version: 66.13
glider: 220
mission: 2
dive: 10
start: 2 10 116 3 21 41
data:
$ID,220
$MISSION,2
$DIVE,10
$N_DIVES,25
$STOP_T,12021620
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,360
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,90
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53159
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,128
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100840
$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,2776
$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,0
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2849
$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,4
$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,-169.69672
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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,-2.4000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$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
$GPS1,100216,031302,4744.8418,-12224.5107,17,1.1,31,16.0,0.3,73.8,8,2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.5
$GPS2,100216,032123,4744.8735,-12224.3994,3,1.1,4,16.0,0.2,54.5,8,8.0
$SPEED_LIMITS,0.080,0.193
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,166.1,3472,-19.5,-8.000,-22.51,1681
$D_GRID,180
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6,-1.08,-88.0,204,2265,1608,1524,0.0,0.0,0,75,0.00,0.00,-66.95,0.000,16386,0.000,0.000,209,2263,3128,3124,3132,0,0,0,0,0,0,14.88,28.83,14.88
$GC,76,-1.08,-88.0,204,2264,3126,3133,3.3,-8.2,12,94,9.95,2.72,-1.70,0.000,18948,0.386,2.256,2421,832,3200,3209,3192,0,0,0,0,0,0,14.53,13.93,14.73
$GC,103,-1.08,-88.0,2422,831,3210,3193,11.4,-26.9,17,110,0.00,2.53,0.00,0.000,1030,0.000,0.085,2410,2246,3200,3210,3191,0,0,0,0,0,0,14.67,14.59,14.69
$GC,169,-1.08,-88.0,2411,2246,3210,3193,22.7,-15.9,30,176,0.00,2.67,0.00,0.000,260,0.000,0.129,2400,3659,3201,3210,3192,0,0,0,0,0,0,14.88,14.61,14.87
$GC,209,-1.08,-88.0,2399,3660,3209,3192,29.2,-17.5,38,217,0.00,2.53,0.00,0.000,1030,0.000,0.080,2399,2245,3201,3210,3192,0,0,0,0,0,0,14.75,14.69,14.77
$GC,275,-1.08,-88.0,2399,2245,3210,3193,40.1,-15.7,51,282,0.00,2.67,0.00,0.000,260,0.000,0.125,2389,3664,3200,3210,3191,0,0,0,0,0,0,14.92,14.67,14.92
$GC,431,-1.08,-88.0,2389,3665,3211,3190,64.2,-14.9,82,438,0.10,2.50,0.00,0.000,3078,0.256,0.076,2417,2245,3201,3210,3192,0,0,0,0,0,0,14.67,14.76,14.79
$GC,557,-1.08,-88.0,2417,2247,3210,3193,81.9,-14.1,107,564,0.00,2.50,0.00,0.000,516,0.000,0.097,2417,846,3200,3210,3191,0,0,0,0,0,0,15.00,14.75,15.01
$GC,653,-1.08,-88.0,2417,847,3210,3192,95.4,-13.8,126,660,0.00,2.50,0.00,0.000,1030,0.000,0.084,2406,2259,3200,3210,3191,0,0,0,0,0,0,14.83,14.76,14.85
$GC,779,-1.08,-88.0,2406,2260,3211,3191,110.8,-12.3,151,786,0.00,2.60,0.00,0.000,260,0.000,0.125,2396,3651,3201,3211,3191,0,0,0,0,0,0,15.04,14.76,15.04
$GC,960,-1.08,-88.0,2396,3651,3210,3192,137.7,-14.7,187,967,0.08,2.45,0.00,0.000,3078,0.260,0.076,2417,2253,3200,3210,3191,0,0,0,0,0,0,14.76,14.85,14.88
$GC,1086,-1.08,-88.0,2417,2251,3212,3191,153.9,-11.6,212,1093,0.00,2.50,0.00,0.000,516,0.000,0.096,2417,841,3200,3210,3191,0,0,0,0,0,0,15.06,14.82,15.06
$GC,1141,-1.08,-88.0,2417,842,3210,3192,160.8,-12.6,223,1149,0.00,2.47,0.00,0.000,1030,0.000,0.086,2407,2244,3200,3210,3190,0,0,0,0,0,0,14.90,14.83,14.92
$GC,1267,-1.08,-88.0,2406,2244,3210,3192,176.9,-12.7,248,1274,0.00,2.50,0.00,0.000,516,0.000,0.096,2406,845,3200,3210,3191,0,0,0,0,0,0,15.09,14.81,15.08
$STATE,1292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1292,begin apogee
$GC,1297,-0.25,0.0,2398,2162,3210,3192,180.4,-14.1,253,1368,1.00,0.00,65.53,2.080,10246,0.233,0.000,2686,2162,2849,2894,2805,0,0,0,0,0,0,14.77,14.34,13.63
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1370,1.08,88.0,2686,2163,2895,2805,183.7,0.0,266,1445,1.35,2.78,67.85,2.098,10500,0.138,0.122,3104,3559,2498,2556,2441,0,0,0,0,0,0,14.26,14.01,13.38
$GC,1503,1.09,90.0,3104,3559,2557,2442,175.8,7.9,291,1511,0.00,2.60,3.60,1.357,9222,0.000,0.083,3113,2148,2489,2550,2428,0,0,0,0,0,0,14.35,14.29,13.66
$GC,1630,1.13,123.0,3114,2149,2552,2429,167.4,6.0,316,1665,0.00,2.62,26.00,1.981,8708,0.000,0.107,3124,749,2357,2421,2294,0,0,0,0,0,0,14.74,14.28,13.67
$GC,1769,1.13,123.0,3125,749,2422,2297,156.0,9.2,343,1776,0.00,2.53,0.00,0.000,1030,0.000,0.088,3124,2149,2358,2421,2296,0,0,0,0,0,0,14.56,14.49,14.57
$GC,1894,1.13,123.0,3125,2148,2422,2298,143.9,9.8,368,1901,0.00,2.58,0.00,0.000,516,0.000,0.108,3133,748,2359,2421,2297,0,0,0,0,0,0,14.85,14.58,14.85
$GC,1950,1.13,123.0,3133,749,2423,2297,138.5,9.8,379,1957,0.00,2.53,0.00,0.000,1030,0.000,0.090,3133,2154,2359,2421,2297,0,0,0,0,0,0,14.72,14.64,14.73
$GC,2076,1.13,123.0,3133,2155,2422,2298,125.0,11.4,404,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2154,2359,2421,2298,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2196,1.13,123.0,3133,2155,2422,2298,111.7,10.9,428,2203,0.00,2.62,0.00,0.000,260,0.000,0.122,3133,3561,2360,2422,2298,0,0,0,0,0,0,14.98,14.71,14.97
$GC,2262,1.13,123.0,3133,3562,2422,2298,103.6,12.4,441,2269,0.00,2.53,0.00,0.000,1030,0.000,0.084,3144,2143,2359,2421,2298,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2387,1.13,123.0,3145,2144,2423,2299,89.3,11.0,466,2395,0.00,2.65,0.00,0.000,260,0.000,0.122,3144,3560,2360,2421,2299,0,0,0,0,0,0,15.00,14.75,15.00
$GC,2418,1.13,123.0,3150,3562,2422,2299,86.0,10.6,472,2425,0.00,2.53,0.00,0.000,1030,0.000,0.085,3155,2144,2360,2421,2299,0,0,0,0,0,0,14.83,14.76,14.85
$GC,2544,1.13,123.0,3155,2144,2422,2300,73.2,10.3,497,2551,0.00,2.53,0.00,0.000,516,0.000,0.107,3162,742,2360,2421,2299,0,0,0,0,0,0,15.02,14.76,15.03
$GC,2600,1.13,123.0,3163,744,2422,2299,66.9,11.3,508,2607,0.00,2.50,0.00,0.000,1030,0.000,0.090,3162,2152,2360,2421,2299,0,0,0,0,0,0,14.85,14.78,14.87
$GC,2726,1.13,123.0,3163,2152,2422,2301,51.8,11.9,533,2733,0.00,2.62,0.00,0.000,260,0.000,0.125,3162,3556,2360,2421,2299,0,0,0,0,0,0,15.04,14.78,15.04
$GC,2786,1.13,123.0,3163,3558,2422,2300,43.5,13.8,545,2794,0.10,2.50,0.00,0.000,5126,0.277,0.085,3146,2149,2360,2421,2300,0,0,0,0,0,0,14.72,14.81,14.85
$GC,2912,1.13,123.0,3147,2149,2422,2299,30.1,9.0,570,2919,0.00,2.65,0.00,0.000,260,0.000,0.125,3146,3561,2360,2421,2299,0,0,0,0,0,0,15.03,14.78,15.03
$GC,3078,1.18,161.3,3146,3561,2422,2301,18.1,5.7,603,3102,0.00,2.50,17.10,0.238,9222,0.000,0.082,3157,2147,2203,2270,2137,0,0,0,0,0,0,14.87,14.81,14.75
$GC,3161,1.19,177.3,3156,2148,2270,2137,13.1,7.0,619,3174,0.00,2.50,6.82,0.233,8708,0.000,0.107,3164,741,2140,2207,2074,0,0,0,0,0,0,15.02,14.78,14.73
$GC,3223,1.19,177.3,3164,743,2208,2074,8.1,9.1,631,3230,0.00,2.50,0.00,0.000,1030,0.000,0.087,3164,2159,2140,2207,2074,0,0,0,0,0,0,14.85,14.79,14.87
$GC,3289,1.19,177.3,3164,2160,2209,2074,2.6,8.9,644,3296,0.00,2.62,0.00,0.000,260,0.000,0.127,3164,3558,2140,2207,2074,0,0,0,0,0,0,15.02,14.74,15.02
$STATE,3298,end climb,SURFACE_DEPTH_REACHED
$STATE,3298,begin surface coast
$FINISH,0.2,1.020491
$STATE,3313,end surface coast,CONTROL_FINISHED_OK
$STATE,3313,begin surface
$SM_CCo,3328,64.10,0.181,0,0,1573,320.03
$SM_GC,1.11,8.80,2.35,64.10,0.090,0.086,0.181,201,2240,1573,-8.00,0.51,320.03,0,0,0,0,0,0,14.81,14.82,14.71
$IRIDIUM_FIX,4726.11,-12222.38,100216,020731
$TT8_MAMPS,0.038948,0.535535
$HUMID,38.89
$INTERNAL_PRESSURE,8.84067
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.7,78.7
$SC_FREEKB,3906080
$24V_AH,13.38,2.767
$10V_AH,13.49,0.000
$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,21.375,86.700,186.900,64.100,0.000,23.338,34.061,301.521,1.250,0.000,5.429,0.000,1700.319,432.024,1711.864,40.630,0.000,947.917,0.000,973.659,0.000,10.326,0.000
$DEVICE_MAMPS,385.560,2255.985,2097.630,181.305,0.000,39.780,160.000,223.000,420.000,0.000,9.740,0.000,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3368.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.225,0.000,0.000,0.000
$MEM,312920
$DATA_FILE_SIZE,20013,649
$CAP_FILE_SIZE,113199,0
$CFSIZE,1024409600,1021034496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100216,041902,4745.071,-12224.603,1,0.9,30,16.0,0.1,0.0,10,1.5