version: 66.13
glider: 220
mission: 6
dive: 11
start: 8 25 116 10 25 25
data:
$ID,220
$MISSION,6
$DIVE,11
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,540
$D_ABORT,640
$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,180
$T_MISSION,210
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54354
$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,609.96155
$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,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,3000
$C_ROLL_CLIMB,2850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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,2970
$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,3
$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,-168.7365
$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,500.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,250816,101225,957.6693,-12503.6611,33,0.6,33,9.0,0.5,37.0,12,2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.26
$_SM_ANGLEo,-70.2
$GPS2,250816,102507,957.5997,-12503.6191,2,0.7,4,9.0,0.3,190.5,12,3.5
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,139.9,31608,-18.2,-10.000,-20.96,2236
$D_GRID,540
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.09,-146.0,202,2984,596,509,0.0,0.0,0,110,0.00,0.00,-91.90,0.000,16386,0.000,0.000,201,2985,3398,3384,3413,0,0,0,0,0,0,14.73,28.83,14.73
$GC,112,-1.09,-146.0,202,2984,3385,3414,4.3,-8.1,6,130,10.85,1.70,-2.10,0.000,18724,0.389,2.179,2568,3828,3555,3555,3555,0,0,0,0,0,0,14.36,13.69,14.60
$GC,220,-0.91,-146.0,2568,3830,3557,3556,55.0,-32.9,27,226,0.20,1.38,0.00,0.000,3206,0.264,0.041,2629,2986,3556,3556,3556,0,0,0,0,0,0,14.46,14.64,14.64
$GC,551,-0.87,-146.0,2629,2987,3558,3556,103.6,-10.6,50,557,0.00,1.52,0.00,0.000,388,0.000,0.104,2623,3841,3556,3557,3556,0,0,0,0,0,0,14.91,14.66,14.92
$GC,780,-0.82,-146.0,2622,3843,3559,3556,128.2,-12.3,96,789,0.10,1.38,0.00,0.000,3206,0.226,0.046,2654,3006,3556,3557,3556,0,0,0,0,0,0,14.64,14.77,14.76
$GC,1093,-0.82,-146.0,2652,3006,3557,3557,156.8,-9.0,108,1100,0.00,2.28,0.00,0.000,548,0.000,0.047,2654,1597,3556,3557,3555,0,0,0,0,0,0,14.98,14.78,14.97
$GC,1134,-0.82,-146.0,2655,1597,3558,3557,160.7,-9.3,116,1142,0.00,2.40,0.00,0.000,1062,0.000,0.077,2645,3003,3555,3557,3554,0,0,0,0,0,0,14.85,14.75,14.86
$GC,1456,-0.82,-146.0,2645,3005,3558,3550,192.4,-10.2,130,1462,0.00,2.30,0.00,0.000,516,0.000,0.047,2644,1598,3553,3557,3550,0,0,0,0,0,0,15.00,14.81,15.00
$GC,1526,-0.82,-146.0,2645,1598,3558,3550,199.6,-10.0,144,1534,0.10,2.42,0.00,0.000,3078,0.256,0.080,2663,3014,3553,3557,3550,0,0,0,0,0,0,14.70,14.76,14.85
$GC,1848,-0.84,-146.0,2664,3015,3558,3544,229.3,-9.2,158,1855,0.00,2.33,0.00,0.000,676,0.000,0.048,2663,1597,3551,3557,3545,0,0,0,0,0,0,15.01,14.81,15.01
$GC,1939,-0.85,-146.0,2664,1596,3558,3544,237.6,-8.9,176,1947,0.00,2.40,0.00,0.000,1190,0.000,0.079,2654,3004,3550,3557,3543,0,0,0,0,0,0,14.88,14.78,14.89
$GC,2271,-0.85,-146.0,2654,3004,3557,3537,267.6,-8.9,192,2278,0.00,2.30,0.00,0.000,548,0.000,0.050,2654,1602,3546,3557,3536,0,0,0,0,0,0,15.02,14.81,15.02
$GC,2402,-0.86,-146.0,2652,1603,3558,3534,279.4,-8.9,218,2409,0.00,2.40,0.00,0.000,1190,0.000,0.080,2644,3002,3545,3557,3534,0,0,0,0,0,0,14.89,14.78,14.90
$GC,2723,-0.86,-146.0,2644,3002,3557,3530,310.5,-10.0,232,2730,0.00,2.30,0.00,0.000,516,0.000,0.050,2644,1602,3543,3557,3529,0,0,0,0,0,0,15.02,14.82,15.02
$GC,2789,-0.86,-146.0,2644,1601,3558,3528,317.3,-10.2,245,2796,0.00,2.45,0.00,0.000,1030,0.000,0.080,2634,2998,3542,3557,3527,0,0,0,0,0,0,14.85,14.77,14.87
$GC,3116,-0.86,-146.0,2632,3000,3557,3523,352.6,-11.0,260,3123,0.00,2.30,0.00,0.000,516,0.000,0.050,2633,1603,3540,3557,3523,0,0,0,0,0,0,15.02,14.82,15.02
$GC,3211,-0.86,-146.0,2634,1602,3557,3524,363.3,-11.0,279,3218,0.00,2.47,0.00,0.000,1030,0.000,0.081,2624,3006,3539,3557,3522,0,0,0,0,0,0,14.84,14.77,14.86
$GC,3537,-0.86,-146.0,2624,3007,3555,3517,400.2,-11.3,294,3544,0.00,2.33,0.00,0.000,516,0.000,0.052,2623,1600,3537,3557,3517,0,0,0,0,0,0,15.03,14.81,15.02
$GC,3642,-0.86,-146.0,2623,1599,3557,3517,411.7,-10.6,315,3649,0.08,2.47,0.00,0.000,3078,0.254,0.082,2644,3005,3536,3556,3516,0,0,0,0,0,0,14.70,14.77,14.86
$GC,3959,-0.86,-146.0,2645,3004,3557,3513,442.3,-9.5,328,3966,0.00,2.33,0.00,0.000,548,0.000,0.051,2645,1598,3534,3556,3512,0,0,0,0,0,0,15.02,14.81,15.02
$GC,4060,-0.88,-146.0,2645,1598,3557,3510,451.7,-9.2,348,4067,0.00,2.42,0.00,0.000,1190,0.000,0.081,2635,3004,3532,3556,3509,0,0,0,0,0,0,14.88,14.77,14.90
$GC,4382,-0.88,-146.0,2635,3009,3557,3508,482.0,-9.3,362,4388,0.00,2.33,0.00,0.000,548,0.000,0.052,2634,1597,3531,3556,3507,0,0,0,0,0,0,15.02,14.81,15.02
$GC,4477,-0.88,-146.0,2634,1598,3557,3506,490.8,-9.3,381,4484,0.00,2.42,0.00,0.000,1062,0.000,0.083,2625,3004,3531,3556,3506,0,0,0,0,0,0,14.88,14.77,14.89
$GC,4803,-0.88,-146.0,2625,3004,3550,3507,522.6,-9.8,396,4817,0.00,2.35,0.00,0.000,548,0.000,0.053,2625,1592,3528,3552,3505,0,0,0,0,0,0,15.03,14.83,15.04
$GC,4871,-0.88,-146.0,2625,1592,3553,3507,529.3,-9.8,408,4885,0.10,2.45,0.00,0.000,3110,0.270,0.083,2643,3010,3529,3552,3506,0,0,0,0,0,0,14.70,14.78,14.87
$STATE,4998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4998,begin apogee
$GC,5001,-0.25,0.0,2643,2849,3550,3506,541.1,-9.1,417,5143,0.68,0.00,131.70,1.547,10246,0.203,0.000,2844,2848,2970,3015,2925,0,0,0,0,0,0,14.72,14.16,13.58
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5144,begin climb
$GC,5145,1.09,146.0,2845,2849,3006,2908,544.4,0.0,421,5301,1.33,1.90,134.52,1.470,10500,0.125,0.106,3262,3823,2376,2441,2312,0,0,0,0,0,0,14.17,14.02,13.51
$GC,5304,0.99,146.0,3263,3822,2438,2309,533.2,13.5,452,5318,0.00,1.67,0.00,0.000,1158,0.000,0.054,3270,2847,2371,2437,2305,0,0,0,0,0,0,14.25,14.19,14.26
$GC,5638,0.90,146.0,3270,2848,2438,2293,484.4,14.7,467,5644,0.15,1.77,0.00,0.000,4484,0.298,0.103,3226,3829,2365,2437,2293,0,0,0,0,0,0,14.47,14.54,14.60
$GC,5853,0.82,146.0,3226,3829,2438,2292,454.1,13.8,510,5860,0.12,1.67,0.00,0.000,5254,0.267,0.056,3199,2851,2364,2437,2292,0,0,0,0,0,0,14.54,14.67,14.66
$GC,6179,0.78,146.0,3199,2852,2438,2288,416.8,11.6,525,6186,0.00,1.75,0.00,0.000,388,0.000,0.109,3199,3824,2362,2437,2288,0,0,0,0,0,0,14.91,14.67,14.91
$GC,6409,0.72,146.0,3199,3824,2438,2287,387.7,12.7,571,6417,0.15,1.65,0.00,0.000,5254,0.251,0.057,3165,2851,2361,2436,2287,0,0,0,0,0,0,14.62,14.75,14.73
$GC,6721,0.70,147.4,3165,2852,2438,2289,356.3,9.9,583,6728,0.00,2.33,0.00,0.000,676,0.000,0.060,3175,1445,2361,2437,2285,0,0,0,0,0,0,14.95,14.73,14.95
$GC,6752,0.70,155.4,3175,1444,2438,2285,353.3,9.6,589,6763,0.00,2.45,1.58,0.230,9382,0.000,0.077,3174,2862,2348,2424,2272,0,0,0,0,0,0,14.81,14.71,14.66
$GC,7083,0.69,169.3,3175,2861,2425,2290,321.6,9.4,605,7109,0.00,1.77,17.88,1.371,8612,0.000,0.112,3175,3817,2287,2357,2217,0,0,0,0,0,0,14.95,14.58,14.09
$GC,7167,0.66,169.3,3175,3817,2353,2209,312.8,10.8,622,7176,0.12,1.65,0.00,0.000,5254,0.238,0.057,3147,2851,2279,2352,2206,0,0,0,0,0,0,14.54,14.67,14.66
$GC,7473,0.71,211.4,3147,2851,2353,2204,287.6,8.1,633,7520,0.00,1.88,40.92,1.290,8996,0.000,0.110,3146,3827,2120,2193,2048,0,0,0,0,0,0,14.91,14.41,13.97
$GC,7668,0.71,211.4,3146,3828,2191,2031,268.7,10.1,672,7676,0.00,1.67,0.00,0.000,1030,0.000,0.057,3154,2853,2105,2181,2030,0,0,0,0,0,0,14.63,14.60,14.65
$GC,7986,0.71,213.4,3154,2854,2184,2025,238.0,9.9,685,7992,0.00,1.77,0.00,0.000,292,0.000,0.112,3154,3833,2103,2182,2025,0,0,0,0,0,0,14.88,14.62,14.88
$GC,8131,0.71,213.4,3155,3833,2182,2024,221.5,11.4,714,8139,0.00,1.67,0.00,0.000,1030,0.000,0.056,3161,2850,2103,2181,2025,0,0,0,0,0,0,14.73,14.71,14.76
$GC,8436,0.71,213.4,3162,2851,2183,2024,187.7,11.0,725,8443,0.00,1.77,0.00,0.000,260,0.000,0.112,3161,3833,2102,2181,2024,0,0,0,0,0,0,14.92,14.67,14.92
$GC,8581,0.71,213.4,3161,3833,2183,2023,170.6,11.8,754,8590,0.00,1.67,0.00,0.000,1030,0.000,0.056,3169,2848,2102,2181,2024,0,0,0,0,0,0,14.78,14.74,14.79
$GC,8887,0.71,213.4,3170,2848,2182,2024,138.1,10.4,765,8893,0.00,1.77,0.00,0.000,260,0.000,0.111,3170,3834,2102,2181,2023,0,0,0,0,0,0,14.94,14.69,14.94
$GC,9052,0.71,213.4,3170,3834,2182,2025,119.7,10.7,798,9059,0.00,1.67,0.00,0.000,1030,0.000,0.054,3177,2847,2102,2181,2023,0,0,0,0,0,0,14.79,14.76,14.81
$GC,9368,0.77,256.6,3178,2847,2182,2024,90.1,8.0,814,9395,0.00,2.38,19.58,0.425,8740,0.000,0.060,3187,1459,1947,2023,1871,0,0,0,0,0,0,14.94,14.67,14.45
$GC,9479,0.87,320.8,3187,1458,2028,1891,81.1,7.0,836,9523,0.00,2.42,33.60,0.418,9382,0.000,0.076,3187,2855,1693,1767,1619,0,0,0,0,0,0,14.78,14.67,14.40
$GC,9820,1.02,402.0,3187,2855,1773,1634,58.9,6.3,864,9869,0.12,2.45,41.30,0.351,10916,0.116,0.057,3270,1453,1367,1438,1296,0,0,0,0,0,0,14.69,14.60,14.42
$GC,10034,1.13,457.2,3270,1454,1444,1306,40.2,7.5,906,10072,0.00,2.42,27.90,0.292,9382,0.000,0.073,3269,2854,1149,1227,1072,0,0,0,0,0,0,14.71,14.61,14.45
$GC,10381,1.28,526.5,3270,2854,1235,1085,14.8,6.8,935,10424,0.12,1.77,33.97,0.207,10660,0.112,0.106,3343,3823,872,954,791,0,0,0,0,0,0,14.69,14.59,14.54
$GC,10458,1.28,526.5,3344,3824,959,802,6.6,11.7,950,10464,0.00,1.62,0.00,0.000,1030,0.000,0.050,3351,2825,880,960,801,0,0,0,0,0,0,14.73,14.68,14.74
$STATE,10503,end climb,SURFACE_DEPTH_REACHED
$STATE,10503,begin surface coast
$FINISH,-0.7,1.020476
$STATE,10518,end surface coast,CONTROL_FINISHED_OK
$STATE,10518,begin surface
$SM_CCo,10541,40.42,0.158,0,0,539,610.16
$SM_GC,-1.20,9.00,0.32,40.42,0.061,0.096,0.158,193,3013,539,-8.48,-0.68,610.16,0,0,0,0,0,0,14.68,14.69,14.58
$IRIDIUM_FIX,951.69,-12504.01,250816,070651
$TT8_MAMPS,0.038199,0.469623
$HUMID,52.52
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.30
$XPDR_PINGS,0
$SC_FREEKB,3906176
$PM_FREEKB,62147200
$TM_FREEKB,7740096
$24V_AH,13.51,9.018
$10V_AH,13.29,0.000
$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,23.225,99.600,482.950,40.425,0.000,0.000,0.000,493.075,0.000,0.000,6.276,0.000,7703.177,660.835,2909.792,64.324,0.000,2046.478,0.000,1672.764,0.000,0.547,0.000
$DEVICE_MAMPS,389.385,2178.720,1546.830,157.590,0.000,0.000,0.000,211.140,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10581.000,10513.000,9699.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.661,3.079,11.497,0.000
$MEM,334684
$DATA_FILE_SIZE,33306,956
$CAP_FILE_SIZE,123654,0
$CFSIZE,1024409600,1018298368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,7174.04,0x213b74,1,24
$CURRENT,0.118,202.76,1
$GPS,250816,132226,956.746,-12503.548,6,1.3,8,9.0,0.1,0.0,7,9.4