version: 67.00
glider: 220
mission: 4
dive: 4
start: 4 20 121 19 48 1
data:
$ID,220
$MISSION,4
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,0
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$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,150
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,55538
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00223872
$HD_B,0.0163117
$HD_C,5.7000002e-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,590.98499
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3614
$C_PITCH,1975
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031300001
$PITCH_GAIN,40
$PITCH_TIMEOUT,25
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,2
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,550
$VBD_MAX,3875
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,2
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,3.5
$MAXI_10V,1.5
$FG_AHR_10V,0.08482644
$FG_AHR_24V,0.62136215
$PHONE_SUPPLY,2
$PRESSURE_YINT,-162.6433
$PRESSURE_SLOPE,0.00022240146
$COMPASS_USE,16388
$ALTIM_PING_FIT,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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$XPDR_INT,13.5
$XPDR_REP,11
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,-9.2399998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,6
$LOGGERDEVICE2,65
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044097742
$SEABIRD_T_H,0.00063677714
$SEABIRD_T_I,2.6545444e-05
$SEABIRD_T_J,3.3307697e-06
$SEABIRD_C_G,-9.9156904
$SEABIRD_C_H,1.1102111
$SEABIRD_C_I,-0.003043188
$SEABIRD_C_J,0.00028673469
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$ES_RECORDABOVE,2000.0
$ES_PROFILE,3.0
$ES_XMITPROFILE,3.0
$ES_UPLOADMAX,0.0
$ES_STARTS,6.0
$ES_NDIVE,1.0
$ES_DL_HEADERSKIP,105044.0
$ES_DL_RECORDLENGTH,10086.0
$ES_DL_NRECORD,30.0
$ES_DL_RECORDCOUNT,3.0
$GPS1,200421,194551,4743.650,-12224.878,1,0.7,2,15.5
$_CALLS,1
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-43.5
$GPS2,200421,194738,4743.654,-12224.875,2,0.9,4,15.5
$SPEED_LIMITS,0.173,0.206
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,183.6,325,-23.9,-10.000,-30.00
$D_GRID,176
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-8.000000,52.000000,20.000000
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,9.95,16386,-104.02,-0.72,0.00,550.7,619.5,481.8,137.9,2451.4,0.00,0.00,0,134.38,122.57,0.00,0.12,0.005,0.000,0.202,3221.88,3304.75,3139.00,137.69,2536.94,0,0,0,15.86,30.00,15.84
$GC,134.63,18983,-146.63,-0.77,-40.00,3221.8,3304.7,3138.9,138.0,2537.3,1.70,-1.04,24,161.61,5.60,14.90,2.58,0.009,0.660,0.076,3396.41,3508.44,3284.38,1724.62,1068.62,0,0,0,15.85,15.25,15.58
$GC,388.97,1028,-146.63,-0.77,0.00,3398.1,3509.9,3286.2,1724.6,1068.6,32.31,-11.97,75,394.51,0.00,0.00,2.57,0.000,0.000,0.083,3399.22,3511.69,3286.75,1724.38,2514.75,0,0,0,30.00,30.00,15.94
$GC,579.07,644,-146.63,-0.84,-40.00,3398.0,3509.9,3286.0,1724.2,2514.9,56.11,-13.40,113,584.60,0.00,0.00,2.53,0.000,0.000,0.070,3399.75,3512.38,3287.12,1724.69,1066.19,0,0,0,30.00,30.00,16.01
$GC,709.08,5253,-146.63,-0.91,0.00,3398.3,3510.4,3286.3,1724.8,1067.0,72.10,-12.19,139,714.66,0.00,0.14,2.57,0.000,0.114,0.083,3399.59,3511.94,3287.25,1661.06,2516.50,0,0,0,30.00,15.96,15.98
$GC,899.14,2177,-146.63,-0.84,0.00,3398.4,3510.3,3286.4,1660.7,2516.2,99.93,-15.12,177,900.61,0.00,0.20,0.00,0.000,0.393,0.000,3400.28,3512.31,3288.25,1705.94,2516.50,0,0,0,30.00,15.86,30.00
$GC,1084.17,0,-146.63,-0.84,0.00,3397.9,3510.4,3285.4,1706.8,2516.4,122.72,-12.62,196,1085.50,0.00,0.00,0.00,0.000,0.000,0.000,3397.16,3509.81,3284.50,1705.94,2517.06,0,0,0,30.00,30.00,30.00
$STATE,1334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1334,begin apogee
$GC,1335.89,10243,0.00,-0.12,0.00,3398.2,3510.6,3285.9,1706.9,2140.1,150.90,-10.64,221,1445.62,104.62,0.90,0.13,1.223,0.339,0.151,2799.91,2922.19,2677.62,1933.38,2231.88,0,0,0,12.47,15.90,15.40
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1448.46,10759,146.63,0.77,-40.00,2797.4,2919.5,2675.4,1933.1,2231.8,154.41,0.00,232,1563.55,107.99,0.94,2.68,1.182,0.170,0.085,2198.62,2299.50,2097.75,2233.81,770.25,0,0,0,12.31,15.43,15.21
$GC,1590.90,1028,146.63,0.77,0.00,2194.3,2291.4,2097.3,2233.6,770.2,142.13,13.33,260,1596.42,0.00,0.00,2.58,0.000,0.000,0.069,2194.28,2291.81,2096.75,2233.81,2219.81,0,0,0,30.00,30.00,15.36
$GC,1900.94,16646,146.63,0.77,40.00,2191.0,2291.8,2090.2,2233.7,2219.3,102.52,12.54,292,1906.41,0.00,0.00,2.50,0.000,0.000,0.106,2191.59,2292.25,2090.94,2233.62,3632.25,0,0,0,30.00,30.00,15.68
$GC,1930.94,17414,146.63,0.77,0.00,2190.7,2291.1,2090.2,2233.2,3632.8,97.84,16.02,298,1936.44,0.00,0.00,2.44,0.000,0.000,0.053,2191.44,2292.00,2090.88,2244.12,2169.25,0,0,0,30.00,30.00,15.75
$GC,2121.04,16646,146.63,0.77,40.00,2190.2,2291.6,2088.8,2243.4,2162.0,72.67,12.74,336,2126.56,0.00,0.00,2.59,0.000,0.000,0.099,2190.19,2291.44,2088.94,2243.50,3631.00,0,0,0,30.00,30.00,15.70
$GC,2216.05,17414,146.63,0.77,0.00,2189.9,2291.2,2088.6,2243.7,3631.6,59.62,13.66,355,2221.53,0.00,0.00,2.42,0.000,0.000,0.051,2190.00,2291.06,2088.94,2254.12,2169.19,0,0,0,30.00,30.00,15.93
$GC,2406.13,16386,146.63,0.77,0.00,2189.4,2291.6,2087.2,2253.6,2163.2,36.36,12.12,393,2407.47,0.00,0.00,0.00,0.000,0.000,0.000,2188.09,2290.19,2086.00,2253.81,2162.50,0,0,0,30.00,30.00,30.00
$GC,2591.18,20999,146.63,0.77,-40.00,2189.1,2291.6,2086.7,2254.2,2162.6,14.47,12.09,430,2596.75,0.00,0.15,2.42,0.000,0.272,0.078,2188.94,2291.12,2086.75,2223.56,764.19,0,0,0,30.00,15.90,15.91
$GC,2621.19,17542,146.63,0.86,0.00,2188.6,2290.6,2086.5,2223.7,764.2,10.83,12.17,436,2626.66,0.00,0.00,2.47,0.000,0.000,0.064,2189.75,2291.50,2088.00,2223.19,2224.50,0,0,0,30.00,30.00,15.90
$STATE,2706,end climb,SURFACE_DEPTH_REACHED
$STATE,2706,begin surface coast
$FINISH,-0.1,1.009986
$STATE,2731,end surface coast,CONTROL_FINISHED_OK
$STATE,2731,begin surface
$SM_CCo,3025.09,278.83,1.026,0,550.7,624.5,476.9,551.76
$SM_GC,0.65,278.83,5.86,0.49,1.026,0.079,0.086,550.7,624.5,476.9,121.4,2523.2,0,0,0,12.54,15.97,15.99
$SUPER,27,71,254,1,0,0
$IRIDIUM_FIX,4741.67,-12220.67,200421,194221
$TCM_TEMP,19.00
$XPDR_PINGS,10,13.5,11.0
$SC_FREEKB,3876960
$ES_FREE,0.000000
$ES_POWER,63.360000
$HUMID,50.90
$TEMP,9.56
$INTERNAL_PRESSURE,7.71681
$24V_AH,14.59,0.833
$10V_AH,14.61,0.000
$FG_AHR_24Vo,0.786
$FG_AHR_10Vo,0.112
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,LPSleep,Compass,RAFOS,Transponder,Compass2,undefined
$DEVICE_SECS,619.600,23.110,31.715,0.000,2.500,13.616,1306.568,1458.837,639.374,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1222.536,660.344,202.456,0.000,420.000,15.000,11.800,2.800,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,echo,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2731.000,2736.061,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.760,10.000,0.000,0.000
$MEM0,60932,1,0,0
$MEM1,65508,1,0,0
$MEM2,997104,29,49144,87
$DATA_FILE_SIZE,12938,458
$CAP_FILE_SIZE,197729,0
$SDSIZE,3918848,3908384
$SDFILEDIR,51,1
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 21.4,1
$MAGCAL,1.000000,0.017719,0.004025,-0.006444,1.045365,0.007041,0.004921,-0.002486,1.050493,-7.5,47.8,15.3,30,0.0068,0
$IMPLIED_C_PITCH,1972,27.71,287
$IMPLIED_C_VBD,2795,22.411528,287
$GPS,200421,203910,4743.503,-12224.857,12,0.9,30,15.5