version: 66.13
glider: 220
mission: 6
dive: 201
start: 10 14 116 2 31 5
data:
$ID,220
$MISSION,6
$DIVE,201
$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,2
$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,50
$R_STBD_OVSHOOT,22
$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
$GPS1,141016,021832,958.6257,-12517.2012,44,0.7,44,9.0,0.2,147.4,12,5.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.05
$_SM_ANGLEo,-73.7
$GPS2,141016,023045,958.7286,-12517.1035,1,0.6,3,9.0,0.7,17.5,12,5.1
$SPEED_LIMITS,0.134,0.179
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,142.8,45431,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.90,-116.8,182,2777,1104,1014,0.0,0.0,0,98,0.00,0.00,-75.80,0.000,16390,0.000,0.000,181,2778,3515,3508,3523,0,0,0,0,0,0,14.59,13.12,14.56
$GC,100,-0.90,-116.8,181,2779,3509,3524,-0.2,-6.1,2,122,11.65,2.38,0.00,0.000,2564,0.396,0.034,2602,1363,3517,3510,3524,0,0,0,0,0,0,14.14,14.38,14.41
$GC,183,-0.57,-116.8,2602,1363,3514,3525,39.4,-26.9,15,191,0.43,2.55,0.00,0.000,3206,0.244,0.073,2704,2765,3517,3512,3523,0,0,0,0,0,0,14.12,14.27,14.41
$GC,512,-0.57,-116.8,2706,2765,3516,3525,78.2,-10.3,29,520,0.00,2.38,0.00,0.000,516,0.000,0.043,2706,1363,3520,3518,3523,0,0,0,0,0,0,14.64,14.40,14.64
$GC,688,-0.57,-116.8,2703,1364,3518,3523,93.0,-6.5,54,695,0.00,2.50,0.00,0.000,1062,0.000,0.065,2696,2783,3520,3517,3523,0,0,0,0,0,0,14.50,14.38,14.51
$GC,1044,-0.57,-116.8,2693,2784,3518,3524,119.5,-7.0,64,1051,0.00,2.40,0.00,0.000,548,0.000,0.041,2695,1364,3520,3517,3523,0,0,0,0,0,0,14.67,14.42,14.67
$GC,1092,-0.57,-116.8,2695,1364,3518,3523,121.5,-6.0,71,1102,0.00,2.50,0.00,0.000,1062,0.000,0.064,2686,2767,3520,3517,3523,0,0,0,0,0,0,14.44,14.35,14.47
$GC,1437,-0.57,-116.8,2692,2768,3518,3520,146.5,-7.6,78,1440,0.08,0.00,0.00,0.000,2086,0.257,0.000,2708,2767,3519,3517,3521,0,0,0,0,0,0,14.28,14.52,14.47
$GC,1772,-0.57,-116.8,2708,2768,3518,3517,171.1,-7.4,84,1779,0.00,2.40,0.00,0.000,548,0.000,0.043,2708,1363,3516,3517,3516,0,0,0,0,0,0,14.69,14.43,14.69
$GC,1813,-0.57,-116.8,2708,1363,3518,3516,174.4,-9.1,90,1821,0.00,2.53,0.00,0.000,1030,0.000,0.065,2699,2773,3516,3517,3516,0,0,0,0,0,0,14.45,14.37,14.47
$GC,2164,-0.57,-116.8,2699,2774,3518,3510,202.4,-8.1,98,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2773,3513,3517,3510,0,0,0,0,0,0,14.68,14.68,14.68
$GC,2501,-0.57,-116.8,2700,2774,3517,3505,227.8,-7.5,104,2503,0.00,0.00,0.00,0.000,38,0.000,0.000,2699,2773,3511,3517,3505,0,0,0,0,0,0,14.68,14.69,14.69
$GC,2839,-0.57,-116.8,2699,2774,3518,3500,251.5,-7.0,110,2854,0.00,2.42,0.00,0.000,548,0.000,0.045,2699,1359,3508,3517,3499,0,0,0,0,0,0,14.78,14.56,14.78
$GC,2915,-0.57,-116.8,2699,1360,3518,3498,257.5,-7.6,120,2928,0.00,2.50,0.00,0.000,1062,0.000,0.068,2690,2765,3507,3517,3498,0,0,0,0,0,0,14.62,14.47,14.64
$GC,3242,-0.57,-116.8,2690,2766,3518,3493,283.5,-8.1,131,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2765,3504,3516,3493,0,0,0,0,0,0,14.86,14.86,14.86
$GC,3578,-0.57,-116.8,2691,2765,3517,3490,310.0,-7.9,137,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2764,3502,3517,3488,0,0,0,0,0,0,14.89,14.90,14.90
$GC,3914,-0.57,-116.8,2691,2765,3518,3489,335.2,-7.4,143,3927,0.00,1.98,0.00,0.000,292,0.000,0.111,2681,3827,3501,3517,3485,0,0,0,0,0,0,14.92,14.49,14.92
$GC,3959,-0.57,-116.8,2682,3827,3516,3486,338.7,-7.7,149,3973,0.10,1.80,0.00,0.000,3110,0.224,0.046,2712,2748,3497,3516,3478,0,0,0,0,0,0,14.43,14.68,14.66
$GC,4315,-0.66,-116.8,2712,2749,3517,3481,360.9,-6.3,157,4328,0.00,2.33,0.00,0.000,676,0.000,0.046,2712,1365,3498,3516,3481,0,0,0,0,0,0,14.92,14.60,14.92
$GC,4376,-0.77,-116.8,2712,1366,3517,3480,364.7,-6.3,165,4389,0.08,2.47,0.00,0.000,5286,0.144,0.069,2642,2761,3498,3516,3480,0,0,0,0,0,0,14.63,14.56,14.72
$GC,4717,-0.77,-116.8,2642,2761,3516,3478,394.6,-9.0,178,4730,0.00,2.38,0.00,0.000,516,0.000,0.046,2642,1361,3495,3515,3476,0,0,0,0,0,0,14.92,14.62,14.92
$GC,4762,-0.77,-116.8,2643,1361,3516,3477,398.8,-9.1,184,4776,0.00,2.45,0.00,0.000,1030,0.000,0.070,2632,2761,3495,3515,3476,0,0,0,0,0,0,14.71,14.54,14.73
$GC,5117,-0.77,-116.8,2633,2760,3517,3473,431.2,-9.2,192,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2760,3493,3515,3472,0,0,0,0,0,0,14.93,14.94,14.94
$GC,5453,-0.77,-116.8,2632,2761,3516,3471,463.5,-9.8,198,5466,0.00,1.98,0.00,0.000,260,0.000,0.112,2624,3827,3493,3517,3469,0,0,0,0,0,0,14.92,14.48,14.92
$GC,5555,-0.77,-116.8,2624,3827,3515,3470,474.6,-10.9,212,5568,0.10,1.77,0.00,0.000,3078,0.240,0.045,2653,2754,3491,3514,3469,0,0,0,0,0,0,14.40,14.68,14.62
$GC,5910,-0.77,-116.8,2652,2754,3514,3469,507.4,-9.2,220,5923,0.00,2.35,0.00,0.000,516,0.000,0.047,2653,1362,3489,3512,3467,0,0,0,0,0,0,14.92,14.61,14.91
$GC,5991,-0.77,-116.8,2654,1363,3516,3466,514.8,-8.7,231,6004,0.00,2.50,0.00,0.000,1030,0.000,0.070,2644,2765,3490,3515,3466,0,0,0,0,0,0,14.69,14.53,14.76
$GC,6310,-0.77,-116.8,2644,2767,3511,3465,543.9,-9.1,241,6323,0.00,1.98,0.00,0.000,260,0.000,0.113,2635,3826,3489,3513,3465,0,0,0,0,0,0,14.92,14.46,14.92
$GC,6391,-0.77,-116.8,2635,3828,3512,3466,551.4,-9.2,252,6404,0.00,1.80,0.00,0.000,1030,0.000,0.045,2635,2745,3488,3511,3465,0,0,0,0,0,0,14.73,14.67,14.75
$GC,6711,-0.77,-116.8,2635,2746,3511,3463,579.4,-8.8,262,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2745,3486,3510,3463,0,0,0,0,0,0,14.97,14.94,14.93
$GC,7047,-0.77,-116.8,2635,2745,3510,3463,609.1,-8.8,268,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2744,3485,3509,3462,0,0,0,0,0,0,14.93,14.94,14.93
$GC,7383,-0.77,-116.8,2634,2746,3510,3460,638.2,-8.7,274,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2745,3484,3509,3460,0,0,0,0,0,0,14.94,14.94,14.94
$GC,7719,-0.77,-116.8,2635,2745,3509,3459,667.7,-8.8,280,7732,0.00,2.08,0.00,0.000,260,0.000,0.114,2627,3833,3483,3508,3458,0,0,0,0,0,0,14.94,14.42,14.94
$GC,7772,-0.77,-116.8,2626,3833,3509,3458,672.4,-9.2,287,7785,0.00,1.80,0.00,0.000,1030,0.000,0.047,2626,2758,3483,3508,3458,0,0,0,0,0,0,14.73,14.65,14.73
$GC,8116,-0.77,-116.8,2626,2759,3508,3456,703.2,-9.1,294,8129,0.00,2.35,0.00,0.000,516,0.000,0.047,2626,1375,3487,3506,3468,0,0,0,0,0,0,14.92,14.57,14.92
$GC,8148,-0.77,-116.8,2626,1378,3507,3458,706.2,-9.2,298,8161,0.12,2.47,0.00,0.000,3078,0.243,0.071,2652,2762,3481,3507,3456,0,0,0,0,0,0,14.31,14.49,14.57
$GC,8517,-0.77,-116.8,2652,2762,3507,3452,734.8,-7.6,308,8530,0.00,2.00,0.00,0.000,292,0.000,0.115,2644,3824,3480,3506,3454,0,0,0,0,0,0,14.92,14.40,14.93
$GC,8555,-0.77,-116.8,2648,3824,3507,3455,737.9,-8.3,313,8569,0.00,1.77,0.00,0.000,1030,0.000,0.047,2644,2765,3480,3506,3454,0,0,0,0,0,0,14.72,14.64,14.73
$GC,8918,-0.77,-116.8,2644,2766,3505,3453,765.8,-7.7,322,8931,0.00,2.38,0.00,0.000,548,0.000,0.048,2643,1371,3478,3504,3452,0,0,0,0,0,0,14.92,14.56,14.95
$GC,8998,-0.77,-116.8,2644,1370,3505,3453,772.0,-7.6,333,9012,0.00,2.53,0.00,0.000,1062,0.000,0.072,2634,2768,3478,3504,3452,0,0,0,0,0,0,14.63,14.42,14.66
$GC,9319,-0.77,-116.8,2635,2769,3505,3452,798.6,-8.5,343,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2768,3477,3504,3451,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9655,-0.77,-116.8,2634,2766,3502,3453,828.8,-9.0,349,9668,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2768,3479,3501,3457,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9991,-0.77,-116.8,2635,2769,3502,3449,859.8,-9.3,355,10004,0.00,2.42,0.00,0.000,516,0.000,0.047,2633,1366,3475,3501,3449,0,0,0,0,0,0,14.92,14.52,14.92
$GC,10044,-0.77,-116.8,2634,1367,3502,3449,864.7,-9.1,362,10058,0.00,2.50,0.00,0.000,1030,0.000,0.073,2625,2765,3475,3501,3449,0,0,0,0,0,0,14.63,14.45,14.66
$GC,10388,-0.77,-116.8,2625,2759,3501,3448,896.2,-9.1,369,10401,0.00,2.00,0.00,0.000,260,0.000,0.114,2616,3821,3473,3499,3448,0,0,0,0,0,0,14.91,14.36,14.91
$GC,10461,-0.77,-116.8,2617,3821,3499,3447,903.2,-9.4,379,10475,0.12,1.80,0.00,0.000,3078,0.237,0.044,2652,2741,3473,3499,3448,0,0,0,0,0,0,14.27,14.64,14.53
$GC,10789,-0.77,-116.8,2652,2743,3500,3447,927.5,-7.3,390,10802,0.00,2.33,0.00,0.000,548,0.000,0.048,2653,1376,3471,3498,3445,0,0,0,0,0,0,14.88,14.52,14.87
$STATE,10826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10826,begin apogee
$GC,10832,-0.23,0.0,2648,2259,3500,3447,930.3,-4.6,395,10958,0.60,0.00,115.88,1.942,10244,0.188,0.000,2822,2259,3050,3094,3007,0,0,0,0,0,0,14.33,14.02,13.28
$STATE,10959,end apogee,CONTROL_FINISHED_OK
$STATE,10959,begin climb
$GC,10961,0.90,116.8,2823,2259,3090,3000,933.3,0.0,397,11101,1.10,2.53,122.68,1.957,10756,0.103,0.057,3174,859,2583,2646,2521,0,0,0,0,0,0,14.02,14.04,13.10
$GC,11329,0.75,116.8,3175,860,2644,2499,905.8,9.5,452,11344,0.10,2.45,0.00,0.000,5254,0.254,0.055,3149,2243,2570,2642,2498,0,0,0,0,0,0,14.05,14.23,14.30
$GC,11674,0.64,116.8,3148,2244,2643,2495,875.1,8.9,459,11687,0.12,2.40,0.00,0.000,4740,0.252,0.057,3118,866,2567,2641,2494,0,0,0,0,0,0,14.18,14.38,14.35
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$STATE,22991,end climb,SURFACE_DEPTH_REACHED
$STATE,22991,begin surface coast
$FINISH,0.7,1.020559
$STATE,23000,end surface coast,CONTROL_FINISHED_OK
$STATE,23000,begin surface
$SM_CCo,23023,27.67,0.154,0,0,1057,500.14
$SM_GC,-1.18,9.38,1.50,27.67,0.089,0.041,0.154,194,2755,1057,-8.39,1.75,500.14,0,0,0,0,0,0,14.53,14.63,14.39
$IRIDIUM_FIX,956.07,-12518.00,131016,193736
$TT8_MAMPS,0.038199,0.438165
$HUMID,52.00
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,3832576
$PM_FREEKB,57667072
$TM_FREEKB,5899968
$24V_AH,12.89,78.795
$10V_AH,12.94,0.000
$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,24.875,203.550,498.275,27.675,0.000,0.000,0.000,425.975,0.500,0.000,5.424,0.000,19103.484,763.196,3576.738,325.302,0.000,2825.771,0.000,1698.505,0.000,0.839,0.000
$DEVICE_MAMPS,396.270,114.750,2131.290,153.765,0.000,0.000,0.000,198.135,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23049.000,22999.000,3532.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.468,2.389,55.257,0.000
$MEM,334644
$DATA_FILE_SIZE,33382,953
$CAP_FILE_SIZE,190526,0
$CFSIZE,1024409600,978681856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,122.84,1
$GPS,141016,085626,956.780,-12515.354,35,0.8,35,9.0,0.3,309.5,12,3.8