version: 66.13
glider: 220
mission: 6
dive: 270
start: 11 2 116 9 6 21
data:
$ID,220
$MISSION,6
$DIVE,270
$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,59
$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,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
$GPS1,021116,085501,1005.1542,-12446.9287,28,0.8,28,9.0,0.7,70.8,10,4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.82
$_SM_ANGLEo,-73.3
$GPS2,021116,090559,1005.1039,-12446.7949,2,0.8,3,9.0,0.5,196.6,11,5.8
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,293.5,35353,-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,-107.1,155,2784,1100,1017,0.0,0.0,0,90,0.00,0.00,-76.20,0.000,16390,0.000,0.000,152,2783,3478,3471,3486,0,0,0,0,0,0,14.64,12.79,14.65
$GC,93,-0.93,-107.1,153,2785,3472,3486,0.2,-6.7,2,113,11.88,2.38,0.00,0.000,2564,0.391,0.032,2591,1362,3482,3473,3491,0,0,0,0,0,0,14.04,14.42,14.39
$GC,153,-0.62,-107.1,2591,1362,3476,3486,31.4,-28.6,12,160,0.43,2.55,0.00,0.000,3206,0.256,0.070,2692,2764,3480,3475,3486,0,0,0,0,0,0,14.08,14.31,14.28
$GC,476,-0.50,-107.1,2679,2764,3478,3487,83.0,-11.8,25,483,0.22,2.35,0.00,0.000,2692,0.220,0.040,2742,1374,3481,3477,3486,0,0,0,0,0,0,14.25,14.48,14.49
$GC,616,-0.50,-107.1,2742,1376,3480,3494,91.3,-6.1,45,623,0.00,2.50,0.00,0.000,1062,0.000,0.065,2732,2781,3482,3479,3486,0,0,0,0,0,0,14.50,14.41,14.54
$GC,980,-0.58,-107.1,2732,2781,3481,3485,115.8,-6.9,57,987,0.00,1.95,0.00,0.000,420,0.000,0.108,2724,3821,3483,3480,3486,0,0,0,0,0,0,14.88,14.37,14.88
$GC,1014,-0.66,-107.1,2724,3822,3481,3486,118.2,-7.0,62,1021,0.05,1.77,0.00,0.000,5286,0.202,0.040,2664,2763,3483,3480,3486,0,0,0,0,0,0,14.53,14.67,14.65
$GC,1372,-0.66,-107.1,2664,2764,3481,3485,148.0,-8.2,71,1378,0.00,2.00,0.00,0.000,260,0.000,0.106,2655,3818,3482,3480,3484,0,0,0,0,0,0,14.91,14.40,14.91
$GC,1428,-0.66,-107.1,2656,3818,3480,3486,152.8,-8.5,79,1434,0.08,1.73,0.00,0.000,3078,0.211,0.041,2679,2782,3482,3480,3485,0,0,0,0,0,0,14.33,14.64,14.48
$GC,1764,-0.66,-107.1,2679,2782,3481,3481,180.1,-8.2,92,1770,0.00,1.98,0.00,0.000,260,0.000,0.108,2679,3818,3480,3480,3481,0,0,0,0,0,0,14.95,14.38,14.94
$GC,1798,-0.66,-107.1,2672,3818,3480,3482,183.2,-8.9,97,1805,0.00,1.75,0.00,0.000,1030,0.000,0.041,2671,2778,3480,3480,3481,0,0,0,0,0,0,14.73,14.69,14.75
$GC,2156,-0.66,-107.1,2672,2785,3480,3478,214.0,-8.6,106,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2778,3477,3479,3476,0,0,0,0,0,0,14.93,14.94,14.93
$GC,2492,-0.66,-107.1,2672,2778,3481,3471,241.7,-8.2,112,2498,0.00,2.38,0.00,0.000,516,0.000,0.044,2671,1371,3474,3479,3470,0,0,0,0,0,0,14.95,14.49,14.95
$GC,2519,-0.66,-107.1,2672,1371,3480,3471,244.0,-8.5,116,2526,0.00,2.53,0.00,0.000,1030,0.000,0.067,2661,2771,3475,3480,3470,0,0,0,0,0,0,14.56,14.46,14.61
$GC,2884,-0.66,-107.1,2660,2777,3479,3465,274.2,-8.2,126,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2776,3472,3480,3465,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3220,-0.66,-107.1,2661,2777,3480,3461,302.0,-8.3,132,3226,0.00,2.42,0.00,0.000,516,0.000,0.044,2661,1383,3470,3479,3461,0,0,0,0,0,0,14.95,14.52,14.95
$GC,3268,-0.66,-107.1,2662,1382,3479,3461,306.2,-8.5,139,3276,0.10,2.53,0.00,0.000,3078,0.219,0.068,2680,2786,3469,3480,3459,0,0,0,0,0,0,14.26,14.45,14.43
$GC,3612,-0.66,-107.1,2681,2786,3480,3456,332.5,-7.7,146,3618,0.00,2.40,0.00,0.000,548,0.000,0.044,2680,1383,3466,3478,3454,0,0,0,0,0,0,14.94,14.55,14.94
$GC,3660,-0.66,-107.1,2681,1382,3480,3455,336.4,-7.9,153,3669,0.00,2.50,0.00,0.000,1030,0.000,0.068,2672,2777,3466,3479,3453,0,0,0,0,0,0,14.54,14.45,14.59
$GC,4004,-0.66,-107.1,2672,2776,3480,3452,365.5,-8.6,160,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2776,3464,3479,3450,0,0,0,0,0,0,14.96,14.96,14.96
$GC,4340,-0.66,-107.1,2672,2778,3481,3446,396.5,-9.2,166,4346,0.00,2.42,0.00,0.000,516,0.000,0.044,2671,1384,3462,3479,3445,0,0,0,0,0,0,14.95,14.50,14.95
$GC,4381,-0.66,-107.1,2672,1385,3480,3445,400.4,-9.2,172,4388,0.00,2.50,0.00,0.000,1030,0.000,0.069,2662,2775,3462,3479,3445,0,0,0,0,0,0,14.54,14.45,14.59
$GC,4732,-0.66,-107.1,2662,2775,3480,3443,432.2,-9.0,180,4738,0.00,2.00,0.00,0.000,260,0.000,0.114,2654,3821,3458,3479,3438,0,0,0,0,0,0,14.95,14.30,14.95
$GC,4766,-0.66,-107.1,2653,3822,3481,3442,435.4,-9.2,185,4774,0.10,1.80,0.00,0.000,3078,0.233,0.045,2683,2778,3460,3479,3442,0,0,0,0,0,0,14.32,14.66,14.54
$GC,5124,-0.66,-107.1,2684,2778,3480,3439,461.8,-7.2,194,5130,0.00,2.42,0.00,0.000,548,0.000,0.045,2684,1375,3458,3479,3437,0,0,0,0,0,0,14.95,14.48,14.95
$GC,5186,-0.75,-107.1,2710,1375,3478,3438,466.3,-7.2,203,5193,0.05,2.53,0.00,0.000,5286,0.119,0.068,2652,2772,3457,3478,3437,0,0,0,0,0,0,14.39,14.40,14.48
$GC,5516,-0.75,-107.1,2652,2773,3479,3435,495.2,-9.0,215,5522,0.00,2.45,0.00,0.000,516,0.000,0.044,2651,1376,3456,3478,3435,0,0,0,0,0,0,14.93,14.47,14.92
$GC,5550,-0.75,-107.1,2649,1376,3479,3435,498.3,-9.1,220,5557,0.00,2.53,0.00,0.000,1030,0.000,0.068,2642,2770,3456,3479,3434,0,0,0,0,0,0,14.50,14.40,14.54
$GC,5908,-0.75,-107.1,2642,2771,3480,3433,530.3,-8.9,229,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2770,3455,3478,3432,0,0,0,0,0,0,14.92,14.93,14.93
$GC,6244,-0.75,-107.1,2643,2771,3479,3429,560.5,-9.0,235,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2770,3453,3478,3429,0,0,0,0,0,0,14.93,14.94,14.93
$GC,6580,-0.75,-107.1,2642,2771,3479,3426,591.1,-9.2,241,6586,0.00,2.03,0.00,0.000,260,0.000,0.113,2634,3820,3452,3478,3426,0,0,0,0,0,0,14.95,14.26,14.95
$GC,6614,-0.75,-107.1,2635,3820,3478,3427,594.5,-10.1,246,6620,0.00,1.83,0.00,0.000,1030,0.000,0.044,2633,2771,3451,3477,3425,0,0,0,0,0,0,14.69,14.63,14.71
$GC,6972,-0.75,-107.1,2631,2773,3475,3426,627.9,-9.3,255,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2772,3450,3474,3426,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7308,-0.75,-107.1,2633,2772,3474,3425,660.2,-9.8,261,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2772,3448,3473,3423,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7644,-0.75,-107.1,2634,2772,3472,3422,693.6,-9.9,267,7650,0.00,2.42,0.00,0.000,516,0.000,0.046,2633,1379,3447,3473,3421,0,0,0,0,0,0,14.95,14.42,14.95
$GC,7700,-0.75,-107.1,2633,1383,3473,3421,699.2,-9.8,275,7706,0.10,2.55,0.00,0.000,3078,0.250,0.070,2650,2772,3443,3472,3415,0,0,0,0,0,0,14.05,14.33,14.24
$GC,8036,-0.75,-107.1,2650,2773,3473,3421,729.1,-8.8,288,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2772,3445,3470,3421,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8372,-0.75,-107.1,2650,2772,3471,3419,758.2,-8.6,294,8378,0.00,2.47,0.00,0.000,516,0.000,0.045,2649,1375,3445,3471,3419,0,0,0,0,0,0,14.92,14.33,14.92
$GC,8399,-0.75,-107.1,2650,1375,3471,3420,760.6,-8.7,298,8406,0.00,2.55,0.00,0.000,1030,0.000,0.068,2640,2772,3444,3470,3418,0,0,0,0,0,0,14.42,14.33,14.48
$GC,8764,-0.75,-107.1,2641,2772,3470,3419,791.7,-8.5,308,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2772,3443,3470,3417,0,0,0,0,0,0,14.90,14.91,14.89
$GC,9100,-0.75,-107.1,2639,2773,3470,3417,819.7,-8.3,314,9106,0.00,2.47,0.00,0.000,516,0.000,0.044,2640,1368,3442,3468,3417,0,0,0,0,0,0,14.91,14.38,14.90
$GC,9169,-0.75,-107.1,2640,1368,3469,3418,825.5,-8.4,324,9176,0.00,2.55,0.00,0.000,1030,0.000,0.068,2630,2768,3442,3468,3417,0,0,0,0,0,0,14.37,14.29,14.45
$GC,9492,-0.75,-107.1,2636,2763,3470,3416,853.7,-8.8,335,9498,0.00,2.03,0.00,0.000,260,0.000,0.114,2621,3816,3443,3468,3418,0,0,0,0,0,0,14.90,14.15,14.90
$GC,9554,-0.75,-107.1,2622,3815,3468,3413,859.7,-9.5,344,9561,0.12,1.83,0.00,0.000,3078,0.237,0.044,2656,2761,3440,3467,3414,0,0,0,0,0,0,14.13,14.56,14.40
$GC,9884,-0.75,-107.1,2656,2761,3468,3414,885.8,-7.8,356,9890,0.00,2.42,0.00,0.000,516,0.000,0.046,2656,1378,3439,3467,3412,0,0,0,0,0,0,14.92,14.34,14.92
$GC,9925,-0.75,-107.1,2656,1379,3468,3412,889.1,-6.1,362,9932,0.00,2.55,0.00,0.000,1062,0.000,0.069,2647,2769,3439,3467,3412,0,0,0,0,0,0,14.39,14.28,14.44
$GC,10276,-0.75,-107.1,2648,2770,3466,3412,918.4,-8.4,370,10282,0.00,2.05,0.00,0.000,260,0.000,0.116,2639,3825,3437,3464,3411,0,0,0,0,0,0,14.92,14.14,14.92
$GC,10317,-0.75,-107.1,2639,3826,3466,3411,922.1,-6.9,376,10323,0.00,1.85,0.00,0.000,1062,0.000,0.046,2638,2773,3438,3465,3412,0,0,0,0,0,0,14.62,14.55,14.63
$STATE,10441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10441,begin apogee
$GC,10448,-0.23,0.0,2639,2209,3465,3412,932.8,-8.1,380,10560,0.65,0.10,110.07,1.928,10244,0.193,0.162,2821,2271,3050,3092,3008,0,0,0,0,0,0,14.14,13.95,13.20
$STATE,10562,end apogee,CONTROL_FINISHED_OK
$STATE,10562,begin climb
$GC,10564,0.93,107.1,2822,2271,3089,3002,936.9,0.0,382,10690,1.17,2.53,114.70,1.965,10756,0.108,0.055,3183,876,2617,2678,2556,0,0,0,0,0,0,13.97,14.02,13.01
$GC,10921,0.83,108.4,3184,878,2679,2541,914.8,7.7,434,10926,0.00,2.40,0.00,0.000,1190,0.000,0.053,3183,2241,2608,2677,2540,0,0,0,0,0,0,14.35,14.23,14.37
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$STATE,22329,end climb,SURFACE_DEPTH_REACHED
$STATE,22329,begin surface coast
$FINISH,-1.7,1.020776
$STATE,22358,end surface coast,CONTROL_FINISHED_OK
$STATE,22358,begin surface
$SM_CCo,22377,30.42,0.155,0,0,1059,500.14
$SM_GC,-1.59,9.27,0.88,30.42,0.071,0.085,0.155,187,2772,1059,-8.41,-0.54,500.14,0,0,0,0,0,0,14.51,14.42,14.33
$IRIDIUM_FIX,1000.45,-12446.42,021116,022013
$TT8_MAMPS,0.03745,0.426181
$HUMID,51.61
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.90
$XPDR_PINGS,1
$SC_FREEKB,3806048
$PM_FREEKB,56809280
$24V_AH,12.79,102.526
$10V_AH,12.75,0.000
$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,25.225,211.925,487.025,30.425,0.000,0.000,0.000,410.250,0.250,0.000,4.994,0.000,19111.521,882.878,2706.688,350.087,0.000,2126.101,0.000,1701.743,0.000,0.840,0.000
$DEVICE_MAMPS,390.915,162.180,2039.490,154.530,0.000,0.000,0.000,173.655,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22413.000,22363.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.472,2.419,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,33363,954
$CAP_FILE_SIZE,173786,0
$CFSIZE,1024409600,966410240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12329.22,0x233bae,1,24
$CURRENT,0.038,96.25,1
$GPS,021116,152039,1005.945,-12448.043,20,1.2,20,9.0,1.3,139.8,7,8.0