version: 66.13
glider: 220
mission: 6
dive: 261
start: 10 30 116 21 32 47
data:
$ID,220
$MISSION,6
$DIVE,261
$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,54
$R_STBD_OVSHOOT,27
$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
$GPS1,301016,212155,953.9142,-12447.2617,34,0.9,34,9.0,0.3,27.2,11,9.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.50
$_SM_ANGLEo,-73.8
$GPS2,301016,213225,954.0087,-12447.1699,3,0.9,5,9.0,0.2,84.3,11,7.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,18.4,16317,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.93,-107.1,108,2782,1101,1014,0.0,0.0,0,88,0.00,0.00,-74.22,0.000,16390,0.000,0.000,107,2781,3481,3475,3487,0,0,0,0,0,0,14.64,12.83,14.64
$GC,91,-0.93,-107.1,107,2782,3471,3489,-0.3,-7.3,2,111,11.90,1.92,0.00,0.000,2308,0.389,0.089,2585,3826,3478,3472,3485,0,0,0,0,0,0,14.07,14.30,14.42
$GC,340,-0.58,-107.1,2585,3827,3477,3487,76.6,-19.1,39,347,0.45,1.83,0.00,0.000,3206,0.244,0.038,2710,2738,3481,3476,3487,0,0,0,0,0,0,14.14,14.56,14.33
$GC,670,-0.58,-107.1,2711,2737,3480,3488,106.2,-7.9,52,675,0.00,2.30,0.00,0.000,516,0.000,0.043,2711,1387,3480,3474,3487,0,0,0,0,0,0,14.85,14.48,14.85
$GC,852,-0.58,-107.1,2711,1385,3481,3487,113.2,-6.3,78,858,0.00,2.40,0.00,0.000,1062,0.000,0.067,2701,2760,3483,3480,3487,0,0,0,0,0,0,14.58,14.42,14.61
$GC,1174,-0.58,-107.1,2701,2761,3482,3486,133.9,-6.9,89,1180,0.00,2.00,0.00,0.000,292,0.000,0.106,2693,3828,3483,3480,3486,0,0,0,0,0,0,14.91,14.40,14.91
$GC,1222,-0.58,-107.1,2693,3828,3481,3487,137.5,-7.3,96,1229,0.00,1.80,0.00,0.000,1062,0.000,0.041,2692,2757,3483,3480,3486,0,0,0,0,0,0,14.72,14.67,14.73
$GC,1566,-0.58,-107.1,2693,2757,3481,3483,161.8,-7.1,103,1572,0.00,2.35,0.00,0.000,548,0.000,0.044,2693,1382,3481,3480,3482,0,0,0,0,0,0,14.92,14.54,14.92
$GC,1600,-0.58,-107.1,2693,1383,3481,3481,164.9,-8.2,108,1606,0.00,2.50,0.00,0.000,1030,0.000,0.067,2683,2773,3480,3480,3481,0,0,0,0,0,0,14.61,14.50,14.64
$GC,1958,-0.58,-107.1,2683,2774,3480,3477,192.6,-7.7,117,1964,0.00,2.40,0.00,0.000,548,0.000,0.043,2683,1388,3478,3480,3477,0,0,0,0,0,0,14.92,14.53,14.93
$GC,1992,-0.58,-107.1,2683,1387,3481,3477,195.3,-7.6,122,1999,0.10,2.45,0.00,0.000,3110,0.211,0.067,2705,2761,3478,3480,3477,0,0,0,0,0,0,14.27,14.42,14.43
$GC,2350,-0.67,-107.1,2704,2762,3481,3470,219.4,-6.7,131,2351,0.00,0.00,0.00,0.000,166,0.000,0.000,2704,2761,3475,3480,3470,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2686,-0.76,-107.1,2705,2761,3481,3468,244.3,-7.5,137,2693,0.10,2.38,0.00,0.000,4772,0.115,0.044,2637,1390,3470,3480,3461,0,0,0,0,0,0,14.67,14.52,14.73
$GC,2741,-0.76,-107.1,2637,1386,3481,3465,249.8,-9.9,145,2748,0.00,2.47,0.00,0.000,1030,0.000,0.067,2627,2769,3472,3480,3465,0,0,0,0,0,0,14.54,14.44,14.57
$GC,3078,-0.76,-107.1,2627,2770,3482,3461,287.0,-11.2,158,3083,0.00,1.98,0.00,0.000,260,0.000,0.107,2619,3820,3470,3480,3461,0,0,0,0,0,0,14.94,14.36,14.94
$GC,3112,-0.76,-107.1,2619,3819,3481,3462,291.4,-12.9,163,3118,0.12,1.80,0.00,0.000,3078,0.230,0.041,2655,2760,3470,3480,3461,0,0,0,0,0,0,14.33,14.69,14.57
$GC,3469,-0.76,-107.1,2656,2761,3481,3455,324.3,-9.0,172,3476,0.00,2.38,0.00,0.000,516,0.000,0.045,2656,1382,3468,3480,3456,0,0,0,0,0,0,14.93,14.50,14.94
$GC,3525,-0.76,-107.1,2656,1383,3481,3455,329.2,-8.2,180,3531,0.00,2.47,0.00,0.000,1030,0.000,0.068,2646,2757,3467,3480,3455,0,0,0,0,0,0,14.52,14.42,14.57
$GC,3862,-0.76,-107.1,2646,2759,3481,3451,358.1,-8.6,193,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2758,3465,3480,3451,0,0,0,0,0,0,14.94,14.94,14.94
$GC,4198,-0.76,-107.1,2646,2758,3480,3448,387.6,-8.8,199,4203,0.00,2.40,0.00,0.000,516,0.000,0.044,2645,1384,3464,3480,3448,0,0,0,0,0,0,14.96,14.50,14.97
$GC,4253,-0.76,-107.1,2646,1384,3481,3448,392.8,-9.0,207,4259,0.00,2.47,0.00,0.000,1030,0.000,0.069,2636,2760,3463,3480,3446,0,0,0,0,0,0,14.51,14.41,14.57
$GC,4589,-0.76,-107.1,2636,2760,3480,3445,423.8,-9.2,220,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2760,3462,3480,3445,0,0,0,0,0,0,14.94,14.97,14.94
$GC,4926,-0.76,-107.1,2637,2759,3481,3441,455.1,-9.3,226,4931,0.00,2.03,0.00,0.000,260,0.000,0.110,2628,3823,3458,3477,3440,0,0,0,0,0,0,14.94,14.32,14.94
$GC,4995,-0.76,-107.1,2628,3823,3480,3442,462.0,-9.7,236,5001,0.00,1.83,0.00,0.000,1030,0.000,0.044,2627,2759,3459,3480,3439,0,0,0,0,0,0,14.72,14.66,14.73
$GC,5318,-0.76,-107.1,2628,2760,3480,3438,491.5,-9.2,247,5323,0.00,2.40,0.00,0.000,516,0.000,0.046,2627,1375,3458,3480,3437,0,0,0,0,0,0,14.94,14.47,14.93
$GC,5415,-0.76,-107.1,2627,1376,3481,3436,500.5,-8.9,261,5422,0.10,2.53,0.00,0.000,3078,0.231,0.067,2646,2769,3458,3480,3436,0,0,0,0,0,0,14.18,14.42,14.35
$GC,5766,-0.76,-107.1,2663,2770,3479,3434,530.0,-8.1,269,5772,0.00,2.00,0.00,0.000,260,0.000,0.112,2655,3821,3455,3478,3433,0,0,0,0,0,0,14.95,14.30,14.95
$GC,5807,-0.76,-107.1,2656,3820,3479,3434,533.7,-9.0,275,5813,0.00,1.83,0.00,0.000,1030,0.000,0.044,2659,2757,3455,3478,3432,0,0,0,0,0,0,14.71,14.65,14.73
$GC,6158,-0.76,-107.1,2654,2758,3480,3430,565.0,-9.1,283,6163,0.00,2.38,0.00,0.000,516,0.000,0.044,2654,1381,3454,3478,3430,0,0,0,0,0,0,14.95,14.45,14.95
$GC,6206,-0.76,-107.1,2654,1382,3479,3429,569.7,-9.7,290,6214,0.00,2.53,0.00,0.000,1030,0.000,0.068,2645,2771,3453,3478,3429,0,0,0,0,0,0,14.48,14.38,14.52
$GC,6550,-0.76,-107.1,2646,2771,3479,3428,604.4,-10.2,297,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2771,3452,3478,3427,0,0,0,0,0,0,14.92,14.92,14.92
$GC,6885,-0.76,-107.1,2646,2771,3479,3426,639.4,-10.4,303,6891,0.00,2.45,0.00,0.000,516,0.000,0.044,2644,1382,3454,3478,3431,0,0,0,0,0,0,14.92,14.43,14.92
$GC,6913,-0.76,-107.1,2645,1381,3479,3426,642.3,-10.6,307,6920,0.00,2.53,0.00,0.000,1030,0.000,0.070,2635,2766,3451,3478,3424,0,0,0,0,0,0,14.49,14.39,14.52
$GC,7277,-0.76,-107.1,2635,2767,3477,3423,679.2,-10.0,317,7284,0.00,2.03,0.00,0.000,260,0.000,0.110,2627,3822,3449,3475,3423,0,0,0,0,0,0,14.92,14.25,14.92
$GC,7326,-0.76,-107.1,2626,3820,3475,3424,684.4,-10.7,324,7333,0.00,1.83,0.00,0.000,1030,0.000,0.043,2627,2757,3448,3474,3423,0,0,0,0,0,0,14.68,14.62,14.69
$GC,7670,-0.76,-107.1,2626,2757,3472,3423,717.2,-9.4,331,7676,0.00,2.38,0.00,0.000,516,0.000,0.044,2626,1391,3447,3472,3423,0,0,0,0,0,0,14.92,14.42,14.92
$GC,7725,-0.76,-107.1,2627,1387,3472,3423,722.3,-9.0,339,7732,0.12,2.50,0.00,0.000,3078,0.239,0.068,2650,2757,3447,3472,3422,0,0,0,0,0,0,14.08,14.38,14.28
$GC,8062,-0.76,-107.1,2651,2757,3473,3421,748.1,-7.5,352,8067,0.00,2.05,0.00,0.000,292,0.000,0.110,2643,3827,3446,3472,3420,0,0,0,0,0,0,14.91,14.23,14.91
$GC,8096,-0.76,-107.1,2643,3827,3472,3421,750.8,-7.9,357,8103,0.00,1.85,0.00,0.000,1030,0.000,0.044,2642,2754,3446,3472,3420,0,0,0,0,0,0,14.68,14.62,14.69
$GC,8454,-0.76,-107.1,2642,2754,3471,3421,777.6,-7.6,366,8455,0.00,0.00,0.00,0.000,38,0.000,0.000,2642,2754,3445,3471,3419,0,0,0,0,0,0,14.93,14.93,14.93
$GC,8790,-0.76,-107.1,2642,2755,3471,3418,803.9,-7.9,372,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2754,3444,3471,3417,0,0,0,0,0,0,14.93,14.93,14.93
$GC,9126,-0.76,-107.1,2642,2755,3471,3417,831.2,-8.3,378,9131,0.00,2.40,0.00,0.000,516,0.000,0.045,2642,1382,3443,3469,3417,0,0,0,0,0,0,14.91,14.38,14.91
$GC,9153,-0.76,-107.1,2642,1382,3471,3417,833.3,-7.3,382,9160,0.00,2.53,0.00,0.000,1062,0.000,0.069,2632,2759,3443,3469,3417,0,0,0,0,0,0,14.42,14.31,14.48
$GC,9517,-0.76,-107.1,2633,2760,3471,3417,865.3,-8.7,392,9518,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2759,3442,3469,3416,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9854,-0.76,-107.1,2633,2760,3469,3416,895.1,-8.9,398,9860,0.00,2.42,0.00,0.000,516,0.000,0.045,2631,1384,3441,3468,3414,0,0,0,0,0,0,14.90,14.35,14.90
$GC,9881,-0.76,-107.1,2631,1384,3469,3414,897.6,-8.2,402,9888,0.10,2.53,0.00,0.000,3078,0.245,0.069,2649,2759,3440,3467,3414,0,0,0,0,0,0,14.05,14.32,14.25
$GC,10246,-0.76,-107.1,2650,2760,3469,3412,926.4,-7.7,412,10247,0.00,0.00,0.00,0.000,38,0.000,0.000,2649,2759,3438,3464,3412,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,10299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10299,begin apogee
$GC,10305,-0.23,0.0,2649,2230,3468,3413,930.7,-7.6,413,10416,0.60,0.08,107.95,1.978,10244,0.182,0.178,2823,2267,3049,3092,3007,0,0,0,0,0,0,14.20,13.93,13.17
$STATE,10418,end apogee,CONTROL_FINISHED_OK
$STATE,10418,begin climb
$GC,10420,0.93,107.1,2823,2267,3089,3002,934.4,0.0,415,10543,1.15,2.50,114.60,1.991,10756,0.106,0.055,3183,885,2622,2682,2563,0,0,0,0,0,0,13.98,14.01,13.00
$GC,10590,0.81,107.1,3183,886,2678,2544,926.3,7.8,440,10596,0.00,2.47,0.00,0.000,1158,0.000,0.051,3183,2242,2611,2677,2545,0,0,0,0,0,0,13.99,13.92,14.01
$GC,10913,0.68,107.1,3182,2243,2679,2540,897.6,9.1,451,10919,0.22,2.62,0.00,0.000,4484,0.222,0.097,3121,3660,2608,2678,2539,0,0,0,0,0,0,14.09,14.22,14.35
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$STATE,22286,end climb,SURFACE_DEPTH_REACHED
$STATE,22286,begin surface coast
$FINISH,-0.5,1.020470
$STATE,22315,end surface coast,CONTROL_FINISHED_OK
$STATE,22316,begin surface
$SM_CCo,22335,16.55,0.157,0,0,1056,500.14
$SM_GC,-2.28,9.30,0.82,16.55,0.073,0.080,0.157,199,2769,1056,-8.39,-0.68,500.14,0,0,0,0,0,0,14.45,14.44,14.34
$IRIDIUM_FIX,947.31,-12446.97,301016,144107
$TT8_MAMPS,0.038948,0.443408
$HUMID,51.57
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.10
$XPDR_PINGS,0
$SC_FREEKB,3809504
$PM_FREEKB,56925376
$24V_AH,12.83,99.776
$10V_AH,12.80,0.000
$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,24.825,197.925,476.350,16.550,0.000,0.000,0.000,385.100,0.000,0.000,6.705,0.000,19155.670,859.770,2617.177,336.207,0.000,2050.104,0.000,1657.360,0.000,0.839,0.000
$DEVICE_MAMPS,389.385,178.245,2067.795,156.825,0.000,0.000,0.000,178.245,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22371.000,22321.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.470,2.416,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,33378,925
$CAP_FILE_SIZE,162513,0
$CFSIZE,1024409600,967770112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,74.62,1
$GPS,311016,034610,956.102,-12445.504,21,1.3,22,9.0,0.4,41.3,5,9.0