version: 66.13
glider: 220
mission: 6
dive: 355
start: 11 25 116 16 30 16
data:
$ID,220
$MISSION,6
$DIVE,355
$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,21
$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
$GPS1,251116,161131,943.6865,-12500.8594,17,0.8,17,9.0,0.7,42.2,11,3.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.19
$_SM_ANGLEo,-71.0
$GPS2,251116,162953,943.8948,-12500.7314,2,0.8,3,9.0,0.7,103.5,10,8.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,173.7,5687,-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,-107.1,106,2776,1099,1020,0.0,0.0,0,92,0.00,0.00,-77.15,0.000,16390,0.000,0.000,105,2775,3478,3470,3486,0,0,0,0,0,0,14.68,12.64,14.68
$GC,95,-0.93,-107.1,105,2775,3470,3488,-0.8,-4.2,2,115,11.82,2.38,0.00,0.000,2564,0.383,0.037,2590,1369,3479,3472,3487,0,0,0,0,0,0,14.02,14.39,14.39
$GC,156,-0.64,-107.1,2592,1368,3474,3488,29.8,-26.1,12,163,0.38,2.53,0.00,0.000,3206,0.233,0.070,2683,2767,3480,3474,3487,0,0,0,0,0,0,14.10,14.31,14.29
$GC,479,-0.64,-107.1,2684,2766,3476,3487,71.0,-11.3,25,484,0.00,2.38,0.00,0.000,516,0.000,0.042,2683,1370,3481,3476,3486,0,0,0,0,0,0,14.84,14.50,14.84
$GC,703,-0.64,-107.1,2684,1369,3478,3487,88.4,-7.1,57,708,0.00,2.47,0.00,0.000,1062,0.000,0.067,2674,2782,3482,3478,3487,0,0,0,0,0,0,14.61,14.45,14.64
$GC,1039,-0.64,-107.1,2674,2783,3479,3486,112.9,-7.6,69,1044,0.00,1.95,0.00,0.000,292,0.000,0.108,2665,3818,3481,3476,3486,0,0,0,0,0,0,14.91,14.35,14.91
$GC,1178,-0.64,-107.1,2670,3818,3478,3487,124.2,-8.0,89,1184,0.00,1.75,0.00,0.000,1030,0.000,0.038,2665,2757,3481,3477,3486,0,0,0,0,0,0,14.69,14.64,14.70
$GC,1543,-0.64,-107.1,2666,2758,3479,3481,151.1,-7.4,99,1543,0.00,0.00,0.00,0.000,38,0.000,0.000,2665,2757,3479,3478,3481,0,0,0,0,0,0,14.95,14.96,14.95
$GC,1879,-0.64,-107.1,2664,2758,3478,3477,179.1,-8.5,105,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2757,3477,3478,3477,0,0,0,0,0,0,14.96,14.96,14.96
$GC,2215,-0.64,-107.1,2666,2758,3479,3470,206.9,-8.3,111,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2757,3473,3477,3470,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2551,-0.64,-107.1,2666,2757,3478,3467,235.0,-8.4,117,2556,0.00,2.08,0.00,0.000,260,0.000,0.110,2657,3827,3471,3477,3466,0,0,0,0,0,0,14.92,14.42,14.93
$GC,2607,-0.64,-107.1,2656,3828,3478,3466,240.0,-9.2,125,2612,0.10,1.73,0.00,0.000,3078,0.194,0.044,2688,2806,3471,3478,3465,0,0,0,0,0,0,14.35,14.65,14.50
$GC,2943,-0.73,-107.1,2689,2806,3478,3462,266.3,-7.8,138,2948,0.00,2.42,0.00,0.000,644,0.000,0.045,2689,1379,3468,3477,3460,0,0,0,0,0,0,14.95,14.57,14.95
$GC,3068,-0.83,-107.1,2689,1378,3478,3459,275.8,-7.5,156,3075,0.08,2.50,0.00,0.000,5286,0.086,0.068,2616,2786,3467,3477,3457,0,0,0,0,0,0,14.51,14.45,14.57
$GC,3391,-0.83,-107.1,2617,2786,3478,3454,308.1,-10.1,167,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2786,3465,3477,3453,0,0,0,0,0,0,14.95,14.95,14.95
$GC,3727,-0.83,-107.1,2618,2786,3478,3450,340.6,-9.5,173,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2786,3462,3477,3448,0,0,0,0,0,0,14.97,14.97,14.97
$GC,4063,-0.83,-107.1,2616,2786,3477,3446,371.6,-9.2,179,4068,0.00,2.38,0.00,0.000,516,0.000,0.044,2615,1378,3459,3477,3442,0,0,0,0,0,0,14.95,14.57,14.95
$GC,4125,-0.83,-107.1,2616,1379,3478,3452,377.6,-9.4,188,4132,0.00,2.50,0.00,0.000,1030,0.000,0.069,2606,2781,3460,3477,3444,0,0,0,0,0,0,14.53,14.43,14.57
$GC,4455,-0.83,-107.1,2606,2784,3478,3440,410.9,-10.2,200,4461,0.00,1.95,0.00,0.000,260,0.000,0.109,2598,3826,3458,3477,3440,0,0,0,0,0,0,14.97,14.33,14.97
$GC,4511,-0.83,-107.1,2598,3825,3478,3440,417.0,-10.9,208,4517,0.10,1.75,0.00,0.000,3078,0.212,0.043,2626,2778,3458,3477,3440,0,0,0,0,0,0,14.28,14.63,14.43
$GC,4847,-0.83,-107.1,2627,2777,3477,3437,448.5,-9.3,221,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2778,3456,3477,3436,0,0,0,0,0,0,14.96,14.96,14.96
$GC,5183,-0.83,-107.1,2627,2778,3478,3434,478.8,-9.1,227,5188,0.00,2.40,0.00,0.000,516,0.000,0.044,2626,1376,3454,3477,3432,0,0,0,0,0,0,14.95,14.50,14.95
$GC,5210,-0.83,-107.1,2626,1376,3478,3432,481.4,-9.1,231,5216,0.00,2.50,0.00,0.000,1030,0.000,0.065,2617,2779,3454,3477,3432,0,0,0,0,0,0,14.54,14.44,14.57
$GC,5575,-0.83,-107.1,2617,2778,3477,3430,515.5,-9.5,241,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2779,3453,3477,3429,0,0,0,0,0,0,14.97,14.97,14.97
$GC,5911,-0.83,-107.1,2617,2780,3478,3426,549.0,-10.1,247,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2779,3450,3475,3426,0,0,0,0,0,0,14.94,14.95,14.95
$GC,6247,-0.83,-107.1,2617,2779,3475,3426,583.4,-10.3,253,6252,0.00,2.40,0.00,0.000,516,0.000,0.044,2616,1374,3450,3475,3425,0,0,0,0,0,0,14.94,14.51,14.94
$GC,6295,-0.83,-107.1,2615,1376,3474,3425,588.3,-9.8,260,6303,0.00,2.53,0.00,0.000,1030,0.000,0.068,2607,2781,3449,3473,3425,0,0,0,0,0,0,14.48,14.40,14.53
$GC,6639,-0.83,-107.1,2607,2783,3472,3425,621.0,-9.5,267,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2781,3448,3471,3425,0,0,0,0,0,0,14.95,14.95,14.95
$GC,6975,-0.83,-107.1,2607,2783,3471,3424,649.0,-8.2,273,6980,0.00,2.40,0.00,0.000,516,0.000,0.044,2605,1375,3447,3470,3425,0,0,0,0,0,0,14.95,14.51,14.95
$GC,7031,-0.83,-107.1,2605,1375,3471,3425,653.6,-8.0,281,7036,0.12,2.53,0.00,0.000,3078,0.252,0.067,2630,2789,3446,3470,3423,0,0,0,0,0,0,14.18,14.40,14.45
$GC,7367,-0.83,-107.1,2631,2789,3471,3422,678.2,-7.4,294,7368,0.00,0.00,0.00,0.000,38,0.000,0.000,2630,2789,3446,3471,3421,0,0,0,0,0,0,14.95,14.95,14.95
$GC,7703,-0.83,-107.1,2631,2790,3469,3421,704.5,-7.9,300,7709,0.00,2.42,0.00,0.000,516,0.000,0.045,2631,1380,3444,3468,3420,0,0,0,0,0,0,14.95,14.47,14.95
$GC,7772,-0.83,-107.1,2631,1381,3472,3421,710.3,-8.1,310,7778,0.00,2.55,0.00,0.000,1030,0.000,0.068,2621,2776,3443,3467,3419,0,0,0,0,0,0,14.42,14.33,14.47
$GC,8095,-0.83,-107.1,2621,2777,3465,3419,737.5,-8.5,321,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2777,3442,3465,3419,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8431,-0.83,-107.1,2622,2777,3465,3418,766.8,-8.7,327,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2777,3441,3465,3417,0,0,0,0,0,0,14.92,14.92,14.92
$GC,8767,-0.83,-107.1,2622,2778,3466,3415,795.6,-8.6,333,8772,0.00,2.40,0.00,0.000,516,0.000,0.044,2622,1380,3439,3464,3415,0,0,0,0,0,0,14.94,14.45,14.94
$GC,8857,-0.83,-107.1,2621,1381,3465,3415,803.4,-8.2,346,8863,0.00,2.53,0.00,0.000,1030,0.000,0.069,2611,2771,3439,3463,3415,0,0,0,0,0,0,14.40,14.31,14.46
$GC,9215,-0.83,-107.1,2609,2777,3464,3413,833.7,-8.4,355,9215,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2774,3437,3462,3413,0,0,0,0,0,0,14.91,14.92,14.92
$GC,9551,-0.83,-107.1,2611,2776,3464,3413,860.4,-7.8,361,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2776,3436,3462,3411,0,0,0,0,0,0,14.94,14.94,14.90
$GC,9887,-0.83,-107.1,2611,2776,3461,3412,885.4,-7.2,367,9892,0.00,2.42,0.00,0.000,548,0.000,0.047,2610,1373,3436,3462,3410,0,0,0,0,0,0,14.93,14.42,14.94
$GC,9914,-0.83,-107.1,2610,1374,3465,3410,887.5,-6.4,371,9920,0.10,2.58,0.00,0.000,3110,0.229,0.069,2628,2773,3438,3466,3410,0,0,0,0,0,0,14.02,14.27,14.21
$GC,10279,-0.83,-107.1,2629,2773,3463,3413,910.6,-6.3,381,10284,0.00,2.03,0.00,0.000,292,0.000,0.116,2621,3821,3436,3462,3410,0,0,0,0,0,0,14.92,14.14,14.93
$GC,10313,-0.83,-107.1,2626,3821,3461,3408,912.9,-4.2,386,10319,0.00,1.83,0.00,0.000,1062,0.000,0.045,2621,2774,3435,3463,3408,0,0,0,0,0,0,14.61,14.54,14.61
$STATE,10612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10612,begin apogee
$GC,10619,-0.23,0.0,2621,2221,3461,3409,933.9,-7.1,394,10731,0.70,0.08,109.12,1.981,10244,0.175,0.175,2825,2258,3049,3091,3007,0,0,0,0,0,0,14.07,13.93,13.02
$STATE,10732,end apogee,CONTROL_FINISHED_OK
$STATE,10732,begin climb
$GC,10735,0.93,107.1,2825,2259,3088,3001,936.3,0.0,396,10859,1.12,0.00,117.45,1.958,11270,0.089,0.000,3198,2258,2616,2680,2553,0,0,0,0,0,0,14.00,14.23,12.93
$GC,11175,0.78,107.1,3198,2259,2681,2537,905.5,8.5,425,11181,0.15,2.42,0.00,0.000,4740,0.243,0.061,3166,885,2608,2679,2537,0,0,0,0,0,0,14.14,14.33,14.40
$GC,11223,0.70,112.8,3167,886,2679,2538,901.8,7.5,432,11231,0.12,2.40,0.00,0.000,5286,0.219,0.052,3131,2254,2607,2679,2536,0,0,0,0,0,0,14.13,14.33,14.29
$GC,11567,0.74,150.2,3131,2251,2680,2534,881.1,5.9,439,11623,0.00,2.70,46.70,1.934,8484,0.000,0.100,3131,3653,2446,2520,2372,0,0,0,0,0,0,14.81,14.17,13.28
$GC,11708,0.74,150.2,3132,3653,2520,2367,870.8,8.2,459,11713,0.00,2.38,0.00,0.000,1030,0.000,0.041,3142,2277,2442,2519,2365,0,0,0,0,0,0,14.42,14.35,14.45
$GC,12071,0.75,152.0,3142,2274,2521,2360,843.4,7.7,469,12072,0.00,0.00,0.00,0.000,38,0.000,0.000,3142,2273,2440,2520,2360,0,0,0,0,0,0,14.76,14.75,14.76
$GC,12407,0.75,152.1,3142,2273,2520,2358,817.2,7.7,475,12413,0.00,2.58,0.00,0.000,292,0.000,0.101,3141,3644,2438,2519,2357,0,0,0,0,0,0,14.81,14.33,14.81
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$STATE,22890,end climb,SURFACE_DEPTH_REACHED
$STATE,22890,begin surface coast
$FINISH,-1.2,1.020991
$STATE,22918,end surface coast,CONTROL_FINISHED_OK
$STATE,22918,begin surface
$SM_CCo,22939,19.30,0.165,0,0,1056,500.14
$SM_GC,-2.79,9.32,0.88,19.30,0.080,0.082,0.165,186,2768,1056,-8.39,-0.74,500.14,0,0,0,0,0,0,14.52,14.39,14.23
$IRIDIUM_FIX,940.75,-12459.70,251116,161613
$TT8_MAMPS,0.03745,0.439663
$HUMID,55.51
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.40
$XPDR_PINGS,0
$SC_FREEKB,3773408
$PM_FREEKB,55766464
$24V_AH,12.64,129.266
$10V_AH,12.40,0.000
$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
$DEVICE_SECS,24.925,161.150,473.375,19.300,0.000,0.000,0.000,643.150,0.000,0.000,6.905,0.000,20043.150,763.750,2812.523,427.249,0.000,2175.953,0.000,1621.840,0.000,1.132,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22977.000,22925.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.470,2.397,0.000,0.000
$MEM,334712
$DATA_FILE_SIZE,33324,892
$CAP_FILE_SIZE,162239,0
$CFSIZE,1024409600,953810944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,93.66,1
$GPS,251116,225407,941.924,-12459.989,39,1.1,40,9.0,0.3,344.3,6,9.6