version: 66.13
glider: 220
mission: 2
dive: 12
start: 2 10 116 5 35 1
data:
$ID,220
$MISSION,2
$DIVE,12
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,27
$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,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,-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
$GPS1,100216,052618,4745.3159,-12224.7090,28,1.0,31,16.0,0.3,275.3,8,5.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.2
$GPS2,100216,053443,4745.3252,-12224.7617,3,1.0,4,16.0,0.2,0.0,8,7.6
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,159.7,4319,-16.8,-8.000,-20.01,2232
$D_GRID,193
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,6,-0.98,-117.3,204,2260,1625,1516,0.0,0.0,0,54,0.00,0.00,-45.62,0.000,16386,0.000,0.000,203,2267,2699,2713,2685,0,0,0,0,0,0,14.87,28.83,14.87
$GC,55,-0.98,-117.3,205,2261,2713,2687,3.1,-6.3,8,84,10.20,2.83,-13.40,0.000,18692,0.391,2.281,2440,3649,3316,3337,3295,0,0,0,0,0,0,14.50,13.91,14.71
$GC,443,-0.98,-117.3,2440,3649,3338,3295,64.2,-11.9,85,450,0.00,2.47,0.00,0.000,1030,0.000,0.076,2440,2240,3316,3337,3295,0,0,0,0,0,0,14.80,14.74,14.81
$GC,568,-0.98,-117.3,2440,2242,3337,3295,79.2,-11.9,110,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2240,3316,3337,3295,0,0,0,0,0,0,15.00,15.00,15.00
$GC,688,-0.98,-117.3,2441,2239,3335,3296,93.9,-12.8,134,695,0.00,2.65,0.00,0.000,260,0.000,0.125,2429,3654,3316,3337,3295,0,0,0,0,0,0,15.02,14.73,15.02
$GC,719,-0.98,-117.3,2430,3655,3338,3295,98.2,-14.4,140,727,0.00,2.47,0.00,0.000,1030,0.000,0.081,2429,2255,3315,3336,3295,0,0,0,0,0,0,14.85,14.80,14.86
$GC,845,-0.98,-117.3,2430,2255,3337,3297,117.3,-16.1,165,852,0.00,2.53,0.00,0.000,516,0.000,0.097,2429,841,3316,3337,3295,0,0,0,0,0,0,15.04,14.81,15.04
$GC,881,-0.98,-117.3,2429,842,3339,3295,123.0,-15.9,172,889,0.12,2.47,0.00,0.000,3078,0.250,0.089,2454,2237,3316,3337,3295,0,0,0,0,0,0,14.74,14.81,14.86
$GC,1007,-0.98,-117.3,2454,2238,3338,3295,140.8,-13.4,197,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2237,3316,3337,3295,0,0,0,0,0,0,15.05,15.05,15.05
$GC,1127,-0.98,-117.3,2454,2238,3338,3295,155.8,-13.2,221,1135,0.00,2.65,0.00,0.000,260,0.000,0.127,2443,3660,3315,3336,3295,0,0,0,0,0,0,15.07,14.78,15.07
$GC,1158,-0.98,-117.3,2443,3661,3337,3296,159.8,-12.8,227,1165,0.00,2.50,0.00,0.000,1030,0.000,0.080,2443,2241,3316,3337,3295,0,0,0,0,0,0,14.91,14.84,14.92
$GC,1284,-0.98,-117.3,2443,2243,3338,3295,176.2,-12.0,252,1291,0.00,2.67,0.00,0.000,260,0.000,0.129,2432,3664,3316,3337,3295,0,0,0,0,0,0,15.07,14.80,15.08
$STATE,1314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1314,begin apogee
$GC,1319,-0.25,0.0,2433,2153,3339,3295,180.1,-13.2,258,1412,0.85,0.00,87.43,2.136,10246,0.212,0.000,2686,2152,2849,2899,2800,0,0,0,0,0,0,14.77,14.19,13.45
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1414,0.98,117.3,2687,2152,2899,2802,184.4,0.0,275,1516,1.27,2.80,90.97,2.130,10500,0.139,0.122,3074,3555,2382,2447,2317,0,0,0,0,0,0,14.14,13.94,13.34
$GC,1550,0.98,117.3,3075,3556,2448,2317,176.8,9.0,300,1557,0.00,2.60,0.00,0.000,1030,0.000,0.081,3082,2152,2382,2447,2317,0,0,0,0,0,0,14.29,14.22,14.31
$GC,1676,0.98,117.3,3082,2153,2448,2318,166.2,9.3,325,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2153,2382,2447,2317,0,0,0,0,0,0,14.70,14.70,14.70
$GC,1796,0.98,117.3,3082,2153,2448,2318,155.1,9.6,349,1803,0.00,2.67,0.00,0.000,260,0.000,0.122,3081,3561,2382,2447,2317,0,0,0,0,0,0,14.82,14.55,14.82
$GC,1936,0.98,117.3,3082,3561,2448,2318,139.5,11.9,377,1944,0.00,2.53,0.00,0.000,1030,0.000,0.081,3091,2149,2382,2447,2317,0,0,0,0,0,0,14.74,14.68,14.76
$GC,2063,0.99,119.6,3092,2149,2448,2318,127.5,7.9,402,2071,0.00,2.50,2.42,0.967,8708,0.000,0.105,3100,739,2369,2442,2297,0,0,0,0,0,0,14.95,14.68,14.01
$GC,2114,0.99,119.6,3101,740,2443,2299,123.1,9.1,412,2121,0.00,2.53,0.00,0.000,1030,0.000,0.089,3101,2159,2370,2442,2299,0,0,0,0,0,0,14.78,14.71,14.81
$GC,2240,0.99,119.6,3101,2160,2443,2299,110.5,9.3,437,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2159,2371,2442,2300,0,0,0,0,0,0,14.99,14.99,14.99
$GC,2360,0.99,119.6,3100,2160,2443,2300,100.1,9.0,461,2367,0.00,2.58,0.00,0.000,516,0.000,0.105,3111,738,2371,2442,2300,0,0,0,0,0,0,15.02,14.77,15.02
$GC,2381,0.99,119.6,3116,739,2443,2299,98.2,9.0,465,2388,0.00,2.50,0.00,0.000,1030,0.000,0.090,3111,2145,2371,2443,2300,0,0,0,0,0,0,14.84,14.78,14.88
$GC,2506,0.99,119.6,3111,2145,2443,2301,87.5,8.6,490,2514,0.00,2.65,0.00,0.000,260,0.000,0.127,3109,3562,2369,2441,2297,0,0,0,0,0,0,15.02,14.76,15.02
$GC,2537,0.99,119.6,3112,3562,2443,2302,84.6,9.5,496,2544,0.00,2.53,0.00,0.000,1030,0.000,0.086,3121,2144,2371,2442,2300,0,0,0,0,0,0,14.87,14.80,14.89
$GC,2663,0.99,119.6,3122,2144,2443,2302,72.9,10.4,521,2670,0.00,2.53,0.00,0.000,516,0.000,0.107,3131,744,2371,2442,2300,0,0,0,0,0,0,15.04,14.76,15.04
$GC,2714,0.99,119.6,3132,744,2443,2301,67.3,11.0,531,2721,0.12,2.50,0.00,0.000,5126,0.247,0.090,3098,2153,2371,2442,2300,0,0,0,0,0,0,14.73,14.79,14.85
$GC,2840,0.99,119.6,3097,2154,2443,2300,55.4,8.3,556,2847,0.00,2.60,0.00,0.000,260,0.000,0.125,3096,3554,2371,2442,2300,0,0,0,0,0,0,15.05,14.80,15.05
$GC,3040,0.99,119.6,3096,3554,2443,2300,36.8,9.4,596,3048,0.00,2.47,0.00,0.000,1030,0.000,0.080,3107,2150,2371,2442,2301,0,0,0,0,0,0,14.89,14.84,14.91
$GC,3107,0.99,120.7,3107,2151,2443,2300,31.5,7.9,609,3113,0.00,2.60,0.00,0.000,260,0.000,0.127,3107,3562,2371,2442,2300,0,0,0,0,0,0,15.04,14.79,15.04
$GC,3152,0.99,120.7,3108,3559,2443,2302,27.4,9.5,618,3159,0.00,2.50,0.00,0.000,1030,0.000,0.085,3117,2152,2371,2442,2301,0,0,0,0,0,0,14.89,14.83,14.91
$GC,3218,1.03,157.6,3115,2154,2443,2301,22.7,6.3,631,3242,0.00,2.55,16.67,0.252,8708,0.000,0.108,3128,719,2218,2289,2148,0,0,0,0,0,0,15.06,14.79,14.74
$GC,3430,1.03,157.6,3129,720,2289,2149,9.5,8.6,673,3438,0.00,2.50,0.00,0.000,1030,0.000,0.085,3128,2140,2218,2288,2148,0,0,0,0,0,0,14.89,14.81,14.89
$GC,3496,1.19,283.2,3128,2141,2289,2149,6.5,2.2,686,3558,0.00,2.47,56.30,0.194,8708,0.000,0.104,3138,744,1716,1791,1641,0,0,0,0,0,0,15.04,14.73,14.70
$GC,3562,1.26,340.2,3138,745,1792,1638,4.5,5.4,698,3597,0.05,2.50,25.95,0.190,11270,0.148,0.088,3169,2154,1490,1563,1417,0,0,0,0,0,0,14.78,14.76,14.66
$STATE,3604,end climb,SURFACE_DEPTH_REACHED
$STATE,3605,begin surface coast
$FINISH,0.0,1.019529
$STATE,3635,end surface coast,CONTROL_FINISHED_OK
$STATE,3635,begin surface
$SM_CCo,3709,0.00,0.000,0,0,1484,342.89
$SM_GC,1.72,8.82,0.17,0.00,0.089,0.139,0.000,201,2256,1484,-8.00,-0.62,342.89,0,0,0,0,0,0,14.76,14.78,14.85
$IRIDIUM_FIX,4726.11,-12222.38,100216,042122
$TT8_MAMPS,0.038199,0.852362
$HUMID,38.81
$INTERNAL_PRESSURE,8.84067
$TCM_TEMP,17.00
$XPDR_PINGS,0
$SC_FREEKB,3905184
$24V_AH,13.34,3.135
$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,21.450,77.200,279.750,0.000,0.000,26.002,33.864,301.015,0.000,0.000,5.489,0.000,1925.502,415.525,1820.617,42.456,0.000,983.037,0.000,1065.884,0.000,0.541,0.000
$DEVICE_MAMPS,390.915,2281.230,2135.880,0.000,0.000,39.780,160.000,223.000,420.000,0.000,9.740,0.000,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3691.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.610,0.000,0.000,0.000
$MEM,312960
$DATA_FILE_SIZE,23442,712
$CAP_FILE_SIZE,117298,0
$CFSIZE,1024409600,1020805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100216,063809,4745.526,-12225.073,10,2.0,62,16.0,0.2,0.0,6,5.4