version: 66.13
glider: 220
mission: 6
dive: 106
start: 9 17 116 16 31 11
data:
$ID,220
$MISSION,6
$DIVE,106
$N_DIVES,0
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,930
$D_ABORT,1020
$D_NO_BLEED,50
$D_BOOST,120
$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,400
$T_MISSION,450
$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,120
$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,500
$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,0.025
$PITCH_ADJ_DBAND,3
$ROLL_MIN,265
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2765
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.5
$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,2
$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,1.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,170916,161901,1001.0837,-12517.9199,35,0.9,35,9.1,0.4,17.7,8,4.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.01
$_SM_ANGLEo,-72.4
$GPS2,170916,163051,1001.2655,-12517.7959,2,0.7,3,9.1,0.8,16.2,12,9.6
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,215.0,3734,-22.5,-7.750,-28.29,1407
$D_GRID,930
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.11,-72.7,178,2792,1101,1016,0.0,0.0,0,93,0.00,0.00,-72.68,0.000,16390,0.000,0.000,177,2792,3340,3333,3348,0,0,0,0,0,0,14.68,13.40,14.69
$GC,95,-1.11,-72.7,177,2792,3334,3349,-0.4,-4.7,2,111,11.12,1.83,0.00,0.000,2308,0.396,0.073,2524,3829,3342,3336,3349,0,0,0,0,0,0,14.23,14.46,14.45
$GC,145,-0.63,-72.7,2524,3829,3337,3350,27.6,-37.5,10,152,0.62,1.77,0.00,0.000,3206,0.273,0.033,2687,2745,3342,3337,3348,0,0,0,0,0,0,14.31,14.54,14.47
$GC,480,-0.63,-72.7,2685,2746,3341,3349,77.5,-10.8,25,488,0.00,2.00,0.00,0.000,260,0.000,0.106,2680,3819,3344,3340,3348,0,0,0,0,0,0,14.82,14.52,14.82
$GC,717,-0.65,-83.8,2679,3819,3343,3349,95.5,-6.9,59,727,0.00,1.73,0.00,0.000,1062,0.000,0.040,2678,2780,3345,3343,3348,0,0,0,0,0,0,14.72,14.70,14.73
$GC,1041,-0.67,-98.7,2679,2782,3344,3349,116.3,-6.7,68,1048,0.00,1.92,0.00,0.000,292,0.000,0.104,2671,3816,3345,3343,3348,0,0,0,0,0,0,14.89,14.58,14.89
$GC,1278,-0.69,-116.8,2670,3817,3344,3348,132.6,-5.9,102,1286,0.00,1.73,0.00,0.000,1062,0.000,0.040,2671,2774,3345,3343,3348,0,0,0,0,0,0,14.78,14.75,14.80
$GC,1601,-0.77,-116.8,2670,2776,3344,3346,153.2,-7.0,113,1603,0.00,0.00,0.00,0.000,166,0.000,0.000,2670,2774,3344,3343,3345,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1937,-0.86,-116.8,2671,2774,3342,3342,178.7,-7.7,119,1945,0.10,1.90,0.00,0.000,4516,0.117,0.106,2588,3827,3341,3343,3340,0,0,0,0,0,0,14.76,14.65,14.81
$GC,2005,-0.86,-116.8,2588,3828,3344,3340,186.3,-10.8,129,2014,0.10,1.73,0.00,0.000,3078,0.269,0.042,2616,2797,3341,3343,3339,0,0,0,0,0,0,14.56,14.77,14.76
$GC,2328,-0.86,-116.8,2616,2798,3345,3335,218.9,-10.0,140,2336,0.00,1.90,0.00,0.000,260,0.000,0.103,2607,3820,3339,3343,3335,0,0,0,0,0,0,14.94,14.64,14.93
$GC,2377,-0.86,-116.8,2609,3821,3344,3334,224.1,-10.6,147,2387,0.00,1.73,0.00,0.000,1030,0.000,0.041,2613,2782,3340,3346,3334,0,0,0,0,0,0,14.82,14.77,14.83
$GC,2721,-0.86,-116.8,2610,2782,3344,3331,260.7,-10.9,154,2734,0.00,1.90,0.00,0.000,260,0.000,0.106,2601,3827,3335,3342,3329,0,0,0,0,0,0,14.97,14.66,14.94
$GC,2801,-0.86,-116.8,2602,3827,3344,3330,269.3,-10.4,165,2814,0.00,1.67,0.00,0.000,1030,0.000,0.044,2600,2786,3335,3342,3328,0,0,0,0,0,0,14.85,14.80,14.85
$GC,3120,-0.86,-116.8,2600,2787,3344,3321,300.4,-9.7,175,3133,0.00,1.90,0.00,0.000,260,0.000,0.108,2593,3829,3333,3343,3323,0,0,0,0,0,0,14.97,14.66,14.98
$GC,3158,-0.86,-116.8,2593,3829,3343,3323,304.3,-10.1,180,3171,0.00,1.67,0.00,0.000,1030,0.000,0.045,2592,2794,3332,3342,3322,0,0,0,0,0,0,14.86,14.81,14.87
$GC,3519,-0.86,-116.8,2592,2795,3342,3318,338.7,-9.6,189,3533,0.08,2.35,0.00,0.000,2564,0.298,0.043,2618,1363,3330,3343,3317,0,0,0,0,0,0,14.59,14.75,14.74
$GC,3558,-0.86,-116.8,2618,1362,3343,3318,342.2,-9.1,194,3571,0.00,2.45,0.00,0.000,1030,0.000,0.068,2608,2791,3330,3343,3317,0,0,0,0,0,0,14.85,14.73,14.87
$GC,3919,-0.86,-116.8,2608,2794,3344,3313,375.5,-9.3,203,3932,0.00,1.85,0.00,0.000,260,0.000,0.110,2600,3826,3328,3343,3313,0,0,0,0,0,0,15.00,14.70,14.99
$GC,3992,-0.86,-116.8,2600,3827,3344,3312,382.9,-10.1,213,4005,0.00,1.67,0.00,0.000,1030,0.000,0.047,2598,2794,3327,3343,3312,0,0,0,0,0,0,14.91,14.83,14.89
$GC,4318,-0.86,-116.8,2599,2795,3344,3308,414.9,-9.9,224,4331,0.00,1.90,0.00,0.000,260,0.000,0.109,2591,3836,3325,3343,3308,0,0,0,0,0,0,15.00,14.70,15.00
$GC,4370,-0.86,-116.8,2592,3836,3343,3309,420.4,-10.4,231,4385,0.10,1.73,0.00,0.000,3078,0.273,0.047,2618,2785,3325,3343,3308,0,0,0,0,0,0,14.59,14.83,14.81
$GC,4715,-0.86,-116.8,2618,2790,3344,3304,451.1,-8.7,238,4728,0.00,2.35,0.00,0.000,516,0.000,0.046,2619,1367,3323,3343,3304,0,0,0,0,0,0,15.01,14.78,15.01
$GC,4781,-0.86,-116.8,2619,1366,3343,3304,456.7,-8.2,247,4794,0.00,2.47,0.00,0.000,1030,0.000,0.070,2609,2804,3322,3342,3302,0,0,0,0,0,0,14.85,14.73,14.87
$GC,5114,-0.86,-116.8,2609,2804,3343,3301,484.6,-8.4,259,5127,0.00,1.83,0.00,0.000,260,0.000,0.111,2601,3824,3321,3342,3300,0,0,0,0,0,0,15.01,14.69,15.00
$GC,5145,-0.86,-116.8,2601,3825,3344,3298,487.5,-9.1,263,5159,0.00,1.67,0.00,0.000,1030,0.000,0.047,2599,2794,3320,3342,3299,0,0,0,0,0,0,14.88,14.83,14.88
$GC,5514,-0.86,-116.8,2599,2795,3339,3297,520.7,-9.0,273,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2599,2794,3318,3338,3299,0,0,0,0,0,0,15.00,15.00,15.00
$GC,5850,-0.86,-116.8,2599,2795,3339,3295,551.0,-9.0,279,5863,0.00,2.38,0.00,0.000,516,0.000,0.046,2599,1362,3316,3338,3295,0,0,0,0,0,0,15.00,14.78,15.00
$GC,5902,-0.86,-116.8,2601,1362,3339,3296,555.7,-8.8,286,5916,0.10,2.50,0.00,0.000,3078,0.282,0.070,2616,2796,3316,3338,3295,0,0,0,0,0,0,14.57,14.73,14.80
$GC,6246,-0.86,-116.8,2616,2797,3340,3293,585.2,-8.8,293,6260,0.00,1.85,0.00,0.000,260,0.000,0.114,2609,3823,3315,3338,3293,0,0,0,0,0,0,15.00,14.68,15.00
$GC,6341,-0.86,-116.8,2608,3824,3338,3292,594.2,-9.5,306,6354,0.00,1.67,0.00,0.000,1030,0.000,0.048,2609,2797,3314,3338,3291,0,0,0,0,0,0,14.88,14.82,14.88
$GC,6702,-0.86,-116.8,2610,2797,3338,3289,627.5,-9.3,315,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2797,3315,3338,3292,0,0,0,0,0,0,15.00,14.99,15.00
$GC,7038,-0.86,-116.8,2609,2797,3338,3287,658.9,-9.3,321,7051,0.00,2.38,0.00,0.000,516,0.000,0.046,2609,1365,3311,3337,3286,0,0,0,0,0,0,15.00,14.76,15.00
$GC,7118,-0.86,-116.8,2609,1366,3338,3290,666.3,-9.1,332,7131,0.00,2.50,0.00,0.000,1030,0.000,0.071,2599,2803,3310,3336,3285,0,0,0,0,0,0,14.83,14.70,14.85
$GC,7437,-0.86,-116.8,2599,2804,3335,3286,695.3,-9.1,342,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2804,3310,3334,3286,0,0,0,0,0,0,14.99,14.99,14.99
$GC,7774,-0.86,-116.8,2599,2805,3334,3286,724.7,-8.7,348,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2804,3308,3331,3286,0,0,0,0,0,0,15.00,15.00,15.00
$GC,8109,-0.86,-116.8,2597,2805,3334,3283,753.9,-8.6,354,8122,0.00,2.42,0.00,0.000,516,0.000,0.046,2597,1367,3307,3332,3283,0,0,0,0,0,0,15.00,14.74,15.00
$GC,8161,-0.86,-116.8,2598,1368,3332,3284,758.4,-8.4,361,8176,0.12,2.50,0.00,0.000,3078,0.265,0.072,2621,2798,3307,3332,3282,0,0,0,0,0,0,14.53,14.69,14.77
$GC,8506,-0.86,-116.8,2622,2799,3333,3282,785.2,-7.8,368,8519,0.00,1.88,0.00,0.000,260,0.000,0.116,2614,3827,3306,3331,3281,0,0,0,0,0,0,14.98,14.64,14.98
$GC,8572,-0.86,-116.8,2615,3827,3332,3282,790.7,-8.4,377,8585,0.00,1.70,0.00,0.000,1030,0.000,0.050,2615,2798,3306,3331,3281,0,0,0,0,0,0,14.85,14.80,14.86
$GC,8905,-0.86,-116.8,2615,2798,3330,3281,815.9,-7.3,389,8918,0.00,2.40,0.00,0.000,548,0.000,0.046,2614,1359,3305,3330,3280,0,0,0,0,0,0,14.98,14.73,14.98
$GC,8957,-0.86,-116.8,2614,1360,3331,3280,819.8,-7.4,396,8971,0.00,2.53,0.00,0.000,1062,0.000,0.072,2604,2794,3304,3330,3279,0,0,0,0,0,0,14.81,14.67,14.83
$GC,9301,-0.86,-116.8,2612,2794,3331,3277,846.3,-7.8,403,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2794,3303,3330,3277,0,0,0,0,0,0,14.97,14.97,14.97
$GC,9637,-0.86,-116.8,2604,2795,3330,3276,871.6,-7.5,409,9650,0.00,2.42,0.00,0.000,548,0.000,0.047,2603,1366,3302,3328,3276,0,0,0,0,0,0,14.97,14.72,14.97
$GC,9698,-0.86,-116.8,2604,1368,3328,3277,876.3,-7.7,417,9711,0.10,2.50,0.00,0.000,3110,0.277,0.073,2620,2792,3301,3328,3274,0,0,0,0,0,0,14.50,14.67,14.75
$GC,10039,-0.86,-116.8,2620,2791,3327,3275,901.3,-7.5,430,10052,0.00,2.42,0.00,0.000,548,0.000,0.047,2620,1360,3301,3326,3276,0,0,0,0,0,0,14.96,14.71,14.96
$GC,10085,-0.94,-116.8,2620,1359,3326,3276,905.0,-6.3,436,10098,0.00,2.53,0.00,0.000,1190,0.000,0.073,2610,2799,3300,3326,3275,0,0,0,0,0,0,14.80,14.64,14.81
$STATE,10438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10438,begin apogee
$GC,10442,-0.23,0.0,2611,2233,3326,3276,934.5,-8.5,444,10521,0.73,0.00,68.65,2.031,10244,0.208,0.000,2820,2232,3050,3092,3008,0,0,0,0,0,0,14.51,14.24,13.56
$STATE,10523,end apogee,CONTROL_FINISHED_OK
$STATE,10523,begin climb
$GC,10524,1.17,116.8,2821,2233,3090,3001,937.3,0.0,445,10663,1.38,2.42,122.30,1.939,10756,0.113,0.060,3259,859,2584,2644,2525,0,0,0,0,0,0,14.21,14.23,13.31
$GC,10892,1.03,116.8,3259,860,2638,2504,906.7,11.2,501,10905,0.00,2.42,0.00,0.000,1158,0.000,0.057,3258,2256,2570,2638,2502,0,0,0,0,0,0,14.46,14.36,14.48
$GC,11225,0.88,116.8,3256,2256,2638,2500,866.7,12.0,513,11238,0.25,2.55,0.00,0.000,4484,0.269,0.100,3188,3653,2568,2637,2499,0,0,0,0,0,0,14.32,14.47,14.51
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$STATE,22120,end climb,SURFACE_DEPTH_REACHED
$STATE,22120,begin surface coast
$FINISH,0.1,1.020265
$STATE,22127,end surface coast,CONTROL_FINISHED_OK
$STATE,22127,begin surface
$SM_CCo,22150,46.45,0.158,0,0,1057,500.14
$SM_GC,-1.92,9.82,1.48,46.45,0.114,0.044,0.158,195,2769,1057,-8.39,1.78,500.14,0,0,0,0,0,0,14.65,14.72,14.52
$IRIDIUM_FIX,1000.45,-12518.00,170916,091953
$TT8_MAMPS,0.036701,0.301098
$HUMID,49.37
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.50
$XPDR_PINGS,1
$SC_FREEKB,3869056
$PM_FREEKB,58826880
$TM_FREEKB,6737760
$24V_AH,13.31,44.869
$10V_AH,13.34,0.000
$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,25.825,184.300,350.875,46.450,0.000,0.000,0.000,434.850,0.250,0.000,4.549,0.000,18443.797,661.346,3580.625,204.537,0.000,2694.513,0.000,1703.984,0.000,0.840,0.000
$DEVICE_MAMPS,395.505,115.515,2062.440,158.355,0.000,0.000,0.000,202.725,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22171.000,22125.000,3354.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.470,2.395,17.104,0.000
$MEM,334764
$DATA_FILE_SIZE,33382,960
$CAP_FILE_SIZE,183199,0
$CFSIZE,1024409600,997326848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,174.23,1
$GPS,170916,224201,959.798,-12518.849,20,0.8,20,9.1,0.6,41.7,10,5.3