version: 66.13
glider: 220
mission: 2
dive: 8
start: 2 10 116 1 4 0
data:
$ID,220
$MISSION,2
$DIVE,8
$N_DIVES,25
$STOP_T,12021620
$D_SURF,2
$D_FLARE,3
$D_TGT,180
$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,75
$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,0
$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,320
$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,2776
$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,0
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,34
$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,1
$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,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$GPS1,100216,005509,4743.8286,-12224.5469,45,0.8,52,16.0,0.4,154.7,11,6.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.2
$GPS2,100216,010342,4743.7227,-12224.5107,3,1.0,5,16.0,0.3,183.0,11,8.4
$SPEED_LIMITS,0.139,0.242
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,344.6,1440,-14.9,-8.000,-18.27,2786
$D_GRID,180
$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,7,-0.92,-146.6,201,2260,1593,1537,0.0,0.0,0,65,0.00,0.00,-56.05,0.000,16386,0.000,0.000,199,2260,2919,2916,2922,0,0,0,0,0,0,14.89,28.83,14.89
$GC,66,-0.92,-146.6,200,2260,2915,2923,3.2,-6.4,10,95,10.07,2.67,-13.02,0.000,18948,0.379,2.251,2469,841,3433,3449,3417,0,0,0,0,0,0,14.55,13.95,14.75
$GC,113,-0.92,-146.6,2470,842,3450,3417,10.4,-12.5,19,121,0.00,2.50,0.00,0.000,1030,0.000,0.086,2459,2240,3434,3449,3419,0,0,0,0,0,0,14.68,14.62,14.70
$GC,179,-0.92,-146.6,2460,2240,3450,3418,18.6,-13.5,32,186,0.00,2.53,0.00,0.000,516,0.000,0.096,2459,845,3433,3449,3417,0,0,0,0,0,0,14.90,14.66,14.91
$GC,215,-0.92,-146.6,2459,845,3450,3417,24.0,-15.6,39,222,0.00,2.53,0.00,0.000,1030,0.000,0.088,2449,2252,3433,3449,3417,0,0,0,0,0,0,14.76,14.67,14.77
$GC,281,-0.92,-146.6,2449,2252,3450,3417,33.5,-13.8,52,288,0.00,2.65,0.00,0.000,260,0.000,0.129,2438,3659,3432,3449,3416,0,0,0,0,0,0,14.93,14.67,14.93
$GC,336,-0.92,-146.6,2439,3659,3450,3418,42.2,-15.6,63,344,0.12,2.50,0.00,0.000,3078,0.232,0.078,2474,2248,3433,3449,3417,0,0,0,0,0,0,14.65,14.74,14.77
$GC,462,-0.92,-146.6,2474,2247,3450,3418,60.0,-13.4,88,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2247,3433,3449,3417,0,0,0,0,0,0,14.99,14.99,14.98
$GC,582,-0.92,-146.6,2474,2247,3450,3418,75.8,-13.6,112,589,0.00,2.50,0.00,0.000,516,0.000,0.093,2474,841,3433,3449,3418,0,0,0,0,0,0,15.01,14.78,15.02
$GC,618,-0.92,-146.6,2477,841,3450,3418,80.4,-12.4,119,625,0.00,2.50,0.00,0.000,1030,0.000,0.086,2464,2251,3433,3449,3417,0,0,0,0,0,0,14.83,14.76,14.85
$GC,744,-0.92,-146.6,2465,2253,3450,3417,96.0,-12.6,144,751,0.00,2.62,0.00,0.000,260,0.000,0.126,2454,3657,3433,3449,3417,0,0,0,0,0,0,15.04,14.76,15.04
$GC,790,-0.92,-146.6,2453,3658,3450,3418,101.9,-13.3,153,797,0.00,2.47,0.00,0.000,1030,0.000,0.080,2454,2252,3433,3449,3417,0,0,0,0,0,0,14.88,14.83,14.90
$GC,915,-0.92,-146.6,2454,2252,3450,3418,117.6,-12.7,178,923,0.00,2.50,0.00,0.000,516,0.000,0.098,2454,847,3433,3449,3417,0,0,0,0,0,0,15.05,14.81,15.06
$GC,956,-0.92,-146.6,2454,847,3450,3418,122.7,-12.8,186,964,0.10,2.47,0.00,0.000,3078,0.246,0.088,2471,2248,3433,3449,3417,0,0,0,0,0,0,14.76,14.81,14.88
$GC,1082,-0.92,-146.6,2472,2250,3450,3417,138.4,-11.8,211,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2249,3433,3449,3417,0,0,0,0,0,0,15.07,15.07,15.07
$GC,1202,-0.92,-146.6,2473,2249,3450,3418,153.4,-12.4,235,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2249,3433,3449,3417,0,0,0,0,0,0,15.07,15.08,15.08
$GC,1322,-0.92,-146.6,2473,2249,3451,3418,167.7,-11.3,259,1330,0.00,2.60,0.00,0.000,260,0.000,0.123,2462,3654,3433,3449,3417,0,0,0,0,0,0,15.09,14.82,15.09
$STATE,1373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1373,begin apogee
$GC,1378,-0.25,0.0,2463,2139,3451,3418,173.9,-11.8,269,1493,0.75,0.00,107.70,2.062,10246,0.204,0.000,2689,2139,2850,2897,2803,0,0,0,0,0,0,14.80,14.07,13.47
$STATE,1494,end apogee,CONTROL_FINISHED_OK
$STATE,1494,begin climb
$GC,1495,0.92,146.6,2689,2140,2898,2803,178.3,0.0,290,1612,1.20,0.00,111.45,2.013,10758,0.140,0.000,3053,2138,2264,2330,2199,0,0,0,0,0,0,14.12,14.05,13.38
$GC,1731,0.92,146.6,3054,2140,2331,2199,163.0,8.9,335,1738,0.00,2.72,0.00,0.000,260,0.000,0.120,3054,3558,2264,2330,2199,0,0,0,0,0,0,14.66,14.41,14.66
$GC,1852,0.92,146.6,3054,3559,2331,2199,151.1,10.1,359,1859,0.00,2.53,0.00,0.000,1030,0.000,0.080,3058,2152,2264,2330,2199,0,0,0,0,0,0,14.64,14.58,14.67
$GC,1977,0.92,146.6,3056,2154,2331,2199,139.8,8.7,384,1985,0.00,2.58,0.00,0.000,516,0.000,0.107,3066,742,2264,2330,2199,0,0,0,0,0,0,14.88,14.64,14.88
$GC,2083,0.92,146.6,3066,744,2331,2199,130.0,10.0,405,2090,0.00,2.50,0.00,0.000,1030,0.000,0.087,3067,2149,2264,2330,2199,0,0,0,0,0,0,14.78,14.71,14.79
$GC,2209,0.92,146.6,3066,2151,2331,2199,118.4,9.6,430,2216,0.00,2.55,0.00,0.000,516,0.000,0.106,3076,746,2264,2330,2199,0,0,0,0,0,0,14.98,14.71,14.98
$GC,2250,0.92,146.6,3076,747,2330,2199,114.2,10.1,438,2257,0.00,2.50,0.00,0.000,1030,0.000,0.090,3076,2149,2264,2330,2199,0,0,0,0,0,0,14.81,14.75,14.83
$GC,2376,0.92,146.6,3076,2150,2331,2199,102.2,9.7,463,2383,0.00,2.62,0.00,0.000,260,0.000,0.124,3075,3555,2264,2330,2199,0,0,0,0,0,0,15.02,14.76,15.02
$GC,2426,0.92,146.6,3076,3555,2331,2200,96.6,11.3,473,2434,0.00,2.50,0.00,0.000,1030,0.000,0.083,3083,2145,2264,2330,2199,0,0,0,0,0,0,14.86,14.80,14.88
$GC,2552,0.92,146.6,3083,2146,2330,2199,84.1,10.0,498,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2145,2264,2330,2199,0,0,0,0,0,0,15.03,15.03,15.03
$GC,2672,0.92,146.6,3083,2146,2331,2199,71.0,10.3,522,2679,0.00,2.53,0.00,0.000,516,0.000,0.106,3093,743,2264,2330,2199,0,0,0,0,0,0,15.04,14.81,15.04
$GC,2793,0.92,146.6,3093,743,2330,2200,57.7,11.6,546,2800,0.00,2.50,0.00,0.000,1030,0.000,0.087,3092,2162,2264,2330,2199,0,0,0,0,0,0,14.90,14.82,14.92
$GC,2919,0.92,146.6,3092,2163,2331,2199,45.2,9.1,571,2926,0.00,2.58,0.00,0.000,260,0.000,0.124,3093,3553,2264,2330,2199,0,0,0,0,0,0,15.05,14.78,15.05
$GC,2989,0.92,146.6,3093,3554,2331,2199,38.2,10.1,585,2997,0.00,2.50,0.00,0.000,1030,0.000,0.084,3099,2145,2264,2329,2199,0,0,0,0,0,0,14.89,14.83,14.92
$GC,3055,0.92,146.6,3102,2145,2330,2200,31.8,9.9,598,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2145,2265,2331,2199,0,0,0,0,0,0,15.06,15.06,15.07
$GC,3115,0.92,146.6,3102,2145,2331,2200,25.4,10.9,610,3123,0.00,2.53,0.00,0.000,516,0.000,0.108,3113,748,2264,2330,2198,0,0,0,0,0,0,15.06,14.81,15.06
$GC,3156,0.92,146.6,3113,748,2330,2200,20.6,11.6,618,3164,0.12,2.47,0.00,0.000,5126,0.238,0.090,3078,2148,2264,2329,2199,0,0,0,0,0,0,14.76,14.83,14.88
$GC,3222,0.92,146.6,3079,2148,2330,2200,13.7,9.9,631,3229,0.00,2.62,0.00,0.000,260,0.000,0.131,3078,3556,2266,2330,2202,0,0,0,0,0,0,15.05,14.80,15.05
$GC,3258,0.92,146.6,3079,3555,2330,2200,9.9,10.8,638,3265,0.00,2.50,0.00,0.000,1030,0.000,0.087,3087,2149,2264,2330,2199,0,0,0,0,0,0,14.90,14.84,14.92
$GC,3324,0.92,146.6,3087,2151,2330,2199,4.3,8.4,651,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2150,2264,2330,2199,0,0,0,0,0,0,15.07,15.07,15.07
$GC,3384,1.19,362.4,3087,2151,2331,2199,2.3,0.1,663,3458,0.15,0.00,71.10,0.185,10754,0.130,0.000,3153,2149,1625,1695,1556,0,0,0,0,0,0,14.85,28.83,14.95
$STATE,3458,end climb,SURFACE_DEPTH_REACHED
$STATE,3458,begin surface coast
$FINISH,0.1,1.005937
$STATE,3521,end surface coast,CONTROL_FINISHED_OK
$STATE,3521,begin surface
$SM_CCo,3535,5.32,0.202,0,0,1573,320.03
$SM_GC,2.49,8.80,0.20,5.32,0.090,0.123,0.202,195,2262,1573,-8.02,-0.48,320.03,0,0,0,0,0,0,14.80,14.81,14.73
$IRIDIUM_FIX,4726.11,-12217.96,090216,235218
$TT8_MAMPS,0.038948,0.856107
$HUMID,39.76
$INTERNAL_PRESSURE,8.85043
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.1,73.7
$SC_FREEKB,3906976
$24V_AH,13.38,2.306
$10V_AH,13.42,0.000
$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,21.325,76.800,290.250,5.325,0.000,25.717,35.120,305.753,0.750,0.000,7.385,0.000,1764.600,444.897,1793.644,40.591,0.000,1005.308,0.000,1030.669,0.000,7.542,0.000
$DEVICE_MAMPS,379.440,2250.630,2061.675,201.960,0.000,39.780,160.000,223.000,420.000,0.000,9.740,0.000,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.527,0.000,0.000,0.000
$MEM,312936
$DATA_FILE_SIZE,23411,689
$CAP_FILE_SIZE,117940,0
$CFSIZE,1024409600,1021231104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100216,020502,4744.090,-12224.569,102,0.9,103,16.0,0.3,133.3,8,4.9