version: 66.13
glider: 220
mission: 4
dive: 4
start: 7 21 116 20 9 37
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,100
$T_BOOST,5
$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,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,53513
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,708.93439
$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
$HEAPDBG,0
$T_GPS,10
$N_GPS,100440
$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,2900
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2910
$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,-166.53387
$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,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$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
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$PM_MOTORS,0.0
$PM_SENDDEPTH,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,210716,200056,4743.7964,-12223.9746,2,1.9,4,15.9,0.3,126.4,5,9.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.93
$_SM_ANGLEo,-61.9
$GPS2,210716,200919,4743.7568,-12223.9873,3,1.9,5,15.9,0.2,0.0,5,8.6
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,229.4,1348,-18.1,-10.000,-20.93,2236
$D_GRID,173
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-1.09,-146.6,204,2512,572,431,0.0,0.0,0,26,0.00,0.00,-8.05,0.000,16386,0.000,0.000,200,2512,728,796,661,0,0,0,0,0,0,14.95,28.83,14.95
$GC,27,-1.09,-146.6,201,2512,793,661,3.0,0.0,1,170,9.95,2.58,-122.12,0.000,18692,0.361,2.238,2535,3815,3494,3513,3476,0,0,0,0,0,0,14.61,13.77,14.78
$GC,395,-0.85,-146.6,2535,3816,3513,3478,52.9,-22.8,69,403,0.32,2.20,0.00,0.000,3206,0.269,0.048,2621,2468,3495,3513,3477,0,0,0,0,0,0,14.55,14.69,14.73
$GC,523,-0.73,-146.6,2622,2470,3522,3478,72.5,-15.6,94,532,0.10,2.42,0.00,0.000,2436,0.282,0.109,2645,3816,3495,3513,3477,0,0,0,0,0,0,14.57,14.64,14.70
$GC,756,-0.63,-146.6,2645,3816,3514,3478,110.6,-16.4,140,764,0.17,2.17,0.00,0.000,3206,0.249,0.049,2694,2496,3494,3513,3476,0,0,0,0,0,0,14.60,14.73,14.76
$GC,884,-0.61,-146.6,2694,2497,3514,3477,126.5,-11.5,165,892,0.00,2.40,0.00,0.000,388,0.000,0.111,2691,3812,3495,3513,3477,0,0,0,0,0,0,14.90,14.66,14.89
$STATE,1071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1071,begin apogee
$GC,1076,-0.25,0.0,2685,2063,3514,3477,150.1,-12.4,202,1201,0.43,0.00,112.38,1.914,10246,0.213,0.000,2812,2057,2914,2960,2868,0,0,0,0,1,0,14.61,14.07,13.38
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1206,1.09,146.6,2813,2058,2960,2875,158.6,0.0,222,1363,1.38,2.50,138.90,1.055,10756,0.164,0.076,3234,654,2316,2387,2245,0,0,0,0,0,0,14.15,14.07,13.74
$GC,1368,1.10,182.8,3234,655,2386,2241,151.9,8.3,245,1413,0.00,2.42,34.03,1.028,9382,0.000,0.063,3233,2039,2173,2248,2098,0,0,0,0,0,0,14.27,14.19,13.78
$GC,1532,1.09,189.4,3232,2040,2247,2087,135.2,9.7,276,1541,0.00,2.55,1.75,0.210,8612,0.000,0.096,3240,3454,2155,2234,2077,0,0,0,0,0,0,14.63,14.40,14.37
$GC,1665,1.04,189.4,3234,3455,2235,2092,120.6,11.6,302,1673,0.00,2.38,0.00,0.000,1158,0.000,0.054,3244,2052,2163,2234,2092,0,0,0,0,0,0,14.62,14.58,14.64
$GC,1793,1.00,189.4,3245,2047,2233,2093,106.3,11.7,327,1802,0.00,2.42,0.00,0.000,644,0.000,0.079,3256,646,2163,2234,2092,0,0,0,0,0,0,14.80,14.57,14.80
$GC,1856,0.97,189.4,3256,646,2235,2094,98.4,12.8,339,1866,0.15,2.40,0.00,0.000,5254,0.245,0.065,3212,2057,2163,2234,2092,0,0,0,0,0,0,14.53,14.62,14.67
$GC,1985,0.97,189.4,3212,2059,2235,2092,84.4,10.3,364,1994,0.00,2.42,1.55,0.219,8708,0.000,0.078,3223,647,2153,2234,2073,0,0,0,0,0,0,14.84,14.63,14.58
$GC,2013,0.97,189.4,3223,647,2235,2085,81.6,10.7,369,2021,0.00,2.38,0.00,0.000,1030,0.000,0.065,3223,2046,2159,2234,2085,0,0,0,0,0,0,14.71,14.62,14.72
$GC,2141,0.98,195.0,3223,2046,2235,2090,69.6,9.7,394,2156,0.00,2.55,4.50,0.289,8484,0.000,0.101,3222,3456,2136,2207,2065,0,0,0,0,0,0,14.85,14.61,14.47
$GC,2230,0.94,195.0,3223,3455,2210,2086,60.4,10.1,411,2240,0.00,2.40,2.03,0.214,9350,0.000,0.055,3232,2037,2133,2207,2060,0,0,0,0,0,0,14.76,14.68,14.58
$GC,2359,0.95,201.8,3233,2038,2210,2085,48.1,9.7,436,2373,0.00,2.40,5.60,0.272,8740,0.000,0.080,3243,645,2109,2177,2042,0,0,0,0,0,0,14.88,14.64,14.52
$GC,2393,0.95,201.8,3250,647,2178,2055,44.8,10.3,442,2401,0.12,2.40,1.62,0.238,13318,0.251,0.065,3206,2056,2106,2177,2035,0,0,0,0,0,0,14.57,14.66,14.56
$GC,2461,1.02,242.6,3207,2057,2182,2058,38.6,8.1,455,2494,0.00,2.53,22.88,0.271,8612,0.000,0.103,3207,3451,1944,2016,1872,0,0,0,0,0,0,14.87,14.60,14.52
$GC,2539,1.06,252.0,3207,3451,2017,1883,31.7,9.6,469,2553,0.00,2.38,6.05,0.251,9382,0.000,0.056,3216,2047,1905,1978,1832,0,0,0,0,0,0,14.73,14.64,14.52
$GC,2613,1.14,290.8,3217,2047,1980,1846,25.4,8.2,483,2646,0.08,2.58,21.88,0.232,10660,0.165,0.100,3267,3448,1749,1826,1673,0,0,0,0,0,0,14.66,14.59,14.52
$GC,2651,1.12,290.8,3269,3449,1827,1675,21.2,12.0,489,2659,0.00,2.40,0.00,0.000,1158,0.000,0.058,3280,2042,1750,1826,1675,0,0,0,0,0,0,14.72,14.64,14.73
$GC,2719,1.12,290.8,3279,2042,1828,1678,11.9,13.0,502,2726,0.00,2.42,0.00,0.000,516,0.000,0.083,3289,644,1752,1826,1678,0,0,0,0,0,0,14.84,14.62,14.85
$GC,2736,1.12,290.8,3289,644,1828,1680,9.8,12.6,505,2744,0.00,2.40,0.00,0.000,1030,0.000,0.068,3289,2048,1752,1826,1678,0,0,0,0,0,0,14.72,14.63,14.73
$GC,2804,1.23,319.6,3289,2049,1826,1679,2.1,8.7,518,2826,0.00,0.00,15.15,0.169,9126,0.000,0.000,3289,2049,1636,1713,1559,0,0,0,0,0,0,14.83,14.66,14.57
$GC,2885,1.69,537.9,3289,2050,1715,1556,2.1,0.0,533,2948,0.35,0.00,57.88,0.163,10658,0.106,0.000,3421,2049,1194,1280,1109,0,0,0,0,0,0,14.64,28.83,14.69
$FREEZE,2.10,14.309,-0.511,0,1,0
$STATE,2949,end climb,NO_VERTICAL_VELOCITY
$STATE,2949,begin surface
$SM_CCo,2954,92.15,0.164,0,0,499,605.39
$SM_CCo,3312,0.10,1.196,0,0,497,605.39
$SM_CCo,3314,-0.17,0.000,0,0,501,605.39
$SM_CCo,3316,0.35,0.448,0,0,497,605.39
$SM_GC,3.06,9.25,0.80,0.35,0.067,0.093,0.448,194,2506,497,-8.39,-0.62,605.39,0,0,0,0,0,0,14.74,14.71,14.67
$IRIDIUM_FIX,4726.11,-12222.38,210716,200132
$TT8_MAMPS,0.036701,0.495838
$HUMID,50.82
$INTERNAL_PRESSURE,7.74444
$TCM_TEMP,17.40
$XPDR_PINGS,5
$SC_FREEKB,3908640
$PM_FREEKB,61398464
$TM_FREEKB,7820064
$24V_AH,13.38,5.386
$10V_AH,13.70,0.000
$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,22.300,59.475,426.175,92.600,0.000,0.000,0.000,0.000,1.250,0.000,7.053,0.000,1159.702,602.301,1587.172,29.250,0.000,1189.065,0.000,1219.817,0.000,0.544,0.000
$DEVICE_MAMPS,361.080,2237.625,1914.030,1196.460,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2932.000,2929.000,2939.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.128,9.180,18.576,0.000
$MEM,311976
$DATA_FILE_SIZE,16789,543
$CAP_FILE_SIZE,145743,0
$CFSIZE,1024409600,1020018688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.122,195.25,1
$GPS,210716,210539,4743.620,-12224.057,6,0.8,15,15.9,0.2,0.0,11,9.0