version: 66.13
glider: 220
mission: 6
dive: 332
start: 11 19 116 7 1 23
data:
$ID,220
$MISSION,6
$DIVE,332
$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,61
$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
$GPS1,191116,064531,1011.9482,-12506.6025,24,0.8,24,9.1,0.7,10.3,10,3.5
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.04
$_SM_ANGLEo,-71.3
$GPS2,191116,070101,1012.1483,-12506.5342,3,0.8,5,9.1,0.3,343.8,11,3.3
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,W
$TGT_LATLONG,1000.000,-12519.390
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,204.8,32495,-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,-107.1,127,2786,1102,1017,0.0,0.0,0,91,0.00,0.00,-76.00,0.000,16390,0.000,0.000,121,2786,3478,3469,3488,0,0,0,0,0,0,14.67,12.67,14.66
$GC,94,-0.93,-107.1,121,2786,3469,3490,-1.5,-5.0,2,114,11.93,2.38,0.00,0.000,2564,0.387,0.033,2592,1360,3480,3471,3489,0,0,0,0,0,0,14.02,14.44,14.39
$GC,183,-0.70,-107.1,2592,1359,3474,3489,31.8,-19.2,16,189,0.32,2.55,0.00,0.000,3206,0.248,0.067,2667,2768,3480,3473,3488,0,0,0,0,0,0,14.04,14.28,14.25
$GC,506,-0.63,-107.1,2668,2768,3478,3489,69.2,-9.7,29,512,0.10,1.98,0.00,0.000,2436,0.254,0.107,2689,3825,3482,3476,3488,0,0,0,0,0,0,14.31,14.33,14.53
$GC,540,-0.63,-107.1,2689,3826,3477,3488,71.9,-7.7,34,546,0.00,1.80,0.00,0.000,1062,0.000,0.038,2689,2734,3482,3476,3488,0,0,0,0,0,0,14.66,14.62,14.68
$GC,870,-0.63,-107.1,2689,2738,3479,3489,95.5,-7.2,48,875,0.00,2.08,0.00,0.000,292,0.000,0.107,2680,3819,3482,3477,3488,0,0,0,0,0,0,14.88,14.36,14.88
$GC,1107,-0.63,-107.1,2678,3819,3478,3489,114.9,-7.8,82,1113,0.00,1.73,0.00,0.000,1030,0.000,0.039,2680,2779,3482,3478,3487,0,0,0,0,0,0,14.73,14.69,14.74
$GC,1430,-0.63,-107.1,2681,2779,3479,3487,140.2,-8.0,93,1436,0.00,2.00,0.00,0.000,260,0.000,0.107,2672,3819,3482,3478,3486,0,0,0,0,0,0,14.92,14.37,14.92
$GC,1526,-0.63,-107.1,2671,3820,3478,3485,148.9,-8.8,107,1533,0.00,1.75,0.00,0.000,1030,0.000,0.041,2672,2775,3481,3478,3485,0,0,0,0,0,0,14.73,14.69,14.75
$GC,1878,-0.63,-107.1,2672,2774,3478,3481,178.1,-8.2,115,1883,0.00,2.33,0.00,0.000,516,0.000,0.043,2672,1385,3479,3478,3480,0,0,0,0,0,0,14.93,14.53,14.93
$GC,1954,-0.63,-107.1,2672,1385,3470,3479,184.4,-8.1,126,1960,0.10,2.47,0.00,0.000,3078,0.201,0.066,2692,2775,3477,3477,3478,0,0,0,0,0,0,14.31,14.48,14.47
$GC,2270,-0.71,-107.1,2692,2777,3479,3474,206.9,-7.0,136,2271,0.00,0.00,0.00,0.000,166,0.000,0.000,2692,2776,3475,3477,3474,0,0,0,0,0,0,14.94,14.95,14.94
$GC,2606,-0.79,-107.1,2692,2777,3480,3468,229.2,-6.6,142,2607,0.10,0.00,0.00,0.000,4262,0.114,0.000,2618,2776,3472,3477,3468,0,0,0,0,0,0,14.69,14.76,14.73
$GC,2941,-0.79,-107.1,2619,2776,3478,3464,260.2,-9.4,148,2947,0.00,2.42,0.00,0.000,516,0.000,0.044,2617,1383,3470,3477,3463,0,0,0,0,0,0,14.95,14.53,14.95
$GC,2975,-0.79,-107.1,2615,1383,3478,3464,263.6,-9.7,153,2983,0.10,2.53,0.00,0.000,3078,0.225,0.067,2636,2778,3469,3477,3462,0,0,0,0,0,0,14.26,14.45,14.44
$GC,3333,-0.79,-107.1,2637,2779,3478,3458,296.7,-9.3,162,3339,0.00,2.00,0.00,0.000,260,0.000,0.109,2629,3823,3468,3477,3459,0,0,0,0,0,0,14.97,14.35,14.97
$GC,3382,-0.79,-107.1,2629,3824,3478,3459,301.6,-10.0,169,3390,0.00,1.77,0.00,0.000,1030,0.000,0.041,2628,2775,3467,3477,3458,0,0,0,0,0,0,14.74,14.69,14.76
$GC,3726,-0.79,-107.1,2632,2776,3478,3452,334.2,-9.5,176,3731,0.00,2.03,0.00,0.000,260,0.000,0.108,2620,3822,3464,3476,3452,0,0,0,0,0,0,14.95,14.35,14.95
$GC,3767,-0.79,-107.1,2621,3822,3478,3453,338.3,-10.1,182,3773,0.00,1.80,0.00,0.000,1030,0.000,0.041,2620,2758,3464,3477,3452,0,0,0,0,0,0,14.74,14.69,14.75
$GC,4117,-0.79,-107.1,2620,2759,3478,3449,371.8,-9.6,190,4123,0.00,2.35,0.00,0.000,516,0.000,0.042,2621,1389,3463,3477,3449,0,0,0,0,0,0,14.95,14.52,14.94
$GC,4151,-0.79,-107.1,2621,1389,3478,3449,375.2,-9.9,195,4158,0.10,2.47,0.00,0.000,3078,0.230,0.065,2639,2770,3462,3477,3447,0,0,0,0,0,0,14.23,14.45,14.42
$GC,4509,-0.79,-107.1,2639,2770,3477,3445,408.2,-9.3,204,4515,0.00,2.03,0.00,0.000,260,0.000,0.109,2631,3827,3460,3477,3443,0,0,0,0,0,0,14.95,14.33,14.95
$GC,4557,-0.79,-107.1,2639,3826,3478,3445,413.1,-10.1,211,4565,0.00,1.80,0.00,0.000,1030,0.000,0.042,2631,2769,3460,3477,3444,0,0,0,0,0,0,14.74,14.69,14.75
$GC,4902,-0.79,-107.1,2631,2769,3478,3441,446.3,-9.7,218,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2769,3461,3483,3439,0,0,0,0,0,0,14.94,14.94,14.94
$GC,5237,-0.79,-107.1,2631,2769,3478,3438,477.4,-9.1,224,5243,0.00,2.05,0.00,0.000,260,0.000,0.109,2623,3825,3457,3477,3437,0,0,0,0,0,0,14.94,14.33,14.94
$GC,5293,-0.79,-107.1,2623,3825,3478,3438,482.6,-9.4,232,5299,0.00,1.77,0.00,0.000,1030,0.000,0.043,2617,2772,3456,3477,3436,0,0,0,0,0,0,14.64,14.61,14.65
$GC,5630,-0.79,-107.1,2629,2772,3476,3433,510.3,-8.1,245,5636,0.00,2.03,0.00,0.000,260,0.000,0.107,2620,3815,3455,3475,3435,0,0,0,0,0,0,14.96,14.31,14.95
$GC,5692,-0.79,-107.1,2621,3818,3476,3435,515.9,-8.9,254,5698,0.00,1.77,0.00,0.000,1030,0.000,0.041,2617,2772,3454,3475,3433,0,0,0,0,0,0,14.71,14.66,14.71
$GC,6022,-0.79,-107.1,2620,2773,3476,3431,544.0,-8.6,266,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2772,3453,3475,3431,0,0,0,0,0,0,14.93,14.93,14.93
$GC,6358,-0.79,-107.1,2620,2776,3476,3429,573.1,-8.6,272,6363,0.00,2.05,0.00,0.000,260,0.000,0.107,2612,3821,3451,3475,3428,0,0,0,0,0,0,14.93,14.29,14.93
$GC,6384,-0.79,-107.1,2613,3821,3476,3429,575.5,-8.6,276,6391,0.10,1.77,0.00,0.000,3078,0.242,0.043,2640,2786,3451,3475,3428,0,0,0,0,0,0,14.28,14.65,14.52
$GC,6749,-0.79,-107.1,2640,2786,3476,3426,604.0,-7.8,286,6755,0.00,2.45,0.00,0.000,516,0.000,0.043,2640,1378,3450,3475,3425,0,0,0,0,0,0,14.94,14.46,14.93
$GC,6790,-0.79,-107.1,2640,1379,3476,3424,607.4,-8.1,292,6797,0.00,2.55,0.00,0.000,1030,0.000,0.065,2631,2784,3449,3475,3424,0,0,0,0,0,0,14.48,14.38,14.52
$GC,7141,-0.79,-107.1,2631,2785,3473,3423,637.1,-8.6,300,7147,0.00,2.00,0.00,0.000,260,0.000,0.112,2622,3825,3447,3472,3423,0,0,0,0,0,0,14.93,14.25,14.93
$GC,7203,-0.79,-107.1,2623,3826,3473,3423,642.8,-9.1,309,7211,0.00,1.80,0.00,0.000,1030,0.000,0.044,2622,2777,3447,3471,3423,0,0,0,0,0,0,14.66,14.62,14.68
$GC,7534,-0.79,-107.1,2622,2778,3471,3424,671.8,-8.7,321,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2777,3446,3470,3423,0,0,0,0,0,0,14.92,14.92,14.92
$GC,7870,-0.79,-107.1,2622,2777,3471,3422,700.4,-8.5,327,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2777,3445,3470,3421,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8206,-0.79,-107.1,2623,2777,3470,3421,728.3,-8.3,333,8207,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2776,3445,3470,3420,0,0,0,0,0,0,14.95,14.95,14.95
$GC,8541,-0.79,-107.1,2622,2780,3469,3419,756.7,-8.5,339,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2777,3443,3468,3419,0,0,0,0,0,0,14.95,14.94,14.95
$GC,8877,-0.79,-107.1,2622,2778,3469,3417,785.4,-8.5,345,8884,0.00,2.45,0.00,0.000,516,0.000,0.044,2621,1382,3444,3471,3417,0,0,0,0,0,0,14.95,14.40,14.95
$GC,8918,-0.79,-107.1,2622,1382,3469,3418,789.1,-8.7,351,8925,0.10,2.55,0.00,0.000,3078,0.230,0.066,2640,2772,3441,3467,3416,0,0,0,0,0,0,14.05,14.31,14.23
$GC,9269,-0.79,-107.1,2641,2772,3467,3417,817.1,-8.0,359,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2767,3441,3466,3416,0,0,0,0,0,0,14.95,14.94,14.95
$GC,9606,-0.79,-107.1,2640,2773,3465,3415,843.7,-7.9,365,9612,0.00,2.05,0.00,0.000,260,0.000,0.112,2633,3824,3439,3464,3415,0,0,0,0,0,0,14.91,14.16,14.91
$GC,9640,-0.79,-107.1,2633,3823,3464,3416,846.5,-7.2,370,9646,0.00,1.80,0.00,0.000,1062,0.000,0.045,2632,2777,3439,3464,3415,0,0,0,0,0,0,14.58,14.55,14.59
$GC,9998,-0.79,-107.1,2631,2777,3465,3414,874.1,-7.7,379,10003,0.00,2.42,0.00,0.000,548,0.000,0.044,2632,1367,3438,3464,3413,0,0,0,0,0,0,14.93,14.36,14.94
$GC,10074,-0.79,-107.1,2633,1367,3464,3413,880.0,-7.6,390,10080,0.00,2.58,0.00,0.000,1062,0.000,0.067,2623,2777,3438,3464,3412,0,0,0,0,0,0,14.35,14.26,14.41
$GC,10390,-0.79,-107.1,2623,2777,3464,3411,904.5,-7.7,400,10395,0.00,2.03,0.00,0.000,292,0.000,0.111,2615,3819,3437,3463,3411,0,0,0,0,0,0,14.90,14.13,14.90
$GC,10437,-0.79,-107.1,2615,3819,3463,3414,908.5,-8.4,407,10446,0.10,1.83,0.00,0.000,3078,0.239,0.044,2643,2772,3436,3462,3411,0,0,0,0,0,0,14.17,14.57,14.41
$STATE,10779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10779,begin apogee
$GC,10786,-0.23,0.0,2644,2215,3463,3410,932.9,-7.1,414,10897,0.60,0.10,108.68,2.005,10244,0.169,0.150,2820,2273,3049,3090,3009,0,0,0,0,0,0,14.14,13.95,13.07
$STATE,10899,end apogee,CONTROL_FINISHED_OK
$STATE,10899,begin climb
$GC,10902,0.93,107.1,2821,2274,3088,3003,936.1,0.0,416,11026,1.17,0.00,117.03,1.970,11270,0.099,0.000,3198,2273,2616,2677,2555,0,0,0,0,0,0,13.99,14.22,12.93
$GC,11342,0.77,107.1,3200,2273,2678,2542,904.9,8.7,445,11343,0.17,0.00,0.00,0.000,4230,0.239,0.000,3153,2273,2608,2677,2540,0,0,0,0,0,0,14.14,14.44,14.40
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$STATE,22581,end climb,SURFACE_DEPTH_REACHED
$STATE,22582,begin surface coast
$FINISH,-1.0,1.020916
$STATE,22610,end surface coast,CONTROL_FINISHED_OK
$STATE,22612,begin surface
$SM_CCo,22632,34.10,0.160,0,0,1058,500.14
$SM_GC,-2.72,9.43,0.93,34.10,0.083,0.086,0.160,180,2769,1058,-8.40,-0.65,500.14,0,0,0,0,0,0,14.57,14.38,14.26
$IRIDIUM_FIX,1007.02,-12508.32,191116,065014
$TT8_MAMPS,0.03745,0.345289
$HUMID,55.86
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.00
$XPDR_PINGS,1
$SC_FREEKB,3782240
$PM_FREEKB,56054848
$24V_AH,12.67,121.879
$10V_AH,12.71,0.000
$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
$DEVICE_SECS,25.275,192.125,469.750,34.100,0.000,0.000,0.000,533.800,0.250,0.000,7.147,0.000,19540.990,861.891,2771.608,404.428,0.000,2200.085,0.000,1660.279,0.000,0.839,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22671.000,22618.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.516,2.408,0.000,0.000
$MEM,334760
$DATA_FILE_SIZE,33396,921
$CAP_FILE_SIZE,166797,0
$CFSIZE,1024409600,957218816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,341.09,1
$GPS,191116,132011,1011.150,-12507.813,28,1.1,30,9.1,1.4,70.0,6,10.0