version: 66.13
glider: 220
mission: 2
dive: 9
start: 2 10 116 2 14 21
data:
$ID,220
$MISSION,2
$DIVE,9
$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,300
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,100216,020502,4744.0898,-12224.5693,102,0.9,103,16.0,0.3,133.3,8,4.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.5
$GPS2,100216,021403,4744.0288,-12224.4854,2,0.9,4,16.0,0.3,98.4,9,6.5
$SPEED_LIMITS,0.299,0.325
$TGT_NAME,NORTH
$TGT_LATLONG,4744.500,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,342.8,873,-11.1,-8.000,-15.00,4529
$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,-0.85,-239.4,195,2264,1615,1523,0.0,0.0,0,65,0.00,0.00,-55.92,0.000,16386,0.000,0.000,195,2264,2949,2950,2948,0,0,0,0,0,0,14.88,28.83,14.90
$GC,66,-0.86,-243.5,196,2265,2951,2948,3.6,-7.9,10,100,10.25,2.78,-18.90,0.000,19204,0.383,2.258,2491,843,3820,3838,3802,0,0,0,0,0,0,14.54,13.95,14.73
$GC,154,-0.86,-243.5,2491,844,3840,3803,17.2,-13.8,27,161,0.00,2.53,0.00,0.000,1030,0.000,0.090,2482,2243,3820,3839,3802,0,0,0,0,0,0,14.71,14.64,14.75
$GC,220,-0.86,-243.5,2482,2244,3839,3803,26.4,-12.8,40,220,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2243,3821,3839,3803,0,0,0,0,0,0,14.92,14.92,14.92
$GC,279,-0.86,-243.5,2482,2243,3839,3804,34.3,-13.1,52,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2243,3821,3839,3803,0,0,0,0,0,0,14.94,14.94,14.94
$GC,339,-0.86,-243.5,2487,2243,3839,3804,42.6,-14.1,64,347,0.00,2.55,0.00,0.000,516,0.000,0.099,2481,837,3820,3838,3802,0,0,0,0,0,0,14.96,14.72,14.95
$GC,360,-0.86,-243.5,2481,837,3839,3802,45.6,-14.0,68,367,0.00,2.55,0.00,0.000,1030,0.000,0.093,2471,2257,3820,3838,3802,0,0,0,0,0,0,14.80,14.72,14.81
$GC,486,-0.86,-243.5,2473,2258,3838,3802,63.2,-13.2,93,493,0.00,2.62,0.00,0.000,260,0.000,0.130,2461,3657,3820,3839,3802,0,0,0,0,0,0,15.00,14.73,15.00
$GC,527,-0.86,-243.5,2461,3657,3839,3802,68.8,-13.8,101,534,0.10,2.50,0.00,0.000,3078,0.216,0.083,2491,2251,3820,3838,3802,0,0,0,0,0,0,14.72,14.78,14.83
$GC,653,-0.86,-243.5,2492,2250,3839,3804,84.6,-12.3,126,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2251,3820,3838,3802,0,0,0,0,0,0,15.02,15.02,15.03
$GC,773,-0.86,-243.5,2491,2250,3839,3803,98.8,-12.0,150,780,0.00,2.65,0.00,0.000,260,0.000,0.128,2481,3662,3820,3838,3802,0,0,0,0,0,0,15.04,14.75,15.04
$GC,824,-0.86,-243.5,2481,3663,3839,3803,105.1,-12.5,160,831,0.00,2.50,0.00,0.000,1030,0.000,0.082,2481,2252,3818,3838,3799,0,0,0,0,0,0,14.86,14.79,14.88
$GC,949,-0.86,-243.5,2481,2253,3839,3800,120.3,-11.7,185,957,0.00,2.53,0.00,0.000,516,0.000,0.099,2481,836,3820,3838,3802,0,0,0,0,0,0,15.06,14.81,15.05
$GC,975,-0.86,-243.5,2481,835,3839,3804,123.3,-11.5,190,982,0.00,2.53,0.00,0.000,1030,0.000,0.092,2471,2250,3820,3838,3802,0,0,0,0,0,0,14.89,14.81,14.91
$GC,1101,-0.86,-243.5,2472,2250,3839,3802,139.4,-13.3,215,1108,0.00,2.65,0.00,0.000,260,0.000,0.132,2461,3665,3820,3838,3802,0,0,0,0,0,0,15.07,14.80,15.07
$GC,1152,-0.86,-243.5,2461,3666,3839,3802,146.4,-13.7,225,1159,0.10,2.50,0.00,0.000,3078,0.216,0.083,2492,2251,3820,3838,3802,0,0,0,0,0,0,14.78,14.85,14.89
$GC,1278,-0.86,-243.5,2492,2251,3839,3802,161.3,-11.3,250,1285,0.00,2.65,0.00,0.000,260,0.000,0.129,2481,3664,3820,3838,3802,0,0,0,0,0,0,15.07,14.80,15.07
$GC,1333,-0.86,-243.5,2482,3664,3839,3803,168.0,-11.6,261,1341,0.00,2.50,0.00,0.000,1030,0.000,0.081,2481,2243,3820,3839,3802,0,0,0,0,0,0,14.88,14.83,14.90
$STATE,1399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1399,begin apogee
$GC,1401,-0.25,0.0,2481,2150,3840,3802,175.4,-11.5,274,1587,0.68,0.00,180.35,2.093,10246,0.188,0.000,2691,2148,2849,2902,2797,0,0,0,0,0,0,14.79,14.05,13.36
$STATE,1588,end apogee,CONTROL_FINISHED_OK
$STATE,1588,begin climb
$GC,1589,0.86,243.5,2691,2148,2903,2798,183.1,0.0,308,1783,1.15,2.62,184.35,2.020,10756,0.145,0.102,3036,747,1877,1952,1802,0,0,0,0,0,0,14.00,13.95,13.33
$GC,1817,0.86,243.5,3037,746,1953,1803,170.2,9.1,350,1824,0.00,2.60,0.00,0.000,1030,0.000,0.087,3036,2148,1877,1952,1802,0,0,0,0,0,0,14.25,14.19,14.28
$GC,1942,0.86,243.5,3037,2147,1953,1803,158.0,10.1,375,1950,0.00,2.70,0.00,0.000,260,0.000,0.127,3036,3558,1876,1952,1801,0,0,0,0,0,0,14.69,14.40,14.69
$GC,2003,0.86,243.5,3037,3557,1953,1802,151.0,11.8,387,2011,0.00,2.55,0.00,0.000,1030,0.000,0.085,3040,2152,1877,1952,1802,0,0,0,0,0,0,14.57,14.51,14.59
$GC,2129,0.86,243.5,3039,2152,1954,1802,137.3,10.8,412,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2152,1876,1952,1801,0,0,0,0,0,0,14.86,14.86,14.86
$GC,2249,0.86,243.5,3040,2153,1953,1801,124.3,10.7,436,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2152,1876,1952,1801,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2369,0.86,243.5,3040,2153,1953,1801,111.3,10.5,460,2376,0.00,2.55,0.00,0.000,516,0.000,0.105,3048,744,1877,1953,1801,0,0,0,0,0,0,14.96,14.71,14.97
$GC,2415,0.86,243.5,3048,743,1953,1802,106.4,10.6,469,2422,0.00,2.50,0.00,0.000,1030,0.000,0.087,3048,2149,1876,1952,1800,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2541,0.86,243.5,3048,2150,1954,1800,93.7,10.2,494,2548,0.00,2.62,0.00,0.000,260,0.000,0.125,3048,3560,1876,1952,1800,0,0,0,0,0,0,15.00,14.73,14.99
$GC,2621,0.86,243.5,3048,3554,1953,1800,84.2,12.1,510,2629,0.00,2.50,0.00,0.000,1030,0.000,0.081,3055,2142,1876,1952,1800,0,0,0,0,0,0,14.85,14.78,14.88
$GC,2747,0.86,243.5,3055,2143,1953,1801,70.1,11.5,535,2754,0.00,2.53,0.00,0.000,516,0.000,0.107,3063,742,1876,1952,1800,0,0,0,0,0,0,15.02,14.77,15.02
$GC,2808,0.86,243.5,3063,742,1953,1802,63.2,11.5,547,2815,0.00,2.50,0.00,0.000,1030,0.000,0.089,3062,2152,1875,1951,1800,0,0,0,0,0,0,14.85,14.78,14.86
$GC,2934,0.86,243.5,3063,2153,1953,1800,49.2,10.6,572,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2152,1876,1952,1800,0,0,0,0,0,0,15.04,15.04,15.03
$GC,3054,0.86,243.5,3063,2153,1953,1800,36.6,10.0,596,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2150,1876,1952,1800,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3114,0.86,243.5,3063,2152,1953,1800,30.8,9.6,608,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2153,1876,1952,1800,0,0,0,0,0,0,15.04,15.04,15.04
$GC,3174,0.86,243.5,3063,2153,1953,1800,25.0,9.8,620,3181,0.00,2.55,0.00,0.000,516,0.000,0.106,3072,745,1876,1952,1800,0,0,0,0,0,0,15.04,14.78,15.04
$GC,3250,0.86,243.5,3073,745,1953,1801,17.3,10.1,635,3257,0.00,2.47,0.00,0.000,1030,0.000,0.087,3072,2146,1876,1953,1800,0,0,0,0,0,0,14.87,14.81,14.90
$GC,3315,0.86,243.5,3072,2146,1953,1801,10.7,9.5,648,3322,0.00,2.65,0.00,0.000,260,0.000,0.130,3072,3561,1876,1952,1800,0,0,0,0,0,0,15.04,14.79,15.04
$GC,3371,0.86,243.5,3072,3561,1953,1801,4.4,11.2,659,3378,0.00,2.50,0.00,0.000,1030,0.000,0.085,3081,2153,1876,1952,1800,0,0,0,0,0,0,14.89,14.84,14.92
$STATE,3401,end climb,SURFACE_DEPTH_REACHED
$STATE,3401,begin surface coast
$FINISH,0.3,1.020800
$STATE,3421,end surface coast,CONTROL_FINISHED_OK
$STATE,3421,begin surface
$SM_CCo,3434,34.17,0.188,0,0,1573,320.03
$SM_GC,0.94,8.45,0.20,34.17,0.083,0.130,0.188,203,2262,1573,-8.00,-0.40,320.03,0,0,0,0,0,0,14.83,14.85,14.76
$IRIDIUM_FIX,4726.11,-12222.38,100216,005734
$TT8_MAMPS,0.038948,0.878577
$HUMID,39.17
$INTERNAL_PRESSURE,8.8602
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.6,74.5
$SC_FREEKB,3906528
$24V_AH,13.33,2.595
$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,20.725,72.225,364.700,34.175,0.000,26.098,38.535,327.996,0.750,0.000,5.592,0.000,1664.084,517.246,1775.740,41.510,0.000,1075.863,0.000,1000.898,0.000,7.183,0.000
$DEVICE_MAMPS,382.500,2257.515,2093.040,188.190,0.000,39.780,160.000,223.000,420.000,0.000,9.740,0.000,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3478.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.953,0.000,0.000,0.000
$MEM,312976
$DATA_FILE_SIZE,23411,669
$CAP_FILE_SIZE,114957,0
$CFSIZE,1024409600,1021116416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100216,031302,4744.842,-12224.511,17,1.1,31,16.0,0.3,73.8,8,2.5