.7441,2,0.9,4,9.1,1.0,221.0,10,7.7
$SPEED_LIMITS,0.144,0.169
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,111.3,97874,-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,2,end surface,CONTROL_FINISHED_OK
$STATE,2,begin dive
$GC,8,-1.04,-97.3,170,2782,831,763,0.0,0.0,0,91,0.00,0.00,-79.55,0.000,16390,0.000,0.000,169,2782,3175,3161,3189,0,0,0,0,0,0,11.20,10.29,11.20
$GC,97,-1.04,-97.3,170,2783,3163,3188,-12.5,-7.5,3,120,18.30,3.42,0.00,0.000,2564,0.370,0.034,2554,1347,3176,3164,3188,0,0,0,0,0,0,10.79,11.00,11.02
$GC,205,-0.77,-97.3,2554,1347,3168,3187,22.3,-19.2,19,211,0.55,3.53,0.00,0.000,3206,0.252,0.063,2642,2775,3176,3167,3186,0,0,0,0,0,0,10.86,10.98,11.05
$GC,542,-0.77,-97.3,2642,2775,3169,3187,65.2,-6.5,34,542,0.00,0.00,0.00,0.000,38,0.000,0.000,2641,2776,3178,3170,3186,0,0,0,0,0,0,11.23,11.23,11.23
$GC,849,-0.77,-97.3,2642,2777,3171,3186,86.8,-7.2,45,855,0.00,2.55,0.00,0.000,292,0.000,0.094,2634,3828,3178,3171,3186,0,0,0,0,0,0,11.24,10.98,11.24
$GC,905,-0.77,-97.3,2634,3828,3171,3187,91.5,-8.7,53,911,0.00,2.38,0.00,0.000,1030,0.000,0.032,2634,2721,3178,3171,3186,0,0,0,0,0,0,11.12,11.08,11.13
$GC,1312,-0.77,-97.3,2634,2721,3171,3186,114.0,-6.0,64,1312,0.00,0.00,0.00,0.000,38,0.000,0.000,2633,2721,3177,3170,3185,0,0,0,0,0,0,11.24,11.24,11.24
$GC,1942,-0.77,-97.3,2634,2720,3171,3178,155.4,-6.5,67,1946,0.00,3.20,0.00,0.000,548,0.000,0.043,2633,1386,3173,3170,3176,0,0,0,0,0,0,11.24,11.03,11.24
$GC,1990,-0.77,-97.3,2634,1385,3171,3177,156.5,-5.2,74,1995,0.00,3.40,0.00,0.000,1062,0.000,0.059,2623,2764,3172,3170,3175,0,0,0,0,0,0,11.10,11.00,11.12
$GC,2786,-0.77,-97.3,2623,2765,3171,3164,221.2,-7.6,100,2791,0.00,3.35,0.00,0.000,548,0.000,0.041,2622,1384,3167,3170,3164,0,0,0,0,0,0,11.23,11.03,11.23
$GC,2869,-0.77,-97.3,2624,1384,3171,3165,231.7,-19.7,112,2874,0.15,3.42,0.00,0.000,3078,0.209,0.060,2643,2764,3166,3170,3163,0,0,0,0,0,0,10.93,11.01,11.08
$GC,3630,-0.77,-97.3,2643,2766,3171,3153,282.6,-6.9,133,3636,0.00,3.38,0.00,0.000,548,0.000,0.044,2642,1382,3161,3170,3153,0,0,0,0,0,0,11.23,11.03,11.22
$GC,3728,-0.86,-97.3,2643,1382,3170,3153,284.9,-3.2,147,3734,0.00,3.42,0.00,0.000,1190,0.000,0.062,2632,2758,3161,3170,3152,0,0,0,0,0,0,11.11,11.02,11.12
$GC,4470,-0.86,-97.3,2633,2760,3171,3144,335.1,-6.7,166,4475,0.00,3.35,0.00,0.000,548,0.000,0.042,2632,1385,3157,3170,3144,0,0,0,0,0,0,11.24,11.04,11.24
$GC,4617,-0.86,-97.3,2631,1386,3171,3143,338.9,-6.1,187,4622,0.00,3.40,0.00,0.000,1062,0.000,0.061,2622,2755,3156,3170,3143,0,0,0,0,0,0,11.11,11.01,11.12
$GC,5311,-0.86,-97.3,2623,2754,3170,3139,392.7,-7.4,199,5315,0.00,3.35,0.00,0.000,548,0.000,0.042,2621,1384,3153,3170,3137,0,0,0,0,0,0,11.24,11.04,11.24
$GC,5408,-0.86,-97.3,2622,1385,3170,3137,395.7,-7.4,213,5414,0.00,3.42,0.00,0.000,1062,0.000,0.062,2612,2757,3153,3169,3137,0,0,0,0,0,0,11.11,11.01,11.12
$GC,6150,-0.86,-97.3,2612,2759,3165,3136,459.4,-8.6,232,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2758,3150,3164,3137,0,0,0,0,0,0,11.24,11.24,11.24
$GC,6781,-0.86,-97.3,2611,2758,3163,3135,499.2,-6.5,235,6785,0.00,3.38,0.00,0.000,548,0.000,0.044,2611,1382,3147,3162,3133,0,0,0,0,0,0,11.24,11.04,11.24
$GC,6864,-0.86,-97.3,2611,1382,3163,3135,503.2,-17.1,247,6869,0.00,3.42,0.00,0.000,1030,0.000,0.063,2602,2754,3147,3162,3133,0,0,0,0,0,0,11.11,11.01,11.12
$STATE,7615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7615,begin apogee
$GC,7627,-0.23,0.0,2603,2269,3159,3133,558.1,-7.0,268,7748,1.08,0.00,118.12,1.728,10244,0.181,0.000,2822,2263,2785,2821,2749,0,0,0,0,0,0,10.95,10.93,10.13
$STATE,7748,end apogee,CONTROL_FINISHED_OK
$STATE,7748,begin loiter
$GC,7980,-0.23,0.0,2823,2263,2816,2735,561.5,2.4,301,7985,0.00,0.00,0.00,0.000,1030,0.000,0.000,2822,2263,2774,2815,2733,0,0,0,0,0,0,11.21,11.21,11.21
$GC,8805,-0.63,-14.1,2822,2264,2816,2728,551.0,0.8,331,8806,0.43,0.00,0.00,0.000,4262,0.048,0.000,2695,2263,2771,2815,2728,0,0,0,0,0,0,11.06,11.12,11.11
$GC,9430,-0.87,-14.1,2695,2264,2816,2722,545.9,1.1,334,9432,0.22,0.00,0.00,0.000,4230,0.050,0.000,2606,2263,2769,2815,2723,0,0,0,0,0,0,11.08,11.13,11.12
$GC,10060,-0.87,-14.1,2607,2264,2816,2721,533.7,1.5,337,10060,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2263,2768,2815,2722,0,0,0,0,0,0,11.24,11.24,11.24
$GC,10689,-0.89,-28.9,2607,2263,2816,2720,530.5,0.9,340,10690,0.00,0.00,0.00,0.000,38,0.000,0.000,2606,2263,2767,2815,2719,0,0,0,0,0,0,11.24,11.24,11.24
$GC,11320,-0.86,-1.2,2607,2264,2816,2718,544.7,-1.6,343,11320,0.00,0.00,0.00,0.000,38,0.000,0.000,2606,2263,2766,2815,2718,0,0,0,0,0,0,11.24,11.24,11.24
$GC,11949,-0.86,-5.5,2607,2263,2817,2718,540.8,0.3,346,11950,0.00,0.00,0.00,0.000,38,0.000,0.000,2606,2262,2765,2815,2716,0,0,0,0,0,0,11.24,11.24,11.24
$GC,12580,-0.88,-18.4,2607,2264,2816,2715,534.9,0.8,349,12580,0.00,0.00,0.00,0.000,38,0.000,0.000,2606,2263,2765,2815,2716,0,0,0,0,0,0,11.24,11.24,11.24
$GC,13209,-0.88,-18.4,2607,2263,2816,2716,527.5,1.1,352,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2263,2764,2813,2715,0,0,0,0,0,0,11.25,11.25,11.25
$GC,13840,-0.69,136.8,2607,2264,2816,2714,595.5,-9.1,355,14025,0.32,0.00,183.35,1.678,10278,0.203,0.000,2670,2263,2240,2311,2170,0,0,0,0,0,0,10.93,10.90,10.20
$GC,14470,-0.69,136.8,2671,2263,2302,2137,532.8,8.3,358,14470,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,2218,2302,2135,0,0,0,0,0,0,11.21,11.21,11.21
$GC,15100,-0.94,136.8,2671,2264,2302,2133,485.2,6.2,361,15101,0.22,0.00,0.00,0.000,4230,0.060,0.000,2593,2263,2217,2301,2133,0,0,0,0,0,0,11.05,11.11,11.10
$GC,15730,-1.15,136.8,2593,2264,2303,2131,433.4,8.9,364,15731,0.17,0.00,0.00,0.000,4230,0.060,0.000,2523,2263,2216,2301,2131,0,0,0,0,0,0,11.08,11.12,11.12
$GC,16359,-1.15,136.8,2523,2263,2302,2131,414.1,6.0,367,16360,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2263,2215,2301,2130,0,0,0,0,0,0,11.23,11.24,11.24
$GC,16990,-1.15,136.8,2524,2264,2303,2130,358.4,6.1,370,16990,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2263,2215,2301,2130,0,0,0,0,0,0,11.24,11.24,11.24
$GC,17619,-1.15,136.8,2523,2264,2302,2130,309.0,8.8,373,17620,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2263,2215,2301,2130,0,0,0,0,0,0,11.24,11.24,11.24
$GC,18250,-1.15,136.8,2524,2263,2302,2131,246.5,9.8,376,18250,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2263,2215,2301,2129,0,0,0,0,0,0,11.24,11.24,11.24
$GC,18879,-1.15,136.8,2524,2263,2302,2131,219.8,4.8,379,18880,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2263,2215,2301,2130,0,0,0,0,0,0,11.24,11.24,11.24
$GC,19510,-1.15,136.8,2524,2263,2302,2131,167.8,8.5,382,19511,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2263,2215,2301,2130,0,0,0,0,0,0,11.24,11.24,11.24
$GC,20139,-1.15,136.8,2523,2264,2301,2130,114.8,8.3,385,20140,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2263,2215,2301,2130,0,0,0,0,0,0,11.24,11.25,11.24
$GC,20770,-0.94,136.8,2523,2264,2302,2129,63.6,6.7,401,20771,0.40,0.00,0.00,0.000,2182,0.255,0.000,2592,2263,2215,2301,2130,0,0,0,0,0,0,10.90,11.12,11.10
$GC,21078,-0.47,331.3,2592,2264,2303,2130,59.5,-11.5,412,21234,0.77,0.00,153.40,0.396,10406,0.239,0.000,2736,2263,1466,1548,1385,0,0,0,0,0,0,10.90,11.01,10.76
$GC,21530,-0.37,331.3,2737,2262,1549,1393,49.8,6.2,428,21532,0.20,0.00,0.00,0.000,2182,0.239,0.000,2772,2262,1470,1548,1392,0,0,0,0,0,0,10.90,11.09,11.07
$GC,21833,-0.37,331.3,2773,2263,1549,1392,27.7,7.1,439,21834,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2262,1469,1548,1390,0,0,0,0,0,0,11.24,11.24,11.24
$GC,22142,-0.27,331.3,2773,2263,1549,1392,5.8,7.6,450,22143,0.17,0.00,0.00,0.000,2182,0.165,0.000,2810,2262,1469,1548,1390,0,0,0,0,0,0,10.97,11.10,11.09
$STATE,22220,end loiter,SURFACE_DEPTH_REACHED
$STATE,22220,begin surface coast
$FINISH,-1.2,1.027215
$STATE,22248,end surface coast,CONTROL_FINISHED_OK
$STATE,22248,begin surface
$SM_CCo,22277,119.03,0.130,0,0,793,500.14
$SM_GC,-6.14,10.05,1.30,119.03,0.041,0.073,0.130,194,2771,793,-8.42,-0.31,500.14,0,0,0,0,0,0,11.02,11.01,10.95
$IRIDIUM_FIX,1031.13,-12520.02,190617,174015
$TT8_MAMPS,0.045689,0.077896
$HUMID,60.98
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,10.13,314.240
$10V_AH,10.92,0.000
$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,33.050,54.800,454.875,119.025,0.000,0.000,0.000,364.925,0.000,0.000,6.176,0.000,20692.152,739.801,1245.056,400.806,0.000,1465.059,0.000,653.197,0.000,0.545,0.000
$DEVICE_MAMPS,370.260,94.095,1728.135,130.050,0.000,0.000,0.000,200.430,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$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,334772
$DATA_FILE_SIZE,16765,454
$CAP_FILE_SIZE,79721,0
$CFSIZE,1024409600,869056512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097,283.38,1
$GPS,210617,034900,1035.094,-12520.915,31,0.7,31,9.1,0.4,311.6,12,3.6