version: 66.13
glider: 220
mission: 5
dive: 3
start: 7 26 116 18 36 46
data:
$ID,220
$MISSION,5
$DIVE,3
$N_DIVES,6
$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,2960
$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,2700
$C_ROLL_CLIMB,2047
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,39
$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
$GPS1,260716,183323,4743.5088,-12224.9287,1,0.9,2,15.9,0.1,0.0,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.84
$_SM_ANGLEo,-67.8
$GPS2,260716,183628,4743.5029,-12224.9092,2,1.3,3,15.9,0.2,0.0,7,7.4
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,288.1,113,-27.8,-10.000,-30.00,958
$D_GRID,179
$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,-1.47,-62.7,199,2717,582,494,0.0,0.0,0,132,0.00,0.00,-109.85,0.000,16390,0.000,0.000,198,2718,3159,3148,3170,0,0,0,0,0,0,14.92,13.73,14.90
$GC,133,-1.55,-125.5,199,2718,3152,3169,0.5,-3.3,19,160,10.25,2.62,-6.40,0.000,18980,0.397,2.168,2456,1297,3411,3421,3402,0,0,0,0,0,0,14.50,13.80,14.73
$GC,170,-1.30,-125.5,2456,1297,3422,3403,7.6,-18.4,25,179,0.35,2.42,0.00,0.000,3206,0.308,0.073,2533,2691,3408,3415,3402,0,0,0,0,0,0,14.46,14.59,14.65
$GC,239,-1.22,-125.5,2534,2694,3422,3402,21.6,-19.6,38,246,0.08,0.00,0.00,0.000,2182,0.337,0.000,2557,2692,3411,3421,3402,0,0,0,0,0,0,14.50,14.68,14.64
$GC,306,-1.16,-125.5,2557,2693,3422,3402,33.6,-18.9,51,314,0.08,2.03,0.00,0.000,2436,0.340,0.103,2572,3831,3411,3421,3402,0,0,0,0,0,0,14.52,14.62,14.67
$GC,358,-1.09,-125.5,2573,3832,3418,3402,45.0,-22.1,61,367,0.12,1.90,0.00,0.000,3206,0.297,0.047,2604,2671,3411,3420,3402,0,0,0,0,0,0,14.54,14.71,14.72
$GC,426,-1.09,-125.5,2604,2672,3422,3404,55.7,-13.2,74,434,0.00,2.28,0.00,0.000,516,0.000,0.056,2603,1309,3411,3421,3402,0,0,0,0,0,0,14.88,14.68,14.89
$GC,503,-1.09,-125.5,2602,1309,3422,3398,67.2,-15.8,89,512,0.00,2.42,0.00,0.000,1030,0.000,0.075,2594,2707,3411,3421,3401,0,0,0,0,0,0,14.78,14.67,14.79
$GC,631,-1.09,-125.5,2594,2707,3422,3409,89.3,-15.8,114,639,0.00,2.35,0.00,0.000,516,0.000,0.056,2595,1314,3411,3421,3401,0,0,0,0,0,0,14.91,14.71,14.91
$GC,713,-1.09,-125.5,2593,1315,3422,3402,103.0,-16.8,130,721,0.00,2.40,0.00,0.000,1030,0.000,0.075,2584,2703,3411,3421,3402,0,0,0,0,0,0,14.80,14.69,14.81
$GC,841,-1.07,-125.5,2591,2701,3422,3404,124.2,-16.9,155,849,0.08,2.00,0.00,0.000,2436,0.333,0.106,2599,3832,3411,3421,3402,0,0,0,0,0,0,14.59,14.69,14.73
$STATE,987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,987,begin apogee
$GC,993,-0.25,0.0,2599,2066,3422,3403,150.1,-16.6,184,1105,0.95,0.00,107.22,1.113,10246,0.243,0.000,2871,2060,2906,2953,2860,0,0,0,0,0,0,14.61,14.38,13.89
$STATE,1109,end apogee,CONTROL_FINISHED_OK
$STATE,1109,begin climb
$GC,1110,1.55,125.5,2872,2061,2950,2850,156.7,0.0,202,1233,1.80,2.53,104.07,1.062,10756,0.139,0.073,3445,649,2398,2460,2337,0,0,0,0,0,0,14.32,14.20,13.81
$GC,1378,1.46,125.5,3445,650,2460,2326,125.7,15.8,248,1385,0.00,2.40,0.00,0.000,1158,0.000,0.058,3445,2060,2392,2459,2326,0,0,0,0,0,0,14.61,14.52,14.62
$GC,1505,1.36,125.5,3445,2063,2460,2327,105.6,15.3,273,1514,0.12,2.45,0.00,0.000,4484,0.300,0.090,3406,3450,2392,2459,2325,0,0,0,0,0,0,14.48,14.57,14.62
$GC,1633,1.26,125.5,3407,3450,2460,2327,84.0,17.9,298,1641,0.20,2.35,0.00,0.000,5254,0.297,0.048,3367,2041,2392,2459,2325,0,0,0,0,0,0,14.52,14.67,14.71
$GC,1761,1.24,125.5,3368,2037,2460,2326,65.7,14.1,323,1769,0.00,2.35,0.00,0.000,644,0.000,0.073,3378,653,2391,2458,2325,0,0,0,0,0,0,14.88,14.66,14.88
$GC,1993,1.22,125.5,3378,653,2459,2326,35.5,11.8,369,2002,0.00,2.35,0.00,0.000,1158,0.000,0.059,3376,2056,2391,2459,2324,0,0,0,0,0,0,14.80,14.71,14.81
$GC,2061,1.19,125.5,3377,2052,2460,2325,27.3,11.9,382,2069,0.10,2.40,0.00,0.000,4740,0.306,0.070,3357,649,2391,2458,2324,0,0,0,0,0,0,14.58,14.69,14.71
$GC,2124,1.19,130.1,3357,649,2459,2324,21.1,9.5,394,2132,0.00,2.35,0.00,0.000,1062,0.000,0.059,3357,2048,2391,2459,2323,0,0,0,0,0,0,14.80,14.71,14.82
$GC,2191,1.19,130.1,3357,2041,2459,2325,13.8,12.1,407,2199,0.00,2.47,0.00,0.000,260,0.000,0.094,3357,3451,2391,2459,2324,0,0,0,0,0,0,14.91,14.68,14.91
$GC,2268,1.15,130.1,3357,3451,2459,2325,5.0,10.1,422,2276,0.12,2.35,0.00,0.000,5254,0.294,0.049,3336,2037,2391,2459,2324,0,0,0,0,0,0,14.59,14.72,14.76
$STATE,2305,end climb,SURFACE_DEPTH_REACHED
$STATE,2305,begin surface coast
$FINISH,-0.4,1.021911
$STATE,2325,end surface coast,CONTROL_FINISHED_OK
$STATE,2325,begin surface
$SM_CCo,2349,218.88,0.160,0,0,539,595.60
$SM_GC,-0.86,9.43,1.17,218.88,0.109,0.080,0.160,196,2700,539,-8.57,-0.85,595.60,0,0,0,0,0,0,14.74,14.69,14.57
$IRIDIUM_FIX,4726.11,-12255.26,260716,182931
$TT8_MAMPS,0.038199,0.469623
$HUMID,50.82
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.80
$XPDR_PINGS,0
$SC_FREEKB,3909248
$PM_FREEKB,62213504
$TM_FREEKB,7818272
$24V_AH,13.73,6.118
$10V_AH,13.96,0.000
$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,23.675,48.575,211.300,218.875,0.000,0.000,0.000,0.000,0.000,0.000,5.250,0.000,819.259,553.950,1236.878,17.656,0.000,991.396,0.000,925.410,0.000,0.543,0.000
$DEVICE_MAMPS,397.035,2168.010,1113.075,159.885,0.000,0.000,0.000,0.000,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2308.000,2305.000,2317.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.490,4.751,18.625,0.000
$MEM,312000
$DATA_FILE_SIZE,13446,433
$CAP_FILE_SIZE,75290,0
$CFSIZE,1024409600,1020198912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,206.13,1
$GPS,260716,192010,4743.640,-12225.146,5,1.3,6,15.9,0.0,0.0,6,5.4