version: 66.13
glider: 220
mission: 5
dive: 5
start: 7 26 116 20 14 49
data:
$ID,220
$MISSION,5
$DIVE,5
$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,34
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2850
$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
$GPS1,260716,200709,4743.5420,-12225.0684,2,0.9,16,15.9,0.3,351.7,12,2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.21
$_SM_ANGLEo,-67.8
$GPS2,260716,201431,4743.5942,-12225.0537,2,0.9,4,15.9,0.2,0.0,12,6.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,145.0,187,-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,16,-1.47,-62.7,199,2708,546,460,0.0,0.0,0,132,0.00,0.00,-109.07,0.000,16390,0.000,0.000,197,2709,3098,3091,3106,0,0,0,0,0,0,14.78,13.89,14.78
$GC,133,-1.57,-146.6,198,2709,3096,3108,-1.3,1.4,19,160,10.50,2.15,-8.85,0.000,18724,0.406,2.207,2437,3826,3433,3446,3421,0,0,0,0,0,0,14.39,13.76,14.62
$GC,384,-1.37,-146.6,2437,3830,3443,3421,67.5,-24.3,68,392,0.28,1.90,0.00,0.000,3206,0.315,0.047,2510,2666,3436,3449,3423,0,0,0,0,0,0,14.49,14.67,14.67
$GC,512,-1.27,-146.6,2510,2665,3446,3421,94.8,-22.1,93,520,0.10,2.10,0.00,0.000,2436,0.323,0.103,2532,3825,3433,3446,3421,0,0,0,0,0,0,14.53,14.62,14.67
$GC,630,-1.18,-146.6,2533,3825,3446,3422,120.3,-20.5,116,638,0.15,1.88,0.00,0.000,3206,0.282,0.047,2577,2700,3432,3444,3421,0,0,0,0,0,0,14.54,14.70,14.73
$GC,758,-1.15,-146.6,2578,2701,3447,3421,142.2,-17.0,141,767,0.00,2.05,0.00,0.000,388,0.000,0.109,2570,3825,3433,3446,3421,0,0,0,0,0,0,14.90,14.66,14.89
$STATE,800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,800,begin apogee
$GC,806,-0.25,0.0,2570,2064,3446,3422,150.9,-21.1,149,929,1.08,0.00,113.12,1.895,10246,0.256,0.000,2870,2059,2848,2899,2798,0,0,0,0,1,0,14.57,14.08,13.37
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,932,begin climb
$GC,933,1.57,146.6,2870,2059,2902,2808,161.2,0.0,169,1080,1.90,2.55,128.18,1.059,10756,0.152,0.073,3454,633,2255,2321,2189,0,0,0,0,0,0,14.09,14.13,13.75
$GC,1084,1.49,146.6,3454,633,2321,2187,150.0,17.6,191,1092,0.00,2.50,0.00,0.000,1158,0.000,0.060,3453,2052,2252,2321,2184,0,0,0,0,0,0,14.28,14.19,14.30
$GC,1211,1.40,146.6,3454,2052,2321,2180,122.3,21.7,216,1220,0.12,2.47,0.00,0.000,4740,0.302,0.071,3427,637,2249,2320,2178,0,0,0,0,0,0,14.33,14.42,14.47
$GC,1224,1.32,146.6,3427,638,2321,2177,119.4,21.8,218,1233,0.15,2.45,0.00,0.000,5254,0.293,0.061,3391,2058,2249,2320,2178,0,0,0,0,0,0,14.34,14.45,14.53
$GC,1353,1.29,146.6,3391,2060,2320,2176,96.1,17.7,243,1361,0.00,2.50,0.00,0.000,644,0.000,0.080,3401,630,2248,2320,2176,0,0,0,0,0,0,14.75,14.54,14.75
$GC,1380,1.25,146.6,3400,631,2321,2176,91.6,16.1,248,1388,0.12,2.42,0.00,0.000,5254,0.298,0.065,3369,2047,2248,2320,2176,0,0,0,0,0,0,14.45,14.57,14.64
$GC,1507,1.25,146.6,3369,2047,2321,2176,71.4,15.9,273,1515,0.00,2.50,0.00,0.000,260,0.000,0.096,3368,3457,2247,2320,2175,0,0,0,0,0,0,14.81,14.54,14.81
$GC,1700,1.21,146.6,3368,3463,2321,2176,40.7,17.1,311,1707,0.00,2.38,0.00,0.000,1158,0.000,0.051,3379,2047,2247,2320,2175,0,0,0,0,0,0,14.75,14.67,14.78
$GC,1767,1.21,146.6,3379,2047,2321,2176,30.7,13.9,324,1775,0.10,0.00,0.00,0.000,4102,0.320,0.000,3354,2043,2247,2320,2175,0,0,0,0,0,0,14.56,14.74,14.73
$GC,1834,1.21,146.6,3355,2042,2321,2176,21.8,13.6,337,1842,0.00,2.50,0.00,0.000,260,0.000,0.092,3354,3453,2247,2320,2175,0,0,0,0,0,0,14.88,14.65,14.88
$GC,1861,1.19,146.6,3354,3454,2321,2175,17.7,15.6,342,1870,0.00,2.38,0.00,0.000,1158,0.000,0.052,3365,2043,2247,2320,2175,0,0,0,0,0,0,14.77,14.72,14.78
$GC,1929,1.19,146.6,3364,2044,2321,2175,7.7,13.9,355,1937,0.00,2.40,0.00,0.000,516,0.000,0.077,3375,637,2248,2322,2174,0,0,0,0,0,0,14.88,14.66,14.88
$GC,1971,1.19,146.6,3376,637,2321,2176,2.1,12.8,363,1979,0.10,2.40,0.00,0.000,5126,0.291,0.063,3348,2043,2247,2321,2174,0,0,0,0,0,0,14.57,14.68,14.75
$STATE,1983,end climb,SURFACE_DEPTH_REACHED
$STATE,1983,begin surface coast
$FINISH,-0.7,1.021862
$STATE,1998,end surface coast,CONTROL_FINISHED_OK
$STATE,1998,begin surface
$SM_CCo,2022,204.70,0.161,0,0,496,590.32
$SM_CCo,2228,-0.17,0.000,0,0,501,590.32
$SM_CCo,2230,0.22,0.652,0,0,497,590.57
$SM_GC,-0.88,9.20,1.15,0.22,0.080,0.085,0.652,191,2706,497,-8.59,-0.57,590.57,0,0,0,0,0,0,14.69,14.69,14.54
$IRIDIUM_FIX,4722.92,-12222.38,260716,192319
$TT8_MAMPS,0.036701,0.474117
$HUMID,50.35
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.90
$XPDR_PINGS,0
$SC_FREEKB,3908480
$PM_FREEKB,62143104
$TM_FREEKB,7804800
$24V_AH,13.37,6.443
$10V_AH,13.65,0.000
$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,23.800,43.675,241.300,204.925,0.000,0.000,0.000,275.175,0.000,0.000,5.822,0.000,656.035,558.703,1428.216,36.579,0.000,1233.090,0.000,779.621,0.000,0.543,0.000
$DEVICE_MAMPS,406.215,2207.025,1894.905,651.780,0.000,0.000,0.000,192.780,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2021.000,1987.000,2040.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.942,4.789,18.257,0.000
$MEM,311936
$DATA_FILE_SIZE,13480,368
$CAP_FILE_SIZE,59141,0
$CFSIZE,1024409600,1019887616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.076,352.11,1
$GPS,260716,205234,4743.494,-12225.090,2,1.9,4,15.9,0.1,0.0,9,9.8