version: 66.13
glider: 220
mission: 6
dive: 300
start: 11 10 116 13 52 9
data:
$ID,220
$MISSION,6
$DIVE,300
$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,24
$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
$GPS1,101116,134109,952.6863,-12510.6426,16,1.8,16,9.0,0.8,33.2,4,10.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.38
$_SM_ANGLEo,-72.2
$GPS2,101116,135147,952.6913,-12510.5195,3,1.8,6,9.0,0.5,0.0,4,8.2
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,136.3,29067,-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,14,-0.93,-107.1,188,2779,1100,1018,0.0,0.0,0,91,0.00,0.00,-76.20,0.000,16390,0.000,0.000,184,2780,3478,3470,3487,0,0,0,0,0,0,14.65,12.70,14.65
$GC,94,-0.93,-107.1,185,2781,3471,3493,0.1,-4.6,2,113,11.80,1.92,0.00,0.000,2308,0.392,0.087,2585,3822,3479,3472,3487,0,0,0,0,0,0,14.03,14.33,14.40
$GC,343,-0.64,-107.1,2586,3824,3485,3487,72.4,-13.9,38,351,0.35,1.80,0.00,0.000,3206,0.223,0.034,2688,2731,3481,3476,3487,0,0,0,0,0,0,14.16,14.54,14.33
$GC,659,-0.64,-107.1,2689,2730,3479,3488,94.3,-6.0,50,665,0.00,2.08,0.00,0.000,292,0.000,0.103,2680,3825,3483,3479,3487,0,0,0,0,0,0,14.85,14.33,14.87
$GC,896,-0.64,-107.1,2680,3825,3479,3488,114.4,-8.6,84,903,0.00,1.73,0.00,0.000,1030,0.000,0.038,2680,2777,3483,3479,3487,0,0,0,0,0,0,14.69,14.65,14.71
$GC,1219,-0.64,-107.1,2680,2778,3480,3486,140.0,-7.7,95,1225,0.00,1.98,0.00,0.000,292,0.000,0.103,2671,3817,3482,3479,3486,0,0,0,0,0,0,14.92,14.36,14.92
$GC,1302,-0.64,-107.1,2672,3817,3479,3487,147.4,-8.8,107,1309,0.00,1.73,0.00,0.000,1030,0.000,0.038,2671,2775,3482,3479,3486,0,0,0,0,0,0,14.72,14.68,14.73
$GC,1667,-0.64,-107.1,2671,2775,3479,3481,178.6,-8.7,117,1673,0.00,2.33,0.00,0.000,516,0.000,0.043,2670,1390,3480,3479,3481,0,0,0,0,0,0,14.92,14.50,14.92
$GC,1764,-0.64,-107.1,2671,1391,3480,3480,187.1,-8.8,131,1771,0.08,2.45,0.00,0.000,3078,0.218,0.067,2684,2771,3479,3478,3480,0,0,0,0,0,0,14.30,14.47,14.45
$GC,2115,-0.64,-107.1,2685,2771,3478,3477,216.6,-8.5,139,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2771,3477,3479,3476,0,0,0,0,0,0,14.95,14.96,14.96
$GC,2451,-0.64,-107.1,2684,2770,3479,3471,244.6,-8.3,145,2457,0.00,2.38,0.00,0.000,516,0.000,0.043,2684,1403,3473,3476,3470,0,0,0,0,0,0,14.95,14.52,14.95
$GC,2485,-0.64,-107.1,2684,1403,3479,3471,247.5,-8.3,150,2492,0.00,2.47,0.00,0.000,1030,0.000,0.068,2674,2773,3474,3479,3469,0,0,0,0,0,0,14.54,14.45,14.59
$GC,2843,-0.64,-107.1,2675,2775,3480,3465,278.2,-8.7,159,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2771,3471,3478,3465,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3179,-0.64,-107.1,2675,2773,3479,3462,306.9,-8.6,165,3185,0.00,2.40,0.00,0.000,516,0.000,0.045,2674,1404,3469,3478,3460,0,0,0,0,0,0,14.95,14.50,14.96
$GC,3235,-0.64,-107.1,2674,1404,3480,3459,311.8,-8.6,173,3241,0.00,2.47,0.00,0.000,1030,0.000,0.070,2664,2770,3468,3478,3459,0,0,0,0,0,0,14.51,14.41,14.57
$GC,3571,-0.64,-107.1,2665,2772,3479,3456,342.2,-9.1,186,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2771,3466,3478,3455,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3907,-0.64,-107.1,2664,2772,3479,3453,372.7,-9.0,192,3914,0.00,2.40,0.00,0.000,516,0.000,0.044,2663,1397,3464,3478,3451,0,0,0,0,0,0,14.95,14.49,14.95
$GC,3941,-0.64,-107.1,2665,1397,3479,3452,375.8,-9.1,197,3948,0.12,2.50,0.00,0.000,3078,0.211,0.069,2691,2776,3464,3478,3451,0,0,0,0,0,0,14.22,14.42,14.38
$GC,4300,-0.64,-107.1,2685,2777,3479,3448,402.0,-7.1,206,4305,0.00,2.00,0.00,0.000,292,0.000,0.111,2677,3827,3462,3478,3447,0,0,0,0,0,0,14.97,14.32,14.96
$GC,4326,-0.64,-107.1,2677,3827,3478,3448,404.0,-7.1,210,4333,0.00,1.77,0.00,0.000,1062,0.000,0.043,2676,2790,3462,3478,3446,0,0,0,0,0,0,14.73,14.68,14.74
$GC,4691,-0.64,-107.1,2677,2790,3478,3444,428.4,-6.6,220,4697,0.00,2.45,0.00,0.000,548,0.000,0.044,2674,1372,3460,3478,3443,0,0,0,0,0,0,14.96,14.48,14.96
$GC,4760,-0.64,-107.1,2677,1373,3478,3444,433.2,-6.8,230,4767,0.00,2.53,0.00,0.000,1062,0.000,0.067,2671,2767,3460,3478,3442,0,0,0,0,0,0,14.50,14.40,14.54
$GC,5083,-0.64,-107.1,2667,2769,3479,3439,456.5,-7.3,241,5084,0.00,0.00,0.00,0.000,38,0.000,0.000,2667,2768,3458,3478,3439,0,0,0,0,0,0,14.95,14.96,14.96
$GC,5419,-0.64,-107.1,2666,2768,3478,3438,483.6,-8.3,247,5425,0.00,2.03,0.00,0.000,260,0.000,0.109,2659,3822,3457,3478,3436,0,0,0,0,0,0,14.97,14.28,14.96
$GC,5453,-0.64,-107.1,2659,3822,3478,3436,486.8,-9.3,252,5461,0.10,1.83,0.00,0.000,3078,0.226,0.043,2688,2763,3460,3484,3437,0,0,0,0,0,0,14.31,14.65,14.53
$GC,5811,-0.73,-107.1,2689,2764,3479,3432,515.4,-8.0,261,5812,0.00,0.00,0.00,0.000,134,0.000,0.000,2688,2764,3452,3478,3426,0,0,0,0,0,0,14.96,14.96,14.96
$GC,6148,-0.82,-107.1,2688,2764,3478,3432,540.0,-7.1,267,6153,0.10,2.35,0.00,0.000,4772,0.114,0.044,2622,1375,3454,3478,3430,0,0,0,0,0,0,14.65,14.50,14.70
$GC,6195,-0.82,-107.1,2622,1370,3478,3431,544.2,-9.0,274,6203,0.00,2.53,0.00,0.000,1030,0.000,0.067,2612,2763,3453,3477,3429,0,0,0,0,0,0,14.47,14.37,14.52
$GC,6539,-0.82,-107.1,2613,2763,3479,3425,576.6,-9.4,281,6545,0.00,2.05,0.00,0.000,260,0.000,0.109,2603,3831,3452,3477,3427,0,0,0,0,0,0,14.93,14.25,14.93
$GC,6587,-0.82,-107.1,2605,3832,3478,3427,581.5,-10.0,288,6596,0.10,1.85,0.00,0.000,3078,0.240,0.043,2632,2751,3451,3476,3427,0,0,0,0,0,0,14.26,14.64,14.50
$GC,6931,-0.82,-107.1,2633,2751,3474,3428,611.9,-9.0,295,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2751,3450,3473,3427,0,0,0,0,0,0,14.95,14.95,14.97
$GC,7267,-0.82,-107.1,2633,2750,3473,3427,642.8,-9.2,301,7273,0.00,2.40,0.00,0.000,516,0.000,0.044,2632,1354,3448,3472,3424,0,0,0,0,0,0,14.92,14.44,14.92
$GC,7294,-0.82,-107.1,2633,1355,3473,3425,645.5,-9.5,305,7301,0.00,2.58,0.00,0.000,1030,0.000,0.066,2623,2769,3448,3472,3425,0,0,0,0,0,0,14.43,14.33,14.50
$GC,7659,-0.82,-107.1,2623,2771,3473,3423,679.6,-9.3,315,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2769,3447,3472,3422,0,0,0,0,0,0,14.92,14.92,14.90
$GC,7995,-0.82,-107.1,2622,2775,3470,3422,709.9,-9.0,321,8001,0.00,2.45,0.00,0.000,516,0.000,0.044,2622,1377,3446,3470,3422,0,0,0,0,0,0,14.95,14.39,14.97
$GC,8022,-0.82,-107.1,2623,1376,3471,3423,712.4,-9.2,325,8029,0.00,2.53,0.00,0.000,1030,0.000,0.067,2613,2767,3446,3470,3422,0,0,0,0,0,0,14.40,14.32,14.47
$GC,8387,-0.82,-107.1,2613,2775,3471,3420,744.9,-8.8,335,8393,0.00,2.03,0.00,0.000,260,0.000,0.109,2605,3822,3445,3470,3420,0,0,0,0,0,0,14.92,14.19,14.92
$GC,8443,-0.82,-107.1,2605,3823,3471,3420,750.0,-9.2,343,8449,0.10,1.80,0.00,0.000,3078,0.216,0.044,2632,2777,3445,3470,3420,0,0,0,0,0,0,14.09,14.51,14.26
$GC,8779,-0.82,-107.1,2633,2777,3470,3420,776.4,-7.8,356,8786,0.00,2.45,0.00,0.000,516,0.000,0.044,2632,1372,3445,3471,3419,0,0,0,0,0,0,14.91,14.36,14.92
$GC,8848,-0.82,-107.1,2633,1372,3471,3420,781.9,-7.9,366,8855,0.00,2.55,0.00,0.000,1030,0.000,0.067,2623,2766,3443,3470,3417,0,0,0,0,0,0,14.39,14.29,14.45
$GC,9171,-0.82,-107.1,2624,2767,3470,3418,807.3,-7.9,377,9177,0.00,2.03,0.00,0.000,260,0.000,0.110,2615,3821,3443,3469,3418,0,0,0,0,0,0,14.91,14.16,14.91
$GC,9191,-0.82,-107.1,2616,3818,3467,3419,809.1,-8.0,380,9198,0.00,1.83,0.00,0.000,1030,0.000,0.043,2615,2762,3442,3467,3418,0,0,0,0,0,0,14.64,14.59,14.66
$GC,9507,-0.82,-107.1,2615,2762,3466,3419,835.9,-8.7,390,9513,0.00,2.42,0.00,0.000,516,0.000,0.044,2615,1378,3441,3466,3417,0,0,0,0,0,0,14.93,14.28,14.94
$GC,9563,-0.82,-107.1,2616,1378,3466,3418,840.8,-8.3,398,9569,0.00,2.55,0.00,0.000,1030,0.000,0.067,2605,2769,3441,3466,3417,0,0,0,0,0,0,14.36,14.26,14.40
$GC,9899,-0.82,-107.1,2604,2770,3468,3416,872.9,-9.7,411,9900,0.10,0.00,0.00,0.000,2054,0.258,0.000,2632,2769,3440,3466,3415,0,0,0,0,0,0,14.19,14.50,14.42
$GC,10235,-0.82,-107.1,2632,2768,3467,3414,902.9,-8.9,417,10241,0.00,2.47,0.00,0.000,516,0.000,0.045,2632,1379,3439,3465,3413,0,0,0,0,0,0,14.90,14.31,14.90
$GC,10304,-0.82,-107.1,2633,1379,3466,3414,909.3,-9.0,427,10311,0.00,2.55,0.00,0.000,1030,0.000,0.068,2623,2756,3438,3465,3412,0,0,0,0,0,0,14.34,14.24,14.45
$STATE,10569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10569,begin apogee
$GC,10575,-0.23,0.0,2624,2215,3465,3413,933.4,-9.0,437,10689,0.68,0.10,111.40,1.912,10244,0.183,0.153,2819,2278,3049,3092,3007,0,0,0,0,0,0,14.09,13.95,13.16
$STATE,10691,end apogee,CONTROL_FINISHED_OK
$STATE,10691,begin climb
$GC,10694,0.93,107.1,2820,2279,3090,3001,937.8,0.0,439,10817,1.15,2.53,114.75,1.922,10756,0.098,0.055,3186,893,2625,2681,2569,0,0,0,0,0,0,13.97,14.01,12.98
$GC,10865,0.81,116.7,3186,894,2678,2545,931.0,7.3,465,10873,0.00,2.45,4.15,1.746,9382,0.000,0.051,3186,2233,2585,2654,2517,0,0,0,0,0,0,13.99,13.92,12.60
$GC,11181,0.66,116.7,3186,2233,2654,2540,903.6,8.7,475,11187,0.25,2.65,1.48,0.240,12676,0.224,0.096,3116,3659,2585,2650,2520,0,0,0,0,0,0,14.08,14.19,13.98
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$STATE,22938,end climb,SURFACE_DEPTH_REACHED
$STATE,22938,begin surface coast
$FINISH,-1.2,1.020504
$STATE,22968,end surface coast,CONTROL_FINISHED_OK
$STATE,22968,begin surface
$SM_CCo,22987,24.20,0.155,0,0,1057,500.14
$SM_GC,-1.26,9.15,0.82,24.20,0.067,0.079,0.155,192,2769,1057,-8.40,-0.71,500.14,0,0,0,0,0,0,14.54,14.44,14.30
$IRIDIUM_FIX,949.50,-12511.90,101116,072100
$TT8_MAMPS,0.038199,0.429926
$HUMID,52.28
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.80
$XPDR_PINGS,0
$SC_FREEKB,3794528
$PM_FREEKB,56435776
$24V_AH,12.60,111.682
$10V_AH,12.77,0.000
$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,24.775,187.125,494.875,24.200,0.000,0.000,0.000,379.475,0.000,0.000,7.734,0.000,19708.113,852.141,2700.817,375.076,0.000,2056.863,0.000,1726.429,0.000,0.839,0.000
$DEVICE_MAMPS,391.680,153.000,2058.615,154.530,0.000,0.000,0.000,179.010,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,23023.000,22975.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.499,2.412,0.000,0.000
$MEM,334720
$DATA_FILE_SIZE,36642,965
$CAP_FILE_SIZE,169820,0
$CFSIZE,1024409600,961970176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,130.42,1
$GPS,101116,201634,950.693,-12508.563,21,1.8,23,9.0,0.8,120.9,4,10.0