version: 66.13
glider: 220
mission: 6
dive: 20
start: 8 26 116 11 27 43
data:
$ID,220
$MISSION,6
$DIVE,20
$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,40
$R_STBD_OVSHOOT,24
$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
$GPS1,260816,111555,947.1447,-12502.8369,33,0.8,33,9.0,0.0,0.0,10,3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.82
$_SM_ANGLEo,-67.6
$GPS2,260816,112724,947.2382,-12502.9023,3,0.8,4,9.0,2.7,325.1,10,7.1
$SPEED_LIMITS,0.173,0.257
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,125.0,12862,-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,-146.0,188,2971,596,500,0.0,0.0,0,110,0.00,0.00,-92.18,0.000,16386,0.000,0.000,187,2970,3413,3398,3428,0,0,0,0,0,0,14.74,28.83,14.74
$GC,112,-1.06,-146.0,188,2970,3400,3429,4.0,-8.5,6,130,11.20,1.70,-1.92,0.000,18724,0.394,2.183,2609,3826,3555,3554,3557,0,0,0,0,0,0,14.38,13.72,14.62
$GC,160,-1.06,-146.0,2609,3828,3556,3557,29.4,-39.7,15,166,0.00,1.48,0.00,0.000,1030,0.000,0.037,2609,2915,3555,3550,3561,0,0,0,0,0,0,14.64,14.60,14.65
$GC,475,-1.06,-146.0,2609,2915,3557,3557,90.6,-9.8,38,481,0.00,1.62,0.00,0.000,292,0.000,0.103,2599,3822,3558,3559,3557,0,0,0,0,0,0,14.90,14.64,14.90
$GC,566,-1.06,-146.0,2602,3823,3558,3557,101.1,-12.3,56,574,0.00,1.40,0.00,0.000,1030,0.000,0.044,2602,2961,3557,3557,3557,0,0,0,0,0,0,14.77,14.74,14.78
$GC,898,-1.06,-146.0,2605,2961,3559,3558,138.4,-11.8,72,905,0.00,1.55,0.00,0.000,260,0.000,0.106,2595,3829,3557,3557,3557,0,0,0,0,0,0,14.96,14.72,14.97
$GC,939,-1.06,-146.0,2595,3830,3558,3557,143.8,-13.0,80,947,0.00,1.40,0.00,0.000,1030,0.000,0.044,2594,2966,3559,3557,3562,0,0,0,0,0,0,14.81,14.80,14.84
$GC,1261,-1.06,-146.0,2594,2966,3558,3557,185.4,-13.4,94,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2965,3556,3557,3556,0,0,0,0,0,0,14.99,14.98,14.99
$GC,1561,-1.06,-146.0,2594,2967,3558,3551,223.4,-12.4,104,1568,0.00,2.28,0.00,0.000,516,0.000,0.047,2594,1563,3554,3557,3551,0,0,0,0,0,0,15.00,14.81,15.00
$GC,1642,-1.06,-146.0,2593,1563,3558,3550,233.4,-12.1,120,1650,0.10,2.42,0.00,0.000,3078,0.275,0.078,2611,2972,3553,3556,3550,0,0,0,0,0,0,14.69,14.77,14.85
$GC,1955,-1.06,-146.0,2611,2972,3558,3546,270.7,-12.0,132,1962,0.00,2.33,0.00,0.000,516,0.000,0.048,2612,1556,3553,3561,3545,0,0,0,0,0,0,15.01,14.82,15.01
$GC,2030,-1.06,-146.0,2612,1557,3557,3541,279.7,-11.6,147,2037,0.00,2.45,0.00,0.000,1030,0.000,0.079,2602,2973,3550,3557,3544,0,0,0,0,0,0,14.88,14.78,14.90
$GC,2347,-1.06,-146.0,2602,2974,3558,3536,317.6,-11.9,160,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2973,3547,3557,3538,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2647,-1.06,-146.0,2602,2973,3557,3533,353.1,-11.7,170,2653,0.00,2.33,0.00,0.000,516,0.000,0.047,2602,1560,3545,3557,3533,0,0,0,0,0,0,15.02,14.83,15.02
$GC,2717,-1.06,-146.0,2603,1560,3558,3533,361.3,-11.3,184,2724,0.00,2.42,0.00,0.000,1030,0.000,0.082,2592,2939,3544,3557,3532,0,0,0,0,0,0,14.90,14.78,14.90
$GC,3039,-1.06,-146.0,2592,2941,3557,3526,399.7,-12.2,198,3045,0.00,2.28,0.00,0.000,516,0.000,0.048,2591,1557,3542,3557,3527,0,0,0,0,0,0,15.02,14.82,15.02
$GC,3064,-1.06,-146.0,2592,1556,3557,3528,402.9,-12.9,203,3072,0.10,2.42,0.00,0.000,3078,0.257,0.082,2609,2937,3542,3557,3527,0,0,0,0,0,0,14.70,14.78,14.82
$GC,3370,-1.06,-146.0,2611,2937,3557,3524,437.2,-11.0,214,3376,0.00,2.28,0.00,0.000,516,0.000,0.050,2609,1557,3540,3557,3523,0,0,0,0,0,0,15.02,14.83,15.02
$GC,3405,-1.06,-146.0,2610,1557,3557,3524,441.2,-11.0,221,3412,0.00,2.38,0.00,0.000,1030,0.000,0.082,2600,2930,3539,3557,3522,0,0,0,0,0,0,14.89,14.78,14.90
$GC,3731,-1.06,-146.0,2600,2931,3558,3517,477.8,-11.1,236,3738,0.00,2.28,0.00,0.000,516,0.000,0.050,2599,1553,3537,3558,3517,0,0,0,0,0,0,15.02,14.81,15.02
$GC,3812,-1.06,-146.0,2599,1552,3556,3521,486.7,-10.6,252,3819,0.00,2.40,0.00,0.000,1030,0.000,0.082,2590,2914,3536,3556,3516,0,0,0,0,0,0,14.85,14.77,14.87
$GC,4124,-1.06,-146.0,2591,2914,3557,3514,522.0,-11.4,264,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2914,3534,3556,3513,0,0,0,0,0,0,15.02,15.03,15.02
$STATE,4303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4303,begin apogee
$GC,4306,-0.25,0.0,2591,2424,3561,3510,542.5,-11.4,270,4492,0.98,0.00,175.30,1.373,10244,0.213,0.000,2878,2422,2972,3017,2928,0,0,0,0,0,0,14.73,14.16,13.64
$STATE,4493,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4494,1.06,146.0,2878,2423,3011,2920,547.3,0.0,276,4646,1.23,2.45,133.27,1.473,10756,0.093,0.061,3285,1024,2383,2446,2320,0,0,0,0,0,0,14.19,14.20,13.53
$GC,4869,1.06,146.0,3286,1024,2440,2298,505.6,14.8,350,4882,0.00,2.42,0.00,0.000,1030,0.000,0.065,3286,2433,2366,2436,2297,0,0,0,0,0,0,14.60,14.51,14.62
$GC,5197,1.06,146.0,3285,2433,2441,2294,455.0,15.5,364,5203,0.00,2.47,0.00,0.000,260,0.000,0.106,3285,3822,2366,2440,2293,0,0,0,0,0,0,14.86,14.62,14.88
$GC,5272,1.06,146.0,3286,3822,2438,2294,441.8,17.5,379,5279,0.00,2.38,0.00,0.000,1030,0.000,0.048,3296,2397,2365,2439,2292,0,0,0,0,0,0,14.76,14.69,14.77
$GC,5588,1.06,146.0,3299,2392,2440,2289,392.1,15.8,392,5595,0.00,2.30,0.00,0.000,516,0.000,0.067,3306,1022,2362,2436,2288,0,0,0,0,0,0,14.92,14.71,14.92
$GC,5683,1.06,146.0,3306,1024,2440,2287,377.3,15.3,411,5690,0.00,2.38,0.00,0.000,1030,0.000,0.067,3305,2393,2364,2440,2288,0,0,0,0,0,0,14.81,14.69,14.82
$GC,6010,1.06,146.0,3306,2390,2440,2286,325.7,15.7,426,6016,0.00,2.33,0.00,0.000,516,0.000,0.067,3315,1016,2362,2439,2285,0,0,0,0,0,0,14.95,14.72,14.95
$GC,6095,1.06,146.0,3313,1017,2440,2284,312.5,14.7,443,6103,0.00,2.38,0.00,0.000,1030,0.000,0.067,3315,2388,2362,2439,2285,0,0,0,0,0,0,14.78,14.73,14.81
$GC,6401,1.06,146.0,3316,2388,2440,2284,264.9,15.6,454,6408,0.00,2.30,0.00,0.000,516,0.000,0.067,3325,1027,2362,2439,2285,0,0,0,0,0,0,14.97,14.74,14.96
$GC,6471,1.06,146.0,3325,1028,2440,2282,254.0,15.2,468,6478,0.00,2.33,0.00,0.000,1030,0.000,0.066,3325,2369,2361,2440,2282,0,0,0,0,0,0,14.80,14.73,14.81
$GC,6792,1.06,146.0,3326,2369,2440,2283,203.5,15.8,482,6799,0.00,2.28,0.00,0.000,516,0.000,0.066,3335,1031,2360,2439,2281,0,0,0,0,0,0,14.97,14.76,14.97
$GC,6962,1.06,146.0,3335,1024,2440,2280,177.4,14.7,516,6969,0.10,2.30,0.00,0.000,5126,0.278,0.066,3309,2352,2360,2439,2281,0,0,0,0,0,0,14.62,14.72,14.76
$GC,7274,1.06,146.0,3309,2353,2440,2280,133.3,14.1,528,7276,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2352,2359,2439,2280,0,0,0,0,0,0,14.96,14.96,14.95
$GC,7574,1.06,146.0,3309,2352,2440,2281,93.6,13.0,539,7580,0.00,2.25,0.00,0.000,516,0.000,0.064,3318,1016,2360,2440,2280,0,0,0,0,0,0,14.96,14.74,14.97
$GC,7650,1.06,146.0,3318,1016,2440,2279,84.6,11.8,554,7656,0.00,2.25,0.00,0.000,1030,0.000,0.067,3318,2341,2358,2439,2278,0,0,0,0,0,0,14.84,14.74,14.85
$GC,7966,1.21,271.0,3318,2342,2440,2277,68.0,4.2,577,8029,0.00,2.25,55.17,0.386,8740,0.000,0.063,3327,1022,1890,1963,1818,0,0,0,0,0,0,14.95,14.62,14.45
$GC,8053,1.23,287.1,3328,1021,1964,1826,62.6,9.3,594,8070,0.00,2.30,9.12,0.347,9254,0.000,0.066,3328,2352,1824,1898,1751,0,0,0,0,0,0,14.73,14.63,14.43
$GC,8376,1.36,385.4,3328,2352,1899,1765,43.3,5.4,618,8431,0.10,2.62,47.70,0.303,10532,0.125,0.101,3393,3822,1434,1509,1359,0,0,0,0,0,0,14.71,14.60,14.46
$GC,8559,1.36,385.4,3394,3821,1512,1369,21.8,13.3,655,8565,0.00,2.47,0.00,0.000,1030,0.000,0.044,3403,2356,1441,1514,1368,0,0,0,0,0,0,14.71,14.66,14.71
$STATE,8735,end climb,SURFACE_DEPTH_REACHED
$STATE,8735,begin surface coast
$FINISH,-1.7,1.020490
$STATE,8750,end surface coast,CONTROL_FINISHED_OK
$STATE,8750,begin surface
$SM_CCo,8775,102.88,0.157,0,0,539,610.16
$SM_GC,-1.75,9.18,1.10,102.88,0.065,0.100,0.157,199,2950,539,-8.57,-0.57,610.16,0,0,0,0,0,0,14.70,14.65,14.57
$IRIDIUM_FIX,940.75,-12502.75,260816,084343
$TT8_MAMPS,0.036701,0.43442
$HUMID,51.45
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.90
$XPDR_PINGS,0
$SC_FREEKB,3902720
$PM_FREEKB,61930752
$TM_FREEKB,7625056
$24V_AH,13.53,11.288
$10V_AH,13.78,0.000
$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,22.975,81.725,420.575,102.875,0.000,0.000,0.000,448.875,0.000,0.000,5.847,0.000,6571.384,648.894,2284.439,61.772,0.000,1761.661,0.000,1236.938,0.000,0.547,0.000
$DEVICE_MAMPS,393.975,2183.310,1473.390,156.825,0.000,0.000,0.000,200.430,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8804.000,8745.000,7886.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.828,3.076,11.399,0.000
$MEM,334744
$DATA_FILE_SIZE,23350,669
$CAP_FILE_SIZE,95672,0
$CFSIZE,1024409600,1016446976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,202.27,1
$GPS,260816,135617,946.135,-12502.448,3,1.7,7,9.0,0.0,0.0,6,9.8