version: 66.13
glider: 220
mission: 2
dive: 13
start: 2 10 116 6 47 27
data:
$ID,220
$MISSION,2
$DIVE,13
$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,23
$R_STBD_OVSHOOT,23
$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
$GPS1,100216,063809,4745.5259,-12225.0732,10,2.0,62,16.0,0.2,0.0,6,5.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.9
$GPS2,100216,064709,4745.5737,-12225.0293,3,0.9,16,16.0,0.2,1.0,11,2.7
$SPEED_LIMITS,0.139,0.220
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,156.2,4812,-16.8,-8.000,-20.01,2232
$D_GRID,189
$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,-117.3,202,2256,1541,1419,0.0,0.0,0,59,0.00,0.00,-51.10,0.000,16386,0.000,0.000,201,2257,2748,2758,2738,0,0,0,0,0,0,14.88,28.83,14.88
$GC,61,-0.98,-117.3,202,2258,2759,2739,3.2,-6.6,9,89,10.15,2.85,-14.00,0.000,18692,0.387,2.284,2440,3654,3317,3339,3295,0,0,0,0,0,0,14.52,13.92,14.72
$GC,168,-0.98,-117.3,2441,3655,3346,3295,20.1,-14.7,30,175,0.00,2.53,0.00,0.000,1030,0.000,0.080,2440,2240,3317,3339,3295,0,0,0,0,0,0,14.71,14.66,14.74
$GC,234,-0.98,-117.3,2441,2240,3339,3297,29.0,-12.8,43,241,0.00,2.53,0.00,0.000,516,0.000,0.097,2441,840,3317,3339,3295,0,0,0,0,0,0,14.92,14.67,14.92
$GC,290,-0.98,-117.3,2441,840,3340,3295,36.8,-14.6,54,297,0.00,2.50,0.00,0.000,1030,0.000,0.087,2431,2238,3317,3339,3295,0,0,0,0,0,0,14.78,14.71,14.80
$GC,356,-0.98,-117.3,2431,2239,3340,3295,46.0,-13.8,67,362,0.10,0.00,0.00,0.000,2054,0.277,0.000,2458,2236,3317,3339,3295,0,0,0,0,0,0,14.66,14.82,14.81
$GC,480,-0.98,-117.3,2459,2238,3342,3296,60.6,-11.1,92,488,0.00,2.65,0.00,0.000,260,0.000,0.127,2447,3652,3317,3339,3295,0,0,0,0,0,0,14.97,14.71,14.97
$GC,561,-0.98,-117.3,2448,3653,3340,3297,70.1,-11.7,108,568,0.00,2.47,0.00,0.000,1030,0.000,0.080,2447,2252,3317,3338,3296,0,0,0,0,0,0,14.85,14.78,14.86
$GC,687,-0.98,-117.3,2448,2251,3340,3296,85.8,-13.3,133,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2252,3317,3339,3295,0,0,0,0,0,0,15.02,15.02,15.02
$GC,807,-0.98,-117.3,2447,2252,3339,3296,101.8,-12.9,157,814,0.00,2.53,0.00,0.000,516,0.000,0.097,2447,841,3317,3339,3295,0,0,0,0,0,0,15.04,14.78,15.04
$GC,843,-0.98,-117.3,2447,841,3340,3295,107.0,-14.4,164,850,0.00,2.50,0.00,0.000,1030,0.000,0.090,2436,2247,3316,3338,3295,0,0,0,0,0,0,14.85,14.78,14.88
$GC,969,-0.98,-117.3,2437,2247,3340,3296,124.6,-14.0,189,976,0.00,2.65,0.00,0.000,260,0.000,0.131,2426,3658,3317,3339,3295,0,0,0,0,0,0,15.05,14.78,15.05
$GC,1009,-0.98,-117.3,2426,3659,3340,3295,130.9,-15.7,197,1017,0.10,2.50,0.00,0.000,3078,0.243,0.081,2452,2244,3317,3339,3295,0,0,0,0,0,0,14.76,14.83,14.87
$GC,1135,-0.98,-117.3,2455,2245,3340,3295,147.4,-12.6,222,1143,0.00,2.65,0.00,0.000,260,0.000,0.128,2444,3655,3317,3339,3295,0,0,0,0,0,0,15.05,14.79,15.05
$GC,1161,-0.98,-117.3,2444,3656,3340,3295,150.7,-12.9,227,1168,0.00,2.50,0.00,0.000,1030,0.000,0.083,2443,2242,3316,3337,3295,0,0,0,0,0,0,14.90,14.85,14.92
$GC,1287,-0.98,-117.3,2442,2243,3339,3295,167.0,-12.4,252,1294,0.00,2.65,0.00,0.000,260,0.000,0.129,2433,3652,3317,3339,3295,0,0,0,0,0,0,15.07,14.78,15.07
$GC,1383,-0.98,-117.3,2433,3652,3343,3295,179.9,-13.3,271,1390,0.00,2.47,0.00,0.000,1030,0.000,0.080,2432,2243,3317,3340,3295,0,0,0,0,0,0,14.89,14.85,14.90
$STATE,1392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1392,begin apogee
$GC,1395,-0.25,0.0,2434,2150,3340,3297,181.1,-12.4,273,1489,0.85,0.00,87.15,2.102,10246,0.215,0.000,2686,2150,2849,2899,2799,0,0,0,0,0,0,14.78,14.19,13.45
$STATE,1490,end apogee,CONTROL_FINISHED_OK
$STATE,1490,begin climb
$GC,1491,0.98,117.3,2687,2150,2899,2801,184.7,0.0,290,1592,1.27,2.83,90.40,2.056,10500,0.140,0.122,3074,3564,2382,2447,2317,0,0,0,0,0,0,14.15,13.95,13.33
$GC,1611,1.00,129.4,3075,3565,2449,2315,179.2,7.4,312,1629,0.00,2.65,10.85,1.863,9222,0.000,0.084,3084,2147,2332,2400,2265,0,0,0,0,0,0,14.23,14.16,13.50
$GC,1748,1.00,129.4,3085,2147,2401,2265,167.3,9.0,339,1755,0.00,2.72,0.00,0.000,260,0.000,0.123,3085,3560,2332,2400,2265,0,0,0,0,0,0,14.66,14.41,14.66
$GC,1854,1.00,129.4,3084,3561,2401,2265,155.7,10.9,360,1861,0.00,2.55,0.00,0.000,1030,0.000,0.080,3094,2145,2332,2400,2265,0,0,0,0,0,0,14.64,14.58,14.66
$GC,1980,1.00,129.4,3094,2144,2401,2267,143.1,10.7,385,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2145,2333,2400,2266,0,0,0,0,0,0,14.88,14.87,14.87
$GC,2100,1.00,129.4,3094,2145,2401,2265,130.9,11.2,409,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2144,2332,2400,2265,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2220,1.00,129.4,3095,2145,2399,2267,118.9,10.7,433,2227,0.00,2.53,0.00,0.000,516,0.000,0.103,3104,747,2332,2400,2265,0,0,0,0,0,0,14.97,14.70,14.96
$GC,2235,1.00,129.4,3106,746,2401,2266,117.1,10.6,436,2243,0.00,2.50,0.00,0.000,1030,0.000,0.088,3104,2150,2332,2400,2265,0,0,0,0,0,0,14.79,14.71,14.81
$GC,2361,1.00,129.4,3104,2149,2402,2267,104.2,10.0,461,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2150,2332,2399,2265,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2481,1.00,129.4,3104,2151,2400,2265,91.3,10.4,485,2488,0.00,2.55,0.00,0.000,516,0.000,0.104,3114,741,2333,2400,2266,0,0,0,0,0,0,15.02,14.76,15.02
$GC,2507,1.00,129.4,3114,743,2401,2266,88.4,11.9,490,2514,0.00,2.50,0.00,0.000,1030,0.000,0.087,3114,2154,2332,2400,2265,0,0,0,0,0,0,14.86,14.78,14.87
$GC,2633,1.00,129.4,3115,2154,2401,2267,75.0,11.2,515,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2154,2332,2400,2265,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2753,1.00,129.4,3115,2154,2401,2267,61.0,11.7,539,2760,0.00,2.55,0.00,0.000,516,0.000,0.105,3125,744,2333,2400,2266,0,0,0,0,0,0,15.02,14.78,15.02
$GC,2848,1.00,129.4,3126,744,2401,2267,50.0,11.1,558,2856,0.00,2.47,0.00,0.000,1030,0.000,0.086,3125,2149,2332,2400,2265,0,0,0,0,0,0,14.88,14.81,14.90
$GC,2975,1.00,129.4,3125,2150,2401,2265,38.0,8.8,583,2982,0.00,2.62,0.00,0.000,260,0.000,0.126,3125,3554,2332,2400,2265,0,0,0,0,0,0,15.04,14.76,15.04
$GC,3035,1.00,129.4,3126,3554,2401,2267,32.7,8.0,595,3043,0.12,2.50,0.00,0.000,5126,0.252,0.083,3102,2145,2332,2400,2265,0,0,0,0,0,0,14.73,14.80,14.85
$GC,3102,1.01,137.8,3102,2144,2401,2266,28.2,7.6,608,3110,0.00,2.67,3.88,0.317,8452,0.000,0.128,3102,3557,2298,2367,2229,0,0,0,0,0,0,15.04,14.77,14.72
$GC,3148,1.01,137.8,3102,3557,2368,2229,24.1,9.3,617,3155,0.00,2.50,0.00,0.000,1030,0.000,0.084,3111,2147,2298,2367,2229,0,0,0,0,0,0,14.88,14.82,14.90
$GC,3214,1.01,137.8,3111,2147,2366,2230,18.7,8.3,630,3221,0.00,2.53,0.00,0.000,516,0.000,0.106,3121,740,2298,2367,2229,0,0,0,0,0,0,15.04,14.78,15.03
$GC,3245,1.01,137.8,3122,741,2368,2229,16.2,8.7,636,3252,0.00,2.50,0.00,0.000,1030,0.000,0.089,3121,2153,2298,2367,2229,0,0,0,0,0,0,14.85,14.79,14.88
$GC,3311,1.02,146.5,3122,2153,2368,2230,11.3,7.6,649,3319,0.00,2.58,3.75,0.252,8708,0.000,0.107,3131,742,2262,2332,2192,0,0,0,0,0,0,15.04,14.78,14.76
$STATE,3421,end climb,SURFACE_DEPTH_REACHED
$STATE,3422,begin surface coast
$FINISH,0.1,1.020083
$STATE,3447,end surface coast,CONTROL_FINISHED_OK
$STATE,3447,begin surface
$SM_CCo,3462,77.82,0.182,0,0,1573,320.03
$SM_GC,0.96,8.65,2.67,77.82,0.086,0.089,0.182,200,2247,1573,-8.00,-0.68,320.03,0,0,0,0,0,0,14.83,14.81,14.72
$IRIDIUM_FIX,4726.11,-12224.09,100216,052843
$TT8_MAMPS,0.03745,0.854609
$HUMID,38.30
$INTERNAL_PRESSURE,8.85043
$TCM_TEMP,17.10
$XPDR_PINGS,1
$SC_FREEKB,3904736
$24V_AH,13.33,3.326
$10V_AH,13.49,0.000
$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,21.250,82.550,196.025,77.825,0.000,22.720,34.989,319.985,0.250,0.000,17.727,0.000,1776.531,449.282,1800.964,43.802,0.000,986.771,0.000,1015.418,0.000,0.542,0.000
$DEVICE_MAMPS,387.090,2283.525,2102.220,182.070,0.000,39.780,160.000,223.000,420.000,0.000,9.740,0.000,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3505.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.777,0.000,0.000,0.000
$MEM,312956
$DATA_FILE_SIZE,23351,676
$CAP_FILE_SIZE,118017,0
$CFSIZE,1024409600,1020690432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100216,074651,4745.443,-12225.241,2,1.0,5,16.0,0.2,337.3,9,8.6