version: 66.13
glider: 220
mission: 5
dive: 2
start: 7 26 116 17 19 2
data:
$ID,220
$MISSION,5
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$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,595.39197
$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,2930
$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,27
$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,-168.73994
$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
$GPS1,260716,171529,4743.4375,-12224.5234,1,1.1,2,15.9,0.3,231.0,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.92
$_SM_ANGLEo,-66.8
$GPS2,260716,171844,4743.4243,-12224.5293,2,1.1,3,15.9,0.1,0.0,8,4.9
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,308.5,603,-18.1,-10.000,-20.93,2236
$D_GRID,175
$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,-146.6,198,2510,592,483,0.0,0.0,0,145,0.00,0.00,-122.82,0.000,16390,0.000,0.000,197,2510,3494,3488,3500,0,0,0,0,0,0,14.95,13.66,14.93
$GC,146,-1.09,-146.6,197,2512,3490,3499,1.7,-8.0,21,167,10.77,2.40,0.00,0.000,2596,0.396,0.054,2573,1082,3496,3491,3501,0,0,0,0,0,0,14.53,14.70,14.76
$GC,171,-0.48,-146.6,2573,1083,3492,3502,10.3,-29.9,25,180,0.77,2.42,0.00,0.000,3206,0.269,0.074,2772,2495,3496,3492,3500,0,0,0,0,0,0,14.57,14.69,14.76
$GC,239,-0.51,-146.6,2772,2495,3494,3500,18.1,-9.4,38,248,0.00,2.38,0.00,0.000,420,0.000,0.110,2762,3825,3495,3491,3500,0,0,0,0,0,0,14.92,14.66,14.92
$GC,308,-0.53,-146.6,2763,3822,3493,3501,24.5,-9.7,51,315,0.00,2.20,0.00,0.000,1190,0.000,0.046,2762,2471,3497,3493,3501,0,0,0,0,0,0,14.81,14.76,14.82
$GC,375,-0.56,-146.6,2763,2471,3494,3501,30.7,-9.2,64,383,0.00,2.45,0.00,0.000,420,0.000,0.108,2752,3827,3496,3493,3500,0,0,0,0,0,0,14.97,14.67,14.93
$GC,497,-0.56,-146.6,2753,3828,3495,3500,45.0,-11.7,88,505,0.00,2.17,0.00,0.000,1030,0.000,0.047,2752,2491,3495,3493,3498,0,0,0,0,0,0,14.84,14.77,14.85
$GC,564,-0.58,-146.6,2753,2490,3494,3501,52.8,-11.5,101,572,0.00,2.30,0.00,0.000,644,0.000,0.063,2753,1119,3494,3489,3499,0,0,0,0,0,0,14.96,14.76,14.95
$GC,612,-0.61,-146.6,2753,1120,3493,3500,58.1,-10.5,110,620,0.00,2.38,0.00,0.000,1158,0.000,0.073,2743,2507,3496,3493,3499,0,0,0,0,0,0,14.83,14.72,14.83
$GC,740,-0.61,-146.6,2749,2508,3494,3500,69.6,-8.0,135,748,0.00,2.38,0.00,0.000,292,0.000,0.109,2733,3833,3496,3493,3499,0,0,0,0,0,0,14.97,14.69,14.97
$GC,787,-0.61,-146.6,2733,3833,3494,3501,74.0,-9.7,144,795,0.00,2.17,0.00,0.000,1062,0.000,0.047,2733,2501,3496,3493,3499,0,0,0,0,0,0,14.85,14.79,14.86
$GC,914,-0.61,-146.6,2732,2502,3494,3499,88.8,-12.4,169,922,0.00,2.38,0.00,0.000,260,0.000,0.107,2723,3822,3494,3493,3496,0,0,0,0,0,0,14.97,14.70,14.97
$GC,981,-0.61,-146.6,2723,3823,3494,3500,97.9,-13.9,182,990,0.00,2.17,0.00,0.000,1030,0.000,0.046,2723,2484,3496,3493,3499,0,0,0,0,0,0,14.86,14.80,14.87
$GC,1109,-0.61,-146.6,2723,2482,3494,3500,113.2,-12.8,207,1117,0.00,2.42,0.00,0.000,260,0.000,0.106,2719,3829,3496,3493,3499,0,0,0,0,0,0,14.97,14.71,14.97
$GC,1206,-0.61,-146.6,2713,3829,3494,3500,125.2,-11.3,226,1215,0.00,2.17,0.00,0.000,1030,0.000,0.049,2712,2505,3496,3493,3499,0,0,0,0,0,0,14.86,14.81,14.88
$GC,1334,-0.61,-146.6,2712,2506,3494,3499,140.6,-12.0,251,1342,0.00,2.38,0.00,0.000,260,0.000,0.106,2701,3830,3496,3493,3499,0,0,0,0,0,0,14.97,14.69,14.97
$GC,1391,-0.59,-146.6,2708,3830,3496,3500,147.4,-11.9,262,1400,0.12,2.20,0.00,0.000,3206,0.239,0.047,2739,2484,3496,3493,3499,0,0,0,0,0,0,14.65,14.81,14.81
$STATE,1419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1419,begin apogee
$GC,1422,-0.25,0.0,2740,2041,3494,3500,150.3,-10.2,267,1551,0.32,0.00,117.78,1.945,10246,0.189,0.000,2843,2041,2911,2956,2866,0,0,0,0,1,0,14.65,14.17,13.43
$STATE,1555,end apogee,CONTROL_FINISHED_OK
$STATE,1555,begin climb
$GC,1556,1.09,146.6,2844,2039,2958,2872,157.1,0.0,288,1699,1.35,2.47,125.88,1.060,10756,0.152,0.074,3269,666,2318,2388,2249,0,0,0,0,0,0,14.22,14.24,13.85
$GC,1758,1.06,164.1,3270,667,2386,2241,148.3,9.2,320,1780,0.00,2.38,14.75,1.173,9382,0.000,0.057,3269,2052,2252,2325,2180,0,0,0,0,0,0,14.53,14.45,14.00
$GC,1899,1.01,164.1,3269,2053,2320,2164,132.3,12.6,347,1907,0.00,2.50,0.00,0.000,388,0.000,0.093,3269,3461,2242,2319,2165,0,0,0,0,0,0,14.78,14.54,14.78
$GC,2061,0.92,164.1,3270,3461,2320,2166,110.6,14.4,379,2069,0.17,2.33,0.00,0.000,5254,0.252,0.050,3229,2067,2241,2319,2164,0,0,0,0,0,0,14.57,14.69,14.73
$GC,2189,0.96,195.4,3230,2064,2320,2163,98.7,8.6,404,2210,0.00,2.53,13.85,0.441,8484,0.000,0.093,3230,3453,2134,2208,2061,0,0,0,0,0,0,14.90,14.64,14.45
$GC,2329,0.93,195.4,3230,3452,2209,2082,86.4,10.6,431,2338,0.00,2.35,1.88,0.250,9350,0.000,0.050,3240,2048,2130,2207,2054,0,0,0,0,0,0,14.80,14.72,14.49
$GC,2457,0.93,199.4,3242,2041,2208,2075,75.8,9.8,456,2471,0.00,2.42,3.65,0.331,8740,0.000,0.073,3251,640,2119,2186,2052,0,0,0,0,0,0,14.93,14.69,14.52
$GC,2495,0.95,212.1,3251,639,2188,2065,72.4,9.4,463,2509,0.00,2.38,8.18,0.360,9254,0.000,0.060,3251,2046,2063,2135,1992,0,0,0,0,0,0,14.80,14.72,14.50
$GC,2628,0.95,212.1,3251,2047,2137,2010,57.7,10.6,489,2636,0.00,2.50,0.00,0.000,260,0.000,0.096,3251,3461,2073,2136,2011,0,0,0,0,0,0,14.93,14.69,14.93
$GC,2685,0.91,212.1,3252,3462,2136,2014,51.2,11.0,500,2693,0.12,2.38,0.00,0.000,5254,0.259,0.050,3226,2043,2073,2136,2011,0,0,0,0,0,0,14.64,14.74,14.79
$GC,2813,0.97,247.0,3226,2041,2137,2011,39.5,8.4,525,2839,0.00,2.38,18.58,0.288,8868,0.000,0.074,3237,644,1927,1999,1855,0,0,0,0,0,0,14.95,14.69,14.57
$GC,2859,1.05,275.7,3237,644,2000,1869,35.6,8.7,533,2885,0.00,2.38,15.62,0.276,9382,0.000,0.060,3236,2057,1810,1886,1735,0,0,0,0,0,0,14.81,14.71,14.55
$GC,2944,1.08,278.1,3237,2056,1886,1744,27.5,9.9,549,2953,0.08,2.53,1.80,0.216,10660,0.155,0.096,3293,3454,1801,1877,1726,0,0,0,0,0,0,14.73,14.66,14.56
$GC,3028,1.04,278.1,3293,3454,1876,1740,15.6,15.2,565,3036,0.12,2.35,0.00,0.000,5254,0.257,0.053,3267,2050,1808,1877,1739,0,0,0,0,0,0,14.61,14.73,14.76
$GC,3095,1.06,278.1,3269,2048,1878,1745,7.4,11.9,578,3104,0.00,2.53,0.00,0.000,388,0.000,0.097,3269,3456,1808,1878,1739,0,0,0,0,0,0,14.93,14.68,14.93
$GC,3113,1.06,278.1,3269,3457,1878,1739,5.0,12.3,581,3121,0.00,2.38,0.00,0.000,1030,0.000,0.052,3277,2042,1808,1878,1739,0,0,0,0,0,0,14.82,14.73,14.87
$STATE,3140,end climb,SURFACE_DEPTH_REACHED
$STATE,3140,begin surface coast
$FINISH,-0.2,1.021972
$STATE,3155,end surface coast,CONTROL_FINISHED_OK
$STATE,3155,begin surface
$SM_CCo,3179,152.65,0.161,0,0,536,595.60
$SM_GC,-0.89,8.82,0.82,152.65,0.069,0.078,0.161,199,2506,536,-8.47,-0.71,595.60,0,0,0,0,0,0,14.75,14.74,14.61
$IRIDIUM_FIX,4722.92,-12222.38,260716,171122
$TT8_MAMPS,0.03745,0.472619
$HUMID,50.90
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.90
$XPDR_PINGS,0
$SC_FREEKB,3909632
$PM_FREEKB,62253824
$TM_FREEKB,7825952
$24V_AH,13.43,5.960
$10V_AH,13.77,0.000
$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,22.675,77.225,321.950,152.650,0.000,0.000,0.000,0.000,0.000,0.000,5.285,0.000,1092.830,614.232,1660.641,24.171,0.000,1212.358,0.000,1252.582,0.000,0.545,0.000
$DEVICE_MAMPS,396.270,110.160,1945.395,160.650,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3138.000,3134.000,3148.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.976,4.751,18.648,0.000
$MEM,312024
$DATA_FILE_SIZE,20065,589
$CAP_FILE_SIZE,90296,0
$CFSIZE,1024409600,1020362752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$INTR,0,503.49,0x213b74,0,24
$CURRENT,0.118,206.27,1
$GPS,260716,181531,4743.506,-12225.013,26,0.9,26,15.9,0.1,0.0,8,5.1