version: 66.13
glider: 220
mission: 6
dive: 329
start: 11 18 116 10 49 22
data:
$ID,220
$MISSION,6
$DIVE,329
$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,66
$R_STBD_OVSHOOT,29
$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
$GPS1,181116,103931,1015.8572,-12502.4971,37,0.9,37,9.1,0.5,38.7,10,4.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.93
$_SM_ANGLEo,-68.1
$GPS2,181116,104902,1015.9279,-12502.4580,2,0.6,3,9.1,0.3,9.3,12,6.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,207.0,42705,-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,-107.1,144,2730,770,653,0.0,0.0,0,107,0.00,0.00,-90.65,0.000,16390,0.000,0.000,143,2730,3478,3464,3492,0,0,0,0,0,0,14.67,12.68,14.66
$GC,110,-0.93,-107.1,145,2731,3465,3491,0.3,-7.1,3,130,11.75,2.28,0.00,0.000,2564,0.385,0.035,2591,1376,3481,3470,3492,0,0,0,0,0,0,14.02,14.42,14.40
$GC,213,-0.65,-107.1,2590,1377,3473,3490,35.3,-20.8,19,219,0.35,2.50,0.00,0.000,3206,0.249,0.069,2686,2753,3480,3470,3491,0,0,0,0,0,0,14.11,14.27,14.39
$GC,549,-0.65,-107.1,2685,2754,3475,3490,73.1,-8.0,34,556,0.00,2.03,0.00,0.000,260,0.000,0.106,2677,3824,3482,3474,3490,0,0,0,0,0,0,14.83,14.31,14.83
$GC,661,-0.65,-107.1,2678,3825,3476,3491,81.3,-11.7,50,668,0.00,1.75,0.00,0.000,1030,0.000,0.042,2678,2774,3482,3474,3490,0,0,0,0,0,0,14.59,14.57,14.61
$GC,997,-0.65,-107.1,2678,2775,3478,3490,104.7,-7.3,64,1003,0.00,2.00,0.00,0.000,292,0.000,0.104,2669,3821,3487,3484,3490,0,0,0,0,0,0,14.89,14.35,14.90
$GC,1234,-0.65,-107.1,2669,3822,3478,3490,126.3,-8.8,98,1242,0.00,1.77,0.00,0.000,1030,0.000,0.041,2675,2766,3482,3476,3489,0,0,0,0,0,0,14.69,14.65,14.71
$GC,1557,-0.65,-107.1,2670,2766,3477,3488,154.9,-9.0,109,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2766,3480,3476,3484,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1893,-0.65,-107.1,2668,2767,3478,3486,185.8,-9.2,115,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2766,3481,3476,3486,0,0,0,0,0,0,14.92,14.92,14.90
$GC,2229,-0.65,-107.1,2669,2767,3477,3480,214.9,-8.5,121,2235,0.00,2.38,0.00,0.000,516,0.000,0.044,2669,1389,3478,3476,3481,0,0,0,0,0,0,14.94,14.53,14.95
$GC,2270,-0.65,-107.1,2669,1389,3476,3481,218.3,-8.3,127,2277,0.00,2.50,0.00,0.000,1030,0.000,0.065,2659,2785,3478,3476,3480,0,0,0,0,0,0,14.55,14.46,14.59
$GC,2621,-0.65,-107.1,2660,2786,3477,3478,249.4,-9.0,135,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2786,3476,3476,3476,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2957,-0.65,-107.1,2659,2787,3477,3469,281.2,-9.5,141,2963,0.10,1.95,0.00,0.000,2308,0.249,0.108,2680,3819,3473,3476,3470,0,0,0,0,0,0,14.38,14.36,14.59
$GC,3005,-0.65,-107.1,2681,3819,3477,3472,285.2,-8.1,148,3013,0.00,1.75,0.00,0.000,1030,0.000,0.042,2680,2793,3474,3476,3473,0,0,0,0,0,0,14.75,14.69,14.76
$GC,3349,-0.65,-107.1,2680,2794,3477,3467,312.1,-8.3,155,3355,0.00,2.45,0.00,0.000,516,0.000,0.044,2680,1374,3471,3476,3467,0,0,0,0,0,0,14.93,14.50,14.93
$GC,3418,-0.65,-107.1,2680,1375,3477,3466,317.5,-7.5,165,3425,0.00,2.55,0.00,0.000,1062,0.000,0.066,2670,2789,3471,3476,3466,0,0,0,0,0,0,14.49,14.40,14.53
$GC,3741,-0.65,-107.1,2671,2790,3477,3462,343.4,-8.2,176,3747,0.00,2.47,0.00,0.000,516,0.000,0.044,2670,1376,3469,3476,3462,0,0,0,0,0,0,14.93,14.49,14.93
$GC,3810,-0.65,-107.1,2671,1376,3476,3463,349.4,-8.5,186,3817,0.00,2.53,0.00,0.000,1030,0.000,0.066,2665,2780,3469,3476,3462,0,0,0,0,0,0,14.54,14.44,14.58
$GC,4133,-0.65,-107.1,2662,2781,3477,3458,378.2,-8.9,197,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2781,3467,3476,3458,0,0,0,0,0,0,14.92,14.90,14.93
$GC,4469,-0.65,-107.1,2662,2781,3477,3455,407.0,-8.5,203,4475,0.00,2.45,0.00,0.000,516,0.000,0.044,2661,1354,3465,3476,3455,0,0,0,0,0,0,14.92,14.52,14.93
$GC,4525,-0.65,-107.1,2662,1355,3477,3454,411.8,-8.5,211,4531,0.08,2.60,0.00,0.000,3078,0.230,0.067,2683,2775,3465,3476,3454,0,0,0,0,0,0,14.24,14.40,14.50
$GC,4861,-0.65,-107.1,2683,2775,3476,3453,436.8,-7.4,224,4867,0.00,2.40,0.00,0.000,548,0.000,0.044,2683,1379,3463,3476,3451,0,0,0,0,0,0,14.92,14.52,14.92
$GC,4895,-0.65,-107.1,2684,1379,3476,3447,439.4,-7.5,229,4902,0.00,2.55,0.00,0.000,1062,0.000,0.067,2674,2785,3463,3475,3451,0,0,0,0,0,0,14.52,14.43,14.56
$GC,5253,-0.65,-107.1,2674,2784,3476,3449,466.1,-7.4,238,5254,0.00,0.00,0.00,0.000,38,0.000,0.000,2674,2785,3462,3476,3448,0,0,0,0,0,0,14.94,14.95,14.94
$GC,5589,-0.65,-107.1,2674,2785,3476,3446,489.3,-6.8,244,5595,0.00,2.47,0.00,0.000,548,0.000,0.045,2674,1380,3463,3476,3451,0,0,0,0,0,0,14.94,14.46,14.95
$GC,5623,-0.65,-107.1,2674,1380,3476,3446,494.1,-10.3,249,5630,0.00,2.50,0.00,0.000,1030,0.000,0.067,2665,2771,3459,3475,3443,0,0,0,0,0,0,14.49,14.40,14.53
$GC,5981,-0.65,-107.1,2654,2773,3475,3440,521.7,-7.8,258,5982,0.10,0.00,0.00,0.000,2054,0.247,0.000,2683,2772,3457,3474,3441,0,0,0,0,0,0,14.33,14.62,14.55
$GC,6317,-0.75,-107.1,2684,2772,3475,3441,544.0,-6.6,264,6323,0.00,2.42,0.00,0.000,676,0.000,0.045,2684,1373,3456,3474,3439,0,0,0,0,0,0,14.94,14.51,14.94
$GC,6386,-0.86,-107.1,2685,1374,3475,3439,548.9,-6.9,274,6394,0.08,2.55,0.00,0.000,5286,0.090,0.067,2619,2779,3456,3474,3439,0,0,0,0,0,0,14.41,14.37,14.49
$GC,6709,-0.86,-107.1,2619,2780,3484,3437,577.1,-8.9,285,6715,0.00,2.00,0.00,0.000,260,0.000,0.109,2613,3825,3455,3474,3437,0,0,0,0,0,0,14.92,14.27,14.92
$GC,6785,-0.86,-107.1,2615,3825,3473,3438,584.1,-9.0,296,6792,0.00,1.83,0.00,0.000,1030,0.000,0.044,2611,2773,3455,3473,3437,0,0,0,0,0,0,14.69,14.64,14.71
$GC,7101,-0.86,-107.1,2611,2773,3472,3437,611.0,-8.5,306,7107,0.00,2.40,0.00,0.000,516,0.000,0.044,2611,1373,3454,3471,3437,0,0,0,0,0,0,14.91,14.47,14.92
$GC,7157,-0.86,-107.1,2615,1372,3472,3438,615.7,-8.2,314,7164,0.00,2.58,0.00,0.000,1030,0.000,0.067,2601,2770,3453,3471,3436,0,0,0,0,0,0,14.44,14.33,14.48
$GC,7493,-0.86,-107.1,2601,2774,3472,3435,645.3,-8.8,327,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2771,3453,3470,3436,0,0,0,0,0,0,14.91,14.91,14.91
$GC,7829,-0.86,-107.1,2602,2773,3470,3436,677.1,-9.6,333,7835,0.00,2.03,0.00,0.000,260,0.000,0.111,2593,3821,3452,3470,3434,0,0,0,0,0,0,14.94,14.23,14.91
$GC,7891,-0.86,-107.1,2594,3821,3469,3436,683.6,-10.5,342,7899,0.10,1.83,0.00,0.000,3078,0.253,0.044,2620,2770,3452,3469,3435,0,0,0,0,0,0,14.21,14.62,14.47
$GC,8221,-0.86,-107.1,2619,2770,3467,3433,714.4,-9.4,354,8228,0.00,2.45,0.00,0.000,516,0.000,0.045,2620,1374,3450,3468,3432,0,0,0,0,0,0,14.91,14.40,14.91
$GC,8255,-0.86,-107.1,2620,1375,3470,3432,717.7,-9.6,359,8262,0.00,2.55,0.00,0.000,1030,0.000,0.067,2611,2777,3449,3468,3431,0,0,0,0,0,0,14.42,14.32,14.48
$GC,8613,-0.86,-107.1,2612,2778,3469,3431,752.9,-9.9,368,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2776,3449,3467,3431,0,0,0,0,0,0,14.93,14.92,14.92
$GC,8949,-0.86,-107.1,2611,2777,3466,3430,784.8,-9.4,374,8955,0.00,2.03,0.00,0.000,260,0.000,0.109,2603,3829,3447,3464,3430,0,0,0,0,0,0,14.92,14.23,14.92
$GC,8983,-0.86,-107.1,2604,3829,3465,3432,788.4,-10.5,379,8990,0.00,1.85,0.00,0.000,1030,0.000,0.044,2602,2772,3447,3464,3431,0,0,0,0,0,0,14.66,14.62,14.67
$GC,9341,-0.86,-107.1,2602,2773,3466,3429,822.1,-9.4,388,9347,0.00,2.45,0.00,0.000,516,0.000,0.045,2601,1371,3448,3464,3432,0,0,0,0,0,0,14.92,14.37,14.92
$GC,9397,-0.86,-107.1,2601,1372,3465,3428,827.1,-9.2,396,9403,0.08,2.60,0.00,0.000,3078,0.243,0.067,2612,2774,3446,3464,3428,0,0,0,0,0,0,14.04,14.29,14.21
$GC,9733,-0.86,-107.1,2613,2774,3465,3428,856.3,-8.7,409,9739,0.00,2.03,0.00,0.000,260,0.000,0.109,2605,3820,3445,3464,3426,0,0,0,0,0,0,14.91,14.18,14.92
$GC,9823,-0.86,-107.1,2606,3820,3464,3428,864.6,-9.1,422,9831,0.00,1.85,0.00,0.000,1030,0.000,0.044,2605,2754,3444,3463,3426,0,0,0,0,0,0,14.62,14.57,14.64
$GC,10181,-0.86,-107.1,2605,2754,3462,3427,896.1,-8.7,431,10187,0.00,2.42,0.00,0.000,516,0.000,0.045,2604,1376,3443,3461,3426,0,0,0,0,0,0,14.89,14.35,14.88
$GC,10215,-0.86,-107.1,2605,1378,3463,3420,898.7,-6.4,436,10222,0.00,2.58,0.00,0.000,1062,0.000,0.067,2595,2778,3444,3461,3428,0,0,0,0,0,0,14.36,14.26,14.41
$STATE,10571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10571,begin apogee
$GC,10577,-0.23,0.0,2596,2226,3462,3426,931.4,-9.2,445,10687,0.80,0.00,100.80,2.658,10244,0.191,0.000,2822,2226,3053,3081,3026,0,0,0,0,1,0,14.08,13.85,12.59
$STATE,10688,end apogee,CONTROL_FINISHED_OK
$STATE,10688,begin climb
$GC,10691,0.93,107.1,2823,2227,3086,3032,935.4,0.0,447,10827,1.12,2.45,123.25,1.971,10756,0.101,0.057,3179,887,2616,2672,2560,0,0,0,0,0,0,13.87,13.89,12.82
$GC,10861,0.84,132.4,3179,887,2672,2552,929.8,6.5,472,10896,0.00,2.53,27.65,2.029,9382,0.000,0.050,3179,2259,2518,2585,2452,0,0,0,0,0,0,13.91,13.85,12.89
$GC,11247,0.71,132.4,3179,2259,2584,2435,896.8,8.8,485,11253,0.17,2.60,0.00,0.000,4484,0.231,0.097,3130,3649,2508,2583,2434,0,0,0,0,0,0,14.16,14.28,14.42
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$STATE,22564,end climb,SURFACE_DEPTH_REACHED
$STATE,22564,begin surface coast
$FINISH,-1.5,1.020871
$STATE,22592,end surface coast,CONTROL_FINISHED_OK
$STATE,22592,begin surface
$SM_CCo,22614,7.12,0.172,0,0,1057,500.14
$SM_GC,-1.89,9.40,0.90,7.12,0.080,0.083,0.172,175,2763,1057,-8.40,-0.79,500.14,0,0,0,0,0,0,14.59,14.38,14.23
$IRIDIUM_FIX,1009.21,-12503.47,181116,054313
$TT8_MAMPS,0.03745,0.352779
$HUMID,56.69
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.30
$XPDR_PINGS,0
$SC_FREEKB,3783392
$PM_FREEKB,56092864
$24V_AH,12.59,120.899
$10V_AH,12.18,0.000
$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,24.975,203.050,498.725,7.125,0.000,0.000,0.000,322.750,0.000,0.000,4.641,0.000,19325.316,846.325,2605.223,402.833,0.000,2004.857,0.000,1705.373,0.000,0.837,0.000
$DEVICE_MAMPS,384.795,110.925,2657.610,172.125,0.000,0.000,0.000,175.950,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22639.000,22597.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.544,2.405,0.000,0.000
$MEM,334740
$DATA_FILE_SIZE,33426,954
$CAP_FILE_SIZE,169089,0
$CFSIZE,1024409600,957661184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.010,326.09,1
$GPS,181116,170731,1014.398,-12503.732,37,0.8,37,9.1,0.5,296.6,11,3.9