version: 66.13
glider: 220
mission: 5
dive: 4
start: 7 26 116 19 28 35
data:
$ID,220
$MISSION,5
$DIVE,4
$N_DIVES,6
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53513
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,595.39197
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$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,-168.73994
$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,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,260716,192010,4743.6401,-12225.1465,5,1.3,6,15.9,0.0,0.0,6,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.90
$_SM_ANGLEo,-66.4
$GPS2,260716,192817,4743.6729,-12225.1270,2,1.3,3,15.9,0.4,46.8,6,10.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,134.1,358,-27.8,-10.000,-30.00,958
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.47,-62.7,197,2702,585,496,0.0,0.0,0,128,0.00,0.00,-107.88,0.000,16390,0.000,0.000,196,2702,3101,3093,3109,0,0,0,0,0,0,14.78,13.70,14.78
$GC,130,-1.57,-141.5,197,2703,3094,3107,0.1,-1.6,18,157,10.48,2.15,-8.73,0.000,18724,0.406,2.215,2439,3819,3413,3425,3402,0,0,0,0,0,0,14.40,13.75,14.64
$GC,306,-1.39,-141.5,2439,3820,3426,3404,44.6,-26.0,52,315,0.25,1.90,0.00,0.000,3206,0.299,0.046,2509,2684,3414,3425,3404,0,0,0,0,0,0,14.47,14.64,14.66
$GC,375,-1.30,-141.5,2510,2685,3427,3404,59.6,-19.4,65,383,0.08,2.05,0.00,0.000,2436,0.340,0.103,2524,3825,3414,3425,3404,0,0,0,0,0,0,14.50,14.59,14.64
$GC,517,-1.19,-141.5,2525,3825,3426,3405,88.4,-20.3,93,525,0.17,1.85,0.00,0.000,3206,0.291,0.047,2577,2694,3414,3426,3403,0,0,0,0,0,0,14.54,14.71,14.72
$GC,645,-1.16,-141.5,2569,2694,3426,3403,112.2,-17.7,118,652,0.00,2.33,0.00,0.000,644,0.000,0.059,2569,1309,3414,3425,3403,0,0,0,0,0,0,14.91,14.69,14.89
$GC,702,-1.14,-141.5,2570,1308,3426,3405,122.9,-18.1,129,710,0.12,2.40,0.00,0.000,3206,0.314,0.076,2590,2694,3414,3425,3404,0,0,0,0,0,0,14.56,14.67,14.75
$GC,829,-1.14,-141.5,2591,2694,3426,3405,144.4,-16.6,154,837,0.00,2.03,0.00,0.000,260,0.000,0.110,2582,3823,3414,3425,3403,0,0,0,0,0,0,14.90,14.66,14.90
$STATE,865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,866,begin apogee
$GC,871,-0.25,0.0,2586,2064,3426,3403,150.9,-18.1,161,995,1.02,0.00,108.00,1.852,10246,0.250,0.000,2870,2056,2855,2900,2810,0,0,0,0,1,0,14.57,14.03,13.33
$STATE,997,end apogee,CONTROL_FINISHED_OK
$STATE,997,begin climb
$GC,998,1.57,141.5,2872,2057,2901,2816,157.8,0.0,181,1139,1.85,2.58,124.43,1.072,10756,0.139,0.073,3451,638,2276,2342,2210,0,0,0,0,0,0,14.16,14.16,13.78
$GC,1194,1.49,141.5,3452,638,2341,2201,134.3,19.7,212,1202,0.00,2.45,0.00,0.000,1158,0.000,0.061,3452,2054,2269,2340,2199,0,0,0,0,0,0,14.43,14.34,14.44
$GC,1322,1.40,141.5,3452,2056,2343,2198,108.0,20.6,237,1331,0.12,2.45,0.00,0.000,4740,0.298,0.073,3425,646,2266,2339,2194,0,0,0,0,0,0,14.40,14.50,14.53
$GC,1365,1.34,141.5,3426,647,2341,2198,100.1,17.6,245,1373,0.15,2.40,0.00,0.000,5254,0.291,0.060,3388,2055,2268,2339,2198,0,0,0,0,0,0,14.42,14.54,14.62
$GC,1493,1.30,141.5,3388,2055,2340,2199,78.9,17.4,270,1501,0.00,2.45,0.00,0.000,644,0.000,0.077,3399,635,2268,2340,2196,0,0,0,0,0,0,14.81,14.59,14.83
$GC,1515,1.27,141.5,3399,636,2340,2196,75.0,18.0,274,1523,0.10,2.42,0.00,0.000,5254,0.312,0.063,3374,2053,2268,2340,2197,0,0,0,0,0,0,14.50,14.61,14.68
$GC,1643,1.25,141.5,3374,2055,2339,2196,56.1,11.9,299,1651,0.00,2.47,0.00,0.000,388,0.000,0.093,3373,3458,2268,2340,2196,0,0,0,0,0,0,14.85,14.63,14.85
$GC,1776,1.19,141.5,3374,3460,2341,2196,36.0,17.9,325,1783,0.15,2.38,0.00,0.000,5254,0.293,0.050,3346,2046,2268,2340,2196,0,0,0,0,0,0,14.56,14.69,14.73
$GC,1843,1.21,141.5,3346,2043,2341,2196,26.3,13.3,338,1850,0.00,0.00,0.00,0.000,134,0.000,0.000,3346,2042,2268,2340,2196,0,0,0,0,0,0,14.88,14.88,14.88
$GC,1910,1.23,141.5,3346,2043,2341,2195,17.6,13.5,351,1918,0.00,2.53,0.00,0.000,388,0.000,0.096,3344,3460,2268,2339,2197,0,0,0,0,0,0,14.89,14.65,14.88
$GC,1967,1.20,141.5,3345,3458,2341,2195,9.5,15.4,362,1975,0.00,2.40,0.00,0.000,1158,0.000,0.053,3356,2039,2271,2348,2195,0,0,0,0,0,0,14.78,14.70,14.80
$STATE,2018,end climb,SURFACE_DEPTH_REACHED
$STATE,2018,begin surface coast
$FINISH,0.6,1.021994
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2054,208.57,0.159,0,0,499,590.82
$SM_CCo,2264,-0.12,0.000,0,0,501,590.32
$SM_CCo,2266,0.25,0.585,0,0,498,590.32
$SM_GC,-0.99,9.88,1.20,0.25,0.140,0.086,0.585,198,2705,498,-8.59,-0.62,590.32,0,0,0,0,0,0,14.69,14.70,14.56
$IRIDIUM_FIX,4726.11,-12231.22,260716,183402
$TT8_MAMPS,0.038199,0.355775
$HUMID,50.47
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,15.90
$XPDR_PINGS,0
$SC_FREEKB,3908864
$PM_FREEKB,62178304
$TM_FREEKB,7811488
$24V_AH,13.33,6.279
$10V_AH,13.80,0.000
$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,24.375,43.425,232.425,208.825,0.000,0.000,0.000,311.175,0.000,0.000,4.975,0.000,676.276,555.610,1489.590,36.848,0.000,1268.111,0.000,794.515,0.000,0.544,0.000
$DEVICE_MAMPS,406.215,2215.440,1852.065,585.225,0.000,0.000,0.000,192.780,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2056.000,2019.000,2075.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.005,4.748,18.197,0.000
$MEM,312004
$DATA_FILE_SIZE,13425,374
$CAP_FILE_SIZE,60418,0
$CFSIZE,1024409600,1020051456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.070,343.75,1
$GPS,260716,200709,4743.542,-12225.068,2,0.9,16,15.9,0.3,351.7,12,2.3