version: 66.13
glider: 220
mission: 6
dive: 46
start: 8 31 116 19 17 45
data:
$ID,220
$MISSION,6
$DIVE,46
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,840
$D_ABORT,1020
$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,360
$T_MISSION,370
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-7
$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,2900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0.079999998
$PITCH_GAIN,22
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,22
$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,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,310816,190320,1002.7278,-12444.2871,33,0.8,33,9.0,0.8,4.7,11,4.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.29
$_SM_ANGLEo,-69.5
$GPS2,310816,191725,1002.8023,-12444.2354,2,0.9,3,9.0,0.4,354.2,10,9.3
$SPEED_LIMITS,0.135,0.197
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,322.3,41653,-14.2,-7.778,-21.55,2742
$D_GRID,840
$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,-0.83,-146.0,188,2816,673,582,0.0,0.0,0,112,0.00,0.00,-93.90,0.000,16390,0.000,0.000,181,2815,3633,3626,3641,0,0,0,0,0,0,14.69,13.72,14.70
$GC,113,-0.83,-146.0,187,2817,3626,3643,2.0,-6.4,4,128,11.35,0.00,0.00,0.000,2054,0.390,0.000,2625,2816,3634,3627,3641,0,0,0,0,0,0,14.33,14.59,14.56
$GC,437,-0.69,-146.0,2626,2816,3626,3641,92.0,-13.1,20,445,0.17,1.85,0.00,0.000,2436,0.240,0.107,2669,3826,3636,3631,3641,0,0,0,0,0,0,14.54,14.62,14.71
$GC,674,-0.61,-146.0,2669,3825,3633,3642,115.2,-10.0,54,685,0.10,1.70,0.00,0.000,3206,0.243,0.041,2698,2796,3637,3634,3641,0,0,0,0,0,0,14.62,14.75,14.75
$GC,997,-0.61,-146.0,2695,2797,3633,3640,139.4,-7.5,64,1004,0.00,1.90,0.00,0.000,292,0.000,0.109,2690,3822,3636,3633,3639,0,0,0,0,0,0,14.94,14.69,14.95
$GC,1207,-0.61,-146.0,2689,3823,3632,3637,156.9,-8.3,94,1215,0.00,1.67,0.00,0.000,1030,0.000,0.041,2690,2800,3635,3633,3637,0,0,0,0,0,0,14.85,14.83,14.86
$GC,1557,-0.61,-146.0,2691,2800,3634,3633,186.8,-8.6,108,1564,0.00,2.28,0.00,0.000,516,0.000,0.047,2689,1433,3632,3633,3632,0,0,0,0,0,0,14.97,14.76,14.97
$GC,1647,-0.61,-146.0,2697,1432,3633,3632,194.7,-8.4,121,1655,0.00,2.42,0.00,0.000,1030,0.000,0.073,2681,2812,3631,3633,3629,0,0,0,0,0,0,14.83,14.75,14.88
$GC,1977,-0.61,-146.0,2680,2812,3635,3625,223.9,-9.0,132,1984,0.00,2.33,0.00,0.000,516,0.000,0.046,2681,1432,3628,3633,3624,0,0,0,0,0,0,14.99,14.78,14.99
$GC,2025,-0.61,-146.0,2681,1432,3637,3623,228.4,-9.0,139,2034,0.12,2.40,0.00,0.000,3078,0.233,0.074,2709,2799,3628,3633,3623,0,0,0,0,0,0,14.71,14.76,14.84
$GC,2362,-0.61,-146.0,2710,2797,3632,3618,253.9,-7.4,151,2375,0.00,2.28,0.00,0.000,548,0.000,0.048,2709,1427,3624,3633,3616,0,0,0,0,0,0,15.00,14.81,15.01
$GC,2407,-0.61,-146.0,2710,1420,3634,3617,257.4,-7.5,157,2420,0.00,2.35,0.00,0.000,1062,0.000,0.076,2700,2786,3623,3632,3615,0,0,0,0,0,0,14.88,14.78,14.89
$GC,2754,-0.61,-146.0,2700,2786,3633,3612,282.8,-7.1,170,2768,0.00,2.25,0.00,0.000,548,0.000,0.047,2700,1422,3621,3633,3610,0,0,0,0,0,0,15.02,14.83,15.02
$GC,2793,-0.61,-146.0,2701,1422,3633,3611,285.6,-7.2,175,2806,0.00,2.35,0.00,0.000,1062,0.000,0.076,2692,2781,3621,3633,3610,0,0,0,0,0,0,14.89,14.78,14.90
$GC,3147,-0.61,-146.0,2693,2782,3634,3603,310.2,-7.0,189,3160,0.00,1.88,0.00,0.000,292,0.000,0.115,2683,3829,3617,3632,3603,0,0,0,0,0,0,15.02,14.78,15.03
$GC,3186,-0.61,-146.0,2682,3829,3633,3604,313.1,-7.6,194,3199,0.00,1.67,0.00,0.000,1062,0.000,0.046,2683,2790,3617,3633,3602,0,0,0,0,0,0,14.91,14.88,14.92
$GC,3540,-0.61,-146.0,2684,2790,3633,3599,340.7,-8.0,208,3553,0.00,2.25,0.00,0.000,516,0.000,0.047,2683,1412,3615,3632,3598,0,0,0,0,0,0,15.04,14.83,15.04
$GC,3634,-0.61,-146.0,2684,1412,3633,3596,348.4,-8.1,221,3647,0.00,2.38,0.00,0.000,1030,0.000,0.076,2675,2783,3614,3632,3597,0,0,0,0,0,0,14.90,14.81,14.92
$GC,3967,-0.61,-146.0,2675,2784,3633,3594,376.3,-8.5,232,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2783,3612,3632,3592,0,0,0,0,0,0,15.03,15.03,15.03
$GC,4282,-0.61,-146.0,2675,2785,3633,3589,402.5,-8.5,241,4295,0.00,2.28,0.00,0.000,516,0.000,0.049,2675,1414,3611,3633,3589,0,0,0,0,0,0,15.03,14.83,15.03
$GC,4327,-0.61,-146.0,2675,1414,3633,3589,406.6,-9.1,247,4340,0.12,2.35,0.00,0.000,3078,0.240,0.078,2702,2778,3610,3632,3588,0,0,0,0,0,0,14.74,14.79,14.88
$GC,4674,-0.61,-146.0,2702,2780,3633,3584,432.1,-7.3,260,4687,0.00,2.25,0.00,0.000,548,0.000,0.049,2701,1414,3608,3632,3584,0,0,0,0,0,0,15.04,14.83,15.04
$GC,4740,-0.61,-146.0,2702,1415,3633,3583,437.1,-7.2,269,4754,0.00,2.35,0.00,0.000,1062,0.000,0.078,2694,2766,3607,3632,3583,0,0,0,0,0,0,14.91,14.80,14.92
$GC,5063,-0.61,-146.0,2694,2766,3630,3583,460.0,-7.1,279,5076,0.00,2.25,0.00,0.000,548,0.000,0.049,2694,1408,3605,3629,3582,0,0,0,0,0,0,15.03,14.83,15.03
$GC,5108,-0.61,-146.0,2694,1408,3629,3582,463.3,-7.2,285,5121,0.00,2.35,0.00,0.000,1062,0.000,0.080,2685,2771,3605,3628,3582,0,0,0,0,0,0,14.90,14.79,14.92
$GC,5455,-0.61,-146.0,2685,2773,3626,3582,489.0,-7.6,298,5468,0.00,1.90,0.00,0.000,292,0.000,0.120,2677,3832,3603,3625,3582,0,0,0,0,0,0,15.04,14.77,15.04
$GC,5507,-0.61,-146.0,2677,3831,3625,3582,493.3,-8.2,305,5520,0.00,1.73,0.00,0.000,1030,0.000,0.048,2677,2763,3603,3624,3582,0,0,0,0,0,0,14.91,14.86,14.92
$GC,5847,-0.61,-146.0,2677,2764,3625,3578,520.2,-8.0,317,5860,0.00,2.22,0.00,0.000,516,0.000,0.050,2677,1409,3601,3624,3578,0,0,0,0,0,0,15.03,14.81,15.04
$GC,5877,-0.61,-146.0,2678,1409,3625,3579,522.8,-8.2,321,5891,0.10,2.35,0.00,0.000,3078,0.252,0.080,2697,2762,3601,3624,3578,0,0,0,0,0,0,14.73,14.79,14.88
$GC,6201,-0.61,-146.0,2698,2763,3623,3576,545.8,-7.3,331,6214,0.00,0.00,0.00,0.000,38,0.000,0.000,2697,2762,3598,3621,3576,0,0,0,0,0,0,15.03,15.03,15.02
$GC,6516,-0.61,-146.0,2698,2764,3623,3577,568.2,-7.1,340,6528,0.00,0.00,0.00,0.000,38,0.000,0.000,2697,2762,3598,3621,3576,0,0,0,0,0,0,15.02,15.03,15.03
$GC,6831,-0.61,-146.0,2698,2763,3622,3573,589.8,-6.7,349,6844,0.00,2.28,0.00,0.000,548,0.000,0.051,2697,1399,3596,3621,3572,0,0,0,0,0,0,15.02,14.83,15.04
$GC,6905,-0.61,-146.0,2698,1399,3622,3571,594.8,-6.7,359,6918,0.00,2.38,0.00,0.000,1062,0.000,0.080,2689,2760,3596,3621,3571,0,0,0,0,0,0,14.90,14.78,14.92
$GC,7259,-0.61,-146.0,2689,2761,3618,3571,617.5,-6.3,373,7271,0.00,0.00,0.00,0.000,38,0.000,0.000,2689,2760,3595,3619,3571,0,0,0,0,0,0,15.02,15.02,15.02
$GC,7574,-0.61,-146.0,2689,2761,3618,3570,637.5,-6.3,382,7587,0.00,2.25,0.00,0.000,548,0.000,0.051,2689,1413,3593,3618,3569,0,0,0,0,0,0,15.02,14.82,15.02
$GC,7626,-0.61,-146.0,2690,1412,3620,3571,641.1,-6.9,389,7639,0.00,2.33,0.00,0.000,1062,0.000,0.080,2681,2749,3594,3618,3570,0,0,0,0,0,0,14.90,14.78,14.94
$GC,7966,-0.61,-146.0,2681,2750,3618,3568,665.1,-7.1,401,7979,0.00,1.95,0.00,0.000,292,0.000,0.122,2672,3821,3592,3616,3569,0,0,0,0,0,0,15.02,14.76,15.03
$GC,8004,-0.61,-146.0,2673,3821,3617,3570,668.1,-8.1,406,8018,0.10,1.77,0.00,0.000,3078,0.226,0.050,2704,2738,3592,3616,3568,0,0,0,0,0,0,14.74,14.85,14.88
$GC,8359,-0.61,-146.0,2705,2740,3615,3567,690.8,-6.4,420,8372,0.00,2.20,0.00,0.000,548,0.000,0.050,2704,1404,3590,3614,3566,0,0,0,0,0,0,15.05,14.82,15.02
$GC,8418,-0.61,-146.0,2705,1405,3615,3566,694.7,-6.1,428,8431,0.00,2.35,0.00,0.000,1062,0.000,0.081,2694,2751,3590,3614,3566,0,0,0,0,0,0,14.88,14.77,14.90
$GC,8751,-0.61,-146.0,2696,2753,3615,3564,717.0,-6.6,439,8764,0.00,0.00,0.00,0.000,38,0.000,0.000,2696,2752,3589,3614,3564,0,0,0,0,0,0,15.01,15.01,15.01
$GC,9066,-0.61,-146.0,2696,2752,3615,3565,738.3,-6.8,448,9079,0.00,2.25,0.00,0.000,548,0.000,0.052,2695,1409,3588,3614,3563,0,0,0,0,0,0,15.01,14.80,15.01
$GC,9125,-0.61,-146.0,2696,1409,3615,3564,742.5,-6.5,456,9138,0.00,2.33,0.00,0.000,1062,0.000,0.081,2688,2747,3588,3614,3563,0,0,0,0,0,0,14.88,14.77,14.90
$GC,9458,-0.61,-146.0,2688,2747,3615,3562,765.2,-6.8,467,9471,0.00,0.00,0.00,0.000,38,0.000,0.000,2688,2747,3587,3614,3561,0,0,0,0,0,0,15.01,15.01,15.00
$GC,9773,-0.61,-146.0,2688,2747,3613,3560,787.0,-7.1,476,9786,0.00,2.25,0.00,0.000,548,0.000,0.052,2685,1404,3586,3614,3558,0,0,0,0,0,0,15.01,14.80,15.01
$GC,9818,-0.61,-146.0,2688,1404,3614,3560,790.4,-7.0,482,9831,0.00,2.33,0.00,0.000,1062,0.000,0.082,2679,2736,3586,3615,3558,0,0,0,0,0,0,14.88,14.76,14.89
$GC,10165,-0.61,-146.0,2679,2737,3614,3558,816.2,-7.2,495,10178,0.00,2.00,0.00,0.000,292,0.000,0.124,2672,3832,3585,3613,3558,0,0,0,0,0,0,15.00,14.73,15.00
$GC,10210,-0.61,-146.0,2672,3833,3614,3558,819.7,-7.2,501,10223,0.10,1.80,0.00,0.000,3110,0.226,0.051,2702,2736,3585,3613,3558,0,0,0,0,0,0,14.71,14.83,14.85
$STATE,10556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10556,begin apogee
$GC,10560,-0.23,0.0,2703,2277,3613,3558,841.3,-5.9,514,10705,0.40,0.00,130.23,2.716,10244,0.166,0.000,2829,2276,3050,3095,3006,0,0,0,0,1,0,14.73,13.85,12.92
$STATE,10706,end apogee,CONTROL_FINISHED_OK
$STATE,10706,begin climb
$GC,10708,0.83,146.0,2830,2277,3097,3019,845.5,0.0,518,10886,1.02,2.47,159.98,1.777,10756,0.115,0.060,3153,902,2463,2532,2395,0,0,0,0,0,0,13.95,13.97,13.31
$GC,11072,0.74,146.0,3154,902,2527,2374,821.7,9.5,571,11085,0.00,2.45,0.00,0.000,1158,0.000,0.064,3154,2298,2452,2531,2374,0,0,0,0,0,0,14.43,14.33,14.45
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$STATE,20943,end climb,SURFACE_DEPTH_REACHED
$STATE,20943,begin surface coast
$FINISH,-0.3,1.020549
$STATE,20964,end surface coast,CONTROL_FINISHED_OK
$STATE,20964,begin surface
$SM_CCo,20988,43.35,0.157,0,0,619,610.16
$SM_GC,-2.02,9.00,0.93,43.35,0.080,0.089,0.157,201,2799,619,-8.38,-0.76,610.16,0,0,0,0,0,0,14.66,14.65,14.58
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$TT8_MAMPS,0.03745,0.308588
$HUMID,48.30
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,23.30
$XPDR_PINGS,6
$SC_FREEKB,3892192
$PM_FREEKB,60979840
$TM_FREEKB,7287552
$24V_AH,12.92,20.997
$10V_AH,13.23,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
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$DEVICE_MAMPS,390.150,123.930,2715.750,156.825,0.000,0.000,0.000,200.430,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.666,2.944,11.353,0.000
$MEM,334900
$DATA_FILE_SIZE,36643,1047
$CAP_FILE_SIZE,181737,0
$CFSIZE,1024409600,1010335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.036,233.47,1
$GPS,010916,010910,1004.152,-12445.462,20,1.4,21,9.0,0.5,58.3,6,9.0