version: 66.13
glider: 220
mission: 6
dive: 356
start: 11 25 116 23 10 36
data:
$ID,220
$MISSION,6
$DIVE,356
$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,47
$R_STBD_OVSHOOT,24
$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
$GPS1,251116,225407,941.9241,-12459.9893,39,1.1,40,9.0,0.3,344.3,6,9.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.0
$GPS2,251116,231013,942.1862,-12459.8535,4,1.1,7,9.0,0.9,349.7,7,9.5
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,S
$TGT_LATLONG,940.910,-12500.000
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,199.1,2379,-24.5,-7.750,-30.00,1225
$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,11,begin dive
$GC,14,-1.19,-63.1,106,2781,1110,1019,0.0,0.0,0,89,0.00,0.00,-73.75,0.000,16390,0.000,0.000,104,2779,3301,3292,3310,0,0,0,0,0,0,14.69,12.64,14.68
$GC,92,-1.19,-63.1,106,2783,3294,3311,2.8,-3.6,2,112,11.48,2.40,0.00,0.000,2564,0.384,0.038,2509,1367,3303,3296,3311,0,0,0,0,0,0,14.03,14.41,14.40
$GC,153,-0.92,-63.1,2510,1366,3298,3311,32.3,-31.7,12,159,0.38,2.53,0.00,0.000,3206,0.276,0.071,2592,2759,3304,3298,3310,0,0,0,0,0,0,14.04,14.30,14.26
$GC,476,-0.92,-63.1,2593,2759,3301,3309,79.6,-9.5,25,482,0.00,2.40,0.00,0.000,516,0.000,0.042,2593,1340,3305,3300,3310,0,0,0,0,0,0,14.85,14.50,14.85
$GC,601,-0.93,-67.9,2593,1340,3302,3311,83.5,-7.3,43,607,0.00,2.55,0.00,0.000,1062,0.000,0.063,2584,2785,3305,3301,3310,0,0,0,0,0,0,14.49,14.41,14.54
$GC,952,-0.93,-67.9,2582,2785,3300,3311,111.5,-9.0,55,957,0.00,1.92,0.00,0.000,260,0.000,0.103,2576,3823,3305,3300,3310,0,0,0,0,0,0,14.96,14.40,14.92
$GC,1168,-0.93,-67.9,2576,3824,3302,3309,133.0,-10.1,86,1176,0.00,1.75,0.00,0.000,1030,0.000,0.037,2575,2750,3305,3301,3309,0,0,0,0,0,0,14.68,14.65,14.69
$GC,1512,-0.93,-67.9,2576,2750,3308,3306,166.3,-9.6,93,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2750,3303,3300,3307,0,0,0,0,0,0,14.95,14.94,14.95
$GC,1848,-0.93,-67.9,2576,2750,3301,3302,200.4,-10.2,99,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2750,3300,3300,3300,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2184,-0.93,-67.9,2576,2751,3301,3295,235.4,-10.4,105,2190,0.00,2.05,0.00,0.000,260,0.000,0.105,2567,3825,3298,3301,3295,0,0,0,0,0,0,14.95,14.39,14.95
$GC,2302,-0.93,-67.9,2567,3825,3301,3296,249.3,-11.5,122,2308,0.10,1.70,0.00,0.000,3078,0.249,0.040,2594,2816,3297,3301,3294,0,0,0,0,0,0,14.34,14.69,14.59
$GC,2632,-0.93,-67.9,2597,2816,3301,3290,282.6,-10.1,134,2637,0.00,2.38,0.00,0.000,516,0.000,0.042,2593,1400,3294,3300,3288,0,0,0,0,0,0,14.96,14.57,14.96
$GC,2722,-1.01,-67.9,2593,1400,3301,3288,291.6,-9.8,147,2728,0.00,2.47,0.00,0.000,1158,0.000,0.064,2585,2786,3294,3301,3287,0,0,0,0,0,0,14.54,14.46,14.59
$GC,3080,-1.01,-67.9,2585,2787,3301,3284,328.4,-10.3,156,3085,0.00,2.40,0.00,0.000,516,0.000,0.042,2584,1375,3291,3300,3282,0,0,0,0,0,0,14.96,14.55,14.96
$GC,3128,-1.01,-67.9,2585,1374,3301,3283,333.3,-10.1,163,3136,0.00,2.53,0.00,0.000,1030,0.000,0.064,2575,2788,3291,3301,3281,0,0,0,0,0,0,14.54,14.45,14.58
$GC,3472,-1.01,-67.9,2575,2788,3301,3277,368.9,-10.4,170,3477,0.00,1.92,0.00,0.000,260,0.000,0.106,2566,3818,3288,3300,3276,0,0,0,0,0,0,14.96,14.38,14.97
$GC,3541,-1.01,-67.9,2567,3817,3301,3277,376.6,-10.8,180,3547,0.00,1.70,0.00,0.000,1030,0.000,0.040,2565,2810,3288,3300,3276,0,0,0,0,0,0,14.73,14.69,14.74
$GC,3864,-1.01,-67.9,2565,2810,3301,3274,409.5,-10.2,191,3869,0.00,2.40,0.00,0.000,516,0.000,0.042,2565,1386,3286,3300,3273,0,0,0,0,0,0,14.94,14.54,14.95
$GC,3954,-1.01,-67.9,2565,1386,3301,3271,418.6,-9.9,204,3960,0.00,2.50,0.00,0.000,1030,0.000,0.065,2556,2788,3285,3300,3271,0,0,0,0,0,0,14.55,14.47,14.59
$GC,4312,-1.01,-67.9,2556,2786,3301,3268,454.6,-10.0,213,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2788,3283,3300,3267,0,0,0,0,0,0,14.93,14.95,14.94
$GC,4648,-1.01,-67.9,2557,2788,3301,3263,488.4,-10.0,219,4653,0.00,1.95,0.00,0.000,260,0.000,0.108,2548,3821,3281,3300,3263,0,0,0,0,0,0,14.95,14.28,14.94
$GC,4710,-1.01,-67.9,2548,3822,3301,3262,495.0,-10.9,228,4716,0.00,1.77,0.00,0.000,1030,0.000,0.041,2547,2771,3281,3300,3262,0,0,0,0,0,0,14.72,14.68,14.73
$GC,5040,-1.01,-67.9,2547,2772,3302,3260,528.8,-10.3,240,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2771,3279,3300,3259,0,0,0,0,0,0,14.96,14.96,14.96
$GC,5376,-1.01,-67.9,2548,2770,3300,3257,562.9,-10.2,246,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2771,3278,3300,3256,0,0,0,0,0,0,14.97,14.96,14.96
$GC,5712,-1.01,-67.9,2548,2771,3301,3254,597.2,-10.1,252,5717,0.00,2.40,0.00,0.000,516,0.000,0.042,2548,1387,3276,3300,3253,0,0,0,0,0,0,14.96,14.48,14.96
$GC,5746,-1.01,-67.9,2547,1386,3301,3254,600.8,-10.6,257,5754,0.10,2.55,0.00,0.000,3078,0.254,0.065,2564,2787,3276,3300,3253,0,0,0,0,0,0,14.12,14.42,14.32
$GC,6104,-1.01,-67.9,2563,2789,3298,3253,636.4,-10.0,266,6105,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2789,3275,3298,3252,0,0,0,0,0,0,14.93,14.93,14.93
$GC,6440,-1.01,-67.9,2565,2790,3298,3252,670.3,-10.0,272,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2789,3274,3296,3252,0,0,0,0,0,0,14.93,14.93,14.93
$GC,6776,-1.01,-67.9,2564,2790,3293,3252,702.3,-9.3,278,6781,0.00,2.47,0.00,0.000,516,0.000,0.043,2564,1385,3270,3290,3251,0,0,0,0,0,0,14.92,14.45,14.93
$GC,6810,-1.01,-67.9,2565,1384,3292,3252,705.5,-9.3,283,6816,0.00,2.55,0.00,0.000,1030,0.000,0.066,2555,2783,3271,3292,3251,0,0,0,0,0,0,14.47,14.39,14.51
$GC,7168,-1.01,-67.9,2556,2783,3292,3249,738.9,-9.3,292,7173,0.00,1.98,0.00,0.000,260,0.000,0.109,2547,3819,3269,3292,3247,0,0,0,0,0,0,14.93,14.20,14.93
$GC,7224,-1.01,-67.9,2548,3819,3291,3248,744.3,-10.1,300,7229,0.00,1.75,0.00,0.000,1030,0.000,0.042,2547,2793,3269,3291,3247,0,0,0,0,0,0,14.59,14.57,14.60
$GC,7560,-1.01,-67.9,2547,2791,3290,3248,776.7,-9.6,313,7566,0.00,2.42,0.00,0.000,516,0.000,0.043,2547,1371,3268,3290,3247,0,0,0,0,0,0,14.92,14.48,14.92
$GC,7643,-1.01,-67.9,2547,1371,3290,3247,785.6,-10.4,325,7650,0.10,2.58,0.00,0.000,3078,0.256,0.064,2563,2787,3268,3290,3246,0,0,0,0,0,0,14.04,14.35,14.24
$GC,8008,-1.01,-67.9,2564,2789,3290,3245,816.7,-10.4,335,8013,0.00,1.98,0.00,0.000,260,0.000,0.110,2555,3822,3266,3289,3243,0,0,0,0,0,0,14.92,14.16,14.92
$GC,8064,-1.01,-67.9,2555,3823,3290,3243,823.3,-11.3,343,8069,0.00,1.77,0.00,0.000,1030,0.000,0.043,2555,2785,3266,3289,3243,0,0,0,0,0,0,14.57,14.53,14.57
$GC,8400,-1.01,-67.9,2555,2786,3299,3241,858.4,-10.6,356,8405,0.00,2.42,0.00,0.000,516,0.000,0.044,2555,1371,3264,3289,3240,0,0,0,0,0,0,14.91,14.45,14.91
$GC,8420,-1.01,-67.9,2555,1371,3289,3241,860.7,-10.4,359,8426,0.00,2.55,0.00,0.000,1030,0.000,0.063,2545,2779,3263,3289,3238,0,0,0,0,0,0,14.41,14.33,14.46
$GC,8736,-1.01,-67.9,2545,2780,3290,3233,893.8,-10.7,369,8742,0.10,1.98,0.00,0.000,2308,0.285,0.108,2563,3822,3264,3289,3239,0,0,0,0,0,0,14.19,14.19,14.45
$GC,8792,-1.01,-67.9,2563,3822,3289,3240,899.5,-10.2,377,8798,0.00,1.80,0.00,0.000,1030,0.000,0.044,2563,2774,3263,3288,3239,0,0,0,0,0,0,14.54,14.51,14.55
$STATE,9125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9126,begin apogee
$GC,9133,-0.23,0.0,2564,2212,3289,3238,930.8,-9.3,390,9198,0.93,0.10,62.95,1.982,10244,0.201,0.161,2823,2274,3050,3089,3011,0,0,0,0,0,0,14.07,14.14,13.19
$STATE,9200,end apogee,CONTROL_FINISHED_OK
$STATE,9200,begin climb
$GC,9203,1.20,67.9,2824,2275,3086,3004,933.4,0.0,391,9281,1.38,0.00,73.95,1.996,11270,0.090,0.000,3283,2273,2777,2826,2728,0,0,0,0,0,0,14.17,14.42,13.00
$GC,9632,1.06,73.0,3284,2272,2824,2712,907.6,7.3,413,9638,0.15,2.40,0.00,0.000,4772,0.290,0.056,3257,900,2767,2823,2711,0,0,0,0,0,0,14.07,14.35,14.38
$GC,9688,0.99,84.9,3257,901,2825,2710,903.8,6.8,421,9714,0.12,2.33,18.35,2.046,13478,0.283,0.051,3225,2241,2704,2762,2647,0,0,0,0,0,0,14.11,14.39,13.40
$GC,10026,1.00,89.3,3225,2241,2763,2639,879.3,7.4,434,10031,0.00,2.62,0.00,0.000,292,0.000,0.095,3225,3658,2699,2761,2638,0,0,0,0,0,0,14.75,14.34,14.75
$GC,10100,0.89,89.3,3225,3658,2762,2638,873.2,8.0,445,10108,0.15,2.38,0.00,0.000,5254,0.256,0.039,3195,2289,2698,2761,2636,0,0,0,0,0,0,14.12,14.47,14.31
$GC,10416,0.91,106.4,3195,2286,2761,2638,853.4,6.3,455,10441,0.00,0.00,23.65,1.986,8230,0.000,0.000,3195,2286,2627,2689,2565,0,0,0,0,0,0,14.81,14.40,13.47
$GC,10752,0.92,110.6,3195,2287,2683,2547,829.4,7.4,461,10753,0.00,0.00,0.00,0.000,38,0.000,0.000,3195,2286,2614,2682,2547,0,0,0,0,0,0,14.76,14.76,14.76
$GC,11088,0.92,116.0,3195,2287,2683,2545,805.3,7.3,467,11100,0.00,2.60,4.43,1.863,8484,0.000,0.099,3194,3650,2592,2654,2530,0,0,0,0,0,0,14.83,14.50,13.02
$GC,11144,0.92,116.4,3192,3651,2660,2542,800.8,7.7,475,11150,0.00,2.42,1.65,0.308,9254,0.000,0.041,3205,2246,2588,2653,2523,0,0,0,0,0,0,14.55,14.52,13.80
$GC,11480,0.92,116.4,3206,2245,2656,2544,774.1,8.0,488,11483,0.00,0.00,1.98,0.332,8198,0.000,0.000,3206,2244,2587,2652,2523,0,0,0,0,0,0,14.83,14.31,13.63
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$STATE,21403,end climb,SURFACE_DEPTH_REACHED
$STATE,21403,begin surface coast
$FINISH,-1.6,1.020966
$STATE,21431,end surface coast,CONTROL_FINISHED_OK
$STATE,21431,begin surface
$SM_CCo,21452,57.38,0.155,0,0,1056,500.14
$SM_GC,-2.84,9.57,0.93,57.38,0.091,0.084,0.155,201,2757,1056,-8.38,-0.93,500.14,0,0,0,0,0,0,14.40,14.40,14.26
$IRIDIUM_FIX,936.37,-12456.65,251116,162421
$TT8_MAMPS,0.038948,0.280126
$HUMID,53.42
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,21.60
$XPDR_PINGS,0
$SC_FREEKB,3773024
$PM_FREEKB,55753792
$24V_AH,12.64,129.513
$10V_AH,12.62,0.000
$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
$DEVICE_SECS,25.400,200.900,384.400,57.375,0.000,0.000,0.000,504.300,0.000,0.000,8.722,0.000,18428.639,762.047,2846.663,426.728,0.000,2101.922,0.000,1739.875,0.000,0.840,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.531,2.433,0.000,0.000
$MEM,334744
$DATA_FILE_SIZE,36641,987
$CAP_FILE_SIZE,175409,0
$CFSIZE,1024409600,953647104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,15455.14,0x213b74,1,24
$CURRENT,0.039,35.80,1
$GPS,261116,051009,941.186,-12500.354,31,1.4,31,9.0,0.7,152.5,6,8.5