version: 66.13
glider: 220
mission: 6
dive: 111
start: 9 19 116 2 15 3
data:
$ID,220
$MISSION,6
$DIVE,111
$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,61
$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
$GPS1,190916,020331,952.3854,-12509.3838,24,0.8,24,9.0,0.3,16.1,10,4.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.83
$_SM_ANGLEo,-72.3
$GPS2,190916,021444,952.3152,-12509.3008,2,0.8,4,9.0,0.3,182.1,10,6.6
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,136.7,27101,-16.6,-7.750,-23.43,2225
$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,-0.90,-116.8,152,2777,1094,1017,0.0,0.0,0,96,0.00,0.00,-75.45,0.000,16390,0.000,0.000,148,2778,3516,3509,3523,0,0,0,0,0,0,14.68,13.39,14.68
$GC,98,-0.90,-116.8,147,2778,3507,3525,-0.9,-5.8,2,119,11.57,1.90,0.00,0.000,2308,0.396,0.089,2594,3825,3518,3512,3524,0,0,0,0,0,0,14.23,14.44,14.50
$GC,348,-0.55,-116.8,2594,3825,3516,3525,77.5,-16.6,39,356,0.45,1.77,0.00,0.000,3206,0.231,0.035,2721,2741,3520,3517,3523,0,0,0,0,0,0,14.41,14.62,14.61
$GC,678,-0.55,-116.8,2721,2742,3521,3520,99.1,-6.5,53,686,0.00,2.25,0.00,0.000,548,0.000,0.043,2721,1401,3521,3520,3523,0,0,0,0,0,0,14.86,14.62,14.85
$GC,915,-0.55,-116.8,2721,1402,3522,3523,111.2,-3.5,87,923,0.00,2.40,0.00,0.000,1062,0.000,0.067,2710,2770,3521,3520,3523,0,0,0,0,0,0,14.68,14.61,14.71
$GC,1238,-0.55,-116.8,2712,2777,3522,3521,133.7,-6.8,98,1245,0.00,2.33,0.00,0.000,548,0.000,0.044,2711,1399,3521,3521,3521,0,0,0,0,0,0,14.90,14.66,14.90
$GC,1264,-0.55,-116.8,2712,1399,3521,3522,136.8,-11.6,102,1273,0.00,2.42,0.00,0.000,1030,0.000,0.068,2702,2773,3522,3524,3520,0,0,0,0,0,0,14.73,14.64,14.74
$GC,1629,-0.55,-116.8,2702,2771,3521,3517,166.2,-7.8,112,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2773,3518,3520,3516,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1966,-0.55,-116.8,2702,2774,3521,3511,192.9,-7.9,118,1973,0.00,2.33,0.00,0.000,516,0.000,0.044,2700,1404,3515,3520,3511,0,0,0,0,0,0,14.92,14.68,14.92
$GC,2056,-0.55,-116.8,2702,1405,3521,3509,200.0,-7.2,131,2064,0.00,2.40,0.00,0.000,1062,0.000,0.070,2693,2762,3514,3520,3508,0,0,0,0,0,0,14.73,14.65,14.76
$GC,2414,-0.55,-116.8,2693,2763,3520,3503,226.6,-7.4,140,2416,0.00,0.00,0.00,0.000,38,0.000,0.000,2694,2762,3511,3520,3503,0,0,0,0,0,0,14.93,14.93,14.93
$GC,2752,-0.55,-116.8,2694,2761,3521,3501,252.1,-7.7,146,2768,0.00,0.00,0.00,0.000,38,0.000,0.000,2693,2761,3509,3520,3498,0,0,0,0,0,0,14.94,14.93,14.94
$GC,3085,-0.55,-116.8,2694,2761,3521,3494,279.2,-8.1,152,3098,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2762,3506,3520,3493,0,0,0,0,0,0,14.98,14.98,14.98
$GC,3422,-0.55,-116.8,2694,2761,3521,3490,305.9,-7.8,158,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2762,3504,3520,3489,0,0,0,0,0,0,14.99,14.99,14.99
$GC,3757,-0.55,-116.8,2694,2762,3519,3487,330.3,-7.2,164,3770,0.00,0.00,0.00,0.000,38,0.000,0.000,2693,2761,3503,3520,3486,0,0,0,0,0,0,15.00,15.00,15.04
$GC,4094,-0.55,-116.8,2694,2761,3520,3482,354.4,-7.2,170,4107,0.00,2.30,0.00,0.000,548,0.000,0.048,2693,1394,3500,3519,3481,0,0,0,0,0,0,15.01,14.76,15.00
$GC,4125,-0.55,-116.8,2692,1395,3521,3481,356.9,-7.6,174,4139,0.10,2.40,0.00,0.000,3110,0.205,0.076,2715,2767,3500,3520,3481,0,0,0,0,0,0,14.61,14.71,14.74
$GC,4494,-0.64,-116.8,2715,2768,3521,3477,381.7,-6.8,184,4507,0.00,0.00,0.00,0.000,166,0.000,0.000,2715,2767,3497,3519,3475,0,0,0,0,0,0,15.00,15.00,15.02
$GC,4830,-0.73,-116.8,2716,2768,3521,3473,405.2,-7.0,190,4844,0.08,2.30,0.00,0.000,4772,0.148,0.047,2645,1394,3496,3520,3473,0,0,0,0,0,0,14.80,14.75,14.83
$GC,4876,-0.73,-116.8,2645,1395,3521,3473,409.4,-9.6,196,4889,0.00,2.38,0.00,0.000,1030,0.000,0.076,2635,2760,3495,3519,3472,0,0,0,0,0,0,14.85,14.71,14.87
$GC,5230,-0.73,-116.8,2635,2761,3522,3470,443.6,-9.5,204,5243,0.00,1.92,0.00,0.000,260,0.000,0.116,2627,3822,3494,3520,3469,0,0,0,0,0,0,15.00,14.69,15.00
$GC,5268,-0.73,-116.8,2627,3821,3519,3471,447.4,-9.8,209,5282,0.12,1.70,0.00,0.000,3078,0.231,0.048,2664,2778,3494,3519,3469,0,0,0,0,0,0,14.62,14.83,14.81
$GC,5630,-0.73,-116.8,2664,2778,3525,3470,475.4,-7.6,218,5643,0.00,0.00,0.00,0.000,38,0.000,0.000,2664,2778,3492,3515,3469,0,0,0,0,0,0,15.00,15.01,15.00
$GC,5966,-0.73,-116.8,2664,2778,3514,3470,500.3,-7.4,224,5979,0.00,2.35,0.00,0.000,548,0.000,0.048,2664,1375,3490,3513,3468,0,0,0,0,0,0,15.00,14.76,15.00
$GC,6026,-0.73,-116.8,2664,1375,3514,3469,504.9,-7.6,232,6039,0.00,2.45,0.00,0.000,1062,0.000,0.071,2655,2770,3491,3514,3468,0,0,0,0,0,0,14.84,14.71,14.86
$GC,6366,-0.73,-116.8,2655,2770,3514,3468,532.7,-8.4,245,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2769,3489,3514,3465,0,0,0,0,0,0,14.99,14.99,14.99
$GC,6702,-0.73,-116.8,2655,2771,3514,3463,561.8,-8.7,251,6715,0.00,1.95,0.00,0.000,260,0.000,0.116,2646,3829,3487,3513,3462,0,0,0,0,0,0,15.00,14.67,15.00
$GC,6747,-0.73,-116.8,2647,3831,3514,3462,565.9,-9.0,257,6760,0.00,1.77,0.00,0.000,1030,0.000,0.049,2646,2758,3487,3513,3462,0,0,0,0,0,0,14.86,14.80,14.88
$GC,7101,-0.73,-116.8,2646,2759,3514,3460,595.3,-8.2,265,7115,0.00,2.33,0.00,0.000,516,0.000,0.049,2646,1362,3486,3513,3459,0,0,0,0,0,0,15.00,14.75,14.99
$GC,7133,-0.73,-116.8,2647,1362,3514,3461,597.9,-8.4,269,7146,0.00,2.45,0.00,0.000,1030,0.000,0.073,2637,2766,3486,3513,3459,0,0,0,0,0,0,14.83,14.70,14.85
$GC,7501,-0.73,-116.8,2637,2767,3514,3457,630.3,-9.0,279,7514,0.00,1.92,0.00,0.000,260,0.000,0.116,2629,3822,3485,3513,3457,0,0,0,0,0,0,14.98,14.65,14.99
$GC,7574,-0.73,-116.8,2629,3822,3512,3458,637.4,-9.6,289,7588,0.10,1.75,0.00,0.000,3078,0.242,0.050,2658,2757,3484,3511,3457,0,0,0,0,0,0,14.58,14.81,14.78
$GC,7900,-0.73,-116.8,2658,2758,3510,3456,665.1,-8.6,300,7914,0.00,2.33,0.00,0.000,516,0.000,0.050,2658,1366,3482,3509,3456,0,0,0,0,0,0,14.99,14.74,15.00
$GC,7953,-0.73,-116.8,2659,1367,3509,3456,669.8,-8.9,307,7966,0.00,2.45,0.00,0.000,1030,0.000,0.073,2651,2759,3482,3509,3455,0,0,0,0,0,0,14.82,14.68,14.84
$GC,8297,-0.73,-116.8,2650,2760,3510,3454,700.0,-8.8,314,8310,0.00,1.95,0.00,0.000,260,0.000,0.118,2642,3825,3481,3509,3454,0,0,0,0,0,0,14.98,14.64,14.98
$GC,8357,-0.73,-116.8,2641,3825,3509,3455,705.5,-9.3,322,8370,0.00,1.77,0.00,0.000,1030,0.000,0.048,2642,2754,3481,3508,3454,0,0,0,0,0,0,14.85,14.80,14.86
$GC,8697,-0.73,-116.8,2642,2755,3509,3453,734.1,-8.3,335,8710,0.00,2.33,0.00,0.000,516,0.000,0.048,2636,1362,3480,3508,3453,0,0,0,0,0,0,14.98,14.73,14.98
$GC,8749,-0.73,-116.8,2642,1363,3509,3452,738.4,-8.0,342,8764,0.10,2.47,0.00,0.000,3078,0.250,0.073,2662,2767,3480,3508,3452,0,0,0,0,0,0,14.55,14.67,14.76
$GC,9094,-0.73,-116.8,2662,2767,3513,3452,761.8,-6.7,349,9107,0.00,1.95,0.00,0.000,292,0.000,0.119,2654,3826,3479,3508,3451,0,0,0,0,0,0,14.97,14.62,14.99
$GC,9154,-0.73,-116.8,2654,3826,3508,3453,766.2,-7.3,357,9167,0.00,1.77,0.00,0.000,1062,0.000,0.050,2653,2757,3477,3507,3448,0,0,0,0,0,0,14.83,14.78,14.85
$GC,9495,-0.73,-116.8,2654,2760,3507,3450,789.5,-7.0,370,9508,0.00,2.33,0.00,0.000,548,0.000,0.049,2653,1373,3478,3506,3450,0,0,0,0,0,0,14.97,14.71,14.97
$GC,9561,-0.73,-116.8,2654,1373,3507,3449,794.4,-7.1,379,9574,0.00,2.42,0.00,0.000,1062,0.000,0.073,2645,2756,3478,3506,3450,0,0,0,0,0,0,14.80,14.66,14.83
$GC,9894,-0.73,-116.8,2645,2756,3507,3449,818.6,-7.4,391,9907,0.00,1.98,0.00,0.000,292,0.000,0.119,2638,3827,3477,3506,3448,0,0,0,0,0,0,14.96,14.62,14.96
$GC,9925,-0.73,-116.8,2637,3828,3507,3448,821.2,-7.5,395,9939,0.00,1.77,0.00,0.000,1062,0.000,0.050,2638,2759,3477,3506,3448,0,0,0,0,0,0,14.83,14.77,14.85
$GC,10294,-0.73,-116.8,2637,2759,3505,3448,851.3,-8.4,405,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2758,3475,3503,3448,0,0,0,0,0,0,14.96,14.95,14.96
$GC,10630,-0.73,-116.8,2638,2758,3504,3447,879.8,-8.5,411,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2758,3475,3504,3446,0,0,0,0,0,0,14.96,14.96,14.96
$GC,10965,-0.73,-116.8,2638,2758,3504,3446,906.9,-8.1,417,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2758,3474,3504,3445,0,0,0,0,0,0,14.98,14.97,14.97
$STATE,11300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11300,begin apogee
$GC,11304,-0.23,0.0,2638,2234,3502,3445,932.6,-7.6,423,11428,0.62,0.00,113.85,1.994,10244,0.194,0.000,2821,2229,3050,3096,3005,0,0,0,0,0,0,14.52,14.07,13.38
$STATE,11430,end apogee,CONTROL_FINISHED_OK
$STATE,11430,begin climb
$GC,11431,0.90,116.8,2821,2230,3093,2997,935.7,0.0,425,11574,1.10,2.47,121.88,1.929,10756,0.112,0.061,3170,850,2579,2643,2516,0,0,0,0,0,0,14.07,14.09,13.25
$GC,11578,0.68,116.8,3169,851,2644,2511,928.4,9.5,448,11592,0.17,2.55,0.00,0.000,5254,0.239,0.059,3124,2258,2575,2642,2509,0,0,0,0,0,0,13.90,13.99,14.06
$GC,11922,0.68,116.8,3125,2259,2643,2502,898.1,8.8,455,11935,0.00,2.60,0.00,0.000,260,0.000,0.106,3123,3662,2571,2642,2500,0,0,0,0,0,0,14.65,14.37,14.65
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$STATE,22973,end climb,SURFACE_DEPTH_REACHED
$STATE,22973,begin surface coast
$FINISH,-2.4,1.020281
$STATE,23001,end surface coast,CONTROL_FINISHED_OK
$STATE,23001,begin surface
$SM_CCo,23022,3.88,0.180,0,0,1059,500.14
$SM_GC,-1.23,9.12,0.88,3.88,0.079,0.076,0.180,191,2771,1059,-8.38,-0.68,500.14,0,0,0,0,0,0,14.69,14.64,14.56
$IRIDIUM_FIX,947.31,-12510.64,180916,191211
$TT8_MAMPS,0.038199,0.318325
$HUMID,49.72
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.50
$XPDR_PINGS,2
$SC_FREEKB,3867136
$PM_FREEKB,58764544
$TM_FREEKB,6692928
$24V_AH,13.25,46.609
$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
$DEVICE_SECS,24.625,197.525,477.025,3.875,0.000,0.000,0.000,407.275,0.500,0.000,6.254,0.000,19150.377,742.560,3580.733,209.494,0.000,2798.631,0.000,1696.637,0.000,0.839,0.000
$DEVICE_MAMPS,395.505,119.340,2079.270,179.775,0.000,0.000,0.000,201.195,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23046.000,22999.000,3469.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.442,2.395,17.021,0.000
$MEM,334700
$DATA_FILE_SIZE,33371,948
$CAP_FILE_SIZE,183989,0
$CFSIZE,1024409600,996343808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,123.48,1
$GPS,190916,084001,950.123,-12506.990,39,1.2,39,9.0,0.3,208.3,5,4.3