version: 66.13
glider: 220
mission: 6
dive: 344
start: 11 22 116 14 41 54
data:
$ID,220
$MISSION,6
$DIVE,344
$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,64
$R_STBD_OVSHOOT,19
$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
$GPS1,221116,143038,959.6173,-12516.9365,42,0.9,42,9.0,0.1,0.0,8,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.37
$_SM_ANGLEo,-70.2
$GPS2,221116,144132,959.7389,-12516.9580,2,0.9,5,9.0,0.7,289.0,8,10.0
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,152.7,46631,-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,-107.1,105,2772,1099,1018,0.0,0.0,0,92,0.00,0.00,-76.80,0.000,16390,0.000,0.000,104,2773,3479,3470,3488,0,0,0,0,0,0,14.67,12.65,14.66
$GC,95,-0.93,-107.1,106,2773,3470,3496,1.1,-4.5,2,115,12.10,2.35,0.00,0.000,2564,0.392,0.033,2591,1363,3480,3472,3488,0,0,0,0,0,0,14.00,14.45,14.38
$GC,163,-0.62,-107.1,2590,1363,3467,3489,33.5,-25.7,13,172,0.43,2.55,0.00,0.000,3206,0.261,0.071,2690,2771,3481,3474,3488,0,0,0,0,0,0,14.01,14.27,14.23
$GC,479,-0.62,-107.1,2691,2771,3478,3488,77.3,-10.7,25,485,0.00,1.98,0.00,0.000,260,0.000,0.109,2683,3819,3482,3477,3488,0,0,0,0,0,0,14.85,14.27,14.85
$GC,576,-0.62,-107.1,2680,3820,3479,3487,85.7,-7.9,39,582,0.00,1.77,0.00,0.000,1030,0.000,0.039,2683,2756,3483,3478,3488,0,0,0,0,0,0,14.67,14.62,14.68
$GC,927,-0.62,-107.1,2683,2757,3481,3488,111.7,-6.7,50,932,0.00,2.33,0.00,0.000,548,0.000,0.041,2682,1384,3483,3479,3488,0,0,0,0,0,0,14.91,14.51,14.92
$GC,1017,-0.62,-107.1,2683,1385,3481,3488,118.3,-7.1,63,1023,0.00,2.47,0.00,0.000,1062,0.000,0.065,2673,2774,3484,3480,3488,0,0,0,0,0,0,14.54,14.46,14.58
$GC,1375,-0.62,-107.1,2674,2775,3481,3487,142.3,-6.8,72,1380,0.00,1.98,0.00,0.000,292,0.000,0.109,2665,3823,3482,3479,3486,0,0,0,0,0,0,14.92,14.39,14.92
$GC,1478,-0.62,-107.1,2665,3825,3481,3486,150.3,-7.9,87,1486,0.10,1.75,0.00,0.000,3078,0.225,0.040,2694,2780,3482,3479,3486,0,0,0,0,0,0,14.40,14.71,14.62
$GC,1823,-0.70,-107.1,2695,2780,3480,3482,176.0,-7.7,94,1828,0.00,2.35,0.00,0.000,676,0.000,0.042,2699,1384,3480,3479,3482,0,0,0,0,0,0,14.95,14.55,14.95
$GC,1913,-0.79,-107.1,2695,1385,3484,3481,183.3,-7.9,107,1919,0.05,2.47,0.00,0.000,5254,0.117,0.067,2629,2768,3479,3479,3480,0,0,0,0,0,0,14.41,14.42,14.50
$GC,2270,-0.79,-107.1,2630,2769,3480,3476,220.4,-10.6,116,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2768,3477,3479,3475,0,0,0,0,0,0,14.97,14.97,14.97
$GC,2607,-0.79,-107.1,2631,2770,3480,3470,254.5,-10.1,122,2612,0.00,2.00,0.00,0.000,260,0.000,0.112,2621,3824,3474,3479,3470,0,0,0,0,0,0,14.97,14.40,14.97
$GC,2647,-0.79,-107.1,2621,3825,3480,3469,258.8,-10.4,128,2654,0.00,1.77,0.00,0.000,1030,0.000,0.041,2620,2773,3474,3479,3470,0,0,0,0,0,0,14.76,14.73,14.77
$GC,2998,-0.79,-107.1,2621,2773,3480,3467,294.3,-10.2,136,3004,0.00,2.40,0.00,0.000,516,0.000,0.043,2620,1379,3472,3479,3465,0,0,0,0,0,0,14.97,14.54,14.97
$GC,3032,-0.79,-107.1,2621,1378,3480,3465,297.9,-10.3,141,3040,0.10,2.53,0.00,0.000,3078,0.223,0.067,2639,2775,3471,3479,3464,0,0,0,0,0,0,14.26,14.48,14.43
$GC,3390,-0.79,-107.1,2640,2776,3480,3459,331.4,-9.4,150,3396,0.00,2.00,0.00,0.000,260,0.000,0.112,2632,3825,3469,3479,3460,0,0,0,0,0,0,14.95,14.36,14.95
$GC,3424,-0.79,-107.1,2632,3825,3480,3460,334.7,-9.7,155,3431,0.00,1.80,0.00,0.000,1030,0.000,0.042,2631,2773,3469,3479,3459,0,0,0,0,0,0,14.75,14.69,14.76
$GC,3782,-0.79,-107.1,2626,2773,3480,3454,368.0,-9.2,164,3788,0.00,2.42,0.00,0.000,516,0.000,0.042,2631,1365,3466,3479,3454,0,0,0,0,0,0,14.95,14.53,14.95
$GC,3823,-0.79,-107.1,2632,1365,3481,3453,371.8,-9.0,170,3830,0.00,2.53,0.00,0.000,1030,0.000,0.067,2621,2769,3466,3479,3453,0,0,0,0,0,0,14.54,14.45,14.59
$GC,4174,-0.79,-107.1,2622,2768,3480,3451,403.9,-9.2,178,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2767,3463,3476,3450,0,0,0,0,0,0,14.97,14.97,14.97
$GC,4510,-0.79,-107.1,2622,2768,3480,3447,435.7,-9.5,184,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2769,3462,3479,3446,0,0,0,0,0,0,14.97,14.97,14.97
$GC,4846,-0.79,-107.1,2622,2768,3479,3444,468.1,-9.7,190,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2768,3461,3479,3443,0,0,0,0,0,0,14.95,14.94,14.98
$GC,5183,-0.79,-107.1,2622,2769,3480,3439,500.9,-9.7,196,5188,0.00,2.40,0.00,0.000,516,0.000,0.044,2621,1375,3459,3479,3439,0,0,0,0,0,0,14.97,14.50,14.96
$GC,5209,-0.79,-107.1,2621,1376,3473,3439,503.7,-10.1,200,5216,0.10,2.50,0.00,0.000,3078,0.223,0.067,2640,2761,3463,3488,3439,0,0,0,0,0,0,14.21,14.41,14.38
$GC,5574,-0.79,-107.1,2640,2762,3480,3436,536.0,-8.8,210,5580,0.00,2.42,0.00,0.000,516,0.000,0.043,2640,1378,3457,3479,3436,0,0,0,0,0,0,14.95,14.49,14.95
$GC,5602,-0.79,-107.1,2638,1374,3480,3436,538.4,-8.7,214,5608,0.00,2.50,0.00,0.000,1030,0.000,0.067,2631,2764,3457,3478,3436,0,0,0,0,0,0,14.50,14.40,14.55
$GC,5966,-0.79,-107.1,2631,2764,3479,3433,570.5,-8.7,224,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2764,3454,3478,3430,0,0,0,0,0,0,14.96,14.96,14.96
$GC,6303,-0.79,-107.1,2631,2764,3479,3430,598.5,-8.3,230,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2764,3453,3478,3429,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6638,-0.79,-107.1,2631,2765,3480,3425,626.3,-8.2,236,6644,0.00,2.42,0.00,0.000,516,0.000,0.044,2629,1379,3452,3479,3426,0,0,0,0,0,0,14.96,14.47,14.96
$GC,6658,-0.79,-107.1,2630,1379,3477,3427,628.0,-8.3,239,6665,0.00,2.50,0.00,0.000,1030,0.000,0.067,2621,2762,3452,3478,3426,0,0,0,0,0,0,14.49,14.40,14.57
$GC,6974,-0.79,-107.1,2621,2762,3479,3427,656.0,-9.0,249,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2762,3451,3475,3427,0,0,0,0,0,0,14.94,14.94,14.94
$GC,7310,-0.79,-107.1,2620,2763,3472,3426,685.7,-8.8,255,7316,0.00,2.42,0.00,0.000,516,0.000,0.045,2620,1382,3449,3472,3426,0,0,0,0,0,0,14.93,14.44,14.93
$GC,7366,-0.79,-107.1,2620,1383,3473,3426,690.6,-8.6,263,7372,0.10,2.50,0.00,0.000,3078,0.249,0.068,2638,2770,3448,3470,3426,0,0,0,0,0,0,14.20,14.38,14.45
$GC,7702,-0.79,-107.1,2639,2770,3471,3426,716.7,-7.7,276,7703,0.00,0.00,0.00,0.000,38,0.000,0.000,2638,2770,3447,3470,3425,0,0,0,0,0,0,14.95,14.95,14.95
$GC,8039,-0.79,-107.1,2639,2769,3471,3421,741.7,-7.4,282,8044,0.00,2.42,0.00,0.000,548,0.000,0.044,2632,1372,3446,3470,3422,0,0,0,0,0,0,14.92,14.47,14.92
$GC,8072,-0.79,-107.1,2639,1371,3471,3423,744.4,-7.8,287,8079,0.00,2.55,0.00,0.000,1030,0.000,0.067,2629,2764,3446,3470,3422,0,0,0,0,0,0,14.44,14.33,14.47
$GC,8430,-0.79,-107.1,2630,2764,3470,3423,772.6,-7.9,296,8436,0.00,2.05,0.00,0.000,260,0.000,0.114,2621,3822,3441,3462,3421,0,0,0,0,0,0,14.95,14.22,14.95
$GC,8478,-0.79,-107.1,2622,3822,3469,3422,776.6,-8.4,303,8486,0.00,1.85,0.00,0.000,1030,0.000,0.044,2621,2753,3444,3468,3421,0,0,0,0,0,0,14.66,14.60,14.67
$GC,8822,-0.79,-107.1,2620,2752,3468,3421,803.1,-7.7,310,8828,0.00,2.35,0.00,0.000,548,0.000,0.044,2620,1377,3444,3468,3420,0,0,0,0,0,0,14.91,14.44,14.91
$GC,8863,-0.79,-107.1,2621,1376,3468,3421,806.6,-8.4,316,8870,0.10,2.55,0.00,0.000,3078,0.217,0.067,2640,2762,3443,3468,3419,0,0,0,0,0,0,14.08,14.31,14.25
$GC,9214,-0.79,-107.1,2640,2763,3468,3418,830.5,-6.7,324,9215,0.00,0.00,0.00,0.000,38,0.000,0.000,2640,2762,3443,3467,3419,0,0,0,0,0,0,14.91,14.91,14.91
$GC,9551,-0.79,-107.1,2640,2762,3469,3420,854.9,-7.3,330,9556,0.00,2.42,0.00,0.000,548,0.000,0.045,2640,1372,3444,3471,3418,0,0,0,0,0,0,14.90,14.44,14.91
$GC,9584,-0.79,-107.1,2640,1372,3463,3419,857.6,-5.6,335,9591,0.00,2.55,0.00,0.000,1062,0.000,0.067,2633,2757,3438,3459,3418,0,0,0,0,0,0,14.40,14.30,14.45
$GC,9942,-0.79,-107.1,2629,2764,3465,3417,885.8,-8.3,344,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2763,3440,3464,3417,0,0,0,0,0,0,14.93,14.93,14.92
$GC,10278,-0.79,-107.1,2628,2763,3463,3416,913.9,-8.3,350,10284,0.00,2.40,0.00,0.000,516,0.000,0.045,2629,1377,3439,3464,3415,0,0,0,0,0,0,14.93,14.40,14.93
$GC,10313,-0.79,-107.1,2630,1372,3464,3416,916.9,-5.7,355,10319,0.00,2.55,0.00,0.000,1062,0.000,0.068,2620,2761,3439,3464,3414,0,0,0,0,0,0,14.30,14.20,14.35
$STATE,10500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10500,begin apogee
$GC,10507,-0.23,0.0,2621,2232,3464,3415,933.0,-8.3,361,10615,0.70,0.00,101.57,2.681,10244,0.185,0.000,2821,2231,3051,3091,3011,0,0,0,0,1,0,14.08,13.84,12.57
$STATE,10617,end apogee,CONTROL_FINISHED_OK
$STATE,10617,begin climb
$GC,10620,0.93,107.1,2822,2232,3093,3017,937.0,0.0,363,10755,1.15,2.47,124.28,1.964,10756,0.100,0.057,3185,872,2617,2676,2558,0,0,0,0,0,0,13.85,13.88,12.81
$GC,10789,0.83,135.2,3185,872,2678,2547,932.2,6.3,388,10825,0.00,2.55,31.40,2.004,9382,0.000,0.050,3185,2256,2510,2580,2440,0,0,0,0,0,0,13.91,13.85,12.86
$GC,11168,0.71,135.2,3185,2256,2578,2420,898.7,9.1,400,11173,0.20,2.62,0.00,0.000,4484,0.227,0.099,3128,3652,2498,2578,2419,0,0,0,0,0,0,14.16,14.28,14.42
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$STATE,22456,end climb,SURFACE_DEPTH_REACHED
$STATE,22456,begin surface coast
$FINISH,-1.1,1.020893
$STATE,22484,end surface coast,CONTROL_FINISHED_OK
$STATE,22485,begin surface
$SM_CCo,22505,33.83,0.158,0,0,1059,500.14
$SM_GC,-1.58,9.25,0.90,33.83,0.076,0.081,0.158,191,2769,1059,-8.38,-0.68,500.14,0,0,0,0,0,0,14.54,14.40,14.26
$IRIDIUM_FIX,953.88,-12518.00,221116,080739
$TT8_MAMPS,0.038199,0.2996
$HUMID,55.74
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.50
$XPDR_PINGS,0
$SC_FREEKB,3777632
$PM_FREEKB,55904320
$24V_AH,12.57,125.753
$10V_AH,12.56,0.000
$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,25.025,190.300,466.100,33.825,0.000,0.000,0.000,378.975,0.000,0.000,6.787,0.000,19446.299,831.409,2491.710,407.711,0.000,1963.603,0.000,1556.343,0.000,0.838,0.000
$DEVICE_MAMPS,391.680,113.985,2681.325,157.590,0.000,0.000,0.000,180.540,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22541.000,22491.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.447,2.409,0.000,0.000
$MEM,334776
$DATA_FILE_SIZE,30036,851
$CAP_FILE_SIZE,160627,0
$CFSIZE,1024409600,955465728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,56.79,1
$GPS,221116,205831,958.117,-12515.791,28,0.8,28,9.0,0.5,307.0,10,6.8