SPURS2 Aug16 * SG220 * Dive index * Mission links
version: 66.13
glider: 220
mission: 6
dive: 710
start: 2 20 117 9 19 19
data:
$ID,220
$MISSION,6
$DIVE,710
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$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,345
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$T_NO_W,120
$T_LOITER,0
$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,110
$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,18
$PITCH_AD_RATE,160
$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,68
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$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,3
$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,-168.7365
$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,3
$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,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,250.0
$TM_PROFILE,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,200217,090555,1017.0250,-12500.9150,34,0.8,34,9.0,0.9,317.4,12,3.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.22
$_SM_ANGLEo,-67.2
$GPS2,200217,091856,1017.0700,-12500.9824,3,0.7,4,9.0,0.3,355.8,12,4.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,200.1,46114,-17.5,-7.729,-24.20,2052
$D_GRID,800
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.93,-107.1,123,2782,1104,1018,0.0,0.0,0,102,0.00,0.00,-81.10,0.000,16390,0.000,0.000,117,2794,3477,3466,3488,0,0,0,0,0,0,14.57,12.65,14.49
$GC,106,-0.93,-107.1,118,2794,3467,3489,1.2,-9.4,3,123,12.00,2.45,0.00,0.000,2564,0.379,0.031,2589,1372,3478,3469,3488,0,0,0,0,0,0,13.81,14.33,14.22
$GC,247,-0.72,-107.1,2589,1372,3472,3487,40.2,-20.5,23,252,0.30,2.65,0.00,0.000,3206,0.253,0.101,2661,2745,3478,3470,3487,0,0,0,0,0,0,13.75,13.87,14.09
$GC,582,-0.72,-107.1,2661,2745,3474,3488,74.4,-7.6,38,583,0.00,0.00,0.00,0.000,38,0.000,0.000,2660,2745,3480,3474,3487,0,0,0,0,0,0,14.69,14.69,14.70
$GC,890,-0.72,-107.1,2661,2746,3476,3486,98.1,-7.0,49,895,0.00,2.42,0.00,0.000,548,0.000,0.041,2661,1377,3480,3475,3486,0,0,0,0,0,0,14.71,14.09,14.71
$GC,910,-0.72,-107.1,2661,1378,3477,3486,99.6,-7.4,52,916,0.00,2.72,0.00,0.000,1062,0.000,0.102,2651,2766,3479,3475,3484,0,0,0,0,0,0,14.11,13.82,14.16
$GC,1254,-0.72,-107.1,2652,2765,3475,3487,126.0,-8.1,59,1259,0.00,2.17,0.00,0.000,260,0.000,0.157,2643,3827,3480,3474,3486,0,0,0,0,0,0,14.73,13.83,14.73
$GC,1337,-0.72,-107.1,2644,3827,3475,3487,133.7,-9.2,71,1342,0.00,1.80,0.00,0.000,1030,0.000,0.059,2643,2777,3480,3475,3486,0,0,0,0,0,0,14.28,14.20,14.30
$GC,1702,-0.72,-107.1,2646,2778,3476,3481,166.3,-8.8,81,1708,0.00,2.47,0.00,0.000,516,0.000,0.039,2642,1372,3478,3475,3481,0,0,0,0,0,0,14.77,13.94,14.78
$GC,1799,-0.72,-107.1,2643,1373,3476,3479,174.0,-7.3,95,1804,0.12,2.72,0.00,0.000,3110,0.222,0.097,2669,2758,3477,3475,3479,0,0,0,0,0,0,13.75,13.76,14.00
$GC,2150,-0.72,-107.1,2669,2758,3475,3477,197.7,-6.8,103,2155,0.00,2.20,0.00,0.000,292,0.000,0.155,2661,3832,3475,3474,3476,0,0,0,0,0,0,14.73,13.78,14.73
$GC,2177,-0.72,-107.1,2661,3833,3476,3476,199.9,-7.9,107,2182,0.00,1.85,0.00,0.000,1030,0.000,0.058,2660,2763,3475,3475,3476,0,0,0,0,0,0,14.26,14.18,14.28
$GC,2542,-0.72,-107.1,2660,2762,3475,3471,226.6,-7.2,117,2548,0.00,2.47,0.00,0.000,548,0.000,0.040,2660,1367,3471,3474,3469,0,0,0,0,0,0,14.77,13.90,14.78
$GC,2618,-0.79,-107.1,2661,1368,3475,3470,232.3,-7.2,128,2623,0.00,2.72,0.00,0.000,1190,0.000,0.097,2652,2764,3472,3475,3469,0,0,0,0,0,0,14.07,13.76,14.12
$GC,2934,-0.79,-107.1,2652,2764,3475,3466,255.3,-7.2,138,2939,0.00,2.17,0.00,0.000,292,0.000,0.155,2644,3825,3469,3474,3465,0,0,0,0,0,0,14.78,13.78,14.77
$GC,3010,-0.79,-107.1,2644,3822,3476,3463,261.6,-8.3,149,3016,0.00,1.88,0.00,0.000,1030,0.000,0.060,2644,2763,3468,3474,3463,0,0,0,0,0,0,14.20,14.12,14.22
$GC,3326,-0.79,-107.1,2643,2765,3476,3460,289.7,-9.1,159,3331,0.00,2.50,0.00,0.000,516,0.000,0.042,2643,1362,3467,3474,3461,0,0,0,0,0,0,14.76,13.96,14.76
$GC,3402,-0.79,-107.1,2643,1364,3476,3460,297.0,-8.6,170,3407,0.00,2.75,0.00,0.000,1030,0.000,0.096,2635,2755,3467,3474,3460,0,0,0,0,0,0,14.06,13.78,14.12
$GC,3718,-0.79,-107.1,2635,2757,3476,3455,327.2,-9.6,180,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2755,3465,3475,3456,0,0,0,0,0,0,14.72,14.73,14.73
$GC,4054,-0.79,-107.1,2635,2757,3475,3452,357.0,-8.8,186,4059,0.00,2.55,0.00,0.000,516,0.000,0.041,2634,1356,3461,3471,3451,0,0,0,0,0,0,14.72,13.96,14.72
$GC,4110,-0.79,-107.1,2635,1356,3475,3453,362.3,-9.4,194,4115,0.00,2.80,0.00,0.000,1030,0.000,0.098,2625,2769,3462,3474,3451,0,0,0,0,0,0,14.05,13.76,14.11
$GC,4446,-0.79,-107.1,2626,2770,3475,3449,393.5,-9.3,207,4451,0.00,2.55,0.00,0.000,516,0.000,0.041,2625,1362,3461,3474,3449,0,0,0,0,0,0,14.76,13.93,14.76
$GC,4494,-0.79,-107.1,2625,1362,3475,3449,398.2,-9.1,214,4500,0.00,2.80,0.00,0.000,1030,0.000,0.098,2616,2760,3461,3474,3448,0,0,0,0,0,0,14.09,13.81,14.14
$GC,4838,-0.79,-107.1,2617,2767,3475,3446,428.5,-8.6,221,4844,0.00,2.20,0.00,0.000,260,0.000,0.155,2609,3834,3459,3474,3445,0,0,0,0,0,0,14.71,13.78,14.71
$GC,4865,-0.79,-107.1,2608,3835,3475,3444,431.2,-10.0,225,4871,0.10,1.98,0.00,0.000,3078,0.208,0.060,2644,2750,3459,3474,3444,0,0,0,0,0,0,13.57,14.02,13.87
$GC,5230,-0.79,-107.1,2644,2750,3475,3443,457.5,-7.0,235,5235,0.00,2.50,0.00,0.000,548,0.000,0.041,2644,1359,3457,3474,3441,0,0,0,0,0,0,14.71,13.93,14.71
$GC,5271,-0.79,-107.1,2647,1359,3474,3442,460.8,-7.0,241,5277,0.00,2.75,0.00,0.000,1062,0.000,0.095,2635,2761,3457,3474,3441,0,0,0,0,0,0,14.15,13.88,14.20
$GC,5622,-0.79,-107.1,2636,2764,3474,3439,487.0,-7.6,249,5628,0.00,2.58,0.00,0.000,548,0.000,0.042,2635,1353,3455,3473,3437,0,0,0,0,0,0,14.71,13.92,14.71
$GC,5642,-0.79,-107.1,2635,1354,3473,3439,488.7,-7.5,252,5647,0.00,2.78,0.00,0.000,1062,0.000,0.093,2625,2757,3455,3474,3437,0,0,0,0,0,0,14.16,13.89,14.21
$GC,5958,-0.79,-107.1,2626,2757,3474,3438,515.0,-8.5,262,5963,0.00,2.20,0.00,0.000,260,0.000,0.151,2617,3832,3455,3474,3436,0,0,0,0,0,0,14.70,13.82,14.71
$GC,5985,-0.79,-107.1,2617,3832,3476,3437,517.5,-9.0,266,5990,0.00,1.92,0.00,0.000,1030,0.000,0.063,2617,2753,3454,3473,3435,0,0,0,0,0,0,14.18,14.09,14.19
$GC,6350,-0.79,-107.1,2615,2753,3474,3433,550.9,-9.2,276,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2753,3453,3474,3432,0,0,0,0,0,0,14.75,14.75,14.75
$GC,6686,-0.79,-107.1,2616,2754,3475,3430,580.2,-8.5,282,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2753,3451,3473,3430,0,0,0,0,0,0,14.76,14.76,14.76
$GC,7022,-0.79,-107.1,2617,2753,3473,3429,606.1,-7.7,288,7027,0.00,2.53,0.00,0.000,548,0.000,0.041,2621,1360,3450,3472,3428,0,0,0,0,0,0,14.75,13.75,14.75
$GC,7049,-0.79,-107.1,2617,1361,3473,3429,608.4,-8.6,292,7054,0.12,2.75,0.00,0.000,3078,0.230,0.092,2642,2753,3450,3472,3428,0,0,0,0,0,0,13.74,13.78,14.00
$GC,7414,-0.79,-107.1,2641,2755,3473,3428,635.6,-7.7,302,7415,0.00,0.00,0.00,0.000,38,0.000,0.000,2642,2753,3449,3470,3428,0,0,0,0,0,0,14.74,14.74,14.74
$GC,7750,-0.79,-107.1,2643,2755,3471,3427,663.0,-8.3,308,7755,0.00,2.58,0.00,0.000,516,0.000,0.043,2642,1358,3448,3470,3426,0,0,0,0,0,0,14.74,13.83,14.75
$GC,7798,-0.88,-107.1,2643,1358,3471,3428,667.0,-8.2,315,7804,0.00,2.80,0.00,0.000,1158,0.000,0.093,2633,2757,3448,3470,3426,0,0,0,0,0,0,14.07,13.79,14.13
$GC,8142,-0.88,-107.1,2633,2757,3468,3427,696.4,-8.5,322,8147,0.00,2.58,0.00,0.000,516,0.000,0.041,2632,1359,3447,3468,3426,0,0,0,0,0,0,14.73,13.85,14.73
$GC,8176,-0.88,-107.1,2633,1358,3468,3427,699.4,-8.4,327,8181,0.00,2.78,0.00,0.000,1030,0.000,0.095,2624,2754,3446,3466,3426,0,0,0,0,0,0,14.10,13.80,14.13
$GC,8534,-0.88,-107.1,2623,2755,3467,3428,730.7,-8.8,336,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2754,3445,3466,3424,0,0,0,0,0,0,14.66,14.66,14.66
$GC,8870,-0.88,-107.1,2624,2754,3465,3425,759.8,-8.6,342,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2754,3444,3464,3424,0,0,0,0,0,0,14.66,14.66,14.65
$GC,9206,-0.88,-107.1,2622,2755,3465,3422,786.8,-8.0,348,9211,0.00,2.58,0.00,0.000,516,0.000,0.042,2622,1361,3442,3463,3421,0,0,0,0,0,0,14.66,13.80,14.66
$GC,9247,-0.88,-107.1,2622,1362,3462,3421,790.5,-8.6,354,9252,0.00,2.78,0.00,0.000,1030,0.000,0.096,2614,2749,3442,3464,3421,0,0,0,0,0,0,14.08,13.80,14.14
$STATE,9370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9370,begin apogee
$GC,9380,-0.23,0.0,2613,2210,3465,3420,801.4,-8.5,358,9488,0.75,0.12,100.12,2.525,10244,0.171,0.178,2824,2270,3051,3089,3013,0,0,0,0,1,0,13.72,13.75,12.62
$STATE,9489,end apogee,CONTROL_FINISHED_OK
$STATE,9490,begin climb
$GC,9494,0.93,107.1,2824,2271,3090,3021,805.3,0.0,360,9616,1.12,2.58,105.57,2.735,10756,0.081,0.051,3187,890,2623,2681,2565,0,0,0,0,1,0,13.74,13.79,12.47
$GC,9742,0.83,143.5,3188,887,2682,2576,800.9,5.9,396,9796,0.00,2.47,46.28,1.838,9382,0.000,0.070,3187,2243,2473,2544,2403,0,0,0,0,0,0,14.26,14.10,13.11
$GC,10111,0.70,143.5,3189,2244,2544,2388,770.3,8.8,413,10117,0.17,2.78,0.00,0.000,4484,0.230,0.138,3133,3652,2464,2542,2386,0,0,0,0,0,0,13.95,14.04,14.13
$GC,10145,0.60,143.5,3134,3650,2543,2389,767.2,8.1,418,10150,0.17,2.40,0.00,0.000,5254,0.213,0.054,3096,2264,2465,2543,2388,0,0,0,0,0,0,14.02,14.35,14.29
$GC,10503,0.66,185.3,3096,2261,2544,2384,746.4,5.6,427,10557,0.00,2.83,46.67,1.800,8484,0.000,0.141,3095,3659,2303,2385,2221,0,0,0,0,0,0,14.69,14.04,13.27
$GC,10607,0.66,190.0,3096,3660,2385,2216,739.4,7.5,442,10613,0.00,2.47,0.00,0.000,1062,0.000,0.052,3104,2258,2299,2385,2213,0,0,0,0,0,0,14.28,14.21,14.31
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$STATE,20197,end climb,SURFACE_DEPTH_REACHED
$STATE,20197,begin surface coast
$FINISH,1.4,1.022253
$STATE,20205,end surface coast,CONTROL_FINISHED_OK
$STATE,20206,begin surface
$SM_CCo,20231,59.38,0.158,0,0,1056,500.14
$SM_GC,-4.12,9.20,1.05,59.38,0.069,0.126,0.158,183,2768,1056,-8.41,-0.23,500.14,0,0,0,0,0,0,14.31,13.88,14.10
$IRIDIUM_FIX,1015.78,-12458.62,200217,032537
$TT8_MAMPS,0.035203,0.274883
$HUMID,56.06
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.40
$XPDR_PINGS,3
$SC_FREEKB,3637088
$PM_FREEKB,51711552
$24V_AH,12.47,242.256
$10V_AH,12.16,0.000
$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,24.825,206.400,470.200,59.375,0.000,0.000,0.000,379.125,0.750,0.000,5.454,0.000,17114.824,785.945,2430.415,720.823,0.000,1928.032,0.000,1513.428,0.000,0.839,0.000
$DEVICE_MAMPS,378.675,213.435,2734.875,158.355,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20273.000,20219.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.568,2.431,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,30057,842
$CAP_FILE_SIZE,157318,0
$CFSIZE,1024409600,901562368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.087,276.83,1
$GPS,200217,145830,1015.562,-12502.602,23,0.9,23,9.0,1.1,220.5,9,3.6