version: 66.13
glider: 220
mission: 4
dive: 3
start: 7 21 116 18 49 25
data:
$ID,220
$MISSION,4
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$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,40
$T_MISSION,55
$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,708.93439
$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,2900
$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,2047
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3362
$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,-166.53387
$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
$GPS1,210716,184138,4743.8057,-12223.8213,2,1.1,3,15.9,0.1,0.0,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.99
$_SM_ANGLEo,-65.7
$GPS2,210716,184907,4743.8076,-12223.8545,2,1.1,3,15.9,0.1,0.0,6,9.0
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,207.9,1536,-18.1,-10.000,-20.93,2236
$D_GRID,171
$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,-1.09,-146.6,188,2058,565,432,0.0,0.0,0,26,0.00,0.00,-7.93,0.000,16386,0.000,0.000,186,2059,715,776,654,0,0,0,0,0,0,15.01,28.83,15.01
$GC,27,-1.09,-146.6,188,2059,777,655,3.0,0.0,1,187,9.70,2.65,-140.27,0.000,18692,0.347,2.225,2533,3451,3944,3964,3925,0,0,0,0,0,0,14.65,13.87,14.83
$GC,272,-0.89,-146.6,2534,3453,3963,3928,26.4,-25.7,44,280,0.28,2.33,0.00,0.000,3206,0.260,0.049,2607,2033,3946,3964,3928,0,0,0,0,0,0,14.58,14.73,14.76
$GC,340,-0.81,-146.6,2607,2032,3965,3928,41.3,-20.2,57,348,0.08,2.30,0.00,0.000,2692,0.288,0.070,2635,662,3946,3964,3929,0,0,0,0,0,0,14.59,14.68,14.70
$GC,418,-0.80,-146.6,2635,663,3965,3928,53.1,-13.7,72,426,0.00,2.35,0.00,0.000,1158,0.000,0.066,2625,2045,3946,3964,3928,0,0,0,0,0,0,14.77,14.69,14.79
$GC,546,-0.74,-146.6,2625,2047,3965,3930,72.2,-15.3,97,555,0.08,2.50,0.00,0.000,2436,0.300,0.099,2642,3455,3946,3964,3929,0,0,0,0,0,0,14.60,14.65,14.72
$GC,780,-0.69,-146.6,2640,3456,3965,3929,110.7,-15.1,143,788,0.10,2.33,0.00,0.000,3206,0.247,0.050,2669,2053,3948,3964,3933,0,0,0,0,0,0,14.62,14.73,14.77
$STATE,857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,857,begin apogee
$GC,859,-0.25,0.0,2671,2049,3963,3928,120.1,-12.3,158,966,0.45,0.00,94.32,1.642,10246,0.194,0.000,2811,2048,3362,3403,3321,0,0,0,0,1,0,14.62,14.09,13.51
$STATE,969,end apogee,CONTROL_FINISHED_OK
$STATE,969,begin climb
$GC,970,1.09,146.6,2812,2048,3405,3323,127.7,0.0,175,1119,1.35,2.53,131.95,1.062,11012,0.144,0.076,3240,651,2772,2829,2715,0,0,0,0,0,0,14.23,14.16,13.78
$GC,1343,1.20,310.5,3241,651,2827,2708,131.5,2.5,241,1506,0.08,2.38,153.60,1.015,11430,0.171,0.060,3283,2053,2121,2194,2049,0,0,0,0,0,0,14.56,14.57,13.82
$GC,1626,1.14,310.5,3279,2054,2190,2032,102.2,12.4,291,1634,0.00,2.45,0.00,0.000,644,0.000,0.076,3290,650,2110,2188,2032,0,0,0,0,0,0,14.66,14.44,14.66
$GC,1739,1.08,310.5,3290,650,2189,2032,88.3,12.2,313,1748,0.15,2.40,0.00,0.000,5254,0.251,0.064,3248,2046,2108,2187,2030,0,0,0,0,0,0,14.46,14.55,14.62
$GC,1868,1.05,310.5,3249,2046,2189,2031,74.1,10.4,338,1876,0.00,2.42,0.00,0.000,644,0.000,0.079,3258,648,2109,2188,2030,0,0,0,0,0,0,14.81,14.59,14.81
$GC,1880,1.02,310.5,3259,653,2189,2027,72.9,10.7,340,1888,0.10,2.40,0.00,0.000,5254,0.266,0.065,3230,2053,2112,2187,2037,0,0,0,0,0,0,14.52,14.61,14.69
$GC,2008,1.02,310.5,3233,2052,2187,2030,59.1,10.1,365,2017,0.00,2.50,0.00,0.000,260,0.000,0.102,3230,3458,2108,2188,2029,0,0,0,0,0,0,14.85,14.61,14.84
$GC,2066,0.99,310.5,3235,3458,2188,2030,52.8,10.7,376,2074,0.00,2.40,0.00,0.000,1158,0.000,0.057,3240,2042,2108,2187,2029,0,0,0,0,0,0,14.73,14.65,14.75
$GC,2194,0.99,310.5,3240,2042,2189,2030,39.9,10.1,401,2202,0.00,2.40,0.00,0.000,516,0.000,0.082,3251,644,2108,2188,2028,0,0,0,0,0,0,14.87,14.65,14.87
$GC,2237,0.99,310.5,3251,644,2189,2030,35.6,10.1,409,2246,0.10,2.40,0.00,0.000,5126,0.257,0.066,3222,2054,2108,2188,2028,0,0,0,0,0,0,14.59,14.67,14.75
$GC,2306,1.04,340.8,3221,2056,2189,2030,29.6,8.6,422,2326,0.00,2.55,14.10,0.236,8612,0.000,0.102,3221,3454,2004,2082,1926,0,0,0,0,0,0,14.88,14.60,14.60
$GC,2355,1.04,340.8,3222,3454,2083,1941,24.8,10.5,431,2363,0.00,2.40,0.00,0.000,1030,0.000,0.057,3230,2045,2011,2082,1940,0,0,0,0,0,0,14.76,14.67,14.76
$GC,2423,1.07,351.6,3230,2044,2083,1944,18.4,9.5,444,2438,0.00,2.40,6.88,0.214,8868,0.000,0.083,3241,641,1961,2037,1886,0,0,0,0,0,0,14.88,14.64,14.57
$GC,2463,1.11,370.7,3241,642,2032,1896,14.6,9.1,451,2484,0.00,2.38,10.95,0.203,9382,0.000,0.067,3240,2046,1884,1960,1808,0,0,0,0,0,0,14.76,14.66,14.57
$GC,2543,1.13,370.7,3241,2048,1961,1818,6.3,10.5,466,2551,0.00,2.50,0.00,0.000,388,0.000,0.103,3241,3454,1889,1960,1819,0,0,0,0,0,0,14.86,14.63,14.87
$GC,2571,1.13,370.7,3241,3463,1961,1823,3.2,11.2,471,2579,0.00,2.38,0.00,0.000,1030,0.000,0.057,3249,2045,1889,1960,1819,0,0,0,0,0,0,14.75,14.67,14.76
$GC,2639,1.59,590.6,3249,2040,1963,1817,2.1,-0.1,484,2732,0.40,0.00,88.38,0.162,10658,0.085,0.000,3407,2039,1203,1289,1117,0,0,0,0,0,0,14.69,28.83,14.73
$FREEZE,2.08,14.189,-1.384,0,1,0
$STATE,2733,end climb,NO_VERTICAL_VELOCITY
$STATE,2733,begin surface
$SM_CCo,2736,94.05,0.164,0,0,499,718.93
$SM_GC,2.95,9.23,0.00,0.00,0.069,0.000,0.000,200,2038,498,-8.39,-0.23,719.44,0,0,0,0,0,0,14.73,14.97,14.81
$IRIDIUM_FIX,4722.92,-11914.48,210716,183728
$TT8_MAMPS,0.03745,0.475615
$HUMID,52.20
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,17.40
$XPDR_PINGS,4
$SC_FREEKB,3909024
$PM_FREEKB,61746944
$TM_FREEKB,7829728
$24V_AH,13.51,5.168
$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,22.075,53.325,500.175,94.050,0.000,0.000,0.000,0.000,1.000,0.000,5.153,0.000,1094.357,651.512,1440.147,27.848,0.000,1222.634,0.000,1108.922,0.000,0.543,0.000
$DEVICE_MAMPS,346.545,2224.620,1642.455,163.710,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2717.000,2714.000,2720.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.387,9.137,18.565,0.000
$MEM,312016
$DATA_FILE_SIZE,16741,499
$CAP_FILE_SIZE,133481,0
$CFSIZE,1024409600,1020215296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.054,268.99,1
$GPS,210716,194233,4743.850,-12223.955,1,1.5,3,15.9,0.0,0.0,6,7.9