version: 66.13
glider: 220
mission: 6
dive: 32
start: 8 28 116 15 49 40
data:
$ID,220
$MISSION,6
$DIVE,32
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1010
$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,420
$T_MISSION,480
$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,0.0024999999
$HD_B,0.014
$HD_C,1.6e-05
$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
$PITCH_ADJ_DBAND,1
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2850
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.050000001
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3050
$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
$GPS1,280816,153431,947.2993,-12452.4014,21,0.8,21,9.0,0.3,181.9,10,3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.61
$_SM_ANGLEo,-70.4
$GPS2,280816,154921,947.2416,-12452.4365,3,0.9,4,9.0,0.6,202.6,9,7.4
$SPEED_LIMITS,0.136,0.198
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,10.3,31993,-14.4,-7.857,-21.67,2718
$D_GRID,990
$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,-0.90,-146.0,177,2868,668,587,0.0,0.0,0,111,0.00,0.00,-93.62,0.000,16390,0.000,0.000,171,2866,3634,3626,3643,0,0,0,0,0,0,14.68,13.77,14.69
$GC,113,-0.90,-146.0,172,2867,3632,3643,1.4,-9.2,6,130,11.45,2.35,0.00,0.000,2564,0.398,0.034,2631,1427,3635,3628,3643,0,0,0,0,0,0,14.34,14.54,14.55
$GC,189,-0.90,-146.0,2631,1427,3630,3644,34.3,-25.6,21,196,0.00,2.53,0.00,0.000,1030,0.000,0.085,2620,2851,3635,3629,3642,0,0,0,0,0,0,14.62,14.52,14.64
$GC,506,-0.90,-146.0,2620,2852,3632,3642,93.1,-12.9,44,512,0.00,1.75,0.00,0.000,260,0.000,0.107,2613,3840,3636,3631,3642,0,0,0,0,0,0,14.86,14.62,14.86
$GC,657,-0.90,-146.0,2613,3839,3633,3642,112.3,-14.3,74,663,0.00,1.58,0.00,0.000,1030,0.000,0.044,2616,2846,3637,3632,3642,0,0,0,0,0,0,14.78,14.73,14.78
$GC,988,-0.90,-146.0,2613,2846,3633,3643,146.5,-6.8,90,994,0.00,1.77,0.00,0.000,292,0.000,0.106,2604,3834,3637,3632,3642,0,0,0,0,0,0,14.93,14.70,14.94
$GC,1218,-0.90,-146.0,2605,3834,3633,3641,178.0,-12.8,136,1225,0.10,1.58,0.00,0.000,3078,0.229,0.044,2634,2872,3635,3631,3639,0,0,0,0,0,0,14.66,14.78,14.76
$GC,1529,-0.90,-146.0,2634,2871,3633,3635,212.4,-11.0,148,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2871,3633,3632,3634,0,0,0,0,0,0,14.96,14.98,14.97
$GC,1829,-0.90,-146.0,2633,2871,3633,3630,244.8,-10.7,158,1836,0.00,2.33,0.00,0.000,516,0.000,0.050,2634,1453,3630,3632,3629,0,0,0,0,0,0,14.99,14.79,14.99
$GC,1904,-0.90,-146.0,2634,1452,3633,3629,252.6,-10.1,173,1912,0.00,2.45,0.00,0.000,1030,0.000,0.077,2624,2872,3628,3630,3627,0,0,0,0,0,0,14.86,14.76,14.88
$GC,2222,-0.90,-146.0,2625,2874,3633,3622,286.3,-10.4,186,2228,0.00,2.35,0.00,0.000,516,0.000,0.050,2624,1457,3627,3632,3622,0,0,0,0,0,0,14.99,14.79,14.99
$GC,2271,-0.90,-146.0,2624,1456,3632,3622,291.6,-10.3,196,2278,0.00,2.42,0.00,0.000,1030,0.000,0.077,2614,2862,3626,3632,3620,0,0,0,0,0,0,14.87,14.76,14.92
$GC,2583,-0.90,-146.0,2613,2859,3632,3616,324.7,-10.7,208,2589,0.00,2.33,0.00,0.000,516,0.000,0.050,2614,1460,3622,3632,3613,0,0,0,0,0,0,14.99,14.81,15.00
$GC,2614,-0.90,-146.0,2614,1460,3632,3614,328.0,-10.8,214,2621,0.12,2.42,0.00,0.000,3078,0.261,0.079,2639,2859,3623,3632,3614,0,0,0,0,0,0,14.71,14.78,14.85
$GC,2945,-0.90,-146.0,2640,2860,3633,3609,360.6,-10.1,230,2951,0.00,2.33,0.00,0.000,516,0.000,0.053,2639,1462,3620,3632,3608,0,0,0,0,0,0,15.00,14.81,15.00
$GC,3006,-0.90,-146.0,2639,1460,3633,3608,366.9,-10.0,242,3012,0.00,2.38,0.00,0.000,1030,0.000,0.080,2630,2846,3619,3631,3607,0,0,0,0,0,0,14.88,14.77,14.89
$GC,3337,-0.90,-146.0,2630,2847,3643,3600,402.2,-10.8,258,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2846,3617,3632,3602,0,0,0,0,0,0,15.00,15.00,15.00
$GC,3637,-0.90,-146.0,2631,2846,3632,3599,434.3,-10.7,268,3643,0.00,2.30,0.00,0.000,516,0.000,0.052,2631,1462,3614,3632,3597,0,0,0,0,0,0,15.00,14.80,15.00
$GC,3686,-0.90,-146.0,2631,1462,3632,3598,439.6,-10.2,278,3693,0.00,2.40,0.00,0.000,1030,0.000,0.080,2620,2850,3614,3632,3597,0,0,0,0,0,0,14.88,14.77,14.89
$GC,3998,-0.90,-146.0,2620,2851,3633,3593,472.7,-10.6,290,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2850,3611,3631,3592,0,0,0,0,0,0,14.99,15.00,15.00
$GC,4298,-0.90,-146.0,2620,2851,3633,3590,503.8,-10.3,300,4311,0.00,2.33,0.00,0.000,516,0.000,0.054,2620,1455,3613,3636,3590,0,0,0,0,0,0,15.01,14.81,15.01
$GC,4350,-0.90,-146.0,2620,1456,3632,3587,509.1,-10.3,309,4363,0.10,2.40,0.00,0.000,3078,0.262,0.083,2639,2839,3610,3631,3589,0,0,0,0,0,0,14.72,14.78,14.86
$GC,4673,-0.90,-146.0,2640,2839,3632,3586,537.6,-8.6,322,4686,0.00,2.30,0.00,0.000,516,0.000,0.053,2639,1461,3607,3631,3584,0,0,0,0,0,0,15.02,14.81,15.02
$GC,4715,-0.90,-146.0,2640,1461,3632,3586,541.4,-8.8,329,4728,0.00,2.38,0.00,0.000,1030,0.000,0.081,2630,2833,3607,3631,3584,0,0,0,0,0,0,14.90,14.79,14.91
$GC,5047,-0.90,-146.0,2631,2834,3628,3583,571.8,-9.3,344,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2833,3605,3627,3583,0,0,0,0,0,0,15.02,15.02,15.02
$GC,5347,-0.90,-146.0,2631,2832,3624,3585,599.7,-9.2,354,5361,0.00,2.30,0.00,0.000,516,0.000,0.053,2630,1452,3603,3624,3583,0,0,0,0,0,0,15.03,14.83,15.03
$GC,5399,-0.90,-146.0,2631,1452,3625,3584,604.5,-9.0,363,5412,0.00,2.40,0.00,0.000,1030,0.000,0.083,2620,2834,3603,3624,3582,0,0,0,0,0,0,14.90,14.80,14.92
$GC,5722,-0.90,-146.0,2624,2835,3623,3581,633.9,-9.3,376,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2834,3601,3622,3581,0,0,0,0,0,0,15.04,15.04,15.04
$GC,6022,-0.90,-146.0,2621,2833,3622,3578,662.9,-9.9,386,6035,0.00,2.30,0.00,0.000,516,0.000,0.054,2620,1459,3598,3621,3576,0,0,0,0,0,0,15.04,14.83,15.04
$GC,6064,-0.90,-146.0,2620,1460,3622,3577,667.4,-10.0,393,6077,0.00,2.38,0.00,0.000,1030,0.000,0.083,2612,2827,3599,3621,3577,0,0,0,0,0,0,14.91,14.81,14.92
$GC,6397,-0.90,-146.0,2613,2827,3620,3577,702.0,-10.5,408,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2827,3597,3619,3576,0,0,0,0,0,0,15.02,15.03,15.03
$GC,6697,-0.90,-146.0,2613,2827,3613,3576,732.9,-10.4,418,6710,0.00,2.30,0.00,0.000,516,0.000,0.055,2611,1455,3597,3619,3575,0,0,0,0,0,0,15.05,14.83,15.03
$GC,6734,-0.90,-146.0,2610,1456,3621,3574,737.0,-10.7,424,6748,0.12,2.40,0.00,0.000,3078,0.259,0.085,2638,2826,3596,3619,3574,0,0,0,0,0,0,14.73,14.79,14.88
$GC,7073,-0.90,-146.0,2638,2824,3618,3573,767.5,-8.8,440,7086,0.00,2.30,0.00,0.000,516,0.000,0.054,2638,1460,3594,3617,3572,0,0,0,0,0,0,15.02,14.83,15.02
$GC,7134,-0.90,-146.0,2639,1459,3617,3572,773.2,-9.1,451,7148,0.00,2.38,0.00,0.000,1030,0.000,0.083,2629,2812,3594,3617,3571,0,0,0,0,0,0,14.90,14.79,14.94
$GC,7440,-0.90,-146.0,2629,2813,3615,3571,801.2,-9.2,462,7453,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2812,3592,3614,3571,0,0,0,0,0,0,15.02,15.02,15.02
$GC,7740,-0.90,-146.0,2629,2812,3615,3571,828.9,-9.2,472,7753,0.00,2.28,0.00,0.000,516,0.000,0.055,2629,1458,3591,3613,3569,0,0,0,0,0,0,15.02,14.82,15.02
$GC,7797,-0.90,-146.0,2629,1455,3615,3570,834.1,-8.0,482,7810,0.00,2.38,0.00,0.000,1030,0.000,0.085,2619,2816,3591,3614,3569,0,0,0,0,0,0,14.90,14.81,14.90
$GC,8115,-0.90,-146.0,2620,2820,3614,3568,863.7,-9.3,494,8128,0.00,2.28,0.00,0.000,516,0.000,0.055,2612,1463,3590,3613,3568,0,0,0,0,0,0,15.02,14.81,15.02
$GC,8162,-0.90,-146.0,2620,1464,3614,3566,868.9,-9.3,502,8175,0.00,2.35,0.00,0.000,1030,0.000,0.085,2611,2807,3590,3613,3567,0,0,0,0,0,0,14.90,14.78,14.91
$GC,8490,-0.90,-146.0,2611,2807,3612,3568,900.0,-9.8,516,8503,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2807,3589,3612,3566,0,0,0,0,0,0,15.01,15.01,15.01
$GC,8790,-0.90,-146.0,2611,2808,3613,3566,929.1,-9.6,526,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2807,3588,3612,3565,0,0,0,0,0,0,15.02,15.02,15.03
$GC,9090,-0.90,-146.0,2612,2807,3613,3565,957.7,-9.5,536,9102,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2807,3588,3612,3564,0,0,0,0,0,0,15.05,15.02,15.02
$GC,9390,-0.90,-146.0,2611,2808,3609,3563,985.5,-9.1,546,9403,0.00,2.28,0.00,0.000,516,0.000,0.057,2610,1459,3587,3612,3563,0,0,0,0,0,0,15.02,14.81,15.02
$STATE,9440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9440,begin apogee
$GC,9445,-0.25,0.0,2606,2304,3612,3565,990.5,-9.2,555,9613,0.80,0.00,157.77,1.962,10244,0.200,0.000,2845,2303,3049,3092,3007,0,0,0,0,0,0,14.72,13.97,13.33
$STATE,9614,end apogee,CONTROL_FINISHED_OK
$STATE,9614,begin climb
$GC,9615,0.90,146.0,2846,2305,3084,2996,993.9,0.0,560,9797,1.10,2.55,161.35,1.932,10756,0.091,0.067,3206,900,2460,2526,2395,0,0,0,0,0,0,14.03,14.03,13.27
$GC,9825,0.90,146.0,3207,900,2522,2380,981.9,10.1,601,9840,0.00,2.50,0.00,0.000,1030,0.000,0.067,3207,2289,2449,2521,2378,0,0,0,0,0,0,14.15,14.06,14.15
$GC,10131,0.90,146.0,3207,2289,2521,2372,942.7,12.8,612,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2288,2447,2520,2374,0,0,0,0,0,0,14.66,14.66,14.66
$GC,10431,0.90,146.0,3207,2288,2521,2370,905.2,12.4,622,10445,0.00,2.38,0.00,0.000,516,0.000,0.070,3217,910,2444,2519,2369,0,0,0,0,0,0,14.79,14.58,14.79
$GC,10483,0.90,146.0,3217,910,2519,2374,898.6,12.3,631,10496,0.00,2.38,0.00,0.000,1030,0.000,0.068,3217,2288,2444,2520,2368,0,0,0,0,0,0,14.69,14.59,14.70
$GC,10806,0.90,146.0,3217,2290,2521,2368,858.8,12.5,644,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2290,2443,2520,2367,0,0,0,0,0,0,14.85,14.85,14.85
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$STATE,19065,end climb,SURFACE_DEPTH_REACHED
$STATE,19065,begin surface coast
$FINISH,-0.3,1.020621
$STATE,19080,end surface coast,CONTROL_FINISHED_OK
$STATE,19080,begin surface
$SM_CCo,19104,46.05,0.175,0,0,618,610.16
$SM_GC,-7.45,9.62,1.02,46.05,0.108,0.085,0.175,200,2852,618,-8.47,-0.68,610.16,0,0,0,0,0,0,14.59,14.56,14.50
$IRIDIUM_FIX,940.75,-12451.81,280816,100027
$TT8_MAMPS,0.038948,0.310086
$HUMID,49.56
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,22.20
$XPDR_PINGS,2
$SC_FREEKB,3897888
$PM_FREEKB,61525760
$TM_FREEKB,7464320
$24V_AH,13.27,15.255
$10V_AH,13.21,0.000
$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,23.900,153.300,490.950,46.050,0.000,0.000,0.000,573.500,0.500,0.000,5.489,0.000,15053.508,717.447,4146.205,111.646,0.000,2764.453,0.000,2282.021,0.000,0.548,0.000
$DEVICE_MAMPS,397.800,107.865,1962.225,175.185,0.000,0.000,0.000,210.375,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19167.000,19077.000,9923.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.883,2.968,11.439,0.000
$MEM,334772
$DATA_FILE_SIZE,43371,1229
$CAP_FILE_SIZE,172139,0
$CFSIZE,1024409600,1013432320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,162.78,1
$GPS,280816,210956,948.681,-12451.764,34,0.8,34,9.0,0.7,44.0,11,5.8