version: 66.13
glider: 220
mission: 2
dive: 15
start: 2 10 116 8 58 2
data:
$ID,220
$MISSION,2
$DIVE,15
$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,25
$R_STBD_OVSHOOT,16
$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
$GPS1,100216,084739,4745.0674,-12225.3213,26,1.3,26,16.0,0.1,0.0,9,8.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.0
$GPS2,100216,085744,4745.0737,-12225.3047,3,1.4,6,16.0,0.2,194.2,9,7.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,SOUTH
$TGT_LATLONG,4743.000,-12224.500
$TGT_RADIUS,750.000
$MHEAD_RNG_PITCHd_Wd,149.4,3969,-18.1,-10.000,-20.93,2236
$D_GRID,254
$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,-146.6,203,2239,1602,1530,0.0,0.0,0,75,0.00,0.00,-67.28,0.000,16386,0.000,0.000,202,2242,3123,3123,3124,0,0,0,0,0,0,14.86,28.83,14.86
$GC,77,-1.09,-146.6,203,2243,3125,3125,3.0,-6.9,12,94,9.98,2.83,-0.05,0.000,18692,0.387,2.277,2407,3658,3127,3129,3125,0,0,0,0,0,0,14.53,13.88,14.67
$GC,183,-1.09,-146.6,2406,3659,3130,3125,24.3,-17.7,33,190,0.00,2.53,-0.03,0.000,17414,0.000,0.076,2406,2243,3126,3127,3125,0,0,0,0,0,0,14.71,14.65,12.05
$GC,249,-1.09,-146.6,2407,2243,3131,3126,34.5,-15.6,46,256,0.00,2.70,-0.03,0.000,16900,0.000,2.227,2407,849,3127,3129,3125,0,0,0,0,0,0,14.86,13.92,12.11
$GC,350,-1.09,-146.6,2407,849,3130,3125,50.3,-14.9,66,358,0.08,2.53,-0.03,0.000,19462,0.282,0.088,2416,2250,3127,3130,3124,0,0,0,0,0,0,14.56,14.64,12.00
$GC,476,-1.09,-146.6,2416,2250,3130,3125,66.8,-12.8,91,484,0.00,2.85,-0.03,0.000,16644,0.000,2.254,2405,3653,3126,3129,3123,0,0,0,0,0,0,14.89,13.91,12.14
$GC,497,-1.09,-146.6,2405,3654,3131,3124,69.8,-14.2,95,505,0.00,2.55,-0.03,0.000,17414,0.000,0.083,2405,2242,3126,3129,3124,0,0,0,0,0,0,14.66,14.60,11.96
$GC,623,-1.09,-146.6,2406,2243,3131,3124,87.3,-14.7,120,631,0.00,2.72,-0.03,0.000,16900,0.000,2.212,2405,844,3127,3130,3124,0,0,0,0,0,0,14.88,13.93,12.12
$GC,690,-1.09,-146.6,2404,845,3131,3124,96.6,-13.5,133,697,0.10,2.55,-0.03,0.000,19462,0.272,0.088,2421,2256,3127,3130,3124,0,0,0,0,0,0,14.54,14.62,11.98
$GC,816,-1.09,-146.6,2420,2256,3130,3125,112.0,-11.8,158,823,0.00,2.83,-0.03,0.000,16644,0.000,2.238,2410,3651,3126,3130,3123,0,0,0,0,0,0,14.90,13.92,12.13
$GC,892,-1.09,-146.6,2411,3649,3130,3124,121.7,-13.1,173,900,0.00,2.50,-0.03,0.000,17414,0.000,0.079,2410,2250,3130,3130,3131,0,0,0,0,0,0,14.69,14.65,11.99
$GC,1018,-1.09,-146.6,2410,2249,3130,3125,135.6,-10.0,198,1019,0.00,0.00,-0.03,0.000,16390,0.000,0.000,2410,2249,3127,3130,3124,0,0,0,0,0,0,14.90,14.00,12.14
$GC,1138,-1.09,-146.6,2410,2251,3131,3123,147.6,-10.2,222,1146,0.00,2.70,-0.03,0.000,16900,0.000,2.222,2409,847,3126,3129,3124,0,0,0,0,0,0,14.95,13.99,12.17
$GC,1174,-1.09,-146.6,2410,848,3131,3123,151.6,-11.5,229,1182,0.00,2.53,-0.03,0.000,17414,0.000,0.089,2399,2251,3126,3130,3123,0,0,0,0,0,0,14.73,14.66,12.00
$GC,1300,-1.09,-146.6,2398,2252,3131,3123,164.7,-9.2,254,1302,0.00,0.00,-0.03,0.000,16390,0.000,0.000,2399,2251,3126,3130,3123,0,0,0,0,0,0,14.90,14.01,12.14
$GC,1420,-1.09,-146.6,2399,2252,3131,3124,177.1,-11.0,278,1421,0.00,0.00,-0.03,0.000,16390,0.000,0.000,2400,2250,3126,3130,3123,0,0,0,0,0,0,14.95,14.03,12.17
$STATE,1444,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1444,begin apogee
$GC,1447,-0.25,0.0,2400,2134,3131,3123,180.1,-11.9,283,1503,1.00,0.00,52.35,2.083,10246,0.233,0.000,2685,2133,2848,2892,2804,0,0,0,0,0,0,14.65,14.34,13.58
$STATE,1504,end apogee,CONTROL_FINISHED_OK
$STATE,1504,begin climb
$GC,1505,1.09,146.6,2687,2133,2893,2807,182.4,0.0,293,1623,1.38,0.00,112.28,2.079,10246,0.139,0.000,3108,2133,2264,2333,2195,0,0,0,0,0,0,14.25,14.00,13.27
$GC,1741,1.09,146.6,3108,2134,2334,2195,160.3,14.4,338,1749,0.00,2.58,0.00,0.000,516,0.000,0.103,3118,747,2264,2333,2195,0,0,0,0,0,0,14.62,14.38,14.62
$GC,1772,1.09,146.6,3118,747,2333,2195,156.2,12.7,344,1779,0.00,2.55,0.00,0.000,1030,0.000,0.087,3117,2150,2263,2332,2195,0,0,0,0,0,0,14.51,14.43,14.52
$GC,1898,1.09,146.6,3118,2148,2333,2196,141.5,12.9,369,1905,0.00,2.67,0.00,0.000,260,0.000,0.129,3117,3557,2264,2333,2195,0,0,0,0,0,0,14.81,14.54,14.81
$GC,1919,1.09,146.6,3118,3557,2333,2196,138.5,13.8,373,1926,0.00,2.53,0.00,0.000,1030,0.000,0.087,3127,2161,2264,2333,2195,0,0,0,0,0,0,14.63,14.56,14.64
$GC,2045,1.09,146.6,3127,2162,2334,2195,121.1,12.3,398,2052,0.00,2.60,0.00,0.000,516,0.000,0.106,3138,738,2264,2333,2195,0,0,0,0,0,0,14.88,14.64,14.89
$GC,2080,1.09,146.6,3137,739,2335,2195,116.4,13.3,405,2087,0.00,2.53,0.00,0.000,1030,0.000,0.090,3138,2148,2264,2333,2195,0,0,0,0,0,0,14.72,14.64,14.74
$GC,2206,1.09,146.6,3140,2149,2332,2196,100.4,12.2,430,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2149,2264,2333,2195,0,0,0,0,0,0,14.95,14.95,14.94
$GC,2326,1.09,146.6,3139,2149,2334,2196,84.7,14.3,454,2333,0.00,2.65,0.00,0.000,260,0.000,0.126,3138,3563,2264,2333,2195,0,0,0,0,0,0,14.97,14.71,14.97
$GC,2362,1.09,146.6,3139,3564,2334,2195,79.1,15.6,461,2369,0.00,2.53,0.00,0.000,1030,0.000,0.086,3149,2151,2264,2333,2195,0,0,0,0,0,0,14.83,14.76,14.83
$GC,2488,1.09,146.6,3150,2152,2334,2196,62.6,12.6,486,2495,0.00,2.55,0.00,0.000,516,0.000,0.107,3160,741,2264,2333,2195,0,0,0,0,0,0,14.99,14.75,14.99
$GC,2518,1.09,146.6,3160,740,2333,2195,58.8,12.0,492,2526,0.10,2.50,0.00,0.000,5126,0.262,0.089,3133,2150,2264,2333,2195,0,0,0,0,0,0,14.68,14.74,14.80
$GC,2644,1.09,146.6,3133,2152,2333,2196,43.7,11.1,517,2651,0.00,2.62,0.00,0.000,260,0.000,0.126,3132,3557,2264,2333,2195,0,0,0,0,0,0,15.01,14.73,15.01
$GC,2665,1.09,146.6,3132,3558,2334,2195,41.2,12.2,521,2672,0.00,2.50,0.00,0.000,1030,0.000,0.088,3142,2156,2264,2333,2195,0,0,0,0,0,0,14.84,14.77,14.85
$GC,2791,1.09,146.6,3144,2156,2334,2196,28.2,10.3,546,2798,0.00,2.55,0.00,0.000,516,0.000,0.106,3154,746,2264,2333,2195,0,0,0,0,0,0,15.02,14.77,15.02
$GC,2882,1.09,146.6,3154,746,2334,2195,16.6,11.6,564,2889,0.00,2.47,0.00,0.000,1030,0.000,0.086,3153,2149,2264,2333,2195,0,0,0,0,0,0,14.86,14.79,14.88
$GC,2948,1.09,146.6,3155,2149,2333,2196,9.8,10.6,577,2955,0.00,2.55,0.00,0.000,516,0.000,0.108,3164,746,2264,2333,2195,0,0,0,0,0,0,15.02,14.77,15.02
$GC,2963,1.09,146.6,3165,745,2333,2197,8.1,10.7,580,2971,0.12,2.47,0.00,0.000,5126,0.269,0.090,3130,2142,2263,2331,2195,0,0,0,0,0,0,14.69,14.80,14.82
$GC,3030,1.15,194.4,3130,2142,2334,2196,2.1,7.8,593,3038,0.00,0.00,6.60,0.208,8450,0.000,0.000,3130,2142,2203,2274,2132,0,0,0,0,0,0,15.02,28.83,15.02
$STATE,3038,end climb,SURFACE_DEPTH_REACHED
$STATE,3038,begin surface coast
$FINISH,0.0,1.020836
$STATE,3061,end surface coast,CONTROL_FINISHED_OK
$STATE,3061,begin surface
$SM_CCo,3075,71.28,0.181,0,0,1572,320.03
$SM_GC,0.84,8.68,0.20,71.28,0.089,0.129,0.181,202,2257,1572,-8.00,-0.54,320.03,0,0,0,0,0,0,14.81,14.82,14.70
$IRIDIUM_FIX,4726.11,-12222.38,100216,084955
$TT8_MAMPS,0.038948,0.880824
$HUMID,38.73
$INTERNAL_PRESSURE,8.84067
$TCM_TEMP,17.00
$XPDR_PINGS,0
$SC_FREEKB,3903840
$24V_AH,11.96,3.709
$10V_AH,13.23,0.000
$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,21.425,73.050,171.225,71.275,0.000,50.700,78.566,288.605,0.000,0.000,7.437,0.000,1608.740,412.523,1680.095,42.181,0.000,894.281,0.000,900.315,0.000,0.541,0.000
$DEVICE_MAMPS,387.090,2276.640,2083.095,180.540,0.000,39.780,160.000,223.000,420.000,0.000,9.740,0.000,2.190,7.470,26.950,41.930,0.000,12.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3110.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,28.795,0.000,0.000,0.000
$MEM,313008
$DATA_FILE_SIZE,20077,599
$CAP_FILE_SIZE,109951,0
$CFSIZE,1024409600,1020510208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100216,095052,4744.350,-12225.414,3,1.1,5,16.0,0.1,0.0,8,9.6