version: 66.13
glider: 220
mission: 6
dive: 257
start: 10 29 116 18 59 22
data:
$ID,220
$MISSION,6
$DIVE,257
$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,110
$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,0
$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,58
$R_STBD_OVSHOOT,23
$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,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,85
$LOGGERDEVICE3,67
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,150
$PHONE_DEVICE,48
$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
$GPS1,291016,184909,946.1858,-12454.9150,23,0.7,23,9.0,0.3,37.9,11,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.13
$_SM_ANGLEo,-72.9
$GPS2,291016,185901,946.2527,-12454.8574,2,0.8,5,9.0,0.4,69.1,11,8.1
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,19.7,36379,-17.6,-7.750,-24.23,2047
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.93,-107.1,215,2776,1105,1011,0.0,0.0,0,90,0.00,0.00,-75.45,0.000,16390,0.000,0.000,214,2776,3481,3470,3493,0,0,0,0,0,0,14.66,12.83,14.66
$GC,93,-0.93,-107.1,215,2777,3471,3483,-2.4,-5.2,2,113,11.55,1.90,0.00,0.000,2308,0.391,0.081,2583,3823,3479,3472,3486,0,0,0,0,0,0,14.07,14.35,14.43
$GC,342,-0.56,-107.1,2584,3824,3477,3486,74.4,-16.6,39,349,0.47,1.80,0.00,0.000,3206,0.239,0.037,2710,2746,3481,3477,3486,0,0,0,0,0,0,14.18,14.57,14.43
$GC,672,-0.56,-107.1,2710,2747,3486,3486,99.4,-6.8,53,678,0.00,2.03,0.00,0.000,292,0.000,0.102,2702,3818,3483,3480,3486,0,0,0,0,0,0,14.85,14.35,14.85
$GC,902,-0.56,-107.1,2702,3818,3481,3487,117.8,-12.6,86,908,0.00,1.77,0.00,0.000,1030,0.000,0.040,2702,2756,3483,3480,3486,0,0,0,0,0,0,14.69,14.65,14.71
$GC,1232,-0.56,-107.1,2702,2758,3480,3486,143.1,-7.6,98,1232,0.00,0.00,0.00,0.000,38,0.000,0.000,2702,2756,3482,3480,3484,0,0,0,0,0,0,14.91,14.92,14.92
$GC,1567,-0.56,-107.1,2702,2756,3482,3481,169.7,-7.9,104,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2756,3482,3481,3483,0,0,0,0,0,0,14.93,14.93,14.93
$GC,1904,-0.56,-107.1,2702,2757,3481,3475,196.4,-8.0,110,1909,0.00,2.33,0.00,0.000,516,0.000,0.044,2702,1391,3477,3480,3475,0,0,0,0,0,0,14.93,14.53,14.91
$GC,1931,-0.56,-107.1,2703,1391,3481,3475,198.6,-8.1,114,1937,0.00,2.45,0.00,0.000,1030,0.000,0.067,2693,2759,3477,3480,3474,0,0,0,0,0,0,14.62,14.51,14.64
$GC,2296,-0.56,-107.1,2693,2759,3480,3470,229.1,-8.5,124,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2759,3474,3480,3469,0,0,0,0,0,0,14.95,14.92,14.93
$GC,2632,-0.56,-107.1,2692,2760,3479,3464,257.4,-8.4,130,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2759,3472,3480,3464,0,0,0,0,0,0,14.96,14.96,14.96
$GC,2968,-0.56,-107.1,2693,2759,3480,3460,283.2,-7.6,136,2973,0.00,2.38,0.00,0.000,548,0.000,0.044,2692,1391,3470,3480,3460,0,0,0,0,0,0,14.95,14.52,14.94
$GC,3024,-0.56,-107.1,2691,1392,3481,3459,287.3,-7.2,144,3030,0.10,2.45,0.00,0.000,3110,0.210,0.068,2712,2755,3468,3479,3458,0,0,0,0,0,0,14.27,14.44,14.43
$GC,3360,-0.64,-107.1,2712,2757,3481,3454,308.8,-6.3,157,3361,0.00,0.00,0.00,0.000,166,0.000,0.000,2712,2754,3467,3479,3455,0,0,0,0,0,0,14.95,14.94,14.95
$GC,3696,-0.71,-107.1,2712,2757,3481,3451,330.5,-6.5,163,3702,0.08,2.35,0.00,0.000,4772,0.142,0.044,2648,1395,3465,3479,3451,0,0,0,0,0,0,14.65,14.51,14.71
$GC,3744,-0.71,-107.1,2647,1396,3480,3450,334.6,-8.8,170,3752,0.00,2.45,0.00,0.000,1030,0.000,0.067,2636,2755,3464,3479,3450,0,0,0,0,0,0,14.54,14.46,14.59
$GC,4088,-0.71,-107.1,2640,2756,3481,3446,368.1,-10.0,177,4095,0.00,2.03,0.00,0.000,260,0.000,0.108,2631,3824,3461,3477,3446,0,0,0,0,0,0,14.93,14.35,14.94
$GC,4284,-0.71,-107.1,2632,3823,3480,3445,388.9,-10.5,205,4291,0.10,1.77,0.00,0.000,3078,0.217,0.044,2660,2781,3461,3479,3444,0,0,0,0,0,0,14.24,14.61,14.42
$GC,4647,-0.71,-107.1,2661,2782,3480,3441,422.4,-9.2,215,4653,0.00,2.42,0.00,0.000,516,0.000,0.046,2661,1378,3460,3479,3441,0,0,0,0,0,0,14.91,14.45,14.91
$GC,4731,-0.71,-107.1,2661,1378,3480,3441,430.3,-9.2,227,4737,0.00,2.53,0.00,0.000,1030,0.000,0.067,2651,2765,3459,3479,3440,0,0,0,0,0,0,14.57,14.45,14.59
$GC,5096,-0.71,-107.1,2651,2765,3480,3437,465.4,-9.7,237,5102,0.00,2.00,0.00,0.000,260,0.000,0.109,2643,3820,3458,3479,3437,0,0,0,0,0,0,14.96,14.32,14.96
$GC,5193,-0.71,-107.1,2643,3821,3480,3436,475.1,-9.9,251,5199,0.00,1.83,0.00,0.000,1030,0.000,0.042,2641,2749,3457,3479,3436,0,0,0,0,0,0,14.71,14.66,14.73
$GC,5543,-0.71,-107.1,2642,2752,3481,3432,508.4,-9.5,259,5549,0.00,2.35,0.00,0.000,516,0.000,0.044,2642,1389,3455,3479,3431,0,0,0,0,0,0,14.93,14.46,14.93
$GC,5571,-0.71,-107.1,2642,1390,3480,3432,511.1,-9.8,263,5578,0.10,2.50,0.00,0.000,3078,0.224,0.067,2661,2770,3455,3479,3432,0,0,0,0,0,0,14.21,14.46,14.38
$GC,5936,-0.71,-107.1,2662,2769,3486,3429,542.3,-8.4,273,5942,0.00,2.42,0.00,0.000,516,0.000,0.044,2662,1379,3453,3477,3429,0,0,0,0,0,0,14.95,14.46,14.95
$GC,5963,-0.71,-107.1,2662,1379,3480,3430,544.7,-8.6,277,5970,0.00,2.50,0.00,0.000,1030,0.000,0.068,2651,2761,3454,3479,3429,0,0,0,0,0,0,14.47,14.39,14.54
$GC,6328,-0.71,-107.1,2653,2761,3477,3429,576.4,-8.6,287,6334,0.00,2.40,0.00,0.000,516,0.000,0.044,2652,1386,3452,3476,3428,0,0,0,0,0,0,14.92,14.45,14.92
$GC,6397,-0.71,-107.1,2652,1388,3477,3428,582.4,-8.6,297,6404,0.00,2.50,0.00,0.000,1030,0.000,0.067,2642,2760,3451,3475,3428,0,0,0,0,0,0,14.53,14.43,14.57
$GC,6720,-0.71,-107.1,2643,2760,3473,3429,610.8,-8.9,308,6725,0.00,2.03,0.00,0.000,260,0.000,0.109,2634,3828,3450,3472,3428,0,0,0,0,0,0,14.92,14.28,14.92
$GC,6789,-0.71,-107.1,2634,3828,3473,3429,617.3,-9.4,318,6795,0.12,1.83,0.00,0.000,3078,0.230,0.043,2669,2768,3450,3473,3428,0,0,0,0,0,0,14.19,14.57,14.44
$GC,7112,-0.71,-107.1,2651,2767,3471,3424,643.1,-8.0,329,7118,0.00,2.42,0.00,0.000,516,0.000,0.044,2650,1372,3448,3471,3425,0,0,0,0,0,0,14.92,14.42,14.92
$GC,7188,-0.71,-107.1,2651,1373,3472,3426,649.6,-8.4,340,7194,0.00,2.53,0.00,0.000,1030,0.000,0.066,2640,2766,3448,3471,3425,0,0,0,0,0,0,14.47,14.38,14.51
$GC,7504,-0.71,-107.1,2639,2767,3473,3423,676.8,-8.6,350,7505,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2766,3447,3471,3423,0,0,0,0,0,0,14.93,14.92,14.93
$GC,7840,-0.71,-107.1,2641,2766,3471,3422,705.0,-8.3,356,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2766,3446,3471,3421,0,0,0,0,0,0,14.94,14.94,14.94
$GC,8176,-0.71,-107.1,2640,2766,3472,3420,731.8,-8.0,362,8181,0.00,2.45,0.00,0.000,516,0.000,0.044,2640,1375,3445,3471,3419,0,0,0,0,0,0,14.91,14.40,14.91
$GC,8245,-0.71,-107.1,2640,1374,3470,3420,737.3,-7.8,372,8252,0.10,2.53,0.00,0.000,3078,0.230,0.067,2659,2762,3444,3471,3418,0,0,0,0,0,0,14.11,14.35,14.29
$GC,8568,-0.71,-107.1,2660,2761,3470,3418,759.7,-6.9,383,8569,0.00,0.00,0.00,0.000,38,0.000,0.000,2659,2762,3444,3471,3417,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8904,-0.71,-107.1,2660,2762,3472,3416,782.4,-6.8,389,8910,0.00,2.42,0.00,0.000,548,0.000,0.044,2659,1382,3442,3470,3414,0,0,0,0,0,0,14.93,14.38,14.93
$GC,8960,-0.71,-107.1,2660,1379,3471,3416,786.5,-7.6,397,8966,0.00,2.50,0.00,0.000,1062,0.000,0.069,2650,2751,3442,3470,3415,0,0,0,0,0,0,14.40,14.31,14.45
$GC,9296,-0.71,-107.1,2657,2750,3471,3415,810.0,-7.0,410,9297,0.00,0.00,0.00,0.000,38,0.000,0.000,2650,2750,3442,3470,3414,0,0,0,0,0,0,14.92,14.92,14.92
$GC,9632,-0.71,-107.1,2650,2750,3469,3414,833.8,-7.2,416,9632,0.00,0.00,0.00,0.000,38,0.000,0.000,2650,2750,3441,3468,3414,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9968,-0.71,-107.1,2650,2750,3469,3413,856.9,-6.8,422,9973,0.00,2.42,0.00,0.000,548,0.000,0.045,2649,1379,3444,3468,3420,0,0,0,0,0,0,14.90,14.30,14.90
$GC,10016,-0.71,-107.1,2650,1380,3469,3411,860.4,-7.2,429,10025,0.00,2.50,0.00,0.000,1062,0.000,0.069,2640,2753,3439,3468,3411,0,0,0,0,0,0,14.40,14.30,14.45
$GC,10360,-0.71,-107.1,2641,2753,3468,3412,886.1,-7.6,436,10361,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2753,3439,3467,3411,0,0,0,0,0,0,14.89,14.89,14.90
$GC,10696,-0.71,-107.1,2640,2754,3466,3411,912.8,-7.9,442,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2753,3437,3464,3411,0,0,0,0,0,0,14.89,14.89,14.89
$STATE,10918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10918,begin apogee
$GC,10924,-0.23,0.0,2640,2230,3466,3410,931.0,-8.1,446,11034,0.62,0.00,108.22,1.953,10244,0.182,0.000,2822,2228,3049,3093,3005,0,0,0,0,0,0,14.18,14.01,13.21
$STATE,11036,end apogee,CONTROL_FINISHED_OK
$STATE,11036,begin climb
$GC,11038,0.93,107.1,2823,2229,3091,2999,935.1,0.0,448,11166,1.12,2.42,115.75,1.939,10756,0.094,0.057,3185,881,2616,2678,2554,0,0,0,0,0,0,13.99,14.00,13.01
$GC,11192,0.79,107.1,3185,881,2678,2544,929.4,8.2,471,11200,0.10,2.53,0.00,0.000,5254,0.222,0.052,3159,2253,2610,2677,2544,0,0,0,0,0,0,13.75,13.87,13.88
$GC,11536,0.68,107.1,3159,2253,2678,2537,903.3,7.9,478,11542,0.12,2.65,0.00,0.000,4484,0.241,0.099,3123,3651,2606,2677,2536,0,0,0,0,0,0,14.09,14.19,14.35
$GC,11655,0.57,107.1,3123,3651,2678,2537,893.8,7.8,495,11661,0.17,2.38,0.00,0.000,5254,0.226,0.041,3086,2259,2606,2677,2536,0,0,0,0,0,0,14.12,14.42,14.38
$GC,11984,0.60,136.5,3086,2258,2678,2535,873.3,6.3,507,12019,0.00,2.70,30.98,1.933,8484,0.000,0.099,3086,3654,2501,2577,2426,0,0,0,0,0,0,14.75,14.26,13.54
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$STATE,23111,end climb,SURFACE_DEPTH_REACHED
$STATE,23112,begin surface coast
$FINISH,-0.7,1.020434
$STATE,23139,end surface coast,CONTROL_FINISHED_OK
$STATE,23139,begin surface
$SM_CCo,23159,17.38,0.163,0,0,1057,500.14
$SM_GC,-2.31,9.25,0.85,17.38,0.079,0.081,0.163,194,2768,1057,-8.38,-0.71,500.14,0,0,0,0,0,0,14.53,14.43,14.33
$IRIDIUM_FIX,940.75,-12454.86,291016,121247
$TT8_MAMPS,0.035952,0.287616
$HUMID,52.48
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.40
$XPDR_PINGS,2
$SC_FREEKB,3811040
$PM_FREEKB,56975040
$24V_AH,12.83,98.502
$10V_AH,12.82,0.000
$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,24.625,194.800,504.775,17.375,0.000,0.000,0.000,348.750,0.500,0.000,7.251,0.000,19863.336,855.117,2694.886,342.753,0.000,2039.467,0.000,1742.383,0.000,0.840,0.000
$DEVICE_MAMPS,390.915,109.395,2072.385,162.945,0.000,0.000,0.000,181.305,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23194.000,23144.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.471,2.412,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,36748,976
$CAP_FILE_SIZE,172499,0
$CFSIZE,1024409600,968359936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102,96.72,1
$GPS,301016,012641,947.815,-12452.768,30,1.0,32,9.0,0.2,0.0,8,9.5