version: 66.13
glider: 220
mission: 6
dive: 343
start: 11 22 116 8 14 44
data:
$ID,220
$MISSION,6
$DIVE,343
$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,57
$R_STBD_OVSHOOT,54
$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
$GPS1,221116,080301,1000.4482,-12519.0361,38,0.7,38,9.0,0.7,88.1,10,3.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.29
$_SM_ANGLEo,-70.2
$GPS2,221116,081421,1000.5607,-12519.0508,2,0.7,3,9.0,0.5,4.7,12,6.4
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,127.6,50339,-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,-107.1,106,2813,1102,1014,0.0,0.0,0,91,0.00,0.00,-76.12,0.000,16390,0.000,0.000,104,2814,3478,3470,3486,0,0,0,0,0,0,14.67,12.65,14.66
$GC,94,-0.93,-107.1,106,2815,3471,3485,1.2,-4.7,2,114,11.95,2.42,0.00,0.000,2564,0.388,0.033,2590,1369,3479,3473,3486,0,0,0,0,0,0,14.00,14.42,14.38
$GC,155,-0.63,-107.1,2590,1370,3474,3486,32.6,-28.3,12,162,0.40,2.47,0.00,0.000,3206,0.235,0.068,2689,2735,3480,3475,3486,0,0,0,0,0,0,14.10,14.31,14.28
$GC,478,-0.63,-107.1,2689,2736,3479,3486,71.4,-9.2,25,483,0.00,2.05,0.00,0.000,260,0.000,0.108,2681,3825,3481,3477,3486,0,0,0,0,0,0,14.84,14.28,14.84
$GC,715,-0.63,-107.1,2680,3826,3481,3486,92.1,-7.4,59,721,0.00,1.80,0.00,0.000,1062,0.000,0.038,2681,2745,3483,3480,3486,0,0,0,0,0,0,14.69,14.64,14.70
$GC,1038,-0.63,-107.1,2681,2746,3481,3486,114.2,-6.1,68,1044,0.00,2.05,0.00,0.000,292,0.000,0.106,2673,3821,3483,3480,3486,0,0,0,0,0,0,14.90,14.32,14.90
$GC,1086,-0.63,-107.1,2672,3821,3481,3491,117.5,-6.7,75,1093,0.00,1.75,0.00,0.000,1062,0.000,0.039,2672,2768,3480,3475,3486,0,0,0,0,0,0,14.73,14.69,14.74
$GC,1430,-0.63,-107.1,2672,2769,3481,3483,145.1,-9.4,82,1435,0.00,2.03,0.00,0.000,260,0.000,0.107,2664,3820,3482,3480,3485,0,0,0,0,0,0,14.97,14.38,14.95
$GC,1506,-0.63,-107.1,2665,3822,3481,3484,151.9,-8.8,93,1512,0.10,1.75,0.00,0.000,3078,0.220,0.039,2693,2776,3481,3480,3483,0,0,0,0,0,0,14.40,14.70,14.60
$GC,1822,-0.71,-107.1,2695,2776,3480,3481,176.5,-7.8,103,1827,0.00,2.33,0.00,0.000,644,0.000,0.040,2695,1385,3479,3480,3479,0,0,0,0,0,0,14.93,14.59,14.93
$GC,1912,-0.81,-107.1,2695,1387,3481,3479,183.8,-7.7,116,1919,0.08,2.45,0.00,0.000,5286,0.085,0.063,2621,2768,3478,3480,3477,0,0,0,0,0,0,14.52,14.47,14.60
$GC,2270,-0.81,-107.1,2622,2768,3481,3473,220.2,-10.2,125,2275,0.00,2.00,0.00,0.000,260,0.000,0.107,2613,3826,3476,3480,3472,0,0,0,0,0,0,14.95,14.42,14.95
$GC,2318,-0.81,-107.1,2613,3826,3481,3472,225.2,-10.2,132,2326,0.00,1.77,0.00,0.000,1030,0.000,0.038,2612,2767,3475,3480,3471,0,0,0,0,0,0,14.74,14.71,14.74
$GC,2662,-0.81,-107.1,2613,2768,3481,3467,258.2,-9.6,139,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2767,3474,3480,3468,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2998,-0.81,-107.1,2608,2767,3479,3463,289.9,-9.5,145,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2767,3470,3479,3462,0,0,0,0,0,0,14.97,14.97,14.97
$GC,3334,-0.81,-107.1,2612,2768,3481,3458,322.7,-9.9,151,3339,0.00,2.05,0.00,0.000,260,0.000,0.109,2604,3824,3468,3479,3457,0,0,0,0,0,0,14.95,14.37,14.95
$GC,3390,-0.81,-107.1,2604,3824,3481,3457,328.5,-10.5,159,3395,0.10,1.77,0.00,0.000,3078,0.221,0.041,2633,2778,3468,3480,3457,0,0,0,0,0,0,14.28,14.64,14.45
$GC,3726,-0.81,-107.1,2633,2778,3480,3454,357.9,-8.6,172,3732,0.00,2.42,0.00,0.000,516,0.000,0.042,2633,1375,3465,3479,3452,0,0,0,0,0,0,14.97,14.55,14.97
$GC,3767,-0.81,-107.1,2634,1375,3480,3453,361.3,-8.2,178,3773,0.00,2.50,0.00,0.000,1030,0.000,0.063,2623,2770,3466,3480,3452,0,0,0,0,0,0,14.55,14.45,14.59
$GC,4118,-0.81,-107.1,2624,2770,3480,3450,386.6,-6.7,186,4123,0.00,2.00,0.00,0.000,292,0.000,0.109,2615,3825,3464,3479,3449,0,0,0,0,0,0,14.95,14.35,14.94
$GC,4173,-0.81,-107.1,2616,3825,3480,3449,392.4,-13.2,194,4179,0.00,1.80,0.00,0.000,1030,0.000,0.041,2615,2765,3463,3479,3447,0,0,0,0,0,0,14.64,14.63,14.67
$GC,4510,-0.81,-107.1,2615,2758,3480,3445,427.0,-9.9,207,4515,0.00,2.35,0.00,0.000,516,0.000,0.042,2614,1365,3462,3480,3444,0,0,0,0,0,0,14.95,14.56,14.95
$GC,4537,-0.81,-107.1,2615,1366,3481,3444,430.2,-10.7,211,4543,0.10,2.53,0.00,0.000,3078,0.230,0.064,2633,2768,3461,3479,3444,0,0,0,0,0,0,14.21,14.44,14.40
$GC,4902,-0.81,-107.1,2634,2768,3480,3441,462.7,-8.7,221,4907,0.00,2.03,0.00,0.000,260,0.000,0.109,2624,3822,3459,3479,3439,0,0,0,0,0,0,14.95,14.33,15.00
$GC,4978,-0.81,-107.1,2625,3823,3481,3439,472.1,-8.3,232,4985,0.00,1.80,0.00,0.000,1030,0.000,0.041,2625,2767,3459,3479,3439,0,0,0,0,0,0,14.72,14.67,14.71
$GC,5294,-0.81,-107.1,2625,2768,3480,3433,497.2,-6.4,242,5299,0.00,2.35,0.00,0.000,548,0.000,0.041,2625,1375,3458,3479,3437,0,0,0,0,0,0,14.96,14.54,14.96
$GC,5391,-0.81,-107.1,2626,1374,3480,3437,509.2,-13.3,256,5398,0.00,2.50,0.00,0.000,1030,0.000,0.063,2615,2775,3457,3479,3436,0,0,0,0,0,0,14.50,14.42,14.55
$GC,5742,-0.81,-107.1,2616,2770,3481,3433,541.7,-9.2,264,5748,0.00,2.00,0.00,0.000,260,0.000,0.109,2607,3821,3453,3478,3429,0,0,0,0,0,0,14.93,14.31,14.93
$GC,5790,-0.81,-107.1,2607,3822,3480,3432,547.6,-10.2,271,5798,0.10,1.80,0.00,0.000,3078,0.248,0.042,2635,2770,3455,3479,3432,0,0,0,0,0,0,14.29,14.67,14.54
$GC,6134,-0.81,-107.1,2636,2768,3480,3430,573.7,-7.7,278,6139,0.00,2.42,0.00,0.000,548,0.000,0.043,2635,1371,3454,3479,3429,0,0,0,0,0,0,14.94,14.47,14.94
$GC,6189,-0.81,-107.1,2639,1372,3480,3428,579.2,-7.8,286,6195,0.00,2.53,0.00,0.000,1030,0.000,0.065,2626,2767,3453,3479,3428,0,0,0,0,0,0,14.47,14.38,14.52
$GC,6526,-0.81,-107.1,2626,2768,3477,3427,605.6,-8.0,299,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2767,3451,3476,3427,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6862,-0.81,-107.1,2626,2767,3473,3428,633.0,-8.4,305,6867,0.00,2.45,0.00,0.000,516,0.000,0.043,2625,1368,3449,3472,3427,0,0,0,0,0,0,14.93,14.46,14.93
$GC,6918,-0.81,-107.1,2625,1374,3472,3427,637.8,-8.9,313,6923,0.00,2.53,0.00,0.000,1030,0.000,0.065,2615,2767,3449,3472,3427,0,0,0,0,0,0,14.45,14.36,14.50
$GC,7253,-0.81,-107.1,2616,2768,3472,3426,667.2,-8.4,326,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2766,3448,3471,3426,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7590,-0.81,-107.1,2616,2767,3471,3425,696.8,-8.6,332,7596,0.00,2.45,0.00,0.000,516,0.000,0.044,2615,1373,3446,3470,3423,0,0,0,0,0,0,14.95,14.43,14.95
$GC,7666,-0.81,-107.1,2615,1372,3471,3425,703.5,-8.9,343,7672,0.10,2.53,0.00,0.000,3078,0.230,0.065,2633,2763,3446,3470,3423,0,0,0,0,0,0,14.09,14.34,14.28
$GC,7982,-0.81,-107.1,2634,2763,3471,3422,728.3,-7.7,353,7983,0.00,0.00,0.00,0.000,38,0.000,0.000,2634,2763,3445,3470,3421,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8318,-0.81,-107.1,2634,2764,3470,3421,755.1,-7.7,359,8323,0.00,2.40,0.00,0.000,548,0.000,0.044,2634,1374,3444,3468,3421,0,0,0,0,0,0,14.92,14.46,14.92
$GC,8352,-0.81,-107.1,2634,1374,3469,3422,757.9,-8.6,364,8359,0.00,2.55,0.00,0.000,1030,0.000,0.067,2624,2764,3448,3476,3421,0,0,0,0,0,0,14.42,14.32,14.47
$GC,8710,-0.81,-107.1,2625,2764,3469,3420,786.9,-8.2,373,8715,0.00,2.05,0.00,0.000,260,0.000,0.112,2616,3817,3443,3468,3419,0,0,0,0,0,0,14.91,14.20,14.91
$GC,8766,-0.81,-107.1,2616,3818,3468,3421,792.3,-9.1,381,8771,0.00,1.80,0.00,0.000,1030,0.000,0.044,2613,2770,3443,3467,3419,0,0,0,0,0,0,14.54,14.52,14.57
$GC,9102,-0.81,-107.1,2614,2771,3465,3419,801.6,-1.8,394,9102,0.00,0.00,0.00,0.000,38,0.000,0.000,2615,2770,3441,3464,3419,0,0,0,0,0,0,14.93,14.93,14.93
$GC,9438,-0.81,-107.1,2615,2771,3465,3418,840.9,-9.9,400,9439,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2770,3441,3464,3418,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9773,-0.81,-107.1,2615,2771,3465,3417,872.9,-9.9,406,9779,0.00,2.45,0.00,0.000,516,0.000,0.044,2614,1373,3439,3464,3415,0,0,0,0,0,0,14.93,14.36,14.94
$GC,9822,-0.81,-107.1,2614,1374,3465,3416,875.8,-8.0,413,9830,0.10,2.53,0.00,0.000,3078,0.230,0.066,2633,2760,3440,3464,3416,0,0,0,0,0,0,14.01,14.27,14.19
$GC,10166,-0.81,-107.1,2634,2760,3465,3415,903.2,-7.2,420,10166,0.00,0.00,0.00,0.000,38,0.000,0.000,2633,2760,3438,3464,3413,0,0,0,0,0,0,14.93,14.92,14.92
$GC,10502,-0.81,-107.1,2634,2760,3464,3413,926.9,-7.1,426,10503,0.00,0.00,0.00,0.000,38,0.000,0.000,2631,2759,3438,3464,3412,0,0,0,0,0,0,14.90,14.90,14.90
$STATE,10555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10555,begin apogee
$GC,10562,-0.23,0.0,2634,2222,3465,3412,930.3,-7.0,427,10674,0.65,0.10,109.62,1.980,10244,0.177,0.159,2822,2282,3049,3091,3007,0,0,0,0,0,0,14.12,13.95,13.06
$STATE,10676,end apogee,CONTROL_FINISHED_OK
$STATE,10676,begin climb
$GC,10678,0.93,107.1,2822,2283,3088,3001,935.0,0.0,429,10805,1.12,2.55,117.40,1.980,10756,0.098,0.056,3185,882,2622,2682,2562,0,0,0,0,0,0,14.00,14.02,12.90
$GC,10824,0.75,107.1,3183,882,2678,2548,930.5,9.0,451,10832,0.15,2.50,0.00,0.000,5254,0.216,0.050,3145,2241,2610,2677,2544,0,0,0,0,0,0,13.72,13.86,13.87
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$STATE,22410,end climb,SURFACE_DEPTH_REACHED
$STATE,22411,begin surface coast
$FINISH,-1.3,1.020918
$STATE,22436,end surface coast,CONTROL_FINISHED_OK
$STATE,22436,begin surface
$SM_CCo,22456,24.98,0.155,0,0,1056,500.14
$SM_GC,-0.11,8.93,0.95,24.98,0.046,0.082,0.155,190,2759,1056,-8.39,-0.79,500.14,0,0,0,0,0,0,14.52,14.40,14.28
$IRIDIUM_FIX,958.26,-12518.00,221116,013107
$TT8_MAMPS,0.038199,0.443408
$HUMID,54.29
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.10
$XPDR_PINGS,1
$SC_FREEKB,3778016
$PM_FREEKB,55915456
$24V_AH,12.65,125.426
$10V_AH,12.38,0.000
$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,24.675,195.500,505.375,24.975,0.000,0.000,0.000,404.050,0.250,0.000,7.658,0.000,19214.020,865.175,2652.392,413.435,0.000,2090.746,0.000,1671.145,0.000,0.839,0.000
$DEVICE_MAMPS,387.855,159.120,1999.710,154.530,0.000,0.000,0.000,180.540,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22494.000,22443.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.469,2.412,0.000,0.000
$MEM,334700
$DATA_FILE_SIZE,33342,934
$CAP_FILE_SIZE,166626,0
$CFSIZE,1024409600,955580416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,56.27,1
$GPS,221116,143038,959.617,-12516.937,42,0.9,42,9.0,0.1,0.0,8,6.8