version: 66.13
glider: 220
mission: 6
dive: 10
start: 8 25 116 7 14 14
data:
$ID,220
$MISSION,6
$DIVE,10
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,640
$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,180
$T_MISSION,210
$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,2930
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2970
$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,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
$GPS1,250816,070250,958.6326,-12503.5449,30,0.9,30,9.0,0.7,152.5,9,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.25
$_SM_ANGLEo,-69.6
$GPS2,250816,071356,958.6154,-12503.4473,3,0.9,4,9.0,0.4,120.4,9,8.1
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,146.9,33389,-18.2,-10.000,-20.96,2236
$D_GRID,540
$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,15,-1.09,-146.0,195,2963,591,508,0.0,0.0,0,111,0.00,0.00,-93.35,0.000,16386,0.000,0.000,194,2963,3470,3460,3480,0,0,0,0,0,0,14.76,28.83,14.75
$GC,113,-1.09,-146.0,203,2963,3461,3481,4.4,-8.3,6,130,10.95,1.70,-1.12,0.000,18724,0.392,2.174,2573,3823,3555,3553,3557,0,0,0,0,0,0,14.37,13.66,14.62
$GC,235,-0.94,-146.0,2567,3823,3554,3556,59.8,-28.8,30,241,0.17,1.38,0.00,0.000,3206,0.263,0.044,2620,2985,3555,3553,3557,0,0,0,0,0,0,14.49,14.65,14.66
$GC,551,-0.89,-146.0,2621,2986,3555,3556,107.6,-10.4,51,557,0.00,1.52,0.00,0.000,388,0.000,0.103,2614,3842,3556,3555,3557,0,0,0,0,0,0,14.91,14.66,14.92
$GC,780,-0.84,-146.0,2615,3842,3555,3558,132.4,-12.2,97,788,0.12,1.38,0.00,0.000,3206,0.230,0.046,2652,3003,3555,3554,3557,0,0,0,0,0,0,14.62,14.78,14.75
$GC,1093,-0.84,-146.0,2653,3003,3556,3558,163.1,-9.6,109,1100,0.00,1.50,0.00,0.000,292,0.000,0.104,2646,3820,3555,3555,3556,0,0,0,0,0,0,14.99,14.73,15.02
$GC,1133,-0.84,-146.0,2647,3821,3556,3556,167.3,-10.4,117,1141,0.00,1.35,0.00,0.000,1030,0.000,0.047,2646,2997,3555,3554,3556,0,0,0,0,0,0,14.84,14.81,14.85
$GC,1455,-0.84,-146.0,2646,2999,3555,3551,199.6,-10.0,131,1462,0.00,2.28,0.00,0.000,516,0.000,0.047,2646,1589,3552,3554,3551,0,0,0,0,0,0,15.00,14.79,15.01
$GC,1556,-0.84,-146.0,2646,1590,3556,3550,209.4,-9.2,151,1562,0.00,2.40,0.00,0.000,1062,0.000,0.076,2635,2994,3552,3554,3550,0,0,0,0,0,0,14.87,14.76,14.89
$GC,1877,-0.84,-146.0,2639,2998,3556,3545,240.3,-9.6,165,1884,0.00,2.28,0.00,0.000,548,0.000,0.047,2636,1603,3549,3553,3545,0,0,0,0,0,0,15.02,14.81,15.02
$GC,1983,-0.84,-146.0,2636,1602,3555,3545,250.6,-9.6,186,1990,0.12,2.40,0.00,0.000,3110,0.245,0.078,2662,3003,3548,3554,3543,0,0,0,0,0,0,14.70,14.78,14.85
$GC,2300,-0.85,-146.0,2663,3001,3554,3538,277.6,-8.5,199,2306,0.00,2.30,0.00,0.000,676,0.000,0.049,2662,1599,3545,3554,3536,0,0,0,0,0,0,15.02,14.81,15.02
$GC,2395,-0.87,-146.0,2663,1599,3555,3536,285.7,-8.5,218,2402,0.00,2.42,0.00,0.000,1190,0.000,0.078,2653,3013,3544,3554,3535,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2721,-0.87,-146.0,2653,3014,3556,3530,315.8,-9.5,233,2728,0.00,2.33,0.00,0.000,548,0.000,0.050,2652,1596,3542,3554,3530,0,0,0,0,0,0,15.00,14.82,15.03
$GC,2797,-0.88,-146.0,2653,1596,3555,3530,323.1,-9.5,248,2804,0.00,2.40,0.00,0.000,1190,0.000,0.080,2643,3000,3541,3554,3529,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3113,-0.88,-146.0,2643,2999,3555,3524,355.3,-10.3,261,3120,0.00,2.30,0.00,0.000,516,0.000,0.050,2643,1602,3536,3549,3524,0,0,0,0,0,0,15.02,14.82,15.02
$GC,3219,-0.88,-146.0,2643,1602,3555,3525,366.3,-10.2,282,3226,0.00,2.45,0.00,0.000,1030,0.000,0.080,2632,3024,3538,3554,3523,0,0,0,0,0,0,14.89,14.77,14.90
$GC,3535,-0.88,-146.0,2633,3024,3555,3526,399.8,-10.5,295,3541,0.00,2.35,0.00,0.000,516,0.000,0.050,2631,1599,3536,3554,3519,0,0,0,0,0,0,15.02,14.81,15.02
$GC,3650,-0.88,-146.0,2632,1598,3554,3518,411.8,-10.3,318,3658,0.00,2.45,0.00,0.000,1030,0.000,0.080,2622,2997,3535,3554,3517,0,0,0,0,0,0,14.83,14.76,14.86
$GC,3956,-0.88,-146.0,2622,2998,3555,3514,444.4,-10.6,329,3963,0.00,2.30,0.00,0.000,516,0.000,0.051,2621,1600,3534,3554,3514,0,0,0,0,0,0,15.02,14.81,15.02
$GC,4041,-0.88,-146.0,2622,1603,3555,3511,453.5,-10.4,346,4050,0.08,2.45,0.00,0.000,3078,0.254,0.080,2634,3000,3533,3554,3513,0,0,0,0,0,0,14.66,14.76,14.79
$GC,4347,-0.88,-146.0,2634,3000,3555,3510,483.9,-10.0,357,4355,0.00,2.33,0.00,0.000,548,0.000,0.051,2634,1591,3531,3554,3508,0,0,0,0,0,0,15.02,14.81,15.01
$GC,4403,-0.88,-146.0,2634,1591,3554,3509,489.5,-9.6,368,4412,0.00,2.47,0.00,0.000,1062,0.000,0.080,2624,3005,3531,3554,3508,0,0,0,0,0,0,14.83,14.76,14.85
$GC,4709,-0.88,-146.0,2625,3006,3555,3505,520.0,-10.0,379,4723,0.00,2.33,0.00,0.000,548,0.000,0.051,2624,1603,3529,3554,3505,0,0,0,0,0,0,15.02,14.81,15.02
$GC,4766,-0.88,-146.0,2625,1602,3553,3503,525.7,-9.8,389,4780,0.10,2.40,0.00,0.000,3110,0.271,0.082,2642,3002,3528,3553,3503,0,0,0,0,0,0,14.69,14.78,14.86
$STATE,4933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4934,begin apogee
$GC,4936,-0.25,0.0,2638,2855,3554,3503,540.9,-9.0,396,5081,0.68,0.00,130.02,2.335,10246,0.201,0.000,2844,2854,2973,3015,2932,0,0,0,0,1,0,14.71,13.97,13.12
$STATE,5083,end apogee,CONTROL_FINISHED_OK
$STATE,5083,begin climb
$GC,5084,1.09,146.0,2845,2855,3017,2939,544.1,0.0,400,5242,1.33,1.90,140.55,1.513,10500,0.122,0.104,3261,3824,2383,2448,2318,0,0,0,0,0,0,14.06,14.01,13.52
$GC,5276,0.98,146.0,3262,3825,2443,2308,528.5,15.7,437,5289,0.00,1.65,0.00,0.000,1158,0.000,0.052,3269,2848,2374,2442,2306,0,0,0,0,0,0,14.34,14.28,14.35
$GC,5609,0.89,146.0,3269,2850,2435,2298,478.8,14.5,452,5616,0.15,2.35,0.00,0.000,4740,0.292,0.054,3235,1448,2370,2442,2298,0,0,0,0,0,0,14.48,14.59,14.62
$GC,5839,0.83,146.0,3234,1448,2440,2294,449.8,12.4,498,5847,0.12,2.45,0.00,0.000,5254,0.278,0.073,3201,2860,2367,2441,2293,0,0,0,0,0,0,14.54,14.64,14.73
$GC,6151,0.79,146.0,3201,2858,2443,2291,413.6,11.6,510,6157,0.00,1.70,0.00,0.000,388,0.000,0.107,3200,3824,2369,2445,2293,0,0,0,0,0,0,14.91,14.67,14.91
$GC,6356,0.72,146.0,3201,3824,2443,2294,387.1,12.8,551,6365,0.12,1.65,0.00,0.000,5254,0.259,0.054,3173,2849,2367,2442,2292,0,0,0,0,0,0,14.59,14.74,14.73
$GC,6662,0.70,146.0,3174,2849,2443,2290,355.5,10.4,562,6668,0.00,2.33,0.00,0.000,644,0.000,0.057,3184,1443,2365,2442,2288,0,0,0,0,0,0,14.95,14.74,14.95
$GC,6687,0.68,146.0,3184,1443,2443,2289,352.9,10.0,567,6696,0.08,2.47,0.00,0.000,5254,0.224,0.074,3152,2851,2364,2441,2288,0,0,0,0,0,0,14.64,14.71,14.81
$GC,6993,0.69,154.5,3153,2852,2443,2286,323.7,9.6,578,7000,0.00,1.73,1.38,0.240,8484,0.000,0.106,3152,3828,2353,2433,2273,0,0,0,0,0,0,14.96,14.71,14.68
$GC,7094,0.66,154.5,3152,3829,2435,2288,313.0,10.3,598,7101,0.00,1.65,1.30,0.210,9350,0.000,0.054,3159,2855,2350,2423,2278,0,0,0,0,0,0,14.81,14.76,14.67
$GC,7415,0.67,159.4,3160,2856,2425,2295,281.5,9.8,612,7427,0.00,2.40,3.33,0.940,8740,0.000,0.057,3170,1442,2337,2403,2272,0,0,0,0,0,0,14.96,14.73,13.96
$GC,7651,0.70,180.4,3170,1444,2413,2286,259.6,9.0,659,7690,0.00,2.47,28.10,1.351,9254,0.000,0.074,3170,2848,2239,2310,2169,0,0,0,0,0,0,14.78,14.71,14.04
$GC,7987,0.71,188.0,3170,2848,2310,2158,226.8,9.7,676,7994,0.00,1.83,1.62,0.230,8484,0.000,0.109,3170,3835,2218,2294,2142,0,0,0,0,0,0,14.88,14.63,14.59
$GC,8192,0.68,188.0,3170,3831,2295,2162,204.3,11.4,717,8202,0.00,1.67,0.00,0.000,1158,0.000,0.054,3178,2847,2228,2295,2162,0,0,0,0,0,0,14.76,14.73,14.77
$GC,8498,0.67,188.0,3178,2848,2296,2161,171.6,10.9,728,8505,0.08,1.77,0.00,0.000,4484,0.290,0.103,3151,3836,2227,2294,2161,0,0,0,0,0,0,14.62,14.67,14.73
$GC,8683,0.67,188.0,3152,3836,2295,2162,151.7,10.4,765,8691,0.00,1.67,0.00,0.000,1030,0.000,0.054,3159,2847,2227,2294,2161,0,0,0,0,0,0,14.77,14.73,14.79
$GC,9010,0.69,199.7,3159,2846,2300,2162,120.5,9.5,780,9032,0.00,2.33,16.00,1.217,8740,0.000,0.055,3167,1452,2167,2239,2095,0,0,0,0,0,0,14.94,14.59,14.14
$GC,9186,0.73,223.0,3168,1452,2235,2082,103.7,8.9,815,9213,0.00,2.47,20.50,1.177,9382,0.000,0.074,3167,2871,2081,2155,2008,0,0,0,0,0,0,14.75,14.65,14.12
$GC,9523,0.84,293.8,3168,2871,2144,1985,75.7,6.7,841,9559,0.00,0.00,32.38,0.405,8614,0.000,0.000,3168,2871,1798,1871,1726,0,0,0,0,0,0,14.85,14.64,14.39
$GC,9869,1.04,403.5,3168,2871,1873,1737,57.7,5.0,870,9933,0.20,2.42,54.80,0.350,10916,0.093,0.055,3272,1450,1363,1433,1294,0,0,0,0,0,0,14.67,14.57,14.39
$GC,10128,1.16,469.3,3274,1450,1436,1297,35.7,7.0,921,10169,0.00,2.45,32.90,0.279,9382,0.000,0.072,3273,2862,1099,1177,1022,0,0,0,0,0,0,14.70,14.60,14.45
$GC,10474,1.27,510.3,3273,2862,1182,1032,9.8,8.1,950,10501,0.10,1.73,20.42,0.193,10660,0.128,0.101,3340,3833,936,1017,855,0,0,0,0,0,0,14.69,14.60,14.54
$STATE,10550,end climb,SURFACE_DEPTH_REACHED
$STATE,10550,begin surface coast
$FINISH,1.0,1.020461
$STATE,10554,end surface coast,CONTROL_FINISHED_OK
$STATE,10554,begin surface
$SM_CCo,10579,47.67,0.158,0,0,538,610.16
$SM_GC,-1.37,9.38,1.42,47.67,0.100,0.050,0.158,201,2984,538,-8.48,1.07,610.16,0,0,0,0,0,0,14.67,14.72,14.58
$IRIDIUM_FIX,953.88,-12500.96,250816,043254
$TT8_MAMPS,0.038948,0.316078
$HUMID,53.15
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,23.20
$XPDR_PINGS,1
$SC_FREEKB,3906560
$PM_FREEKB,62175744
$TM_FREEKB,7755392
$24V_AH,13.12,8.737
$10V_AH,13.19,0.000
$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,23.775,96.200,483.300,47.675,0.000,0.000,0.000,433.850,0.250,0.000,5.520,0.000,7735.347,665.346,2831.665,61.741,0.000,1989.594,0.000,1681.516,0.000,0.547,0.000
$DEVICE_MAMPS,392.445,2174.130,2334.780,158.355,0.000,0.000,0.000,204.255,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10608.000,10548.000,9714.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.764,3.069,11.541,0.000
$MEM,334728
$DATA_FILE_SIZE,33358,966
$CAP_FILE_SIZE,121647,0
$CFSIZE,1024409600,1018527744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.142,204.41,1
$GPS,250816,101225,957.669,-12503.661,33,0.6,33,9.0,0.5,37.0,12,2.8