version: 66.13
glider: 220
mission: 2
dive: 2
start: 2 9 116 18 12 42
data:
$ID,220
$MISSION,2
$DIVE,2
$N_DIVES,2
$STOP_T,12021620
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,100
$T_BOOST,0
$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,50
$T_MISSION,80
$T_ABORT,1440
$T_TURN,360
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,53159
$MASS_COMP,0
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,128
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,100840
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,21
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2849
$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,4
$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,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-169.69672
$PRESSURE_SLOPE,0.0001077811
$AD7714Ch0Gain,1
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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,-2.4000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$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
$GPS1,090216,180852,4743.0137,-12224.7197,1,1.2,3,16.0,0.2,0.0,11,9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-64.9
$GPS2,090216,181210,4743.0103,-12224.7559,3,1.4,5,16.0,0.1,0.0,12,7.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,350.6,2777,-18.1,-10.000,-20.93,2236
$D_GRID,177
$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,6,end surface,CONTROL_FINISHED_OK
$STATE,6,begin dive
$GC,8,-1.04,-146.6,195,2160,892,799,0.0,0.0,0,109,0.00,0.00,-97.97,0.000,16386,0.000,0.000,195,2160,3132,3122,3142,0,0,0,0,0,0,15.16,28.83,15.16
$GC,111,-1.04,-146.6,195,2160,3123,3142,3.2,-7.5,18,136,9.62,2.78,-9.02,0.000,18692,0.362,2.250,2445,3547,3433,3448,3419,0,0,0,0,0,0,14.67,13.85,14.91
$GC,288,-1.04,-146.6,2444,3547,3448,3419,22.2,-12.2,52,294,0.00,2.40,0.00,0.000,1030,0.000,0.073,2445,2138,3433,3448,3419,0,0,0,0,0,0,14.97,14.86,14.99
$GC,356,-1.04,-146.6,2445,2138,3448,3419,29.9,-10.1,65,362,0.00,2.45,0.00,0.000,516,0.000,0.100,2445,737,3433,3448,3419,0,0,0,0,0,0,15.13,14.84,15.14
$GC,379,-1.04,-146.6,2445,737,3448,3419,32.3,-10.6,69,385,0.00,2.40,0.00,0.000,1030,0.000,0.084,2435,2139,3433,3448,3419,0,0,0,0,0,0,14.94,14.83,14.95
$GC,447,-1.04,-146.6,2435,2139,3448,3419,40.5,-12.7,82,454,0.00,2.58,0.00,0.000,260,0.000,0.119,2424,3565,3433,3448,3419,0,0,0,0,0,0,15.13,14.81,15.13
$GC,559,-1.04,-146.6,2424,3565,3448,3419,56.7,-13.9,104,567,0.12,2.42,0.00,0.000,3078,0.249,0.075,2459,2145,3433,3447,3419,0,0,0,0,0,0,14.76,14.85,14.93
$GC,687,-1.04,-146.6,2460,2145,3448,3419,73.9,-13.1,129,694,0.00,2.45,0.00,0.000,516,0.000,0.103,2460,741,3433,3448,3419,0,0,0,0,0,0,15.14,14.86,15.14
$GC,790,-1.04,-146.6,2460,742,3448,3419,88.3,-14.1,149,797,0.00,2.40,0.00,0.000,1030,0.000,0.081,2449,2149,3433,3448,3419,0,0,0,0,0,0,15.02,14.89,15.02
$GC,918,-1.04,-146.6,2449,2149,3448,3419,105.6,-13.0,174,925,0.00,2.55,0.00,0.000,260,0.000,0.117,2440,3562,3433,3448,3419,0,0,0,0,0,0,15.16,14.86,15.16
$GC,1013,-1.04,-146.6,2439,3562,3448,3419,119.1,-13.3,192,1019,0.00,2.40,0.00,0.000,1030,0.000,0.074,2439,2148,3433,3448,3419,0,0,0,0,0,0,15.02,14.92,15.04
$GC,1143,-1.04,-146.6,2438,2147,3448,3419,136.4,-12.9,217,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2148,3433,3448,3419,0,0,0,0,0,0,15.18,15.17,15.17
$STATE,1249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1249,begin apogee
$GC,1252,-0.24,0.0,2439,2147,3448,3419,150.3,-12.9,238,1368,0.93,0.00,108.68,2.083,10246,0.204,0.000,2719,2147,2849,2895,2804,0,0,0,0,0,0,14.84,14.26,13.24
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1370,begin climb
$GC,1371,1.04,146.6,2720,2147,2895,2804,153.5,0.0,259,1494,1.27,0.00,114.72,2.269,10758,0.125,0.000,3121,2147,2264,2325,2204,0,0,0,0,0,0,14.22,14.09,13.34
$GC,1615,1.04,146.6,3121,2147,2325,2204,131.7,12.5,305,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2147,2264,2325,2204,0,0,0,0,0,0,14.83,14.83,14.83
$GC,1742,1.04,146.6,3120,2147,2325,2204,116.6,11.7,330,1749,0.00,2.58,0.00,0.000,260,0.000,0.116,3121,3555,2265,2326,2204,0,0,0,0,0,0,14.96,14.70,14.96
$GC,1870,1.04,146.6,3120,3555,2325,2204,99.9,13.7,355,1877,0.00,2.42,0.00,0.000,1030,0.000,0.079,3129,2152,2264,2325,2204,0,0,0,0,0,0,14.90,14.80,14.91
$GC,1998,1.04,146.6,3129,2152,2325,2204,83.7,11.9,380,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2152,2264,2325,2204,0,0,0,0,0,0,15.07,15.06,15.07
$GC,2125,1.04,146.6,3134,2151,2325,2204,68.7,11.4,405,2132,0.00,2.50,0.00,0.000,516,0.000,0.108,3139,738,2264,2325,2203,0,0,0,0,0,0,15.10,14.83,15.10
$GC,2263,1.04,146.6,3139,738,2325,2204,51.9,12.5,432,2270,0.00,2.45,0.00,0.000,1030,0.000,0.086,3139,2158,2264,2325,2204,0,0,0,0,0,0,14.99,14.88,15.00
$GC,2392,1.12,209.8,3139,2158,2325,2204,39.3,7.1,457,2426,0.00,2.53,27.67,0.311,8708,0.000,0.106,3149,739,2009,2074,1945,0,0,0,0,0,0,15.13,14.80,14.73
$GC,2448,1.14,226.4,3148,740,2074,1944,34.5,9.2,467,2461,0.00,2.42,7.03,0.311,9222,0.000,0.087,3149,2148,1946,2013,1879,0,0,0,0,0,0,14.95,14.84,14.71
$GC,2522,1.14,226.4,3149,2148,2013,1877,26.4,12.1,481,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2148,1945,2013,1877,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2590,1.14,226.4,3149,2148,2013,1876,16.8,15.3,494,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2148,1944,2013,1876,0,0,0,0,0,0,15.09,15.09,15.09
$GC,2656,1.14,226.4,3149,2148,2012,1876,7.4,13.4,507,2663,0.00,2.50,0.00,0.000,516,0.000,0.109,3159,742,1944,2013,1876,0,0,0,0,0,0,15.11,14.84,15.13
$GC,2669,1.14,226.4,3158,742,2012,1875,5.6,13.8,509,2675,0.00,2.42,0.00,0.000,1030,0.000,0.090,3159,2149,1944,2013,1876,0,0,0,0,0,0,14.95,14.86,14.95
$STATE,2696,end climb,SURFACE_DEPTH_REACHED
$STATE,2696,begin surface coast
$FINISH,1.1,1.019670
$STATE,2707,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2722,22.60,0.199,0,0,1732,280.09
$SM_GC,4.69,9.07,0.00,22.60,0.123,0.000,0.199,197,2149,1732,-8.09,-0.06,280.09,0,0,0,0,0,0,14.88,15.12,14.79
$IRIDIUM_FIX,4722.92,-12225.08,090216,180444
$TT8_MAMPS,0.019474,0.884569
$HUMID,40.35
$INTERNAL_PRESSURE,8.94809
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,999.0
$ALTIM_BOTTOM_PING,120.7,69.1
$SC_FREEKB,3909664
$24V_AH,13.24,0.913
$10V_AH,13.45,0.000
$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,21.025,44.650,258.100,22.600,0.000,0.000,0.000,0.000,2.000,0.000,6.475,1074.926,514.826,392.365,814.274,21.390,0.000,846.515,0.000,779.399,0.000,16.652,0.000
$DEVICE_MAMPS,361.845,2249.865,2268.990,198.900,0.000,0.000,0.000,0.000,420.000,0.000,9.740,7.470,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2699.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,31.083,0.000,0.000,0.000
$MEM,313032
$DATA_FILE_SIZE,13388,516
$CAP_FILE_SIZE,93058,0
$CFSIZE,1024409600,1021902848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090216,185944,4743.449,-12224.654,40,1.0,42,16.0,0.4,200.5,10,9.1