version: 66.13
glider: 220
mission: 6
dive: 19
start: 8 26 116 8 51 2
data:
$ID,220
$MISSION,6
$DIVE,19
$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,42
$R_STBD_OVSHOOT,20
$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
$GPS1,260816,083932,948.2825,-12502.8193,9,1.3,10,9.0,0.7,313.0,7,7.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.81
$_SM_ANGLEo,-69.6
$GPS2,260816,085043,948.3534,-12502.9053,2,1.4,4,9.0,0.2,18.1,7,7.2
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,134.5,14770,-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,15,-1.06,-146.0,192,2968,592,505,0.0,0.0,0,111,0.00,0.00,-93.50,0.000,16386,0.000,0.000,191,2963,3471,3458,3485,0,0,0,0,0,0,14.74,28.83,14.73
$GC,113,-1.06,-146.0,192,2965,3459,3485,4.0,-8.4,6,130,11.15,0.00,-1.10,0.000,18982,0.395,0.000,2611,2964,3554,3550,3558,0,0,0,0,0,0,14.38,13.74,14.61
$GC,422,-1.06,-146.0,2611,2963,3554,3559,86.7,-13.2,29,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2963,3555,3553,3557,0,0,0,0,0,0,14.89,14.89,14.89
$GC,721,-1.06,-146.0,2611,2963,3556,3558,117.1,-11.1,44,728,0.00,2.30,0.00,0.000,516,0.000,0.045,2610,1540,3556,3555,3558,0,0,0,0,0,0,14.92,14.74,14.95
$GC,776,-1.06,-146.0,2611,1539,3555,3559,122.8,-9.9,55,784,0.00,2.45,0.00,0.000,1062,0.000,0.072,2601,2956,3555,3553,3557,0,0,0,0,0,0,14.76,14.71,14.81
$GC,1082,-1.06,-146.0,2601,2957,3556,3557,157.3,-11.9,66,1088,0.00,1.52,0.00,0.000,260,0.000,0.107,2594,3831,3556,3555,3557,0,0,0,0,0,0,14.98,14.73,14.97
$GC,1113,-1.06,-146.0,2593,3829,3556,3557,161.1,-12.9,72,1119,0.00,1.48,0.00,0.000,1030,0.000,0.046,2593,2936,3556,3555,3557,0,0,0,0,0,0,14.83,14.81,14.85
$GC,1444,-1.06,-146.0,2593,2937,3556,3552,202.9,-12.5,88,1450,0.00,1.60,0.00,0.000,260,0.000,0.106,2587,3830,3554,3554,3555,0,0,0,0,0,0,15.00,14.76,15.02
$GC,1519,-1.06,-146.0,2586,3833,3556,3555,212.4,-12.3,103,1526,0.08,1.45,0.00,0.000,3078,0.252,0.047,2608,2957,3553,3555,3551,0,0,0,0,0,0,14.69,14.83,14.81
$GC,1835,-1.06,-146.0,2609,2957,3555,3548,248.3,-11.5,116,1842,0.00,2.30,0.00,0.000,516,0.000,0.045,2609,1533,3551,3555,3547,0,0,0,0,0,0,15.02,14.82,15.02
$GC,1920,-1.06,-146.0,2609,1534,3556,3545,258.2,-11.6,133,1930,0.00,2.45,0.00,0.000,1030,0.000,0.074,2599,2953,3549,3554,3545,0,0,0,0,0,0,14.89,14.78,14.88
$GC,2226,-1.06,-146.0,2599,2954,3556,3540,295.7,-12.2,144,2233,0.00,2.33,0.00,0.000,516,0.000,0.046,2598,1533,3548,3555,3541,0,0,0,0,0,0,15.02,14.83,15.00
$GC,2301,-1.06,-146.0,2598,1533,3555,3540,305.0,-12.3,159,2308,0.00,2.45,0.00,0.000,1030,0.000,0.075,2589,2933,3546,3554,3539,0,0,0,0,0,0,14.89,14.76,14.89
$GC,2618,-1.06,-146.0,2589,2933,3555,3535,345.5,-13.0,172,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2933,3544,3555,3533,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2918,-1.06,-146.0,2589,2932,3555,3531,383.6,-12.4,182,2924,0.00,2.30,0.00,0.000,516,0.000,0.047,2588,1539,3541,3554,3529,0,0,0,0,0,0,15.03,14.83,15.03
$GC,2958,-1.06,-146.0,2588,1539,3555,3530,388.5,-11.8,190,2965,0.12,2.40,0.00,0.000,3078,0.269,0.076,2612,2937,3541,3554,3528,0,0,0,0,0,0,14.71,14.79,14.88
$GC,3280,-1.06,-146.0,2613,2936,3555,3525,423.6,-10.7,204,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2937,3539,3554,3524,0,0,0,0,0,0,15.02,15.02,15.04
$GC,3580,-1.06,-146.0,2613,2938,3555,3520,455.2,-10.5,214,3586,0.00,2.30,0.00,0.000,516,0.000,0.049,2612,1541,3537,3554,3520,0,0,0,0,0,0,15.03,14.83,15.03
$GC,3690,-1.06,-146.0,2613,1542,3555,3519,466.7,-10.3,236,3698,0.00,2.38,0.00,0.000,1030,0.000,0.078,2601,2927,3536,3555,3518,0,0,0,0,0,0,14.89,14.79,14.90
$GC,4004,-1.06,-146.0,2603,2928,3560,3515,501.5,-11.2,248,4020,0.00,2.28,0.00,0.000,516,0.000,0.048,2603,1546,3534,3554,3514,0,0,0,0,0,0,15.02,14.83,15.02
$GC,4045,-1.06,-146.0,2603,1546,3555,3514,506.3,-11.0,254,4058,0.00,2.38,0.00,0.000,1030,0.000,0.080,2593,2920,3534,3554,3514,0,0,0,0,0,0,14.90,14.79,14.91
$STATE,4351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4352,begin apogee
$GC,4354,-0.25,0.0,2593,2398,3555,3511,541.5,-11.4,269,4496,0.95,0.00,130.88,1.550,10244,0.210,0.000,2873,2397,2968,3012,2925,0,0,0,0,0,0,14.73,14.18,13.62
$STATE,4497,end apogee,CONTROL_FINISHED_OK
$STATE,4497,begin climb
$GC,4498,1.06,146.0,2875,2398,3007,2914,544.3,0.0,273,4645,1.27,0.00,131.93,1.482,11270,0.100,0.000,3296,2396,2385,2448,2322,0,0,0,0,0,0,14.20,14.40,13.54
$GC,4954,1.06,146.0,3297,2396,2441,2295,483.8,16.1,313,4961,0.00,2.33,0.00,0.000,516,0.000,0.062,3306,1021,2366,2440,2293,0,0,0,0,0,0,14.77,14.57,14.77
$GC,5064,1.06,146.0,3307,1020,2441,2294,466.2,15.8,335,5071,0.00,2.40,0.00,0.000,1030,0.000,0.062,3306,2427,2366,2440,2293,0,0,0,0,0,0,14.66,14.60,14.71
$GC,5376,1.06,146.0,3306,2427,2441,2289,415.0,16.4,347,5382,0.00,2.38,0.00,0.000,516,0.000,0.063,3316,1021,2365,2440,2291,0,0,0,0,0,0,14.89,14.69,14.90
$GC,5496,1.06,146.0,3316,1021,2441,2289,395.6,15.6,371,5503,0.00,2.33,0.00,0.000,1030,0.000,0.063,3316,2389,2364,2440,2288,0,0,0,0,0,0,14.78,14.69,14.79
$GC,5827,1.06,146.0,3316,2389,2441,2284,341.7,16.0,387,5834,0.00,2.33,0.00,0.000,516,0.000,0.063,3326,1014,2362,2440,2285,0,0,0,0,0,0,14.94,14.73,14.94
$GC,5932,1.06,146.0,3327,1015,2441,2285,325.0,15.2,408,5939,0.00,2.35,0.00,0.000,1030,0.000,0.063,3328,2371,2362,2440,2284,0,0,0,0,0,0,14.77,14.70,14.80
$GC,6249,1.06,146.0,3326,2370,2441,2285,275.4,15.5,421,6255,0.00,2.30,0.00,0.000,516,0.000,0.064,3336,1010,2362,2441,2284,0,0,0,0,0,0,14.94,14.74,14.95
$GC,6328,1.06,146.0,3337,1010,2441,2282,262.8,15.5,437,6335,0.10,2.33,0.00,0.000,5126,0.275,0.064,3303,2352,2359,2440,2278,0,0,0,0,0,0,14.64,14.73,14.81
$GC,6640,1.06,146.0,3304,2354,2441,2280,217.0,14.7,449,6646,0.00,2.25,0.00,0.000,516,0.000,0.063,3313,1018,2360,2440,2280,0,0,0,0,0,0,14.96,14.75,14.97
$GC,6780,1.06,146.0,3313,1018,2441,2281,196.8,14.3,477,6787,0.00,2.22,0.00,0.000,1030,0.000,0.063,3313,2338,2360,2441,2279,0,0,0,0,0,0,14.84,14.74,14.85
$GC,7091,1.06,146.0,3313,2338,2441,2279,152.1,14.7,489,7097,0.00,2.62,0.00,0.000,260,0.000,0.105,3314,3820,2359,2440,2279,0,0,0,0,0,0,14.97,14.71,14.97
$GC,7106,1.06,146.0,3314,3821,2442,2279,149.7,15.0,492,7113,0.00,2.50,0.00,0.000,1030,0.000,0.048,3324,2312,2359,2440,2278,0,0,0,0,0,0,14.83,14.76,14.84
$GC,7423,1.06,146.0,3325,2306,2449,2280,102.3,14.7,505,7429,0.00,2.15,0.00,0.000,516,0.000,0.067,3334,1023,2359,2440,2279,0,0,0,0,0,0,14.96,14.76,14.96
$GC,7544,1.06,146.0,3334,1025,2441,2280,86.9,11.8,529,7550,0.10,2.20,0.00,0.000,5126,0.301,0.063,3308,2324,2359,2440,2279,0,0,0,0,0,0,14.62,14.74,14.81
$GC,7860,1.25,298.6,3308,2325,2441,2279,67.8,2.9,552,7939,0.08,2.25,68.22,0.383,10788,0.162,0.064,3371,1016,1776,1845,1707,0,0,0,0,0,0,14.78,14.61,14.43
$GC,7943,1.28,322.6,3371,1018,1851,1708,62.3,8.9,568,7961,0.00,2.17,12.07,0.366,9254,0.000,0.058,3370,2308,1688,1759,1617,0,0,0,0,0,0,14.71,14.62,14.42
$GC,8271,1.43,444.0,3371,2308,1759,1619,33.9,4.4,593,8339,0.08,2.25,58.47,0.274,10788,0.152,0.063,3440,1022,1201,1280,1123,0,0,0,0,0,0,14.70,14.58,14.47
$GC,8423,1.43,444.0,3440,1023,1282,1134,16.5,14.9,623,8429,0.00,2.15,0.00,0.000,1030,0.000,0.060,3440,2299,1207,1280,1134,0,0,0,0,0,0,14.70,14.61,14.71
$STATE,8513,end climb,SURFACE_DEPTH_REACHED
$STATE,8513,begin surface coast
$FINISH,-1.1,1.020496
$STATE,8528,end surface coast,CONTROL_FINISHED_OK
$STATE,8528,begin surface
$SM_CCo,8552,76.72,0.158,0,0,541,610.16
$SM_GC,-1.77,9.38,1.15,76.72,0.070,0.086,0.158,193,2960,541,-8.59,-0.54,610.16,0,0,0,0,0,0,14.67,14.65,14.57
$IRIDIUM_FIX,945.12,-12500.96,260816,060430
$TT8_MAMPS,0.039697,0.442659
$HUMID,53.46
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.00
$XPDR_PINGS,0
$SC_FREEKB,3903104
$PM_FREEKB,61954688
$TM_FREEKB,7637536
$24V_AH,13.54,11.042
$10V_AH,13.35,0.000
$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,23.300,77.825,401.575,76.725,0.000,0.000,0.000,432.125,0.000,0.000,5.750,0.000,6467.604,593.596,2178.469,61.948,0.000,1666.950,0.000,1156.201,0.000,0.547,0.000
$DEVICE_MAMPS,394.740,107.100,1549.890,158.355,0.000,0.000,0.000,205.020,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8581.000,8523.000,7785.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.792,3.074,11.338,0.000
$MEM,334712
$DATA_FILE_SIZE,23434,632
$CAP_FILE_SIZE,91678,0
$CFSIZE,1024409600,1016643584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3691.65,0x233bae,0,24
$CURRENT,0.110,215.50,1
$GPS,260816,111555,947.145,-12502.837,33,0.8,33,9.0,0.0,0.0,10,3.7