version: 66.13
glider: 220
mission: 6
dive: 12
start: 8 25 116 13 35 33
data:
$ID,220
$MISSION,6
$DIVE,12
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,250816,132226,956.7464,-12503.5479,6,1.3,8,9.0,0.1,0.0,7,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.33
$_SM_ANGLEo,-70.1
$GPS2,250816,133515,956.7089,-12503.5322,2,1.4,4,9.0,0.2,0.0,7,6.6
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,143.4,29962,-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,14,begin dive
$GC,15,-1.09,-146.0,191,3016,597,504,0.0,0.0,0,111,0.00,0.00,-93.25,0.000,16386,0.000,0.000,190,3019,3461,3450,3472,0,0,0,0,0,0,14.73,28.83,14.73
$GC,113,-1.09,-146.0,191,3019,3451,3470,4.1,-8.0,6,130,10.93,1.58,-1.25,0.000,18724,0.392,2.174,2564,3816,3555,3553,3558,0,0,0,0,0,0,14.36,13.69,14.61
$GC,209,-0.93,-146.0,2565,3818,3555,3558,50.3,-28.9,25,217,0.22,1.35,0.00,0.000,3206,0.265,0.043,2624,2994,3555,3553,3558,0,0,0,0,0,0,14.45,14.63,14.59
$GC,522,-0.87,-146.0,2626,2994,3555,3559,99.9,-11.0,47,528,0.00,1.52,0.00,0.000,388,0.000,0.105,2618,3821,3556,3555,3558,0,0,0,0,0,0,14.90,14.65,14.90
$GC,751,-0.83,-146.0,2619,3820,3556,3558,124.5,-12.0,93,759,0.12,1.35,0.00,0.000,3206,0.220,0.046,2656,3000,3556,3555,3558,0,0,0,0,0,0,14.64,14.77,14.73
$GC,1064,-0.83,-146.0,2656,3001,3556,3558,151.6,-8.7,105,1071,0.00,2.28,0.00,0.000,548,0.000,0.046,2656,1590,3556,3555,3557,0,0,0,0,0,0,14.97,14.78,14.97
$GC,1120,-0.83,-146.0,2657,1589,3556,3558,156.5,-8.7,116,1128,0.00,2.42,0.00,0.000,1062,0.000,0.075,2646,2988,3556,3555,3557,0,0,0,0,0,0,14.81,14.74,14.83
$GC,1425,-0.83,-146.0,2646,2989,3553,3552,184.9,-9.4,127,1432,0.00,2.28,0.00,0.000,548,0.000,0.047,2646,1597,3553,3554,3552,0,0,0,0,0,0,15.00,14.80,14.97
$GC,1510,-0.83,-146.0,2646,1597,3556,3551,193.1,-9.5,144,1519,0.08,2.45,0.00,0.000,3110,0.237,0.077,2658,3005,3553,3555,3551,0,0,0,0,0,0,14.69,14.76,14.81
$GC,1816,-0.83,-146.0,2659,3008,3555,3548,220.6,-9.1,155,1822,0.00,2.30,0.00,0.000,548,0.000,0.048,2659,1600,3550,3554,3547,0,0,0,0,0,0,15.01,14.81,15.04
$GC,1901,-0.84,-146.0,2659,1600,3555,3546,228.4,-9.0,172,1909,0.00,2.42,0.00,0.000,1190,0.000,0.078,2649,3005,3550,3555,3545,0,0,0,0,0,0,14.87,14.76,14.88
$GC,2207,-0.84,-146.0,2649,3006,3556,3541,257.1,-9.5,183,2213,0.00,2.33,0.00,0.000,548,0.000,0.049,2649,1591,3548,3556,3540,0,0,0,0,0,0,15.02,14.81,15.02
$GC,2328,-0.84,-146.0,2649,1594,3556,3538,268.5,-9.3,207,2335,0.00,2.40,0.00,0.000,1062,0.000,0.079,2638,3000,3547,3554,3540,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2659,-0.84,-146.0,2639,3000,3555,3534,301.7,-10.1,223,2665,0.00,2.30,0.00,0.000,516,0.000,0.050,2638,1600,3543,3555,3532,0,0,0,0,0,0,15.02,14.82,15.03
$GC,2759,-0.84,-146.0,2638,1601,3555,3530,311.9,-10.1,243,2766,0.10,2.42,0.00,0.000,3078,0.258,0.080,2657,3009,3542,3555,3530,0,0,0,0,0,0,14.71,14.78,14.86
$GC,3081,-0.85,-146.0,2658,3010,3555,3526,342.6,-9.7,257,3088,0.00,2.33,0.00,0.000,676,0.000,0.050,2657,1598,3540,3555,3526,0,0,0,0,0,0,15.04,14.82,15.02
$GC,3187,-0.87,-146.0,2658,1598,3556,3524,353.0,-9.7,278,3193,0.00,2.40,0.00,0.000,1190,0.000,0.080,2649,3000,3539,3554,3524,0,0,0,0,0,0,14.88,14.78,14.90
$GC,3503,-0.87,-146.0,2648,3001,3550,3520,384.8,-10.0,291,3509,0.00,2.33,0.00,0.000,516,0.000,0.051,2648,1589,3537,3554,3520,0,0,0,0,0,0,15.02,14.82,15.02
$GC,3613,-0.88,-146.0,2649,1590,3555,3519,395.9,-9.9,313,3621,0.00,2.45,0.00,0.000,1190,0.000,0.080,2638,3005,3536,3554,3519,0,0,0,0,0,0,14.89,14.78,14.90
$GC,3925,-0.88,-146.0,2639,3006,3555,3516,427.8,-10.2,325,3933,0.00,2.35,0.00,0.000,516,0.000,0.052,2637,1592,3534,3554,3515,0,0,0,0,0,0,15.01,14.80,15.01
$GC,3996,-0.88,-146.0,2640,1592,3555,3515,435.0,-9.9,339,4003,0.00,2.42,0.00,0.000,1062,0.000,0.080,2627,3002,3533,3553,3513,0,0,0,0,0,0,14.88,14.76,14.89
$GC,4317,-0.88,-146.0,2628,3001,3555,3511,468.3,-10.3,353,4325,0.00,2.33,0.00,0.000,516,0.000,0.052,2627,1591,3532,3555,3510,0,0,0,0,0,0,15.02,14.81,15.01
$GC,4413,-0.88,-146.0,2627,1592,3555,3509,478.1,-9.9,372,4420,0.00,2.42,0.00,0.000,1062,0.000,0.081,2617,3001,3531,3554,3508,0,0,0,0,0,0,14.88,14.77,14.88
$GC,4740,-0.87,-146.0,2617,3001,3556,3507,512.0,-10.3,387,4753,0.08,2.30,0.00,0.000,2692,0.294,0.050,2644,1602,3529,3554,3505,0,0,0,0,0,0,14.71,14.81,14.83
$GC,4847,-0.88,-146.0,2644,1601,3555,3504,522.2,-9.1,407,4860,0.00,2.42,0.00,0.000,1190,0.000,0.082,2634,3006,3529,3554,3504,0,0,0,0,0,0,14.89,14.77,14.90
$STATE,5054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5054,begin apogee
$GC,5057,-0.25,0.0,2634,2851,3554,3502,542.0,-9.6,417,5191,0.70,0.00,118.82,2.450,10246,0.204,0.000,2843,2850,2973,3016,2931,0,0,0,0,1,0,14.73,13.97,13.12
$STATE,5192,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5193,1.09,146.0,2844,2848,3016,2934,545.7,0.0,421,5351,1.33,1.92,139.98,1.463,10500,0.119,0.106,3263,3829,2385,2452,2318,0,0,0,0,0,0,14.05,14.01,13.51
$GC,5390,0.98,146.0,3263,3829,2443,2309,529.7,15.6,459,5403,0.00,1.67,0.00,0.000,1158,0.000,0.054,3270,2848,2374,2442,2307,0,0,0,0,0,0,14.34,14.29,14.36
$GC,5717,0.89,146.0,3271,2847,2443,2300,481.7,14.4,473,5724,0.15,2.35,0.00,0.000,4740,0.294,0.057,3235,1447,2370,2442,2298,0,0,0,0,0,0,14.48,14.59,14.60
$GC,5948,0.83,146.0,3235,1448,2443,2294,453.3,11.8,519,5955,0.12,2.45,0.00,0.000,5254,0.285,0.076,3202,2853,2368,2442,2294,0,0,0,0,0,0,14.54,14.63,14.71
$GC,6260,0.79,146.0,3202,2854,2443,2293,417.2,11.5,531,6266,0.00,1.73,0.00,0.000,388,0.000,0.109,3201,3827,2367,2442,2293,0,0,0,0,0,0,14.90,14.67,14.91
$GC,6434,0.72,146.0,3202,3827,2443,2294,395.0,12.6,566,6444,0.15,1.67,0.00,0.000,5254,0.252,0.056,3168,2845,2373,2453,2293,0,0,0,0,0,0,14.60,14.74,14.73
$GC,6740,0.70,146.0,3169,2845,2443,2291,364.0,10.1,577,6747,0.00,1.77,0.00,0.000,388,0.000,0.109,3167,3825,2366,2442,2290,0,0,0,0,0,0,14.95,14.70,14.95
$GC,6960,0.67,146.0,3168,3825,2442,2290,339.2,11.4,621,6968,0.10,1.65,0.00,0.000,5254,0.259,0.057,3148,2852,2366,2442,2290,0,0,0,0,0,0,14.63,14.76,14.74
$GC,7282,0.68,157.0,3148,2853,2443,2288,308.9,9.5,635,7289,0.00,1.83,2.28,0.492,8484,0.000,0.111,3147,3825,2345,2419,2271,0,0,0,0,0,0,14.97,14.71,13.93
$GC,7494,0.66,157.0,3147,3826,2422,2292,287.3,10.1,677,7505,0.00,1.62,2.38,0.545,9350,0.000,0.058,3153,2840,2343,2411,2276,0,0,0,0,0,0,14.84,14.78,13.97
$GC,7825,0.69,183.9,3155,2841,2420,2292,257.1,8.8,693,7863,0.00,1.80,31.33,1.348,8996,0.000,0.109,3155,3823,2230,2300,2160,0,0,0,0,0,0,14.96,14.51,14.06
$GC,8042,0.68,183.9,3156,3823,2296,2151,235.1,10.4,736,8048,0.00,1.67,0.00,0.000,1158,0.000,0.055,3163,2843,2225,2295,2156,0,0,0,0,0,0,14.70,14.66,14.71
$GC,8368,0.69,194.1,3163,2844,2296,2147,204.1,9.5,751,8379,0.00,1.85,2.85,0.744,8484,0.000,0.111,3161,3824,2200,2271,2130,0,0,0,0,0,0,14.90,14.65,13.98
$GC,8543,0.67,194.1,3163,3825,2278,2144,185.1,10.8,786,8552,0.00,1.65,1.77,0.201,9350,0.000,0.055,3170,2849,2199,2271,2128,0,0,0,0,0,0,14.76,14.73,14.62
$GC,8849,0.67,194.7,3171,2849,2277,2146,154.0,10.0,797,8860,0.00,1.85,2.50,0.583,8996,0.000,0.112,3170,3834,2195,2263,2127,0,0,0,0,0,0,14.92,14.66,14.01
$GC,9084,0.66,194.7,3171,3835,2273,2140,127.9,11.5,844,9093,0.10,1.65,1.85,0.196,13446,0.246,0.054,3149,2855,2192,2263,2121,0,0,0,0,0,0,14.63,14.76,14.65
$GC,9390,0.71,227.9,3150,2855,2273,2141,102.6,8.5,855,9436,0.00,2.42,37.38,1.130,8868,0.000,0.058,3159,1448,2049,2124,1975,0,0,0,0,0,0,14.94,14.51,14.11
$GC,9650,0.89,346.9,3159,1451,2122,1962,84.5,4.5,907,9714,0.12,2.45,55.80,0.435,11430,0.116,0.073,3225,2862,1586,1656,1516,0,0,0,0,0,0,14.64,14.60,14.30
$GC,10024,0.98,391.0,3224,2863,1657,1523,54.9,8.0,941,10057,0.00,1.80,22.38,0.340,8612,0.000,0.110,3224,3823,1413,1483,1343,0,0,0,0,0,0,14.84,14.56,14.43
$GC,10196,1.16,497.1,3224,3827,1488,1350,43.1,5.1,975,10255,0.15,1.67,52.28,0.304,11430,0.074,0.054,3298,2848,988,1069,907,0,0,0,0,0,0,14.65,14.66,14.40
$GC,10552,1.23,523.2,3303,2848,1076,920,11.1,8.8,1006,10570,0.00,1.85,13.27,0.203,8612,0.000,0.106,3303,3833,888,969,808,0,0,0,0,0,0,14.85,14.59,14.54
$GC,10594,1.27,523.5,3302,3834,968,805,7.0,10.0,1014,10602,0.00,1.67,0.00,0.000,1190,0.000,0.052,3309,2842,890,971,809,0,0,0,0,0,0,14.71,14.66,14.71
$STATE,10658,end climb,SURFACE_DEPTH_REACHED
$STATE,10658,begin surface coast
$FINISH,-0.7,1.020481
$STATE,10674,end surface coast,CONTROL_FINISHED_OK
$STATE,10674,begin surface
$SM_CCo,10696,42.00,0.158,0,0,537,610.16
$SM_GC,-1.23,9.05,0.30,42.00,0.078,0.101,0.158,196,3010,537,-8.49,-0.62,610.16,0,0,0,0,0,0,14.66,14.68,14.58
$IRIDIUM_FIX,953.88,-12500.96,250816,101702
$TT8_MAMPS,0.036701,0.467376
$HUMID,53.11
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,22.10
$XPDR_PINGS,0
$SC_FREEKB,3905792
$PM_FREEKB,62118144
$TM_FREEKB,7724544
$24V_AH,13.12,9.330
$10V_AH,13.22,0.000
$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,23.500,94.725,484.850,42.000,0.000,0.000,0.000,499.925,0.000,0.000,6.163,0.000,7758.849,657.303,3022.462,65.277,0.000,2083.436,0.000,1761.973,0.000,0.547,0.000
$DEVICE_MAMPS,392.445,2174.130,2449.530,158.355,0.000,0.000,0.000,208.080,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10736.000,10668.000,9864.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.756,3.075,11.506,0.000
$MEM,334708
$DATA_FILE_SIZE,36717,1020
$CAP_FILE_SIZE,127175,0
$CFSIZE,1024409600,1018068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.144,204.81,1
$GPS,250816,163531,955.715,-12503.582,28,0.7,28,9.0,0.4,12.8,11,3.7