version: 66.13
glider: 220
mission: 2
dive: 14
start: 2 10 116 7 55 54
data:
$ID,220
$MISSION,2
$DIVE,14
$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,60
$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,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,17
$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
$GPS1,100216,074651,4745.4434,-12225.2412,2,1.0,5,16.0,0.2,337.3,9,8.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.0
$GPS2,100216,075536,4745.4927,-12225.2285,3,1.2,6,16.0,0.1,0.0,8,8.8
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,152.9,4705,-18.1,-10.000,-20.93,2236
$D_GRID,191
$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,-1.09,-146.6,201,2249,1603,1525,0.0,0.0,0,65,0.00,0.00,-56.58,0.000,16386,0.000,0.000,200,2250,2974,2978,2970,0,0,0,0,0,0,14.86,28.83,14.86
$GC,66,-1.09,-146.6,201,2250,2979,2971,3.7,-8.5,10,94,10.00,2.83,-11.00,0.000,18692,0.387,2.281,2406,3665,3435,3452,3418,0,0,0,0,0,0,14.50,13.88,14.72
$GC,178,-1.09,-146.6,2406,3666,3453,3418,21.8,-16.1,32,185,0.00,2.53,0.00,0.000,1030,0.000,0.079,2406,2249,3435,3452,3418,0,0,0,0,0,0,14.69,14.62,14.71
$GC,244,-1.09,-146.6,2406,2250,3453,3418,31.6,-15.3,45,251,0.00,2.53,0.00,0.000,516,0.000,0.096,2406,846,3435,3452,3418,0,0,0,0,0,0,14.90,14.64,14.90
$GC,264,-1.09,-146.6,2406,845,3452,3419,35.2,-17.0,49,272,0.08,2.53,0.00,0.000,3078,0.284,0.091,2415,2250,3435,3452,3418,0,0,0,0,0,0,14.59,14.66,14.71
$GC,331,-1.09,-146.6,2416,2251,3453,3418,45.4,-13.9,62,337,0.00,2.65,0.00,0.000,260,0.000,0.134,2405,3668,3435,3452,3418,0,0,0,0,0,0,14.91,14.66,14.91
$GC,421,-1.09,-146.6,2405,3669,3454,3418,59.2,-14.8,80,428,0.00,2.53,0.00,0.000,1030,0.000,0.081,2404,2250,3435,3452,3418,0,0,0,0,0,0,14.82,14.73,14.81
$GC,547,-1.09,-146.6,2404,2251,3451,3418,77.8,-15.0,105,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2250,3435,3452,3418,0,0,0,0,0,0,14.99,14.99,14.99
$GC,667,-1.09,-146.6,2405,2250,3453,3419,96.7,-16.1,129,674,0.00,2.53,0.00,0.000,516,0.000,0.096,2404,841,3434,3451,3418,0,0,0,0,0,0,15.01,14.75,15.02
$GC,712,-1.09,-146.6,2405,841,3452,3419,103.8,-15.0,138,720,0.08,2.50,0.00,0.000,3078,0.278,0.090,2415,2246,3435,3452,3418,0,0,0,0,0,0,14.69,14.74,14.81
$GC,839,-1.09,-146.6,2416,2246,3453,3419,121.7,-14.2,163,846,0.00,2.65,0.00,0.000,260,0.000,0.132,2404,3655,3434,3451,3418,0,0,0,0,0,0,15.03,14.76,15.03
$GC,864,-1.09,-146.6,2404,3656,3453,3418,125.4,-14.4,168,872,0.00,2.50,0.00,0.000,1030,0.000,0.086,2404,2250,3434,3451,3418,0,0,0,0,0,0,14.88,14.81,14.90
$GC,990,-1.09,-146.6,2404,2250,3452,3419,143.1,-12.8,193,991,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2250,3434,3450,3418,0,0,0,0,0,0,15.04,15.04,15.04
$GC,1110,-1.09,-146.6,2404,2251,3452,3418,158.8,-13.4,217,1117,0.00,2.50,0.00,0.000,516,0.000,0.098,2404,847,3434,3450,3418,0,0,0,0,0,0,15.05,14.81,15.05
$GC,1151,-1.09,-146.6,2404,848,3453,3418,164.3,-13.0,225,1158,0.08,2.50,0.00,0.000,3078,0.282,0.089,2415,2252,3435,3452,3418,0,0,0,0,0,0,14.75,14.82,14.88
$STATE,1276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1276,begin apogee
$GC,1279,-0.25,0.0,2415,2136,3453,3416,180.4,-12.6,250,1394,0.93,0.00,108.57,2.077,10246,0.220,0.000,2687,2135,2848,2900,2797,0,0,0,0,0,0,14.76,14.11,13.42
$STATE,1395,end apogee,CONTROL_FINISHED_OK
$STATE,1395,begin climb
$GC,1396,1.09,146.6,2687,2136,2902,2797,183.5,0.0,271,1520,1.40,2.83,112.32,2.088,11012,0.143,0.119,3112,3557,2265,2335,2195,0,0,0,0,0,0,14.07,13.91,13.31
$GC,1538,1.09,146.6,3108,3556,2335,2196,173.9,12.1,297,1545,0.00,2.62,0.00,0.000,1030,0.000,0.082,3118,2148,2266,2335,2197,0,0,0,0,0,0,14.20,14.14,14.21
$GC,1664,1.09,146.6,3118,2149,2338,2195,156.7,13.4,322,1671,0.00,2.60,0.00,0.000,516,0.000,0.106,3128,745,2265,2335,2195,0,0,0,0,0,0,14.67,14.43,14.67
$GC,1725,1.09,146.6,3128,746,2335,2197,148.6,13.9,334,1732,0.00,2.55,0.00,0.000,1030,0.000,0.088,3130,2155,2265,2335,2196,0,0,0,0,0,0,14.57,14.49,14.59
$GC,1851,1.09,146.6,3127,2157,2336,2196,132.2,11.3,359,1858,0.00,2.60,0.00,0.000,516,0.000,0.107,3137,746,2265,2335,2196,0,0,0,0,0,0,14.83,14.59,14.85
$GC,1882,1.09,146.6,3136,747,2336,2196,128.7,11.8,365,1889,0.00,2.53,0.00,0.000,1030,0.000,0.089,3138,2154,2265,2334,2196,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2007,1.09,146.6,3138,2154,2336,2197,113.8,12.2,390,2015,0.00,2.65,0.00,0.000,260,0.000,0.128,3138,3564,2265,2335,2196,0,0,0,0,0,0,14.91,14.66,14.92
$GC,2048,1.09,146.6,3138,3558,2336,2197,107.6,15.5,398,2055,0.00,2.53,0.00,0.000,1030,0.000,0.087,3148,2150,2265,2335,2196,0,0,0,0,0,0,14.76,14.71,14.79
$GC,2174,1.09,146.6,3149,2151,2336,2196,89.6,14.0,423,2181,0.00,2.55,0.00,0.000,516,0.000,0.108,3158,742,2265,2335,2196,0,0,0,0,0,0,14.97,14.72,14.97
$GC,2195,1.09,146.6,3159,740,2335,2198,87.0,12.6,427,2202,0.10,2.53,0.00,0.000,5126,0.268,0.090,3132,2153,2265,2334,2196,0,0,0,0,0,0,14.64,14.71,14.76
$GC,2321,1.09,146.6,3131,2154,2336,2196,71.4,11.9,452,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2153,2266,2335,2197,0,0,0,0,0,0,15.00,15.00,15.00
$GC,2441,1.09,146.6,3131,2154,2336,2196,57.6,11.3,476,2448,0.00,2.55,0.00,0.000,516,0.000,0.106,3142,748,2266,2335,2197,0,0,0,0,0,0,15.01,14.75,15.01
$GC,2557,1.09,148.8,3142,747,2335,2198,45.7,9.9,499,2564,0.00,2.47,1.35,0.353,9222,0.000,0.086,3142,2148,2254,2331,2178,0,0,0,0,0,0,14.85,14.78,14.69
$GC,2683,1.09,150.9,3142,2149,2331,2179,33.4,9.9,524,2690,0.00,2.62,0.00,0.000,260,0.000,0.127,3141,3555,2254,2330,2178,0,0,0,0,0,0,15.01,14.76,15.01
$GC,2708,1.09,150.9,3142,3555,2331,2180,30.6,11.0,529,2716,0.00,2.50,0.00,0.000,1030,0.000,0.085,3153,2149,2254,2331,2178,0,0,0,0,0,0,14.86,14.78,14.88
$GC,2774,1.09,150.9,3152,2149,2331,2179,23.3,11.2,542,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2149,2254,2330,2178,0,0,0,0,0,0,15.02,15.02,15.02
$GC,2834,1.09,150.9,3153,2150,2331,2178,15.3,13.8,554,2841,0.00,2.55,0.00,0.000,516,0.000,0.107,3163,739,2254,2330,2178,0,0,0,0,0,0,15.02,14.78,15.02
$GC,2865,1.09,150.9,3163,740,2331,2178,11.7,11.7,560,2872,0.10,2.50,0.00,0.000,5126,0.269,0.090,3136,2148,2254,2331,2178,0,0,0,0,0,0,14.69,14.76,14.83
$GC,2931,1.15,193.6,3136,2152,2331,2179,5.1,8.0,573,2956,0.00,2.67,19.77,0.193,8452,0.000,0.132,3136,3560,2074,2146,2002,0,0,0,0,0,0,15.02,14.76,14.74
$STATE,2968,end climb,SURFACE_DEPTH_REACHED
$STATE,2969,begin surface coast
$FINISH,0.2,1.020038
$STATE,2989,end surface coast,CONTROL_FINISHED_OK
$STATE,2989,begin surface
$SM_CCo,3004,56.70,0.183,0,0,1573,320.03
$SM_GC,1.69,8.75,2.35,56.70,0.090,0.086,0.183,201,2242,1573,-8.00,0.57,320.03,0,0,0,0,0,0,14.79,14.80,14.71
$IRIDIUM_FIX,4726.11,-12226.80,100216,064034
$TT8_MAMPS,0.03745,0.903294
$HUMID,38.18
$INTERNAL_PRESSURE,8.8602
$TCM_TEMP,17.00
$XPDR_PINGS,1
$SC_FREEKB,3904288
$24V_AH,13.31,3.529
$10V_AH,13.32,0.000
$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,21.500,77.150,242.025,56.700,0.000,23.912,49.070,304.073,0.250,0.000,8.117,0.000,1474.715,452.645,1607.333,41.529,0.000,936.142,0.000,876.563,0.000,0.542,0.000
$DEVICE_MAMPS,387.090,2281.230,2088.450,182.835,0.000,39.780,160.000,223.000,420.000,0.000,9.740,0.000,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3045.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,29.149,0.000,0.000,0.000
$MEM,312944
$DATA_FILE_SIZE,20066,584
$CAP_FILE_SIZE,105173,0
$CFSIZE,1024409600,1020608512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100216,084739,4745.067,-12225.321,26,1.3,26,16.0,0.1,0.0,9,8.7