version: 66.13
glider: 220
mission: 6
dive: 323
start: 11 16 116 21 41 45
data:
$ID,220
$MISSION,6
$DIVE,323
$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,50
$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
$GPS1,161116,213025,1013.8194,-12454.0225,34,0.8,34,9.0,0.7,27.8,11,9.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.50
$_SM_ANGLEo,-72.3
$GPS2,161116,214123,1013.8599,-12453.9775,2,0.7,3,9.0,0.2,0.0,12,9.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,N
$TGT_LATLONG,1019.090,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,280.6,14636,-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,-107.1,181,2768,1108,1007,0.0,0.0,0,92,0.00,0.00,-76.75,0.000,16390,0.000,0.000,180,2767,3478,3470,3486,0,0,0,0,0,0,14.64,12.66,14.64
$GC,95,-0.93,-107.1,181,2769,3470,3488,-2.2,-4.0,2,115,11.70,1.92,0.00,0.000,2308,0.389,0.084,2585,3824,3479,3471,3487,0,0,0,0,0,0,14.00,14.31,14.38
$GC,219,-0.58,-107.1,2585,3825,3476,3488,45.7,-23.9,21,227,0.45,1.83,0.00,0.000,3206,0.242,0.036,2704,2737,3479,3473,3485,0,0,0,0,0,0,14.09,14.47,14.27
$GC,534,-0.58,-107.1,2704,2738,3478,3485,77.0,-5.6,33,541,0.00,2.33,0.00,0.000,548,0.000,0.042,2705,1380,3479,3477,3482,0,0,0,0,0,0,14.81,14.45,14.82
$GC,603,-0.58,-107.1,2705,1379,3479,3486,83.2,-6.4,43,610,0.00,2.45,0.00,0.000,1062,0.000,0.063,2695,2758,3482,3477,3487,0,0,0,0,0,0,14.47,14.35,14.52
$GC,926,-0.58,-107.1,2695,2759,3480,3486,110.0,-8.7,54,932,0.00,2.00,0.00,0.000,260,0.000,0.107,2687,3822,3482,3479,3486,0,0,0,0,0,0,14.88,14.34,14.88
$GC,1163,-0.58,-107.1,2687,3822,3479,3488,131.1,-8.4,88,1170,0.00,1.80,0.00,0.000,1030,0.000,0.040,2686,2753,3483,3479,3487,0,0,0,0,0,0,14.70,14.65,14.71
$GC,1486,-0.58,-107.1,2687,2753,3479,3486,155.2,-7.5,99,1492,0.00,2.05,0.00,0.000,292,0.000,0.108,2678,3821,3481,3479,3484,0,0,0,0,0,0,14.90,14.35,14.90
$GC,1618,-0.58,-107.1,2679,3821,3479,3484,166.1,-8.1,118,1625,0.10,1.80,0.00,0.000,3078,0.215,0.041,2709,2760,3480,3478,3483,0,0,0,0,0,0,14.35,14.62,14.54
$GC,1934,-0.66,-107.1,2710,2760,3479,3480,187.9,-6.9,128,1940,0.00,2.33,0.00,0.000,676,0.000,0.044,2709,1382,3478,3478,3479,0,0,0,0,0,0,14.93,14.57,14.93
$GC,2046,-0.76,-107.1,2709,1382,3479,3483,196.7,-6.6,144,2052,0.08,2.42,0.00,0.000,5286,0.139,0.065,2640,2764,3477,3478,3477,0,0,0,0,0,0,14.57,14.47,14.65
$GC,2382,-0.76,-107.1,2641,2766,3479,3473,229.1,-10.0,157,2389,0.00,2.00,0.00,0.000,260,0.000,0.109,2632,3820,3475,3478,3472,0,0,0,0,0,0,14.94,14.36,14.94
$GC,2423,-0.76,-107.1,2633,3821,3479,3473,233.7,-10.9,163,2430,0.00,1.83,0.00,0.000,1030,0.000,0.041,2631,2745,3474,3478,3471,0,0,0,0,0,0,14.73,14.68,14.74
$GC,2774,-0.76,-107.1,2632,2749,3479,3469,270.7,-10.5,171,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2744,3472,3478,3467,0,0,0,0,0,0,14.93,14.93,14.92
$GC,3110,-0.76,-107.1,2632,2745,3479,3462,305.4,-10.3,177,3116,0.00,2.08,0.00,0.000,260,0.000,0.109,2624,3819,3470,3479,3462,0,0,0,0,0,0,14.94,14.35,14.95
$GC,3172,-0.76,-107.1,2624,3819,3480,3463,312.1,-10.7,186,3179,0.10,1.80,0.00,0.000,3078,0.236,0.041,2652,2760,3470,3478,3462,0,0,0,0,0,0,14.36,14.69,14.59
$GC,3502,-0.76,-107.1,2653,2760,3479,3459,340.9,-8.6,198,3508,0.00,2.38,0.00,0.000,516,0.000,0.044,2653,1386,3467,3478,3457,0,0,0,0,0,0,14.95,14.50,14.95
$GC,3558,-0.76,-107.1,2653,1387,3479,3457,345.6,-8.5,206,3564,0.00,2.50,0.00,0.000,1030,0.000,0.066,2642,2763,3467,3478,3457,0,0,0,0,0,0,14.52,14.42,14.56
$GC,3894,-0.76,-107.1,2643,2764,3479,3453,375.9,-9.1,219,3900,0.00,2.03,0.00,0.000,260,0.000,0.111,2635,3821,3464,3478,3451,0,0,0,0,0,0,14.93,14.33,14.93
$GC,3942,-0.76,-107.1,2635,3822,3479,3452,380.5,-9.5,226,3950,0.00,1.83,0.00,0.000,1030,0.000,0.042,2635,2751,3465,3478,3452,0,0,0,0,0,0,14.72,14.67,14.73
$GC,4286,-0.76,-107.1,2635,2751,3479,3449,411.6,-9.0,233,4293,0.00,2.35,0.00,0.000,516,0.000,0.044,2634,1389,3463,3478,3449,0,0,0,0,0,0,14.93,14.51,14.93
$GC,4320,-0.76,-107.1,2635,1388,3479,3454,414.8,-9.2,238,4327,0.00,2.47,0.00,0.000,1030,0.000,0.067,2625,2761,3463,3478,3449,0,0,0,0,0,0,14.52,14.43,14.57
$GC,4678,-0.76,-107.1,2625,2763,3478,3446,448.7,-9.8,247,4679,0.10,0.00,0.00,0.000,2054,0.260,0.000,2653,2762,3461,3478,3444,0,0,0,0,0,0,14.33,14.62,14.56
$GC,5014,-0.76,-107.1,2653,2762,3478,3443,477.2,-8.3,253,5021,0.00,2.03,0.00,0.000,260,0.000,0.111,2645,3821,3459,3478,3440,0,0,0,0,0,0,14.95,14.31,14.95
$GC,5041,-0.76,-107.1,2645,3822,3480,3441,479.5,-8.4,257,5049,0.00,1.83,0.00,0.000,1030,0.000,0.043,2645,2757,3459,3478,3441,0,0,0,0,0,0,14.71,14.66,14.72
$GC,5406,-0.76,-107.1,2645,2758,3477,3439,509.9,-8.4,267,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2757,3458,3479,3438,0,0,0,0,0,0,14.95,14.95,14.95
$GC,5742,-0.76,-107.1,2644,2758,3478,3436,538.7,-8.6,273,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2757,3457,3478,3436,0,0,0,0,0,0,14.93,14.92,14.92
$GC,6078,-0.76,-107.1,2645,2756,3478,3440,567.9,-8.8,279,6084,0.00,2.08,0.00,0.000,260,0.000,0.111,2636,3816,3454,3477,3432,0,0,0,0,0,0,14.92,14.28,14.93
$GC,6119,-0.76,-107.1,2637,3819,3479,3432,571.8,-9.3,285,6127,0.00,1.85,0.00,0.000,1030,0.000,0.044,2636,2753,3454,3477,3432,0,0,0,0,0,0,14.69,14.63,14.69
$GC,6470,-0.76,-107.1,2636,2754,3473,3429,603.5,-9.1,293,6477,0.00,2.08,0.00,0.000,260,0.000,0.110,2628,3820,3455,3481,3429,0,0,0,0,0,0,14.95,14.26,14.95
$GC,6497,-0.76,-107.1,2633,3821,3478,3430,606.1,-9.4,297,6505,0.00,1.83,0.00,0.000,1030,0.000,0.044,2628,2769,3452,3476,3429,0,0,0,0,0,0,14.69,14.63,14.70
$GC,6862,-0.76,-107.1,2628,2769,3478,3427,638.2,-8.6,307,6868,0.00,2.45,0.00,0.000,516,0.000,0.046,2627,1363,3452,3478,3426,0,0,0,0,0,0,14.95,14.42,14.95
$GC,6918,-0.76,-107.1,2628,1363,3478,3427,642.9,-8.3,315,6924,0.10,2.55,0.00,0.000,3078,0.241,0.068,2645,2758,3450,3477,3424,0,0,0,0,0,0,14.08,14.33,14.27
$GC,7255,-0.76,-107.1,2646,2757,3476,3425,668.1,-7.4,328,7260,0.00,2.05,0.00,0.000,292,0.000,0.113,2637,3826,3449,3476,3423,0,0,0,0,0,0,14.91,14.23,14.91
$GC,7323,-0.76,-107.1,2638,3828,3476,3425,673.7,-8.2,338,7330,0.00,1.88,0.00,0.000,1030,0.000,0.045,2637,2751,3448,3474,3423,0,0,0,0,0,0,14.67,14.62,14.69
$GC,7646,-0.76,-107.1,2637,2751,3473,3425,698.6,-7.7,349,7653,0.00,2.40,0.00,0.000,548,0.000,0.046,2636,1375,3447,3472,3423,0,0,0,0,0,0,14.91,14.38,14.91
$GC,7687,-0.76,-107.1,2637,1375,3472,3425,701.9,-7.9,355,7694,0.00,2.53,0.00,0.000,1030,0.000,0.067,2627,2763,3447,3472,3423,0,0,0,0,0,0,14.44,14.34,14.48
$GC,8038,-0.76,-107.1,2628,2763,3471,3423,731.0,-8.3,363,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2763,3446,3471,3422,0,0,0,0,0,0,14.90,14.90,14.90
$GC,8374,-0.76,-107.1,2628,2765,3472,3421,759.8,-8.6,369,8380,0.00,2.05,0.00,0.000,260,0.000,0.114,2619,3821,3445,3470,3421,0,0,0,0,0,0,14.90,14.17,14.91
$GC,8408,-0.76,-107.1,2620,3822,3473,3422,762.9,-9.5,374,8415,0.12,1.88,0.00,0.000,3078,0.228,0.045,2661,2759,3445,3470,3421,0,0,0,0,0,0,14.14,14.59,14.30
$GC,8766,-0.76,-107.1,2661,2753,3471,3419,788.2,-6.9,383,8772,0.00,2.42,0.00,0.000,548,0.000,0.045,2661,1369,3444,3470,3419,0,0,0,0,0,0,14.90,14.38,14.90
$GC,8800,-0.76,-107.1,2661,1368,3471,3419,790.7,-7.6,388,8807,0.00,2.55,0.00,0.000,1062,0.000,0.067,2652,2762,3443,3470,3417,0,0,0,0,0,0,14.40,14.31,14.45
$GC,9158,-0.76,-107.1,2652,2764,3470,3419,816.0,-7.2,397,9164,0.00,2.42,0.00,0.000,548,0.000,0.045,2651,1366,3444,3470,3418,0,0,0,0,0,0,14.92,14.42,14.91
$GC,9199,-0.76,-107.1,2651,1366,3470,3419,819.1,-6.2,403,9206,0.00,2.55,0.00,0.000,1062,0.000,0.067,2643,2759,3442,3470,3415,0,0,0,0,0,0,14.38,14.27,14.44
$GC,9550,-0.76,-107.1,2644,2759,3469,3418,846.6,-8.1,411,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2759,3442,3468,3417,0,0,0,0,0,0,14.89,14.89,14.90
$GC,9886,-0.76,-107.1,2643,2760,3468,3416,873.8,-8.0,417,9887,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2759,3441,3467,3416,0,0,0,0,0,0,14.92,14.92,14.92
$GC,10223,-0.76,-107.1,2643,2760,3468,3414,900.1,-7.7,423,10228,0.00,2.45,0.00,0.000,548,0.000,0.046,2641,1357,3440,3467,3413,0,0,0,0,0,0,14.91,14.42,14.92
$GC,10263,-0.76,-107.1,2642,1357,3467,3415,903.3,-5.8,429,10271,0.00,2.60,0.00,0.000,1062,0.000,0.068,2632,2762,3439,3466,3413,0,0,0,0,0,0,14.36,14.26,14.42
$STATE,10612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10612,begin apogee
$GC,10619,-0.23,0.0,2633,2223,3466,3413,930.5,-7.8,437,10731,0.65,0.08,109.72,1.967,10244,0.181,0.179,2819,2261,3049,3092,3007,0,0,0,0,0,0,14.07,13.93,13.10
$STATE,10733,end apogee,CONTROL_FINISHED_OK
$STATE,10733,begin climb
$GC,10735,0.93,107.1,2819,2262,3089,3000,933.4,0.0,439,10862,1.15,2.50,117.07,1.965,10756,0.104,0.056,3179,886,2619,2680,2559,0,0,0,0,0,0,13.96,14.00,12.90
$GC,10888,0.78,107.1,3180,886,2678,2546,927.8,8.1,462,10896,0.00,2.53,0.00,0.000,1158,0.000,0.051,3179,2251,2610,2677,2544,0,0,0,0,0,0,13.90,13.83,13.91
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$STATE,22795,end climb,SURFACE_DEPTH_REACHED
$STATE,22795,begin surface coast
$FINISH,-0.8,1.020837
$STATE,22825,end surface coast,CONTROL_FINISHED_OK
$STATE,22825,begin surface
$SM_CCo,22845,43.25,0.162,0,0,1057,500.39
$SM_GC,-3.53,9.50,0.90,43.25,0.083,0.084,0.162,186,2768,1057,-8.39,-0.68,500.39,0,0,0,0,0,0,14.51,14.40,14.26
$IRIDIUM_FIX,1007.02,-12452.52,161116,144902
$TT8_MAMPS,0.038199,0.29211
$HUMID,56.14
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.70
$XPDR_PINGS,0
$SC_FREEKB,3785696
$PM_FREEKB,56159680
$24V_AH,12.66,118.766
$10V_AH,12.49,0.000
$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
$DEVICE_SECS,25.100,209.225,456.150,43.250,0.000,0.000,0.000,391.025,0.000,0.000,6.884,0.000,19585.512,876.029,2670.908,398.347,0.000,2092.617,0.000,1691.129,0.000,0.838,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22882.000,22831.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.496,2.427,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,33290,941
$CAP_FILE_SIZE,171215,0
$CFSIZE,1024409600,958562304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,333.44,1
$GPS,171116,040401,1015.213,-12456.274,17,0.8,17,9.0,0.3,175.2,10,5.8