version: 66.13
glider: 220
mission: 6
dive: 3
start: 8 24 116 17 35 29
data:
$ID,220
$MISSION,6
$DIVE,3
$N_DIVES,3
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,135
$D_ABORT,160
$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,45
$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,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,0.0038000001
$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,609.96155
$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,3000
$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,54
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2800
$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,-168.7365
$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,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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,240816,172554,1003.2976,-12503.0215,1,1.1,2,9.0,0.2,114.8,8,9.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-71.6
$GPS2,240816,173511,1003.3375,-12502.9648,2,1.1,3,9.0,0.1,0.0,8,6.7
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,157.2,41887,-18.2,-10.000,-20.96,2236
$D_GRID,135
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.09,-146.0,188,2714,554,457,0.0,0.0,0,103,0.00,0.00,-84.97,0.000,16386,0.000,0.000,185,2714,3005,2993,3018,0,0,0,0,0,0,15.04,28.83,15.04
$GC,104,-1.09,-146.0,187,2715,2994,3018,3.0,-7.1,14,131,10.50,2.10,-6.68,0.000,18724,0.360,2.115,2632,3804,3381,3389,3374,0,0,0,0,0,0,14.59,13.77,14.85
$GC,236,-0.92,-146.0,2632,3798,3394,3372,44.0,-28.2,39,245,0.22,1.75,0.00,0.000,3206,0.241,0.038,2696,2675,3383,3393,3373,0,0,0,0,0,0,14.66,14.82,14.83
$GC,305,-0.85,-146.0,2697,2675,3394,3375,58.9,-18.3,52,312,0.00,2.00,0.00,0.000,388,0.000,0.096,2683,3809,3383,3393,3373,0,0,0,0,0,0,15.02,14.76,15.02
$GC,342,-0.78,-146.0,2688,3809,3394,3375,65.4,-17.4,59,351,0.20,1.75,0.00,0.000,3206,0.222,0.039,2748,2685,3383,3393,3373,0,0,0,0,0,0,14.70,14.86,14.86
$GC,470,-0.80,-146.0,2748,2685,3393,3374,79.3,-9.0,84,478,0.00,1.98,0.00,0.000,420,0.000,0.097,2739,3805,3382,3393,3371,0,0,0,0,0,0,15.05,14.79,15.05
$GC,683,-0.83,-146.0,2739,3806,3394,3373,91.5,-3.1,126,690,0.00,1.75,0.00,0.000,1190,0.000,0.040,2739,2696,3383,3393,3373,0,0,0,0,0,0,14.92,14.89,14.92
$GC,810,-0.87,-146.0,2740,2696,3394,3379,100.1,-5.8,151,818,0.00,2.22,0.00,0.000,676,0.000,0.051,2738,1322,3383,3393,3374,0,0,0,0,0,0,15.05,14.86,15.07
$GC,867,-0.93,-146.0,2739,1323,3395,3375,103.8,-6.7,162,875,0.00,2.28,0.00,0.000,1190,0.000,0.063,2734,2692,3383,3393,3373,0,0,0,0,0,0,14.94,14.84,14.95
$GC,995,-0.97,-146.0,2731,2692,3394,3374,110.3,-4.7,187,1003,0.08,2.22,0.00,0.000,4772,0.154,0.048,2663,1326,3383,3393,3373,0,0,0,0,0,0,14.90,14.86,14.92
$GC,1033,-0.95,-146.0,2663,1327,3394,3373,112.4,-5.7,194,1041,0.10,2.30,0.00,0.000,3238,0.249,0.064,2689,2704,3384,3396,3373,0,0,0,0,0,0,14.75,14.85,14.91
$GC,1160,-0.95,-146.0,2687,2705,3395,3372,118.0,-6.4,219,1168,0.00,1.95,0.00,0.000,292,0.000,0.099,2678,3827,3382,3393,3372,0,0,0,0,0,0,15.08,14.82,15.08
$STATE,1376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1377,begin apogee
$GC,1381,-0.25,0.0,2679,2084,3394,3367,135.4,-8.0,262,1490,0.75,0.00,102.32,1.007,10246,0.177,0.000,2916,2076,2796,2854,2739,0,0,0,0,0,0,14.76,14.52,14.05
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1493,1.09,146.0,2917,2078,2856,2736,136.7,0.0,280,1610,1.23,0.00,101.65,0.972,10758,0.090,0.000,3338,2077,2210,2287,2134,0,0,0,0,0,0,14.53,14.42,13.96
$GC,1729,0.94,146.0,3336,2078,2286,2123,104.9,16.5,320,1737,0.08,2.42,0.00,0.000,4484,0.301,0.085,3313,3461,2204,2285,2123,0,0,0,0,0,0,14.54,14.62,14.67
$GC,1962,0.81,161.7,3313,3461,2286,2120,73.6,9.3,366,1976,0.22,2.33,5.15,0.329,13478,0.261,0.044,3263,2030,2163,2238,2089,0,0,0,0,0,0,14.63,14.79,14.53
$GC,2096,0.93,283.1,3263,2030,2240,2103,65.5,4.4,392,2164,0.05,0.00,60.05,0.349,10918,0.213,0.000,3300,2026,1675,1758,1592,0,0,0,0,0,0,14.79,14.75,14.50
$GC,2284,0.99,338.0,3300,2027,1759,1597,52.4,7.5,427,2321,0.00,2.53,28.45,0.314,8484,0.000,0.086,3299,3447,1456,1535,1377,0,0,0,0,0,0,14.98,14.69,14.54
$GC,2521,1.09,403.1,3300,3447,1536,1382,34.1,7.0,473,2561,0.08,2.28,33.20,0.259,11430,0.153,0.047,3364,2058,1196,1281,1112,0,0,0,0,0,0,14.81,14.78,14.59
$GC,2620,1.09,403.1,3365,2059,1280,1121,25.1,11.0,491,2628,0.00,2.40,0.00,0.000,516,0.000,0.077,3375,641,1200,1279,1121,0,0,0,0,0,0,14.98,14.72,14.98
$GC,2652,1.09,403.1,3375,642,1280,1121,21.5,11.1,497,2661,0.00,2.33,0.00,0.000,1030,0.000,0.051,3377,2052,1200,1279,1121,0,0,0,0,0,0,14.84,14.76,14.85
$GC,2720,1.09,403.1,3376,2052,1280,1122,13.8,11.4,510,2728,0.00,2.42,0.00,0.000,260,0.000,0.089,3375,3452,1199,1278,1121,0,0,0,0,0,0,15.00,14.73,15.00
$GC,2777,1.06,403.1,3376,3452,1280,1121,6.7,12.5,521,2786,0.15,2.30,0.00,0.000,5254,0.236,0.046,3341,2048,1200,1279,1121,0,0,0,0,0,0,14.69,14.80,14.84
$STATE,2820,end climb,SURFACE_DEPTH_REACHED
$STATE,2820,begin surface coast
$FINISH,0.3,1.020397
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2859,80.93,0.146,0,0,499,577.76
$SM_CCo,2941,-0.12,0.000,0,0,500,577.76
$SM_CCo,2943,0.15,0.886,0,0,497,577.76
$SM_GC,-0.88,9.18,1.12,0.15,0.094,0.070,0.886,202,2699,497,-8.69,-0.96,577.76,0,0,0,0,0,0,14.81,14.80,14.69
$IRIDIUM_FIX,1000.45,-12504.01,240816,173157
$TT8_MAMPS,0.035952,0.465878
$HUMID,47.71
$INTERNAL_PRESSURE,9.47302
$TCM_TEMP,22.90
$XPDR_PINGS,0
$SC_FREEKB,3909248
$PM_FREEKB,62313088
$TM_FREEKB,7831904
$24V_AH,13.77,7.105
$10V_AH,14.13,0.000
$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,22.825,45.300,330.825,81.075,0.000,0.000,0.000,0.000,0.000,0.000,5.104,0.000,1016.632,483.017,1482.645,20.717,0.000,999.878,0.000,1135.145,0.000,0.551,0.000
$DEVICE_MAMPS,360.315,2115.225,1006.740,885.870,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2820.000,2817.000,2828.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.757,3.131,11.552,0.000
$MEM,334800
$DATA_FILE_SIZE,16770,532
$CAP_FILE_SIZE,85761,0
$CFSIZE,1024409600,1019936768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,270.27,1
$GPS,240816,182531,1003.186,-12503.043,28,0.8,28,9.0,0.6,41.1,10,4.9