version: 66.13
glider: 220
mission: 6
dive: 18
start: 8 26 116 6 11 56
data:
$ID,220
$MISSION,6
$DIVE,18
$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,0.003
$HD_B,0.0099999998
$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,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,2960
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2950
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$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
$GPS1,260816,060020,949.4583,-12503.0439,30,0.8,30,9.0,0.1,0.0,11,3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.80
$_SM_ANGLEo,-68.8
$GPS2,260816,061137,949.4579,-12503.1201,3,0.8,4,9.0,0.4,175.5,12,3.3
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,126.6,16824,-17.6,-10.000,-21.24,2209
$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,14,-1.06,-146.0,189,2956,594,502,0.0,0.0,0,110,0.00,0.00,-92.30,0.000,16386,0.000,0.000,188,2957,3404,3387,3421,0,0,0,0,0,0,14.75,28.83,14.76
$GC,111,-1.06,-146.0,188,2958,3388,3420,3.5,-7.6,6,130,11.27,1.73,-2.08,0.000,18724,0.395,2.175,2607,3834,3552,3552,3553,0,0,0,0,0,0,14.39,13.74,14.56
$GC,139,-1.06,-146.0,2607,3836,3554,3564,21.4,-52.8,10,145,0.00,1.48,0.00,0.000,1030,0.000,0.037,2607,2913,3555,3553,3558,0,0,0,0,0,0,14.64,14.62,14.65
$GC,455,-1.06,-146.0,2607,2914,3556,3558,96.6,-14.3,33,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2912,3556,3555,3558,0,0,0,0,0,0,14.90,14.90,14.90
$GC,770,-1.06,-146.0,2608,2912,3557,3559,129.5,-10.2,45,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2912,3557,3556,3558,0,0,0,0,0,0,14.96,14.97,14.96
$GC,1070,-1.06,-146.0,2608,2913,3557,3557,163.1,-11.7,55,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2911,3556,3556,3557,0,0,0,0,0,0,15.00,15.00,15.00
$GC,1370,-1.06,-146.0,2607,2913,3557,3554,198.3,-11.9,65,1376,0.00,1.62,0.00,0.000,260,0.000,0.107,2600,3824,3554,3556,3553,0,0,0,0,0,0,14.99,14.76,15.01
$GC,1434,-1.06,-146.0,2600,3825,3557,3552,206.4,-12.8,78,1441,0.00,1.40,0.00,0.000,1030,0.000,0.045,2598,2965,3553,3555,3552,0,0,0,0,0,0,14.87,14.85,14.88
$GC,1761,-1.06,-146.0,2599,2966,3557,3548,245.2,-11.9,93,1767,0.00,2.28,0.00,0.000,516,0.000,0.047,2599,1558,3550,3552,3548,0,0,0,0,0,0,15.02,14.83,15.02
$GC,1861,-1.06,-146.0,2599,1558,3556,3546,256.6,-11.0,113,1868,0.00,2.38,0.00,0.000,1030,0.000,0.077,2589,2942,3549,3555,3544,0,0,0,0,0,0,14.90,14.78,14.90
$GC,2182,-1.06,-146.0,2590,2943,3556,3540,295.3,-12.1,127,2189,0.00,2.28,0.00,0.000,516,0.000,0.047,2588,1555,3550,3556,3545,0,0,0,0,0,0,15.02,14.83,15.02
$GC,2262,-1.06,-146.0,2588,1555,3556,3540,305.1,-12.1,143,2270,0.12,2.42,0.00,0.000,3078,0.249,0.078,2614,2941,3547,3555,3539,0,0,0,0,0,0,14.71,14.79,14.83
$GC,2574,-1.06,-146.0,2614,2942,3561,3534,340.3,-11.3,155,2581,0.00,2.28,0.00,0.000,516,0.000,0.047,2614,1561,3544,3556,3533,0,0,0,0,0,0,15.03,14.83,15.03
$GC,2605,-1.06,-146.0,2614,1561,3556,3530,343.8,-10.9,161,2611,0.00,2.35,0.00,0.000,1030,0.000,0.077,2605,2930,3544,3555,3533,0,0,0,0,0,0,14.90,14.80,14.91
$GC,2936,-1.06,-146.0,2605,2931,3556,3528,381.9,-11.6,177,2943,0.00,2.22,0.00,0.000,516,0.000,0.048,2603,1563,3541,3555,3528,0,0,0,0,0,0,15.03,14.85,15.03
$GC,2981,-1.06,-146.0,2604,1563,3555,3527,387.2,-11.3,186,2988,0.00,2.38,0.00,0.000,1030,0.000,0.079,2594,2920,3541,3555,3527,0,0,0,0,0,0,14.86,14.79,14.88
$GC,3298,-1.06,-146.0,2595,2920,3556,3524,424.8,-12.3,199,3304,0.00,2.22,0.00,0.000,516,0.000,0.049,2593,1562,3535,3555,3515,0,0,0,0,0,0,15.03,14.83,15.03
$GC,3328,-1.06,-146.0,2593,1563,3556,3522,428.5,-12.3,205,3335,0.12,2.35,0.00,0.000,3078,0.274,0.080,2618,2927,3539,3556,3522,0,0,0,0,0,0,14.71,14.80,14.88
$GC,3660,-1.06,-146.0,2617,2929,3556,3517,463.4,-10.5,221,3666,0.00,2.25,0.00,0.000,516,0.000,0.049,2618,1557,3536,3555,3517,0,0,0,0,0,0,15.02,14.83,15.02
$GC,3765,-1.06,-146.0,2619,1556,3556,3517,474.1,-9.9,242,3771,0.00,2.35,0.00,0.000,1062,0.000,0.078,2609,2922,3535,3555,3516,0,0,0,0,0,0,14.90,14.79,14.90
$GC,4081,-1.06,-146.0,2609,2926,3555,3513,507.8,-10.7,255,4094,0.00,2.25,0.00,0.000,516,0.000,0.049,2608,1555,3533,3555,3512,0,0,0,0,0,0,15.03,14.83,15.04
$GC,4133,-1.06,-146.0,2609,1556,3555,3511,513.4,-10.4,264,4146,0.00,2.33,0.00,0.000,1030,0.000,0.080,2600,2907,3533,3555,3511,0,0,0,0,0,0,14.90,14.79,14.90
$STATE,4394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4394,begin apogee
$GC,4397,-0.25,0.0,2599,2418,3553,3520,541.9,-11.0,275,4585,0.93,0.00,176.68,1.374,10244,0.208,0.000,2874,2417,2967,3011,2923,0,0,0,0,0,0,14.73,14.16,13.64
$STATE,4587,end apogee,CONTROL_FINISHED_OK
$STATE,4587,begin climb
$GC,4588,1.06,146.0,2874,2417,3009,2917,546.6,0.0,281,4739,1.25,2.45,132.23,1.481,10756,0.097,0.059,3287,1013,2381,2444,2319,0,0,0,0,0,0,14.20,14.21,13.54
$GC,4757,1.06,146.0,3287,1014,2440,2305,534.7,13.4,314,4770,0.00,2.47,0.00,0.000,1030,0.000,0.063,3287,2423,2371,2439,2303,0,0,0,0,0,0,14.28,14.19,14.30
$GC,5080,1.06,146.0,3287,2423,2440,2293,486.0,15.1,327,5086,0.00,2.40,0.00,0.000,516,0.000,0.064,3297,1015,2369,2438,2300,0,0,0,0,0,0,14.78,14.58,14.79
$GC,5165,1.06,146.0,3297,1017,2440,2293,473.2,14.5,344,5174,0.00,2.42,0.00,0.000,1030,0.000,0.064,3297,2402,2366,2438,2294,0,0,0,0,0,0,14.67,14.60,14.68
$GC,5471,1.06,146.0,3297,2403,2439,2292,427.4,14.8,355,5477,0.00,2.35,0.00,0.000,516,0.000,0.065,3306,1020,2364,2438,2291,0,0,0,0,0,0,14.90,14.70,14.90
$GC,5606,1.06,146.0,3307,1021,2440,2289,407.5,14.1,382,5613,0.00,2.33,0.00,0.000,1030,0.000,0.064,3307,2388,2363,2438,2289,0,0,0,0,0,0,14.79,14.69,14.81
$GC,5923,1.06,146.0,3307,2393,2439,2286,358.8,15.6,395,5929,0.00,2.33,0.00,0.000,516,0.000,0.066,3317,1013,2362,2439,2286,0,0,0,0,0,0,14.94,14.72,14.94
$GC,6028,1.06,146.0,3317,1014,2440,2286,342.1,15.3,416,6035,0.00,2.30,0.00,0.000,1030,0.000,0.066,3316,2368,2361,2438,2285,0,0,0,0,0,0,14.82,14.73,14.84
$GC,6345,1.06,146.0,3317,2369,2439,2283,291.4,15.9,429,6351,0.00,2.28,0.00,0.000,516,0.000,0.065,3326,1023,2361,2438,2284,0,0,0,0,0,0,14.96,14.75,14.96
$GC,6430,1.06,146.0,3327,1023,2439,2284,277.9,15.7,446,6438,0.00,2.30,0.00,0.000,1030,0.000,0.063,3326,2357,2360,2438,2283,0,0,0,0,0,0,14.79,14.73,14.82
$GC,6736,1.06,146.0,3327,2356,2439,2282,229.5,15.9,457,6742,0.00,2.25,0.00,0.000,516,0.000,0.064,3336,1020,2360,2438,2282,0,0,0,0,0,0,14.97,14.74,14.97
$GC,6866,1.06,146.0,3337,1021,2440,2283,209.3,15.5,483,6873,0.12,2.22,0.00,0.000,5126,0.290,0.063,3304,2335,2360,2438,2282,0,0,0,0,0,0,14.64,14.75,14.83
$GC,7188,1.06,146.0,3304,2336,2443,2281,163.0,14.0,497,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2335,2359,2438,2281,0,0,0,0,0,0,14.97,14.96,14.96
$GC,7487,1.06,146.0,3305,2335,2439,2282,120.3,14.1,507,7494,0.00,2.22,0.00,0.000,516,0.000,0.063,3314,1013,2359,2438,2280,0,0,0,0,0,0,14.97,14.76,14.97
$GC,7628,1.06,146.0,3314,1023,2440,2281,99.7,13.1,535,7634,0.00,2.22,0.00,0.000,1030,0.000,0.062,3314,2339,2359,2438,2280,0,0,0,0,0,0,14.84,14.75,14.86
$GC,7939,1.21,267.4,3313,2341,2440,2279,71.9,4.4,557,8003,0.05,2.25,54.25,0.394,10788,0.211,0.060,3362,1011,1904,1975,1834,0,0,0,0,0,0,14.77,14.64,14.45
$GC,8037,1.21,267.4,3361,1010,1976,1842,63.3,12.3,576,8045,0.00,2.25,0.00,0.000,1030,0.000,0.062,3361,2332,1909,1975,1843,0,0,0,0,0,0,14.74,14.64,14.77
$GC,8349,1.38,405.1,3362,2332,1976,1844,41.6,3.6,598,8428,0.08,2.72,66.32,0.301,10532,0.151,0.103,3415,3820,1357,1431,1283,0,0,0,0,0,0,14.71,14.54,14.45
$GC,8653,1.38,405.1,3415,3821,1433,1290,4.1,14.6,658,8659,0.00,2.45,0.00,0.000,1030,0.000,0.044,3426,2332,1360,1431,1290,0,0,0,0,0,0,14.73,14.67,14.74
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$FINISH,-1.8,1.020407
$STATE,8698,end surface coast,CONTROL_FINISHED_OK
$STATE,8698,begin surface
$SM_CCo,8722,94.72,0.159,0,0,539,610.16
$SM_GC,-1.82,9.25,1.12,94.72,0.064,0.089,0.159,197,2952,539,-8.57,-0.62,610.16,0,0,0,0,0,0,14.69,14.65,14.57
$IRIDIUM_FIX,947.31,-12508.85,260816,032537
$TT8_MAMPS,0.039697,0.313082
$HUMID,53.26
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.00
$XPDR_PINGS,2
$SC_FREEKB,3903488
$PM_FREEKB,61977600
$TM_FREEKB,7649888
$24V_AH,13.54,10.810
$10V_AH,13.86,0.000
$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,23.200,82.675,429.475,94.725,0.000,0.000,0.000,437.425,0.500,0.000,5.527,0.000,6535.642,650.808,2249.246,59.875,0.000,1752.931,0.000,1205.221,0.000,0.548,0.000
$DEVICE_MAMPS,394.740,2174.895,1481.040,159.120,0.000,0.000,0.000,205.785,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8751.000,8692.000,7852.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.579,3.069,11.339,0.000
$MEM,334720
$DATA_FILE_SIZE,23408,663
$CAP_FILE_SIZE,93825,0
$CFSIZE,1024409600,1016840192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,205.24,1
$GPS,260816,083932,948.283,-12502.819,9,1.3,10,9.0,0.7,313.0,7,7.7