version: 66.13
glider: 220
mission: 6
dive: 361
start: 11 27 116 7 23 21
data:
$ID,220
$MISSION,6
$DIVE,361
$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,55
$R_STBD_OVSHOOT,39
$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
$GPS1,271116,070901,949.9796,-12452.2422,33,0.8,33,9.0,0.6,340.2,8,3.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-71.4
$GPS2,271116,072301,950.0929,-12452.1611,2,0.7,4,9.0,0.1,0.0,12,3.7
$SPEED_LIMITS,0.134,0.172
$TGT_NAME,E
$TGT_LATLONG,1000.000,-12440.610
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,47.3,27937,-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,15,-0.93,-107.1,107,2793,1100,1014,0.0,0.0,0,93,0.00,0.00,-76.62,0.000,16390,0.000,0.000,106,2790,3478,3470,3487,0,0,0,0,0,0,14.66,12.63,14.66
$GC,96,-0.93,-107.1,106,2793,3471,3489,1.5,-3.7,2,116,11.80,1.88,0.00,0.000,2308,0.381,0.087,2586,3809,3480,3472,3488,0,0,0,0,0,0,14.01,14.28,14.38
$GC,346,-0.64,-107.1,2585,3815,3477,3489,70.9,-14.5,39,352,0.35,1.77,0.00,0.000,3206,0.230,0.041,2682,2759,3482,3476,3488,0,0,0,0,0,0,14.13,14.54,14.31
$GC,676,-0.64,-107.1,2682,2760,3481,3487,94.6,-5.5,53,682,0.00,1.98,0.00,0.000,292,0.000,0.105,2674,3800,3483,3479,3487,0,0,0,0,0,0,14.87,14.33,14.88
$GC,912,-0.64,-107.1,2674,3801,3481,3486,111.5,-7.9,87,919,0.00,1.77,0.00,0.000,1030,0.000,0.040,2674,2743,3483,3478,3488,0,0,0,0,0,0,14.70,14.66,14.71
$GC,1236,-0.64,-107.1,2674,2744,3482,3486,136.7,-7.8,98,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2743,3482,3479,3486,0,0,0,0,0,0,14.92,14.92,14.92
$GC,1571,-0.64,-107.1,2674,2744,3480,3483,164.1,-8.0,104,1577,0.00,2.03,0.00,0.000,260,0.000,0.105,2667,3802,3480,3479,3482,0,0,0,0,0,0,14.93,14.38,14.92
$GC,1620,-0.64,-107.1,2672,3801,3480,3482,168.4,-8.7,111,1627,0.00,1.77,0.00,0.000,1030,0.000,0.041,2666,2756,3480,3479,3481,0,0,0,0,0,0,14.73,14.69,14.74
$GC,1964,-0.64,-107.1,2666,2757,3480,3476,197.3,-8.4,118,1969,0.00,2.33,0.00,0.000,516,0.000,0.044,2665,1385,3477,3479,3476,0,0,0,0,0,0,14.91,14.57,14.94
$GC,2020,-0.64,-107.1,2666,1385,3481,3476,202.1,-8.5,126,2026,0.10,2.45,0.00,0.000,3078,0.198,0.067,2687,2740,3477,3479,3475,0,0,0,0,0,0,14.31,14.45,14.61
$GC,2356,-0.72,-107.1,2688,2741,3480,3470,227.2,-7.4,139,2357,0.00,0.00,0.00,0.000,166,0.000,0.000,2687,2740,3474,3479,3469,0,0,0,0,0,0,14.95,14.95,14.95
$GC,2692,-0.80,-107.1,2688,2740,3480,3467,253.6,-8.0,145,2693,0.08,0.00,0.00,0.000,4230,0.138,0.000,2619,2740,3472,3479,3465,0,0,0,0,0,0,14.69,14.76,14.73
$GC,3027,-0.80,-107.1,2620,2740,3484,3461,288.7,-10.5,151,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2740,3470,3479,3461,0,0,0,0,0,0,14.97,14.97,14.97
$GC,3363,-0.80,-107.1,2620,2740,3479,3457,322.4,-10.0,157,3370,0.00,2.05,0.00,0.000,260,0.000,0.108,2610,3819,3467,3479,3456,0,0,0,0,0,0,14.97,14.34,14.97
$GC,3440,-0.80,-107.1,2609,3820,3480,3455,330.6,-10.8,168,3446,0.10,1.83,0.00,0.000,3078,0.236,0.042,2644,2756,3467,3479,3455,0,0,0,0,0,0,14.32,14.69,14.47
$GC,3756,-0.80,-107.1,2646,2757,3481,3451,360.5,-9.5,178,3761,0.00,2.38,0.00,0.000,516,0.000,0.045,2646,1371,3465,3479,3452,0,0,0,0,0,0,14.93,14.54,14.93
$GC,3832,-0.80,-107.1,2646,1371,3480,3452,367.7,-9.2,189,3839,0.00,2.50,0.00,0.000,1030,0.000,0.066,2636,2755,3465,3479,3451,0,0,0,0,0,0,14.53,14.44,14.58
$GC,4148,-0.80,-107.1,2636,2755,3478,3449,397.7,-9.5,199,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2755,3463,3479,3447,0,0,0,0,0,0,14.94,14.94,14.93
$GC,4483,-0.80,-107.1,2637,2755,3478,3445,428.7,-9.2,205,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2755,3462,3480,3444,0,0,0,0,0,0,14.95,14.95,14.94
$GC,4820,-0.80,-107.1,2635,2754,3478,3442,459.5,-9.1,211,4825,0.00,2.05,0.00,0.000,260,0.000,0.109,2627,3826,3460,3479,3441,0,0,0,0,0,0,14.94,14.33,14.95
$GC,4910,-0.80,-107.1,2628,3827,3480,3440,467.8,-8.9,224,4916,0.00,1.85,0.00,0.000,1030,0.000,0.042,2627,2750,3459,3479,3440,0,0,0,0,0,0,14.73,14.68,14.74
$GC,5268,-0.80,-107.1,2627,2750,3483,3438,497.7,-8.3,233,5274,0.00,2.35,0.00,0.000,516,0.000,0.043,2627,1373,3458,3479,3437,0,0,0,0,0,0,14.96,14.46,14.95
$GC,5323,-0.80,-107.1,2626,1373,3478,3438,502.3,-8.1,241,5330,0.00,2.47,0.00,0.000,1030,0.000,0.065,2617,2751,3457,3477,3437,0,0,0,0,0,0,14.49,14.39,14.52
$GC,5660,-0.80,-107.1,2618,2750,3479,3434,531.3,-8.7,254,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2751,3456,3479,3433,0,0,0,0,0,0,14.96,14.95,14.96
$GC,5996,-0.80,-107.1,2618,2751,3479,3433,562.2,-9.2,260,6001,0.00,2.05,0.00,0.000,260,0.000,0.110,2609,3824,3455,3479,3431,0,0,0,0,0,0,14.94,14.30,14.94
$GC,6079,-0.80,-107.1,2609,3825,3478,3431,570.3,-9.6,272,6085,0.10,1.85,0.00,0.000,3078,0.236,0.044,2638,2757,3454,3478,3431,0,0,0,0,0,0,14.24,14.59,14.41
$GC,6444,-0.80,-107.1,2638,2759,3476,3431,599.6,-7.9,282,6449,0.00,2.38,0.00,0.000,516,0.000,0.044,2638,1376,3452,3474,3431,0,0,0,0,0,0,14.93,14.50,14.92
$GC,6492,-0.80,-107.1,2639,1375,3474,3431,603.5,-7.9,289,6500,0.00,2.50,0.00,0.000,1030,0.000,0.066,2629,2754,3451,3473,3430,0,0,0,0,0,0,14.45,14.36,14.50
$GC,6836,-0.80,-107.1,2629,2756,3467,3429,630.9,-8.0,296,6841,0.00,2.40,0.00,0.000,516,0.000,0.043,2628,1371,3449,3471,3427,0,0,0,0,0,0,14.93,14.49,14.93
$GC,6891,-0.80,-107.1,2629,1373,3473,3428,635.5,-8.1,304,6897,0.00,2.53,0.00,0.000,1030,0.000,0.067,2619,2753,3449,3471,3428,0,0,0,0,0,0,14.59,14.35,14.62
$GC,7227,-0.80,-107.1,2620,2753,3472,3428,663.8,-8.5,317,7234,0.00,2.03,0.00,0.000,260,0.000,0.109,2610,3816,3449,3472,3426,0,0,0,0,0,0,14.94,14.29,14.94
$GC,7269,-0.80,-107.1,2611,3816,3472,3427,667.7,-9.4,323,7275,0.10,1.85,0.00,0.000,3078,0.237,0.043,2645,2749,3448,3471,3425,0,0,0,0,0,0,14.23,14.64,14.39
$GC,7620,-0.80,-107.1,2645,2748,3471,3425,694.8,-7.7,331,7625,0.00,2.40,0.00,0.000,548,0.000,0.045,2645,1378,3446,3467,3425,0,0,0,0,0,0,14.92,14.43,14.92
$GC,7654,-0.80,-107.1,2645,1378,3471,3426,697.5,-7.9,336,7660,0.00,2.50,0.00,0.000,1030,0.000,0.067,2636,2755,3447,3470,3424,0,0,0,0,0,0,14.43,14.34,14.48
$GC,8012,-0.80,-107.1,2636,2756,3471,3423,724.8,-7.6,345,8018,0.00,2.05,0.00,0.000,292,0.000,0.111,2627,3827,3446,3470,3422,0,0,0,0,0,0,14.93,14.23,14.92
$GC,8053,-0.80,-107.1,2628,3828,3471,3424,728.3,-8.5,351,8059,0.00,1.88,0.00,0.000,1030,0.000,0.044,2626,2751,3445,3469,3422,0,0,0,0,0,0,14.68,14.62,14.69
$GC,8404,-0.80,-107.1,2627,2750,3469,3423,755.3,-7.7,359,8409,0.00,2.38,0.00,0.000,548,0.000,0.044,2626,1374,3445,3468,3422,0,0,0,0,0,0,14.94,14.45,14.94
$GC,8466,-0.80,-107.1,2626,1375,3468,3421,760.2,-7.8,368,8472,0.00,2.53,0.00,0.000,1030,0.000,0.067,2617,2755,3445,3468,3422,0,0,0,0,0,0,14.40,14.30,14.45
$GC,8796,-0.80,-107.1,2617,2757,3469,3420,786.0,-7.8,380,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2756,3444,3468,3420,0,0,0,0,0,0,14.90,14.91,14.91
$GC,9132,-0.80,-107.1,2615,2757,3465,3420,811.3,-7.6,386,9133,0.00,0.00,0.00,0.000,38,0.000,0.000,2617,2756,3442,3465,3419,0,0,0,0,0,0,14.90,14.90,14.90
$GC,9468,-0.80,-107.1,2617,2757,3466,3418,837.4,-7.8,392,9473,0.00,2.42,0.00,0.000,516,0.000,0.045,2616,1371,3442,3465,3419,0,0,0,0,0,0,14.91,14.37,14.91
$GC,9502,-0.80,-107.1,2617,1372,3465,3420,840.3,-6.4,397,9509,0.10,2.53,0.00,0.000,3110,0.221,0.067,2636,2749,3441,3464,3418,0,0,0,0,0,0,14.04,14.29,14.23
$GC,9860,-0.80,-107.1,2636,2754,3465,3417,865.8,-7.6,406,9865,0.00,2.08,0.00,0.000,292,0.000,0.112,2627,3817,3440,3464,3417,0,0,0,0,0,0,14.90,14.14,14.90
$GC,9908,-0.80,-107.1,2628,3818,3465,3423,869.9,-8.3,413,9916,0.00,1.88,0.00,0.000,1030,0.000,0.044,2626,2744,3440,3464,3417,0,0,0,0,0,0,14.63,14.57,14.64
$GC,10251,-0.80,-107.1,2627,2744,3465,3416,897.9,-8.2,420,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2745,3439,3464,3414,0,0,0,0,0,0,14.90,14.90,14.90
$GC,10588,-0.80,-107.1,2627,2746,3465,3413,925.6,-8.3,426,10593,0.00,2.40,0.00,0.000,516,0.000,0.046,2627,1369,3437,3463,3412,0,0,0,0,0,0,14.89,14.43,14.89
$STATE,10641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10641,begin apogee
$GC,10649,-0.23,0.0,2622,2262,3464,3413,930.1,-7.7,434,10761,0.68,0.00,109.90,1.979,10244,0.177,0.000,2820,2263,3049,3091,3008,0,0,0,0,0,0,14.12,13.98,13.03
$STATE,10762,end apogee,CONTROL_FINISHED_OK
$STATE,10762,begin climb
$GC,10765,0.93,107.1,2821,2263,3088,3003,934.2,0.0,436,10891,1.12,2.55,116.70,1.946,10756,0.092,0.057,3184,868,2623,2684,2563,0,0,0,0,0,0,13.98,14.01,12.88
$GC,10924,0.81,107.1,3183,868,2680,2546,928.8,8.3,460,10931,0.00,2.53,0.00,0.000,1158,0.000,0.050,3184,2250,2612,2679,2545,0,0,0,0,0,0,13.99,13.92,14.00
$GC,11254,0.68,107.1,3184,2251,2680,2538,901.7,8.5,472,11256,0.22,0.00,0.00,0.000,4230,0.226,0.000,3123,2255,2608,2679,2538,0,0,0,0,0,0,14.15,14.46,14.42
$GC,11590,0.69,119.1,3123,2249,2679,2537,877.5,7.1,478,11609,0.00,2.65,11.23,2.110,8484,0.000,0.099,3122,3654,2569,2640,2498,0,0,0,0,0,0,14.78,14.42,13.48
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$STATE,22697,end climb,SURFACE_DEPTH_REACHED
$STATE,22697,begin surface coast
$FINISH,-1.3,1.020372
$STATE,22724,end surface coast,CONTROL_FINISHED_OK
$STATE,22725,begin surface
$SM_CCo,22745,23.95,0.155,0,0,1057,500.14
$SM_GC,-0.67,8.95,0.90,23.95,0.048,0.092,0.155,162,2769,1057,-8.44,-0.54,500.14,0,0,0,0,0,0,14.54,14.37,14.27
$IRIDIUM_FIX,945.12,-12451.81,271116,071355
$TT8_MAMPS,0.036701,0.282373
$HUMID,54.01
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.20
$XPDR_PINGS,0
$SC_FREEKB,3771104
$PM_FREEKB,55692480
$24V_AH,12.63,131.085
$10V_AH,12.43,0.000
$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,24.450,188.950,471.100,23.950,0.000,0.000,0.000,499.925,0.000,0.000,5.852,0.000,19563.934,838.574,2762.031,427.151,0.000,2153.388,0.000,1688.859,0.000,0.838,0.000
$DEVICE_MAMPS,380.970,112.455,2109.870,155.295,0.000,0.000,0.000,179.775,420.000,0.000,9.740,0.000,2.190,8.870,28.350,39.580,0.000,12.100,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,TMICL,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,22782.000,22730.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.495,2.400,0.000,0.000
$MEM,334684
$DATA_FILE_SIZE,33403,943
$CAP_FILE_SIZE,163519,0
$CFSIZE,1024409600,952926208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,37.99,1
$GPS,271116,134356,951.988,-12450.032,35,0.8,35,9.0,0.3,337.9,11,3.6