version: 66.13
glider: 220
mission: 6
dive: 357
start: 11 26 116 5 21 29
data:
$ID,220
$MISSION,6
$DIVE,357
$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,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
$GPS1,261116,051009,941.1862,-12500.3535,31,1.4,31,9.0,0.7,152.5,6,8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-2.33
$_SM_ANGLEo,-72.3
$GPS2,261116,052106,941.2186,-12500.3086,3,1.2,6,9.0,0.9,110.7,7,7.9
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,39.2,50006,-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,-107.1,106,2772,1094,1013,0.0,0.0,0,93,0.00,0.00,-78.40,0.000,16390,0.000,0.000,105,2772,3478,3470,3486,0,0,0,0,0,0,14.68,12.62,14.67
$GC,96,-0.93,-107.1,106,2777,3472,3486,-1.3,-3.0,2,117,11.98,1.98,0.00,0.000,2308,0.388,0.093,2584,3828,3479,3471,3487,0,0,0,0,0,0,14.00,14.35,14.38
$GC,192,-0.60,-107.1,2584,3828,3474,3488,38.9,-20.9,17,200,0.40,1.83,0.00,0.000,3206,0.213,0.037,2696,2724,3480,3475,3486,0,0,0,0,0,0,14.09,14.53,14.23
$GC,508,-0.60,-107.1,2695,2724,3479,3486,69.3,-8.2,29,513,0.00,2.10,0.00,0.000,260,0.000,0.106,2688,3826,3482,3478,3486,0,0,0,0,0,0,14.84,14.31,14.83
$GC,698,-0.60,-107.1,2688,3827,3480,3484,85.0,-7.8,56,705,0.00,1.73,0.00,0.000,1030,0.000,0.041,2687,2750,3481,3479,3483,0,0,0,0,0,0,14.62,14.57,14.63
$GC,1012,-0.60,-107.1,2688,2754,3477,3487,109.4,-7.8,66,1017,0.00,2.25,0.00,0.000,516,0.000,0.041,2688,1401,3482,3479,3486,0,0,0,0,0,0,14.89,14.55,14.90
$GC,1095,-0.60,-107.1,2688,1402,3480,3491,115.8,-7.4,78,1101,0.00,2.45,0.00,0.000,1062,0.000,0.066,2678,2780,3482,3479,3486,0,0,0,0,0,0,14.54,14.46,14.58
$GC,1460,-0.60,-107.1,2679,2780,3478,3485,142.6,-7.2,88,1466,0.00,1.95,0.00,0.000,292,0.000,0.107,2670,3823,3481,3479,3484,0,0,0,0,0,0,14.92,14.38,14.92
$GC,1613,-0.60,-107.1,2670,3823,3479,3483,154.2,-7.5,110,1619,0.10,1.70,0.00,0.000,3110,0.181,0.040,2701,2800,3480,3479,3482,0,0,0,0,0,0,14.38,14.66,14.50
$GC,1964,-0.70,-107.1,2701,2802,3480,3477,174.9,-5.8,118,1969,0.00,2.40,0.00,0.000,676,0.000,0.044,2701,1383,3478,3479,3477,0,0,0,0,0,0,14.94,14.57,14.93
$GC,2068,-0.81,-107.1,2702,1381,3481,3477,181.4,-6.0,133,2076,0.10,2.50,0.00,0.000,5286,0.075,0.067,2622,2777,3477,3479,3476,0,0,0,0,0,0,14.53,14.45,14.57
$GC,2412,-0.81,-107.1,2622,2779,3480,3470,214.2,-10.0,140,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2778,3474,3479,3470,0,0,0,0,0,0,14.94,14.94,14.94
$GC,2748,-0.81,-107.1,2623,2778,3479,3468,247.8,-10.0,146,2749,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2778,3472,3479,3466,0,0,0,0,0,0,14.96,14.96,14.96
$GC,3084,-0.81,-107.1,2622,2779,3480,3462,281.2,-9.9,152,3090,0.00,2.40,0.00,0.000,516,0.000,0.045,2620,1375,3470,3479,3462,0,0,0,0,0,0,14.97,14.57,14.97
$GC,3125,-0.81,-107.1,2621,1376,3479,3462,285.6,-10.3,158,3131,0.00,2.53,0.00,0.000,1030,0.000,0.068,2612,2779,3470,3479,3461,0,0,0,0,0,0,14.54,14.45,14.62
$GC,3476,-0.81,-107.1,2612,2780,3480,3457,322.9,-10.7,166,3481,0.00,1.98,0.00,0.000,260,0.000,0.107,2603,3826,3467,3478,3457,0,0,0,0,0,0,14.95,14.36,14.95
$GC,3559,-0.81,-107.1,2604,3826,3479,3457,332.1,-10.9,178,3566,0.10,1.77,0.00,0.000,3078,0.244,0.042,2627,2784,3467,3479,3456,0,0,0,0,0,0,14.35,14.70,14.59
$GC,3924,-0.81,-107.1,2633,2781,3479,3453,364.2,-8.6,188,3930,0.00,2.42,0.00,0.000,516,0.000,0.045,2633,1359,3464,3478,3451,0,0,0,0,0,0,14.97,14.54,14.96
$GC,4014,-0.81,-107.1,2633,1359,3479,3453,371.5,-7.9,201,4020,0.00,2.55,0.00,0.000,1030,0.000,0.068,2618,2780,3465,3479,3451,0,0,0,0,0,0,14.52,14.42,14.57
$GC,4372,-0.81,-107.1,2623,2779,3479,3448,402.0,-8.6,210,4377,0.00,1.98,0.00,0.000,260,0.000,0.108,2614,3828,3462,3478,3446,0,0,0,0,0,0,14.97,14.36,14.97
$GC,4406,-0.81,-107.1,2615,3828,3479,3447,405.3,-9.5,215,4412,0.00,1.80,0.00,0.000,1030,0.000,0.043,2614,2769,3462,3477,3447,0,0,0,0,0,0,14.72,14.69,14.72
$GC,4764,-0.81,-107.1,2614,2766,3480,3444,438.5,-9.4,224,4770,0.00,2.38,0.00,0.000,516,0.000,0.044,2614,1371,3460,3478,3443,0,0,0,0,0,0,14.94,14.52,14.95
$GC,4840,-0.81,-107.1,2614,1372,3479,3444,445.3,-8.8,235,4846,0.10,2.55,0.00,0.000,3078,0.236,0.067,2632,2782,3460,3478,3442,0,0,0,0,0,0,14.20,14.43,14.38
$GC,5156,-0.81,-107.1,2632,2783,3480,3440,471.7,-8.4,245,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2782,3458,3478,3439,0,0,0,0,0,0,14.96,14.95,14.96
$GC,5492,-0.81,-107.1,2633,2781,3479,3438,501.5,-9.0,251,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2782,3457,3478,3436,0,0,0,0,0,0,14.96,14.96,14.97
$GC,5828,-0.81,-107.1,2632,2783,3480,3434,533.3,-9.4,257,5833,0.00,2.42,0.00,0.000,516,0.000,0.044,2632,1377,3455,3478,3432,0,0,0,0,0,0,14.95,14.54,14.96
$GC,5876,-0.81,-107.1,2633,1378,3479,3432,537.9,-9.2,264,5885,0.00,2.53,0.00,0.000,1030,0.000,0.067,2623,2774,3455,3479,3432,0,0,0,0,0,0,14.50,14.42,14.55
$GC,6220,-0.81,-107.1,2623,2774,3479,3432,569.6,-9.2,271,6225,0.00,2.00,0.00,0.000,260,0.000,0.109,2614,3825,3458,3478,3438,0,0,0,0,0,0,14.94,14.30,14.93
$GC,6282,-0.81,-107.1,2615,3825,3479,3431,575.6,-9.6,280,6289,0.00,1.80,0.00,0.000,1030,0.000,0.044,2614,2772,3453,3478,3429,0,0,0,0,0,0,14.71,14.66,14.73
$GC,6612,-0.81,-107.1,2615,2772,3475,3431,606.5,-9.4,292,6618,0.00,2.40,0.00,0.000,516,0.000,0.043,2614,1390,3452,3474,3430,0,0,0,0,0,0,14.93,14.45,14.93
$GC,6639,-0.81,-107.1,2614,1391,3475,3430,609.2,-9.5,296,6646,0.10,2.50,0.00,0.000,3078,0.231,0.068,2633,2771,3451,3474,3429,0,0,0,0,0,0,14.14,14.39,14.33
$GC,7004,-0.81,-107.1,2632,2772,3473,3428,640.8,-8.7,306,7009,0.00,2.00,0.00,0.000,260,0.000,0.109,2625,3823,3450,3472,3428,0,0,0,0,0,0,14.95,14.26,14.95
$GC,7066,-0.81,-107.1,2625,3824,3472,3428,646.5,-9.2,315,7072,0.00,1.80,0.00,0.000,1030,0.000,0.044,2624,2774,3450,3472,3428,0,0,0,0,0,0,14.68,14.62,14.68
$GC,7396,-0.81,-107.1,2625,2774,3472,3427,676.0,-9.0,327,7401,0.00,2.38,0.00,0.000,516,0.000,0.044,2623,1387,3450,3472,3429,0,0,0,0,0,0,14.95,14.50,14.95
$GC,7465,-0.81,-107.1,2625,1388,3473,3425,682.3,-8.8,337,7471,0.00,2.55,0.00,0.000,1030,0.000,0.068,2615,2776,3448,3472,3425,0,0,0,0,0,0,14.42,14.34,14.48
$GC,7788,-0.81,-107.1,2615,2777,3472,3424,711.1,-8.9,348,7794,0.00,2.00,0.00,0.000,260,0.000,0.108,2606,3825,3447,3470,3424,0,0,0,0,0,0,14.94,14.25,14.95
$GC,7836,-0.81,-107.1,2607,3825,3471,3425,715.5,-9.1,355,7844,0.10,1.80,0.00,0.000,3078,0.242,0.044,2635,2780,3447,3470,3424,0,0,0,0,0,0,14.26,14.61,14.43
$GC,8180,-0.81,-107.1,2636,2780,3470,3423,740.9,-7.3,362,8185,0.00,2.40,0.00,0.000,548,0.000,0.045,2635,1379,3446,3470,3422,0,0,0,0,0,0,14.91,14.46,14.91
$GC,8284,-0.81,-107.1,2636,1382,3471,3422,748.4,-7.0,377,8292,0.00,2.55,0.00,0.000,1062,0.000,0.067,2626,2778,3445,3470,3421,0,0,0,0,0,0,14.41,14.32,14.45
$GC,8628,-0.81,-107.1,2626,2777,3471,3421,773.2,-7.3,384,8629,0.00,0.00,0.00,0.000,38,0.000,0.000,2625,2778,3445,3469,3421,0,0,0,0,0,0,14.91,14.91,14.91
$GC,8964,-0.81,-107.1,2626,2779,3468,3419,797.9,-7.3,390,8969,0.00,2.45,0.00,0.000,548,0.000,0.045,2625,1369,3443,3467,3420,0,0,0,0,0,0,14.94,14.45,14.94
$GC,9005,-0.81,-107.1,2625,1371,3469,3420,801.1,-7.8,396,9012,0.00,2.58,0.00,0.000,1030,0.000,0.068,2616,2772,3443,3468,3419,0,0,0,0,0,0,14.39,14.30,14.45
$GC,9356,-0.81,-107.1,2615,2780,3467,3418,830.0,-8.3,404,9357,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2780,3441,3465,3418,0,0,0,0,0,0,14.90,14.91,14.91
$GC,9692,-0.81,-107.1,2616,2780,3467,3418,858.7,-8.9,410,9697,0.00,2.45,0.00,0.000,516,0.000,0.045,2614,1368,3441,3465,3417,0,0,0,0,0,0,14.94,14.38,14.94
$GC,9775,-0.81,-107.1,2614,1370,3466,3417,866.1,-8.8,422,9781,0.10,2.58,0.00,0.000,3078,0.230,0.069,2633,2771,3440,3465,3416,0,0,0,0,0,0,14.01,14.26,14.19
$GC,10140,-0.81,-107.1,2633,2772,3467,3415,896.0,-8.2,432,10140,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2770,3439,3465,3414,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10476,-0.81,-107.1,2634,2771,3466,3414,923.2,-8.0,438,10481,0.00,2.42,0.00,0.000,516,0.000,0.045,2633,1379,3438,3465,3412,0,0,0,0,0,0,14.92,14.38,14.92
$GC,10545,-0.81,-107.1,2634,1379,3466,3412,928.8,-7.8,448,10552,0.00,2.55,0.00,0.000,1030,0.000,0.069,2623,2768,3438,3465,3412,0,0,0,0,0,0,14.34,14.23,14.40
$STATE,10556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10556,begin apogee
$GC,10564,-0.23,0.0,2624,2226,3466,3413,930.5,-10.6,450,10675,0.68,0.00,109.47,1.985,10244,0.178,0.000,2821,2226,3050,3092,3008,0,0,0,0,0,0,14.09,13.99,13.02
$STATE,10677,end apogee,CONTROL_FINISHED_OK
$STATE,10677,begin climb
$GC,10680,0.93,107.1,2821,2227,3090,3002,933.4,0.0,452,10806,1.12,2.42,116.88,1.956,10756,0.091,0.058,3185,879,2620,2681,2560,0,0,0,0,0,0,14.00,14.01,12.88
$GC,10861,0.81,109.9,3185,880,2681,2545,925.9,7.6,479,10867,0.00,2.50,0.00,0.000,1190,0.000,0.050,3185,2257,2611,2679,2544,0,0,0,0,0,0,14.07,14.00,14.09
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$STATE,22409,end climb,SURFACE_DEPTH_REACHED
$STATE,22409,begin surface coast
$FINISH,-3.5,1.020946
$STATE,22440,end surface coast,CONTROL_FINISHED_OK
$STATE,22440,begin surface
$SM_CCo,22460,5.12,0.174,0,0,1058,500.14
$SM_GC,-2.39,9.10,0.98,5.12,0.047,0.105,0.174,183,2754,1058,-8.38,-0.93,500.14,0,0,0,0,0,0,14.54,14.33,14.24
$IRIDIUM_FIX,934.19,-12618.05,251116,230406
$TT8_MAMPS,0.038199,0.413448
$HUMID,55.15
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.80
$XPDR_PINGS,0
$SC_FREEKB,3772640
$PM_FREEKB,55741120
$24V_AH,12.62,129.832
$10V_AH,12.68,0.000
$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,25.075,210.975,507.350,5.125,0.000,0.000,0.000,376.450,0.000,0.000,7.851,0.000,19122.740,871.798,2683.238,429.446,0.000,2090.131,0.000,1713.208,0.000,0.838,0.000
$DEVICE_MAMPS,387.855,109.395,2096.100,174.420,0.000,0.000,0.000,179.010,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22497.000,22447.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.494,2.410,0.000,0.000
$MEM,334724
$DATA_FILE_SIZE,36685,963
$CAP_FILE_SIZE,171102,0
$CFSIZE,1024409600,953499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,65.24,1
$GPS,261116,113701,943.222,-12457.849,36,0.9,36,9.0,0.3,159.4,9,4.0