version: 66.13
glider: 220
mission: 6
dive: 310
start: 11 13 116 7 47 29
data:
$ID,220
$MISSION,6
$DIVE,310
$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,60
$R_STBD_OVSHOOT,20
$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
$GPS1,131116,073631,948.2482,-12452.4561,33,0.7,33,9.0,0.6,31.1,11,3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.35
$_SM_ANGLEo,-73.4
$GPS2,131116,074707,948.2177,-12452.2637,2,0.6,2,9.0,1.0,95.7,12,7.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,27.8,30461,-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,-107.1,176,2785,1103,1018,0.0,0.0,0,91,0.00,0.00,-76.03,0.000,16390,0.000,0.000,174,2785,3478,3470,3487,0,0,0,0,0,0,14.65,12.68,14.66
$GC,94,-0.93,-107.1,175,2785,3471,3489,-0.7,-5.2,2,114,11.77,2.38,0.00,0.000,2564,0.395,0.031,2590,1344,3480,3473,3488,0,0,0,0,0,0,14.02,14.45,14.40
$GC,295,-0.71,-107.1,2591,1347,3476,3487,59.6,-16.1,32,301,0.30,2.55,0.00,0.000,3206,0.243,0.068,2662,2759,3481,3476,3487,0,0,0,0,0,0,14.08,14.33,14.29
$GC,617,-0.71,-107.1,2668,2760,3481,3487,88.7,-8.8,45,623,0.00,2.00,0.00,0.000,260,0.000,0.107,2660,3825,3483,3480,3487,0,0,0,0,0,0,14.83,14.34,14.83
$GC,645,-0.71,-107.1,2661,3825,3480,3489,91.1,-8.9,49,651,0.00,1.77,0.00,0.000,1030,0.000,0.037,2660,2745,3483,3480,3486,0,0,0,0,0,0,14.59,14.58,14.62
$GC,1009,-0.71,-107.1,2660,2746,3482,3487,121.7,-8.8,61,1015,0.00,2.05,0.00,0.000,260,0.000,0.105,2651,3822,3483,3480,3487,0,0,0,0,0,0,14.91,14.36,14.92
$GC,1086,-0.71,-107.1,2651,3827,3481,3487,129.0,-9.5,72,1092,0.00,1.75,0.00,0.000,1030,0.000,0.037,2652,2759,3483,3480,3487,0,0,0,0,0,0,14.71,14.67,14.72
$GC,1401,-0.71,-107.1,2652,2759,3481,3485,160.0,-10.0,82,1407,0.00,2.30,0.00,0.000,516,0.000,0.042,2652,1410,3483,3480,3486,0,0,0,0,0,0,14.91,14.50,14.91
$GC,1435,-0.71,-107.1,2652,1411,3481,3485,163.5,-10.2,87,1443,0.00,2.42,0.00,0.000,1030,0.000,0.067,2642,2768,3482,3480,3484,0,0,0,0,0,0,14.52,14.43,14.58
$GC,1793,-0.71,-107.1,2642,2769,3481,3480,199.0,-9.8,96,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2768,3480,3480,3480,0,0,0,0,0,0,14.92,14.92,14.92
$GC,2129,-0.71,-107.1,2642,2767,3481,3477,231.6,-9.7,102,2135,0.00,1.98,0.00,0.000,260,0.000,0.109,2634,3814,3476,3478,3475,0,0,0,0,0,0,14.91,14.35,14.94
$GC,2156,-0.71,-107.1,2633,3817,3479,3475,234.3,-9.7,106,2163,0.12,1.75,0.00,0.000,3078,0.231,0.039,2670,2780,3477,3480,3475,0,0,0,0,0,0,14.33,14.70,14.58
$GC,2521,-0.71,-107.1,2670,2781,3481,3469,263.7,-8.0,116,2527,0.00,2.40,0.00,0.000,516,0.000,0.042,2670,1383,3473,3480,3466,0,0,0,0,0,0,14.94,14.52,14.94
$GC,2590,-0.71,-107.1,2670,1383,3481,3469,269.2,-7.8,126,2597,0.00,2.47,0.00,0.000,1030,0.000,0.065,2660,2764,3474,3480,3468,0,0,0,0,0,0,14.54,14.44,14.58
$GC,2913,-0.71,-107.1,2661,2764,3481,3465,295.5,-8.2,137,2919,0.00,2.00,0.00,0.000,260,0.000,0.109,2652,3820,3471,3480,3463,0,0,0,0,0,0,14.96,14.31,14.96
$GC,2969,-0.71,-107.1,2653,3819,3481,3464,300.3,-8.7,145,2975,0.00,1.77,0.00,0.000,1030,0.000,0.041,2652,2761,3471,3480,3463,0,0,0,0,0,0,14.66,14.64,14.68
$GC,3305,-0.71,-107.1,2652,2762,3481,3459,329.8,-9.0,158,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2760,3472,3485,3459,0,0,0,0,0,0,14.95,14.96,14.95
$GC,3641,-0.71,-107.1,2652,2762,3481,3455,361.6,-9.5,164,3647,0.00,2.05,0.00,0.000,260,0.000,0.108,2644,3825,3467,3480,3455,0,0,0,0,0,0,14.95,14.33,14.96
$GC,3675,-0.71,-107.1,2644,3826,3481,3455,365.0,-10.0,169,3682,0.00,1.80,0.00,0.000,1030,0.000,0.042,2643,2771,3467,3480,3455,0,0,0,0,0,0,14.74,14.69,14.75
$GC,4033,-0.71,-107.1,2644,2770,3481,3452,399.1,-9.6,178,4039,0.00,2.03,0.00,0.000,260,0.000,0.107,2636,3821,3465,3480,3451,0,0,0,0,0,0,14.95,14.27,14.94
$GC,4060,-0.71,-107.1,2636,3822,3481,3451,401.9,-10.0,182,4067,0.10,1.80,0.00,0.000,3078,0.233,0.041,2665,2767,3465,3480,3451,0,0,0,0,0,0,14.33,14.69,14.57
$GC,4426,-0.71,-107.1,2665,2765,3480,3448,433.3,-8.5,192,4431,0.00,2.35,0.00,0.000,516,0.000,0.043,2665,1377,3463,3480,3446,0,0,0,0,0,0,14.95,14.53,14.95
$GC,4515,-0.71,-107.1,2665,1377,3481,3446,441.0,-8.2,205,4522,0.00,2.53,0.00,0.000,1030,0.000,0.064,2656,2776,3462,3480,3445,0,0,0,0,0,0,14.51,14.42,14.55
$GC,4873,-0.71,-107.1,2694,2778,3480,3444,471.6,-8.7,214,4879,0.00,2.00,0.00,0.000,260,0.000,0.109,2687,3829,3461,3479,3444,0,0,0,0,0,0,14.93,14.26,14.94
$GC,4921,-0.71,-107.1,2688,3829,3481,3442,476.0,-9.3,221,4929,0.00,1.80,0.00,0.000,1030,0.000,0.042,2686,2770,3460,3479,3441,0,0,0,0,0,0,14.72,14.66,14.72
$GC,5265,-0.71,-107.1,2686,2771,3480,3441,505.9,-8.7,228,5271,0.00,2.40,0.00,0.000,516,0.000,0.042,2685,1376,3458,3479,3438,0,0,0,0,0,0,14.93,14.47,14.93
$GC,5321,-0.71,-107.1,2684,1378,3480,3438,510.7,-8.6,236,5327,0.00,2.53,0.00,0.000,1030,0.000,0.067,2675,2770,3459,3479,3439,0,0,0,0,0,0,14.47,14.37,14.52
$GC,5657,-0.71,-107.1,2675,2771,3480,3436,539.7,-8.6,249,5663,0.00,2.03,0.00,0.000,260,0.000,0.110,2667,3826,3461,3479,3443,0,0,0,0,0,0,14.95,14.28,14.95
$GC,5684,-0.71,-107.1,2668,3827,3480,3436,542.1,-8.8,253,5691,0.00,1.83,0.00,0.000,1030,0.000,0.043,2667,2759,3457,3479,3436,0,0,0,0,0,0,14.69,14.64,14.71
$GC,6049,-0.71,-107.1,2668,2759,3480,3433,573.5,-8.6,263,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2760,3455,3479,3432,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6385,-0.71,-107.1,2667,2760,3479,3431,603.7,-9.0,269,6391,0.00,2.08,0.00,0.000,260,0.000,0.109,2658,3824,3454,3479,3430,0,0,0,0,0,0,14.95,14.26,14.95
$GC,6426,-0.71,-107.1,2658,3825,3479,3431,607.7,-9.8,275,6433,0.00,1.83,0.00,0.000,1030,0.000,0.043,2657,2762,3454,3479,3429,0,0,0,0,0,0,14.69,14.62,14.70
$GC,6777,-0.71,-107.1,2656,2763,3480,3426,639.8,-9.1,283,6783,0.00,2.40,0.00,0.000,516,0.000,0.042,2656,1376,3453,3479,3427,0,0,0,0,0,0,14.95,14.45,14.95
$GC,6797,-0.71,-107.1,2656,1373,3480,3426,641.8,-9.1,286,6804,0.00,2.55,0.00,0.000,1030,0.000,0.067,2647,2769,3453,3479,3427,0,0,0,0,0,0,14.45,14.36,14.51
$GC,7113,-0.71,-107.1,2648,2769,3477,3427,672.4,-9.8,296,7119,0.00,2.03,0.00,0.000,260,0.000,0.109,2640,3824,3451,3476,3426,0,0,0,0,0,0,14.92,14.23,14.92
$GC,7147,-0.71,-107.1,2640,3823,3476,3428,676.1,-10.8,301,7154,0.10,1.83,0.00,0.000,3078,0.254,0.043,2665,2768,3450,3475,3426,0,0,0,0,0,0,14.23,14.61,14.42
$GC,7505,-0.71,-107.1,2666,2769,3474,3426,708.9,-9.2,310,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2768,3449,3473,3426,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7841,-0.71,-107.1,2664,2768,3473,3427,738.3,-8.7,316,7847,0.00,2.38,0.00,0.000,516,0.000,0.043,2666,1373,3447,3472,3423,0,0,0,0,0,0,14.95,14.42,14.95
$GC,7875,-0.71,-107.1,2665,1374,3473,3423,741.3,-8.6,321,7882,0.00,2.55,0.00,0.000,1030,0.000,0.066,2656,2774,3447,3472,3423,0,0,0,0,0,0,14.42,14.32,14.47
$GC,8234,-0.71,-107.1,2657,2775,3472,3424,771.3,-8.3,330,8239,0.00,2.42,0.00,0.000,516,0.000,0.043,2655,1363,3446,3471,3422,0,0,0,0,0,0,14.91,14.45,14.91
$GC,8267,-0.71,-107.1,2656,1363,3472,3423,774.2,-8.5,335,8275,0.00,2.58,0.00,0.000,1030,0.000,0.067,2647,2778,3444,3467,3421,0,0,0,0,0,0,14.40,14.31,14.45
$GC,8625,-0.71,-107.1,2646,2779,3472,3421,803.8,-8.4,344,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2778,3448,3475,3421,0,0,0,0,0,0,14.91,14.91,14.91
$GC,8961,-0.71,-107.1,2644,2780,3471,3420,831.3,-8.4,350,8962,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2778,3445,3470,3421,0,0,0,0,0,0,14.94,14.94,14.94
$GC,9297,-0.71,-107.1,2646,2779,3471,3418,860.9,-8.9,356,9303,0.00,2.45,0.00,0.000,516,0.000,0.044,2644,1368,3444,3470,3419,0,0,0,0,0,0,14.94,14.41,14.93
$GC,9345,-0.71,-107.1,2645,1368,3471,3420,865.0,-8.4,363,9355,0.10,2.58,0.00,0.000,3078,0.241,0.068,2661,2769,3444,3470,3419,0,0,0,0,0,0,14.00,14.28,14.19
$GC,9689,-0.71,-107.1,2661,2770,3470,3419,894.0,-8.5,370,9695,0.00,2.05,0.00,0.000,260,0.000,0.112,2655,3825,3443,3469,3418,0,0,0,0,0,0,14.93,14.14,14.94
$GC,9716,-0.71,-107.1,2655,3826,3469,3419,896.5,-8.0,374,9723,0.00,1.85,0.00,0.000,1030,0.000,0.045,2655,2762,3443,3468,3418,0,0,0,0,0,0,14.62,14.55,14.63
$GC,10081,-0.71,-107.1,2653,2762,3466,3417,929.8,-9.2,384,10087,0.00,2.42,0.00,0.000,516,0.000,0.044,2653,1377,3441,3466,3417,0,0,0,0,0,0,14.89,14.32,14.89
$STATE,10092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10092,begin apogee
$GC,10099,-0.23,0.0,2649,2257,3466,3418,931.1,-9.2,386,10210,0.62,0.00,108.53,1.956,10244,0.196,0.000,2819,2257,3050,3091,3010,0,0,0,0,0,0,14.09,14.00,13.14
$STATE,10211,end apogee,CONTROL_FINISHED_OK
$STATE,10211,begin climb
$GC,10214,0.93,107.1,2821,2259,3088,3003,935.8,0.0,388,10341,1.20,2.50,115.45,1.965,10756,0.123,0.054,3181,859,2616,2677,2555,0,0,0,0,0,0,13.96,14.00,12.93
$GC,10573,0.86,116.5,3181,858,2678,2542,916.3,7.3,440,10584,0.00,2.42,3.60,1.562,9382,0.000,0.052,3181,2252,2591,2656,2526,0,0,0,0,0,0,14.25,14.18,12.86
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$STATE,21000,end climb,SURFACE_DEPTH_REACHED
$STATE,21000,begin surface coast
$FINISH,-2.0,1.020775
$STATE,21028,end surface coast,CONTROL_FINISHED_OK
$STATE,21028,begin surface
$SM_CCo,21050,27.77,0.155,0,0,1057,500.39
$SM_GC,-1.98,9.40,0.93,27.77,0.075,0.078,0.155,182,2774,1057,-8.39,-0.62,500.39,0,0,0,0,0,0,14.54,14.42,14.28
$IRIDIUM_FIX,940.75,-12454.86,131116,010048
$TT8_MAMPS,0.038199,0.413448
$HUMID,53.22
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.00
$XPDR_PINGS,3
$SC_FREEKB,3790688
$PM_FREEKB,56314688
$24V_AH,12.68,114.745
$10V_AH,12.72,0.000
$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,24.500,186.350,481.950,27.775,0.000,0.000,0.000,374.450,0.750,0.000,4.220,0.000,18020.584,845.552,2457.740,372.974,0.000,1981.667,0.000,1546.389,0.000,0.839,0.000
$DEVICE_MAMPS,394.740,111.690,2027.250,155.295,0.000,0.000,0.000,177.480,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21083.000,21034.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.492,2.419,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,30047,859
$CAP_FILE_SIZE,151877,0
$CFSIZE,1024409600,960528384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,35.49,1
$GPS,131116,133950,950.739,-12450.648,21,1.4,33,9.0,0.6,79.4,7,5.8